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ceppoceppo Posts: 4 Apprentice
I'm using ur5 digital output to control external device and the problem I'm currently having is that when emergency stop from pendant is pressed the external device keeps running. So is it possible to change digital outputs value from 1 to 0 when emergency stop is pressed? Robot is cb-series.


  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,266 Handy
    Per the UR manual for the CB series you can configure a one of the safety outputs to go low (0) when the robot e-stop is pressed.  This allows for communicating to other systems that the robot e-stop has been pressed.  

    From the CB3 3.8 manual section 10.13.2

    System Emergency Stop Low signal is only given when the safety system has been trig- gered into an Emergency Stopped state by the Robot Emergency Stop input or Emergency Stop Button. To avoid deadlocks, if the Emergency Stopped state is triggered by the System Emergency Stop input, low signal will not be given.

    To configure this you will need to configure your safety in the installation file.  The manual has instructions on how to perform these set-ups.
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