Articles Download Safety & Security Forum myUR Go to Main Site
 

Scan time for CB3 and e-Series controller I/O

Last modified on Sep 30, 2024

The listed scan times for inputs is the maximal time delay it takes from a signal has changed on the input pin to the change is registered by the controller.

The listed scan times for outputs is the maximal time delay it takes from a signal is set in the program execution of the controller to the output pin reads the same value.

 

The scan times for CB3 are

Summary of digital in- and outputs:
Digital input:
Digital output:


Summary of analog in- and outputs:
Analog input:
Analog output:


Summary of configurable in- and outputs:
Configurable input:
Configurable output:

 

Summary of tool digital in- and outputs:
Tool input:
Tool output:


Summary of tool analog inputs:
Tool input:

 24 ms

 

Timing demands for Safety outputs.
Maximum accepted delay between first and second channel.

Output: 8 ms
Note: If this does not happen, the robot will fault after 48 ms

 

Timing demands for Safety inputs.
Maximum accepted delay between first and second channel.


This is controlled by the safety control board (SCB).
Robots produced with the software has the functionality on the SCB

CB3 Software BEFORE 3.2.18654:

Inputs: 40 ms

---------------------------------------------------

CB3 software AFTER   3.2.18654:

Inputs: 40 ms

3-position enabling switch: 1000 ms

 

The scan times for e-Series are

Summary of digital in- and outputs:
Digital input:
Digital output:

Summary of analog in- and outputs:
Analog input:
Analog output:

Summary of configurable in- and outputs:
*Configurable input:
Configurable output:

 

Summary of tool digital in- and outputs:
Tool input:
Tool output:

 

Summary of tool analog inputs:
Tool input:

 4 ms

 

Safety inputs:
*Configurable inputs used for safety:		 7 ms

 

Timing demands for Safety outputs.
Maximum accepted delay between first and second channel		 Output: 1ms
Note: If this does not happen, the robot will fault after 48ms

 

Timing demands for Safety inputs.
Maximum accepted delay between first and second channel.
This is controlled by the safety control board (SCB).		 Inputs:40 ms
3-position enabling switch: 1000 ms