- Our UR3 encountered following message during EMO switch slowly released,but quickly is OK.
- Schematic:
- EMO Switch:
- Someone can share experience?
5.It’s need to add debounce circuit between EMO switch and SI0/SI1 right?
In my experience this is a very common occurence if you’re slowly releasing it, since it’s a dual-channel safety switch one side will switch state before the other and as you are too slow you will exceed the disagreement time threshold that the safety system will allow for the 2 channels to mismatch, triggering the error. I have it happening also very often on ABB with the dead-man switch, if you press or release it too slowly you will get the same kind of error. To avoid this issue you should simply push/release quickly, there’s nothing wrong with the circuit, you are simply exceeding the allowed time for the 2 channels to mismatch during transition.
Maybe pick another emergency button? I have never seen it happen with Schneider’s. It uses springs to actuate the switch quickly and simultaneously, even if you turn the button slowly. 