17.7. Safety I/O
Description The I/O are divided between inputs and outputs and are paired up so that each
function provides a Category 3 and PLd I/O.
Input Signals The following Safety Functions can be used with the input signals:
System Emergency Stop
This is an emergency stop button alternative to the one on the Teach Pendant,
providing the same functionality if the device complies with ISO 13850.
Reduced
All safety limits can be applied while the robot is using a Normal configuration, or a
Reduced configuration (see 17.5 Software Safety Modes on page143). When
configured, a low signal sent to the inputs causes the safety system to transition to
the reduced configuration. The robot arm decelerates to satisfy the reduced
parameters.
The safety system guarantees the robot is within reduced limits less than 0.5s after
the input is triggered. If the robot arm continues to violate any of the reduced limits,
a Stop Category 0 is triggered.
Trigger planes can also cause a transition to the reduced configuration. The safety
system transitions to the normal configuration in the same way.
3-Position Enabling Device
In Manual Mode, an external 3-Position Enabling Device must be pressed and held
in the center-on position to move the robot.
If you are using a built-in 3-Position Enabling Device, the button must be pressed
and held in the mid position to move the robot.
Freedrive on robot
You can configure the Freedrive input to enable and use Freedrive without pressing
the Freedrive button on a standard TP, or without having to press-and-hold any of
the buttons on the 3PE TP in the light-press position. See To use Freedrive on
robotto freedrive the robot arm:on page124 .
User Manual 149 UR10e
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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