Safety outputs For interfacing with other machines, the robot is equipped with the following safety
outputs:
Safety
Output
Description
System
Emergency
Stop
While this signal is logic low, the
Robot Emergency Stop
input is logic
low or the Emergency Stop button is pressed.
Robot
Moving
While this signal is logic high, no single joint of the robot moves more
than 0.1 rad/s.
Robot Not
Stopping
Logic high when the robot is stopped or in the process of stopping
due to an Emergency Stop or Safeguard Stop. Otherwise it will be
logic low.
Reduced Logic low when the safety system is in Reduced Mode.
Not Reduced Logic low when the system is not in Reduced Mode.
Safe Home Logic high when robot is in the configured Safe Home Position.
All safety I/O are dual channel, meaning they are safe when low (e.g., the Emergency
Stop is active when the signals are low).
2.10.3. Safety Functions
Description The safety system acts by monitoring if any of the safety limits are exceeded or if an
Emergency Stop or a Safeguard Stop is initiated.
The reactions of the safety system are:
Trigger Reaction
Emergency Stop Stop Category 1
Safeguard Stop Stop Category 2
3PE Stop (if a 3-Position Enabling device is connected) Stop Category 2
Limit Violation Stop Category 0
Fault Detection Stop Category 0
NOTICE
If the safety system detects any fault or violation, all safety outputs
re-set to low.
UR10e 34 User Manual
2.Safety
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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