Safety
Output
Description
Reduced
Mode
Logic low when the safety system is in Reduced Mode.
Not
Reduced
Mode
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).
3.4. Safety Function
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.
Limit Violation Stop Category 0.
Fault Detection Stop Category 0.
NOTE
If the safety system detects any fault or violation, all safety outputs re-set
to low.
3.5. Modes
Normal and Reduced Mode
The safety system has two configurable Modes: Normal and Reduced. Safety limits can
be configured for each of these two modes. Reduced Mode is active when the robot
tool/end effector is positioned on the Reduced Mode side of a Trigger Reduced Mode
plane or when triggered by a safety input.
Using a plane to trigger Reduced Mode: When the robot moves from the Reduced Mode
UR5e 22 User Manual
3.Safety-related Functions and Interfaces
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
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