Description The PROFIsafe network protocol allows the robot to communicate with a safety PLC
according to ISO 13849, Cat. 3 PLd requirements. The robot transmits safety state
information to a safety PLC, then receives information to trigger safety related
functions, such as: emergency stop or enter reduced mode.
The PROFIsafe interface provides a safe, network-based alternative to connecting
wires to the safety IO pins of the robot control box.
PROFIsafe is only available on robots that have an enabling license, which you can
obtain by contacting your local sales representative, once obtained, the license can be
downloaded on myUR.
Please refer to Robot Registration and License fileon page340 for information
regarding robot registration and license activation.
Communicating via
PROFIsafe
A control message received from the safety PLC contains the information in the
table below.
Signal Description
E-Stop by system Asserts the system e-stop.
Safeguard stop Asserts the safeguard stop.
Reset safeguard stop
Resets safeguard stop state (on low-to-
high transition in automatic mode) if the
safeguard stop input is cleared
beforehand.
Safeguard stop auto
Asserts safeguard stop if the robot is
operating in Automatic mode.
Safeguard stop auto shall only be used
when a 3-Position Enabling(3PE)
Device is configured. If no 3PE Device
is configured, the safeguard stop auto
acts as a normal safeguard stop input.
Reset safeguard stop auto
Resets safeguard stop auto state (on
low-to-high transition when in
automatic mode) if safeguard stop auto
inputs are cleared beforehand.
Reduced mode
Activates the Reduced mode safety
limits.
Operational mode
Activates either manual or automatic
operational mode. If the safety
configuration "Operational mode
selection via PROFIsafe" is disabled,
this field shall be omitted from the
PROFIsafe control message.
Safety PLC message
A status message sent to the safety PLC contains the information in the table
below.
Signal Description
Stop, cat. 0
Robot is performing, or it has
completed, a safety stop of category 0;
A hard stop by immediate removal of
power to the arm and the motors.
UR10e 312 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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