Safety inputs The robot also has the following safety inputs:
Safety Input Description
Emergency
Stop Button
Performs a Stop Category 1 (IEC 60204-1) informing other machines
using the
System Emergency Stop
output, if that output is defined. A
stop is initiated in anything connected to the output.
Robot
Emergency
Stop
Performs a Stop Category 1 (IEC 60204-1) via Control Box input,
informing other machines using the
System Emergency Stop
output,
if that output is defined.
System
Emergency
Stop
Performs a Stop Category 1 (IEC 60204-1) on robot only, in all
modes and takes precedence over all other commands.
Safeguard
Stop
Performs a Stop Category 2 (IEC 60204-1) in all modes, except
when using a 3-Position Enabling Device and a mode selector - then
when in Manual Mode, the Safeguard Stop can be set to only
function in Automatic Mode.
Automatic
Mode
Safeguard
Stop
Performs a Stop Category 2 (IEC 60204-1) in Automatic mode
ONLY.
Automatic Mode Safeguard Stop
can only be selected when a
Three-Position Enabling Device is configured and installed.
Safeguard
Reset
Returns from the
Safeguard Stop
state, when a rising edge on the
Safeguard Reset input occurs.
Reduced
Mode
Transitions the safety system to use the
Reduced mode
limits.
Three-
Position
Enabling
Device
Initiates a Stop Category 2 (IEC 60204-1) when the enabling device
is fully pressed or fully released in manual mode only. Three-Position
Enabling Device Stop is triggered when an input goes low. It is
unaffected by a Safeguard Reset.
Freedrive on
robot
Enables freedrive, when the robot is not in Automatic Mode.
Operational
Mode
Switches between Operational modes. The robot is in Automatic
mode when input is low, Manual mode when input is high.
Automatic
Mode
Safeguard
Reset
Returns from the
Automatic Mode Safeguard Stop
state, when a
rising edge on the Automatic Mode Safeguard Reset input occurs.
User Manual 33 UR10e
2.Safety
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