Universal Robots UR16e

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 5.5. Software Safety
Modes on page135). 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117 .
UR16e 142 User Manual
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