Universal Robots UR16e

Input Signals Operational Mode
When defined, this input can be used to switch between Automatic
Mode and Manual Mode (see Operational modeon page127).
Safeguard Reset
When a Safeguard Stop occurs, this output ensures that the
Safeguard Stop state continues until a reset is triggered.
Automatic Mode Safeguard Stop
Once configured, an Automatic Mode Safeguard Stop performs a
Safeguard Stop when the input pins are low and ONLY when the robot
is in Automatic mode.
Automatic Mode Safeguard Reset
When an Automatic Mode Safeguard Stop occurs, the robot remains
safeguard stopped in Automatic Mode until a rising edge on the input
pins trigger a reset.
WARNING
•
If you disable the default Safeguard Reset input, the
Robot Arm is no longer Safeguard Stop stopped as
soon as the input is high. A program paused only by
the Safeguard stop resumes.
•
Similar to the Safeguard Reset, if the default
Automatic Mode Safeguard Reset is disabled, the
Robot Arm is no longer Safeguard Stop stopped
once the Automatic Mode Safeguard Stop input is
high. A program paused only by the Automatic Mode
Safeguard Stop resumes.
User Manual 143 UR16e
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