Universal Robots UR16e

Output Signals You can apply the following Safety functions for output signals. All signals
return to low when the state which triggered the high signal has ended:
System Emergency Stop
Signal is Low when the safety system has been triggered into an
Emergency Stopped state by the Robot Emergency Stop input or the
Emergency Stop Button. To avoid deadlocks, if the Emergency
Stopped state is triggered by the System Emergency Stop input, low
signal will not be given.
Robot Moving
Signal is Low if the robot is moving, otherwise high.
Robot Not Stopping
Signal is High when the robot is stopped or in the process of stopping
due to an emergency stop or safeguard stop. Otherwise it will be logic
low.
Reduced
Signal is Low when the robot arm uses reduced parameters or if the
safety input is configured with a reduced input and the signal is
currently low. Otherwise the signal is high.
Not Reduced
This is the inverse of Reduced, defined above.
Safe Home
Signal is High if the Robot Arm is stopped in the configured Safe Home
Position. Otherwise, the signal is Low .
NOTICE
Any external machinery receiving its Emergency Stop state
from the robot through the System Emergency Stop output
must comply with ISO 13850. This is particularly necessary
in setups where the Robot Emergency Stop input is
connected to an external Emergency Stop device. In such
cases, the System Emergency Stop output becomes high
when the external Emergency Stop device is released.
This implies that the emergency stop state at the external
machinery will be reset with no manual action needed from
the robot’s operator. Hence, to comply with safety
standards, the external machinery must require manual
action in order to resume.
UR16e 144 User Manual
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