Universal Robots UR16e

Safety
Output
Description
System
Emergency
Stop
While this signal is logic low, the Robot Emergency Stop input is logic low or the
Emergency Stop button is pressed.
Robot
Moving
While this signal is logic high, no single joint of the robot moves more than
0.1rad/s.
Robot Not
Stopping
Logic 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 Logic low when the safety system is using a reduced configuration.
Not Reduced Logic low when the system is not using a reduced configuration.
Safe Home Logic high when robot is in the configured Safe Home Position.
All safety I/O are dual channel, meaning they are safe when low (e.g., the Emergency Stop is active
when the signals are low).
2.2.4. Safety Function
The safety system acts by monitoring if any of the safety limits are exceeded or if an
Emergency Stop or a Safeguard Stop is initiated.
The reactions of the safety system are:
Trigger Reaction
Emergency Stop Stop Category 1
Safeguard Stop Stop Category 2
3PE Stop (if a 3-Position Enabling device is connected) Stop Category 2
Limit Violation Stop Category 0
Fault Detection Stop Category 0
NOTICE
If the safety system detects any fault or violation, all safety outputs re-set to
low.
2.2.5. Safety Parameter Sets
Normal and Reduced
The safety system has the following set of configurable safety parameters:
UR16e 28 User Manual
2.Part I Hardware Installation Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.