Universal Robots UR16e

I/O Tab Control Use I/O Tab Control to specify whether an output is controlled on the I/O
tab (by either programmers, or both operators and programmers), or if it is
controlled by the robot programs.
Available Input
Actions
Action
Action
Start
Starts or resumes the current
program on a rising edge (only
enabled in Remote Control, see
13.2. Settingson page346)
Stop
Stops the current program on a
rising edge
Pause
Pauses the current program on a
rising edge
Freedrive
When the input is high, the robot
goes into freedrive (similar to the
freedrive button).
The input is ignored if other
conditions disallow freedrive.
WARNING
If the robot is stopped while using the Start input action, the
robot slowly moves to the first waypoint of the program
before executing that program. If the robot is paused while
using the Start input action, the robot slowly moves to the
position from where it was paused before resuming that
program.
Available Output
Actions
Action
Output state
Program state
Low when not running
Low Stopped or
paused
High when not running
High Stopped or
paused
High when running, low when
stopped
Low
High
Running
Stopped or
paused
User Manual 291 UR16e
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