Universal Robots UR16e

Description The PROFIsafe network protocol allows the robot to communicate with a
safety PLC according to ISO 13849, Cat. 3 PLd requirements. The robot
transmits safety state information to a safety PLC, then receives
information to trigger safety related functions, such as: emergency stop or
enter reduced mode.
The PROFIsafe interface provides a safe, network-based alternative to
connecting wires to the safety IO pins of the robot control box.
PROFIsafe is only available on robots that have an enabling license, which
you can obtain by contacting your local sales representative, once
obtained, the license can be downloaded on myUR.
Please refer to Robot Registration and License fileon page351 for
information regarding robot registration and license activation.
Communicating via
PROFIsafe
A control message received from the safety PLC contains the information in
the table below.
Signal Description
E-Stop by system Asserts the system e-stop.
Safeguard stop Asserts the safeguard stop.
Reset safeguard stop
Resets safeguard stop state (on
low-to-high transition in automatic
mode) if the safeguard stop input is
cleared beforehand.
Safeguard stop auto
Asserts safeguard stop if the robot
is operating in Automatic mode.
Safeguard stop auto shall only be
used when a 3-Position Enabling
(3PE) Device is configured. If no
3PE Device is configured, the
safeguard stop auto acts as a
normal safeguard stop input.
Reset safeguard stop auto
Resets safeguard stop auto state
(on low-to-high transition when in
automatic mode) if safeguard stop
auto inputs are cleared beforehand.
Reduced mode
Activates the Reduced mode safety
limits.
Operational mode
Activates either manual or
automatic operational mode. If the
safety configuration "Operational
mode selection via PROFIsafe" is
disabled, this field shall be omitted
from the PROFIsafe control
message.
User Manual 321 UR16e
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