Universal Robots UR16e

Safety PLC message
A status message sent to the safety PLC contains the information in the
table below.
Signal Description
Stop, cat. 0
Robot is performing, or it has
completed, a safety stop of category
0; A hard stop by immediate
removal of power to the arm and the
motors.
Stop, cat. 1
Robot is performing, or it has
completed, a safety stop of category
1; A controlled stop after which the
motors are left in a power off state
with brakes engaged.
Stop, cat. 2
Robot is performing, or it has
completed, a safety stop of category
2; A controlled stop after which the
motors are left in a power on state.
Violation
Robot is stopped because the
safety system failed to comply with
the safety limits currently defined.
Fault
Robot is stopped because of an
unexpected exceptional error in the
safety system.
E-stop by system
Robot is stopped because of one of
the following conditions:
•
a safety PLC connected via
PROFIsafe has asserted
system level e-stop.
•
an IMMI module connected to
the control box has asserted
a system level e-stop.
•
a unit connected to the
system e-stop configurable
safety input of the control box
has asserted system level e-
stop.
UR16e 322 User Manual
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