Universal Robots UR16e

Safeguard stop auto
The robot is stopped because it is
operating in Automatic mode and
because of one of the following
conditions:
•
A safety PLC connected via
PROFIsafe has asserted
safeguard stop auto.
•
A unit connected to a
safeguard stop auto
configurable safety input of
the control box has asserted
safeguard stop auto.
The signal follows the safeguard
reset semantics. A configured
safeguard stop reset functionality
shall be used to reset this signal
PROFIsafe implies use of the
safeguard reset functionality
3PE stop
Robot is stopped because it is
operating in Manual mode and
because of one of the following
conditions:
•
You are using a 3PE TP and
none of the buttons are in the
middle position.
•
A 3-position enabling device
connected to a configurable
safety input of the control box
has asserted the 3PE stop.
Operational mode
Indication of the current operational
mode of the robot.
This mode can be:Disabled (0),
Automatic (1), or Manual (2).
Reduced mode
Reduced mode safety limits are
currently active.
Active limit set
The active set of safety limits.
This can be:Normal (0), Reduced
(1), or Recovery (2).
Robot moving
Robot is moving. If any joint moves
at a velocity of 0.02 rad/s or higher
the robot is considered in motion.
UR16e 324 User Manual
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