Universal Robots UR30 - Page 133

Description 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.
User Manual 134 UR30
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