Universal Robots UR30 - Safe Home Position

9.4.7. Safe Home Position
Description Safe Home is a return position defined by using the user-defined Home Position.
Safe Home I/Os are active when the Robot Arm is in the Safe Home Position and a Safe
Home I/O is defined.
The Robot Arm is in the Safe Home Position if the joint positions are at the specified joint
angles or a multiple of 360 degrees thereof.
The Safe Home Safety Output is active when the robot is standing still at the Safe Home
Position.
Syncing
from Home
To sync from Home
1. In the Header, tap Installation.
2. In the Side Menu on the left of the screen, tap Safety and select Safe Home.
3. Under Safe Home, tap Sync from Home.
4. Tap Apply and in the dialog box that appears, select Apply and restart.
Safe Home
Output
The Safe Home Position must be defined before the Safe Home Output.
Defining
Safe Home
Output
To define Safe Home Output
1. In the Header, tap Installation.
2. In the Side Menu on the left of the screen, under Safety, select I/O.
3. On the I/O screen in the Output Signal, under Function Assignment, in drop-down
menu, select Safe Home.
4. Tap Apply and in the dialog box that appears, select Apply and restart.
User Manual 148 UR30
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