Universal Robots UR30 - Page 174

Description The PROFIsafe network protocol (implemented as version 2.6.1) 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 URCap License files for information regarding
robot registration and license activation.
Adva
nced
Optio
ns
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.
UR30 175 User Manual
12.Fieldbus
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