Universal Robots UR30 - Page 175

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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.
E-stop by robot
The robot is stopped because of one of the following conditions:
•
The e-stop button of the teach pendant is pressed.
•
An e-stop button connected to the robot e-stop non-
configurable safety input of the control box is pressed.
Safeguard stop
The robot is stopped due to one of the following conditions:
•
A safety PLC connected via PROFIsafe has asserted the
safeguard stop.
•
A unit connected to the safeguard stop non-configurable
input of the control box has asserted the safeguard stop.
•
A unit connected to the safeguard stop configurable safety
input of the control box has asserted the safeguard stop.
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.
User Manual 176 UR30
12.Fieldbus
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