Universal Robots UR30 - Page 176

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Signal Description
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.
Safe home position
Robot is at rest (robot not moving), and in the position defined as
the Safe Home Position.
UR30 177 User Manual
12.Fieldbus
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