Universal Robots UR30 - I;O Signals

8.6.1. I/O Signals
Description The I/O are divided between inputs and outputs and are paired up so that each function
provides a Category 3 and PLd I/O.
Input
Signals
The inputs are described in the tables below:
Emergency
Stop Button
Performs a Stop Category 1 (IEC 60204-1) informing other machines
using the System Stop output if that output is defined. A stop is initiated
in anything connected to the output.
Robot
Emergency
Stop
Performs a Stop Category 1 (IEC 60204-1) via Control Box input,
informing other machines using the System Emergency Stop Output if
that output is defined.
External
Emergency
Stop
Performs a Stop Category 1 (IEC 60204-1) on robot only.
Reduced
All safety limits can be applied while the robot is using a Normal
configuration, or a Reduced configuration.
When configured, a low signal sent to the inputs causes the safety
system to transition to the reduced configuration. The robot arm
decelerates to satisfy the reduced parameters.
The safety system guarantees the robot is within reduced limits less
than 0.5s after the input is triggered. If the robot arm continues to
violate any of the reduced limits, a Stop Category 0 is triggered. Trigger
planes can also cause a transition to the reduced configuration. The
safety system transitions to the normal configuration in the same way.
User Manual 80 UR30
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