Universal Robots UR30 - Page 80

Input
Signals
The inputs are described in the tables below:
Operational
Mode
When an external mode selection is used it switches between
Automatic Mode and Manual Mode. The robot is in Automatic mode
when input is low and Manual mode when the input is high .
Safeguard
Reset
Returns from the Safeguard Stop state, when a rising edge on the
Safeguard Reset input occurs. When a Safeguard Stop occurs, this
input ensures that the Safeguard Stop state continues until a reset is
triggered.
Safeguard
A stop triggered by a safeguard input. Performs a Stop Category 2
(IEC 60204-1) in all modes, when triggered by a Safeguard.
Automatic
Mode
Safeguard
Stop
Performs a Stop Category 2 (IEC 60204-1) in Automatic mode ONLY.
Automatic Mode Safeguard Stop can only be selected when a Three-
Position Enabling Device is configured and installed.
Automatic
Mode
Safeguard
Reset
Returns from the Automatic Mode Safeguard Stop state when a rising
edge on the Automatic Mode Safeguard Reset input occurs.
3-Position
Enabling
Device
In Manual Mode, an external 3-Position Enabling Device must be
pressed and held in the center-on position to move the robot. If you are
using a built-in 3-Position Enabling Device, the button must be pressed
and held in the mid position to move the robot.
Freedrive on
robot
You can configure the Freedrive input to enable and use Freedrive
without pressing the Freedrive button on a standard TP, or without
having to press-and-hold any of the buttons on the 3PE TP in the light-
press position.
WARNING
When the default Safeguard Reset is disabled, an automatic reset happens
when the safeguard no longer triggers a stop.
This can happen if a person passes though the field of the safeguard.
If a person is not detected by the safeguard and the person is exposed to
hazards, automatic reset is forbidden by standards.
•
Use the external reset to ensure resetting only when a person is not
exposed to hazards.
WARNING
When Automatic Mode Safeguard stop is enabled, a safeguard Stop is not
triggered in Manual Mode.
UR30 81 User Manual
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