Universal Robots UR30 - Page 81

Output
Signals
All safety outputs go low in the event of a safety system violation or fault. This means the
System Stop output initiates a stop even when an E-stop is not triggered.
You can use the following Safety functions output signals. All signals return to low when the
state which triggered the high signal has ended:
1
System
Stop
Signal is Low when the safety system has been triggered into a stopped
state including by the Robot Emergency Stop input or the Emergency
Stop Button. To avoid deadlocks, if the Emergency Stopped state is
triggered by the System Stop input, low signal will not be given.
Robot
Moving
Signal is Low if the robot is moving, otherwise high.
Robot Not
Stopping
Signal is High when the robot is stopped or in the process of stopping
due to an emergency stop or safeguard stop. Otherwise it will be logic
low.
Reduced
Signal is Low when reduced parameters are active or if the safety input
is configured with a reduced input and the signal is currently low.
Otherwise the signal is high.
Not
Reduced
This is the inverse of Reduced, defined above.
Safe Home
Signal is High if the Robot Arm is stopped and is located in the
configured Safe Home Position. Otherwise, the signal is Low . This is
often used when UR robots are integrated with mobile robots.
NOTICE
Any external machinery receiving its Emergency Stop state from the robot
through the System Stop output must comply with ISO 13850. This is
particularly necessary in setups where the Robot Emergency Stop input is
connected to an external Emergency Stop device. In such cases, the System
Stop output becomes high when the external Emergency Stop device is
released. This implies that the emergency stop state at the external machinery
will be reset with no manual action needed from the robot’s operator. Hence,
to comply with safety standards, the external machinery must require manual
action in order to resume.
1
System Stop was previously known as "System Emergency Stop" for UniversalRobots robots. PolyScope
can display "System Emergency Stop".
User Manual 82 UR30
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