Universal Robots UR30 - Page 83

I/O Actions
and I/O Tab
Control
You can use Physical and Fieldbus digital I/Os to trigger actions or react to the status of a
program.
I/O Tab
Control
Use I/O Tab Control to specify whether an output is controlled on the I/O tab (by either
programmers, or both operators and programmers), or if it is controlled by the robot
programs.
Available
Input
Actions
Command Action
Start
Starts or resumes the current program on a rising edge (only enabled
in Remote Control)
Stop Stops the current program on a rising edge
Pause Pauses the current program on a rising edge
Freedrive
When the input is high, the robot goes into freedrive (similar to the
freedrive button).
The input is ignored if other conditions disallow freedrive.
WARNING
If the robot is stopped while using the Start input action, the robot slowly
moves to the first waypoint of the program before executing that program. If
the robot is paused while using the Start input action, the robot slowly moves
to the position from where it was paused before resuming that program.
User Manual 84 UR30
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