Universal Robots UR30 - Page 84

Available
Output
Actions
Action
Output
state
Program state
Low when not running Low
Stopped or
paused
High when not running High
Stopped or
paused
High when running, low when stopped
Low
High
Running,
Stopped or
paused
Low on unscheduled stop Low
Program
terminated
unscheduled
Low on unscheduled stop, otherwise High
Low
High
Program
terminated
unscheduled
Running,
stopped or
paused
Continuous Pulse
Alternates
between
high and
low
Running
(pause or stop
the program to
maintain the
pulse state)
Program
Termination
Cause
An unscheduled program termination can occur for any of the reasons listed below:
•
Robot stop
•
Fault
•
Violation
•
Runtime exception
UR30 85 User Manual
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