10.13 Safety I/O
Reduced mode limit set. Should the robot arm still violate any of the Reduced mode limits, it
performs a Stop Category 0. The transition back to Normal mode happens in the same manner.
Note that safety planes can also cause a transition to Reduced mode (see 10.12.3 for more details).
Safeguard Reset If Safeguard Stop is wired in the safety I/Os, then this input is used
to ensure the Safeguard Stopped state continues until a reset is triggered. The robot arm will
not move when in Safeguard Stopped state.
WARNING:
By default, the Safeguard Reset function is configured for in-
put pins 0 and 1. Disabling it altogether implies that the robot
arm ceases to be Safeguard Stopped as soon as the Safeguard
Stop input becomes high. In other words, without a Safeguard
Reset, the Safeguard Stop inputs SI0 and SI1 (see the Hard-
ware Installation Manual) fully determine whether the Safeguard
Stopped state is active or not.
Three-Position Enabling Device and Operational Mode These allow for using a
3-position enabling device as an additional protective measure during setup and programming
of the robot. With the Three-Position Enabling Device input configured, the robot is
either in “running mode” or “programming mode”. An icon will appear in the upper right
corner displaying the current operational mode:
Running mode: Robot can perform only pre-defined tasks. The Move tab and Freedrive
mode are unavailable.
Programming mode: The restrictions present in Running mode are lifted. However, whenever
the Three-Position Enabling Device input is low, the robot is Safeguard Stopped.
Also, the speed slider is set at an initial value that corresponds to 250
mm
/s and can be
incrementally increased to reach higher speed. The speed slider is reset to the low value
whenever the Three-Position Enabling Device input goes from low to high.
There are two methods for configuring operational mode selection:
1. To select the operational mode using an external mode selection device, configure the
Operational Mode input. The option to configure it will appear in the drop-down
menus once the Three-Position Enabling Device input is configured. The robot
will be in Running mode when the Operational Mode input is low and in Programming
mode when it is high.
2. To select the operational mode from Polyscope, only the Three-Position Enabling
Device input must be configured and applied to the Safety Configuration. In this case,
the default mode is Running. In order to switch to Programming mode, choose the “Program
Robot” button on the Welcome screen. To switch back to Running mode, simply exit the
“Program Robot” screen.
Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
II-19 e-Series
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