To Next Page

To Previous Page

15.12 Safety I/O

category 0 stop. The transition back to Normal mode happens in the same manner.

Note that safety planes can also cause a transition to Reduced mode (see 15.11.3

for more details).

• Safeguard Reset: If Safeguard Stop is wired in the safety I/Os, then Safeguard

Reset 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 input function is conﬁgured for

input pins 0 and 1. Disabling it altogether implies that the robot arm

ceases to be Safeguard Stopped as soon as the Safeguard Stop in-

put becomes high. In other words, without a Safeguard Reset

input, the Safeguard Stop inputs SI0 and SI1 (see the Hardware

Installation Manual) fully determine whether the Safeguard Stopped

state is active or not.

Output Signals For the output signals the following Safety functions can be applied.

All signals return to low when the state which triggered the high signal has ended:

• System Emergency Stop: Low signal is given when the safety system has

been triggered into an Emergency Stopped state. It is in a high signal state

otherwise.

• Robot Moving: A low signal is given whenever the robot arm is in a mobile

state. When the robot arm is in a ﬁxed position, a high signal is given.

• Robot Not Stopping: When the robot arm has been requested to stop, some

time will pass from the request until the arm stops. During this time the signal

will be high. When the robot arm is moving and has not been requested to stop,

or when the robot arm is in a stopped position, the signal will be low.

• Reduced Mode: Sends a low signal when the robot arm is placed in Reduced

mode or if the safety input is conﬁgured with a Reduced Mode input and the

signal is currently low. Otherwise the signal is high.

• Not Reduced Mode: This is the inverse of the Reduced Mode deﬁned above.

Version 3.1 (rev. 17782)

II-111 CB3

Universal Robots UR5 Original Instructions

Other manuals for Universal Robots UR5