10.13 Safety I/O
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 trig-
gered. 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.
3-Position Switch and Operational Mode These allow for using a 3-position
enabling device as an additional protective measure during setup and program-
ming of the robot. With the 3-Position Switch 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. How-
ever, whenever the 3-Position Switch 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 3-Position Switch 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, con-
figure the Operational Mode input. The option to configure it will appear
in the drop-down menus once the 3-Position Switch 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 3-Position Switch
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 Run-
ning mode, simply exit the “Program Robot” screen.
CB3 II-20 Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
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