10.13 Safety I/O
NOTE:
After the Safety I/O configuration with 3-Position Switch en-
abled is confirmed, the Welcome screen is automatically shown.
The Welcome screen is also automatically displayed when the op-
erational mode changes from Programming to Running.
10.13.2 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 only given when the safety system has
been triggered into an Emergency Stopped state by the Robot Emergency Stop
input or Emergency Stop Button. To avoid deadlocks, if the Emergency Stopped
state is triggered by the System Emergency Stop input, low signal will not be given.
NOTE:
External machinery obtaining the Emergency Stop state from
the robot through System Emergency Stop output must be
complying with ISO 13850. This is particularly necessary in setups
where the Robot Emergency Stop input is connected to an external
Emergency Stop device. In such cases, the System Emergency
Stop output will become high when the external Emergency Stop
device is released. This implies that the emergency stop state at
the external machinery will be reset with no manual action needed
from the robot’s operator. Hence, to comply with safety standards,
the external machinery must require manual action in order to re-
sume.
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 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
II-21 CB3
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