Safety
Output
Description
Reduced Logic low when the safety system is using a reduced configuration.
Not Reduced Logic low when the system is not using a reduced configuration.
Safe Home Logic high when robot is in the configured Safe Home Position.
All safety I/O are dual channel, meaning they are safe when low (e.g., the Emergency Stop is active
when the signals are low).
2.2.4. Safety Function
The safety system acts by monitoring if any of the safety limits are exceeded or if an
Emergency Stop or a Safeguard Stop is initiated.
The reactions of the safety system are:
Trigger Reaction
Emergency Stop Stop Category 1
Safeguard Stop Stop Category 2
3PE Stop (if a 3-Position Enabling device is connected) Stop Category 2
Limit Violation Stop Category 0
Fault Detection Stop Category 0
NOTICE
If the safety system detects any fault or violation, all safety outputs re-set to
low.
2.2.5. Safety Parameter Sets
Normal and Reduced
The safety system has the following set of configurable safety parameters:
•
Normal
•
Reduced
You can set up the safety limits for each set of safety parameters, creating distinct
configurations for normal, or higher settings, and reduced. The reduced configuration is
active when the tool/end effector is positioned on the reduced side of a Trigger Reduced
Plane, or when the reduced configuration is externally triggered by a safety input.
User Manual UR5e
Copyright © 2009–2023 by UniversalRobotsA/S. All rights reserved.
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