Safety Input Description
Safeguard
Reset
Returns from the Safeguard Stop state, when a rising edge on the Safeguard Reset
input occurs.
Reduced
Mode
Transitions the safety system to use the Reduced mode limits.
Three-
Position
Enabling
Device
Initiates a Stop Category 2 (IEC 60204-1) when the enabling device is fully pressed
or fully released in manual mode only. Three-Position Enabling Device Stop is
triggered when an input goes low. It is unaffected by a Safeguard Reset.
Operational
Mode
Switches between Operational modes. The robot is in Automatic mode when input
is low, Manual mode when input is high.
Automatic
Mode
Safeguard
Reset
Returns from the Automatic Mode Safeguard Stop state, when a rising edge on the
Automatic Mode Safeguard Reset input occurs.
For interfacing with other machines, the robot is equipped with the following safety outputs:
Safety
Output
Description
System
Emergency
Stop
While this signal is logic low, the Robot Emergency Stop input is logic low or the
Emergency Stop button is pressed.
Robot
Moving
While this signal is logic high, no single joint of the robot moves more than
0.1rad/s.
Robot Not
Stopping
Logic high when the robot is stopped or in the process of stopping due to an
Emergency Stop or Safeguard Stop. Otherwise it will be logic low.
Reduced
Mode
Logic low when the safety system is in Reduced Mode.
Not Reduced
Mode
Logic low when the system is not in Reduced Mode.
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).
2.4. 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.
Hardware Manual 19 UR5e
2.Safety-related Functions and Interfaces
Copyright © 2009–2022 by UniversalRobotsA/S. All rights reserved.
To Next Page
Loading...
Need help?
General
