Output Signals You can apply the following Safety functions for output signals. All signals return to low
when the state which triggered the high signal has ended:
System Emergency Stop
Signal is
Low
when the safety system has been triggered into an Emergency
Stopped state by the Robot Emergency Stop input or the 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.
Robot Moving
Signal is
Low
if the robot is moving, otherwise high.
Robot Not Stopping
Signal is
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
Signal is
Low
when the robot arm uses reduced parameters or if the safety input is
configured with a reduced input and the signal is currently low. Otherwise the signal
is high.
Not Reduced
This is the inverse of Reduced, defined above.
Safe Home
Signal is
High
if the Robot Arm is stopped in the configured Safe Home Position.
Otherwise, the signal is
Low
.
NOTICE
Any external machinery receiving its Emergency Stop state from the
robot through the System Emergency Stop output must comply 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 becomes
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 resume.
User Manual 151 UR10e
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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