Available Input
Actions
Action
Action
Start
Starts or resumes the current program on
a rising edge (only enabled in Remote
Control, see 25.2 Settingson page336)
Stop
Stops the current program on a rising
edge
Pause
Pauses the current program on a rising
edge
Freedrive
When the input is high, the robot goes into
freedrive (similar to the freedrive button).
The input is ignored if other conditions
disallow freedrive.
WARNING
If the robot is stopped while using the Start input action, the robot
slowly moves to the first waypoint of the program before executing
that program. If the robot is paused while using the Start input action,
the robot slowly moves to the position from where it was paused
before resuming that program.
Available
Output Actions
Action
Output state
Program state
Low when not running
Low Stopped or
paused
High when not running
High Stopped or
paused
High when running, low when
stopped
Low
High
Running
Stopped or
paused
Low on unscheduled stop
Low Program
terminated
unscheduled
Low on unscheduled stop,
otherwise High
Low
High
Program
terminated
unscheduled
Running,
stopped or
paused
User Manual 287 UR10e
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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