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10.13 Safety I/O

Reduced Mode All safety limits have two modes in which they can be applied: Normal mode,

which speciﬁes the default safety conﬁguration, and Reduced mode (see 10.6 for more details). When

this input safety function is selected, a low signal given to the inputs causes the safety system to

transition to Reduced mode. If necessary, the robot arm then decelerates to satisfy the Reduced mode

limit set. Should the robot arm still violate any of the Reduced mode limits, it performs a Stop

Category 0. The transition back to Normal mode happens in the same manner. Note that safety

planes can also cause a transition to Reduced mode (see 10.12.3 for more details).

Safeguard Reset If Safeguard Stop is wired in the safety I/Os, then this input is used to

ensure the Safeguard Stopped state continues until a reset is triggered. The robot arm will not move

when in Safeguard Stopped state.

WARNING:

By default, the Safeguard Reset function is conﬁgured for input

pins 0 and 1. Disabling it altogether implies that the robot arm ceases

to be Safeguard Stopped as soon as the Safeguard Stop input

becomes high. In other words, without a Safeguard Reset, the

Safeguard Stop inputs SI0 and SI1 (see the Hardware Installation

Manual) fully determine whether the Safeguard Stopped state is ac-

tive or not.

Three-Position Enabling Device and Operational Mode These allow for using a 3-

position enabling device as an additional protective measure during setup and programming of

the robot. With the Three-Position Enabling Device input conﬁgured, the robot is either in

“running mode” or “programming mode”. An icon will appear in the upper right corner display-

ing the current operational mode:

Running mode: Robot can perform only pre-deﬁned tasks. The Move tab and Freedrive mode

are unavailable.

Programming mode: The restrictions present in Running mode are lifted. However, whenever the

Three-Position Enabling Device input is low, the robot is Safeguard Stopped. Also,

the speed slider is set at an initial value that corresponds to 250

/s and can be incrementally

increased to reach higher speed. The speed slider is reset to the low value whenever the

Three-Position Enabling Device input goes from low to high.

There are two methods for conﬁguring operational mode selection:

1. To select the operational mode using an external mode selection device, conﬁgure the Operational

Mode input. The option to conﬁgure it will appear in the drop-down menus once the Three-Position

Enabling Device input is conﬁgured. The robot will be in Running mode when the Operational

Mode input is low and in Programming mode when it is high.

2. To select the operational mode from Polyscope, only the Three-Position Enabling Device

input must be conﬁgured and applied to the Safety Conﬁguration. In this case, the default

Version 3.10

II-21 CB3

Universal Robots UR3/CB3 User Manual

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