Universal Robots UR3/CB3 User Manual page 105

10.13 Safety I/O
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.
3-Position Switch and Operational Mode These allow for the option of us-
ing a 3-position enabling device as an additional protective measure during setup
and programming of the robot. With the 3-Position Switch input configured,
the robot is either in "running mode" or "programming mode". An icon will appear
in the upper right corner displaying the current operational mode:
There are two methods for configuring operational mode selection:
1. To select the operational mode using an external mode selection device, config-
Version 3.3.3
WARNING:
By default, the Safeguard Reset input 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 in-
put becomes high. In other words, without a Safeguard Reset
input, the Safeguard Stop inputs SI0 and SI1 (see the Hardware
Installation Manual) fully determine whether the Safeguard Stopped
state is active or not.
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. How-
ever, whenever the 3-Position Switch input is low, the robot is Safeguard
Stopped. Also, the speed slider is set at an initial value that corresponds to
250 mm / and can be incrementally increased to reach higher speed. The speed
s
slider is reset to the low value whenever the 3-Position Switch input goes
from low to high.
ure the Operational Mode input. The option to configure it will appear in
the drop-down menus once the 3-Position Switch 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.
II-21 CB3