Output Signals - Universal Robots UR3/CB3 User Manual

2. To select the operational mode from Polyscope, only the 3-Position Switch

10.13.2 Output Signals

For the output signals the following Safety functions can be applied. All signals return
to low when the state which triggered the high signal has ended:
System Emergency Stop Low signal is given when the safety system has been
triggered into an Emergency Stopped state. It is in a high signal state otherwise.
Robot Moving A low signal is given whenever the robot arm is in a mobile state.
When the robot arm is in a fixed position, a high signal is given.
Robot Not Stopping When the robot arm has been requested to stop, some time
will pass from the request until the arm stops. During this time the signal will be high.
When the robot arm is moving and has not been requested to stop, or when the robot
arm is in a stopped position, the signal will be low.
Reduced Mode Sends a low signal when the robot arm is placed in Reduced mode
or if the safety input is configured with a Reduced Mode input and the signal is cur-
rently low. Otherwise the signal is high.
Not Reduced Mode This is the inverse of the Reduced Mode defined above.
CB3
input must be configured and applied to the Safety Configuration. In this case,
the default mode is Running. In order to switch to Programming mode, choose the
"Program Robot" button on the Welcome screen. To switch back to Running mode,
simply exit the "Program Robot" screen.
NOTE:
After the Safety I/O configuration with 3-Position Switch en-
abled is confirmed, the Welcome screen is automatically shown. The
Welcome screen is also automatically displayed when the operational
mode changes from Programming to Running.
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10.13 Safety I/O
Version 3.3.3