Universal Robots UR5e User Manual page 110

Alternatively, the Z axis of an existing TCP can be copied by selecting that TCP from the drop-
down menu.
13.2.8 I/O
The I/O are divided between inputs and outputs and are paired up so that each function provides
a Category 3 and PLd I/O.
Input Signals
The following Safety Functions can be used with the input signals:
System Emergency Stop This is an emergency stop button alternative to the one on the Teach
Pendant, providing the same functionality if the device complies with ISO 13850.
Reduced Mode All safety limits can be applied in either Normal mode or Reduced mode (see
13.2.2). When configured, a low signal sent to the inputs causing the safety system to
transition to Reduced mode. The robot arm decelerates to satisfy the Reduced mode limit
set. The safety system guarantees that the robot is within Reduced mode limits less than
0.5s after the input is triggered. If the robot arm continues to violate any of the Reduced
mode limits, it performs a Stop Category 0. Transition back to Normal mode occurs in the
same way. Note: safety planes can also cause a transition to Reduced mode.
3-Position Enabling Device Defining a 3-Position Enabling Device safety input makes it pos-
sible to define an Operational Mode safety input. When defined, the 3-Position Enabling
Device must be held down for a robot in Manual Mode to move.
Operational Mode When defined, this input can be used to switch between Automatic Mode or
Manual Mode (see 12.1).
Safeguard Reset When a Safeguard Stop is configured, this output ensures that the Safeguard
Stop state continues until a reset is triggered. The robot arm will not move when in a Safe-
guard Stopped state.
CB5 II-26
13.2 Safety Menu Settings
Version 5.0.2