Tool Properties; I/O; Input Signals - Universal Robots E Series Original Instructions Manual

21.15.2. Tool Properties

By default, the tool points in the same direction as the Z axis of the tool output flange. This can be
modified by specifying two angles:
Tilt angle: How much to tilt the Z axis of the output flange towards the X axis of the output flange
Pan angle: How much to rotate the tilted Z axis around the original output flange Z axis.
Alternatively, the Z axis of an existing TCP can be copied by selecting that TCP from the drop-down
menu.

21.16. 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.

21.16.1. 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
Modes on page 123). When configured, a low signal sent to the inputs causes 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 to Normal mode occurs in the same way. The trigger planes can also
cause a transition to Reduced mode.
3-Position Enabling Device
In Manual Mode, an external 3-Position Enabling Device must be pressed and held in the
center-on position to move the robot.
UR5e 132
21. Safety Configuration
21.8. Safety
User Manual