Output Signals - Universal Robots E Series Original Instructions Manual

21. Safety Configuration
If you are using a built-in 3-Position Enabling Device, the button must be pressed and held in
the mid position to move the robot.
Operational Mode
When defined, this input can be used to switch between Automatic Mode and Manual Mode
(see 20.1. Operational Modes on
Safeguard Reset
When a Safeguard Stop occurs, this output ensures that the Safeguard Stop state continues
until a reset is triggered.
Automatic Mode Safeguard Stop
Once configured, an Automatic Mode Safeguard Stop performs a Safeguard Stop when the
input pins are low and ONLY when the robot is in Automatic mode.
Automatic Mode Safeguard Reset
When an Automatic Mode Safeguard Stop occurs, the robot remains safeguard stopped in
Automatic Mode until a rising edge on the input pins trigger a reset.
WARNING
• If you disable the default Safeguard Reset input, the Robot Arm is no longer
Safeguard Stop stopped as soon as the input is high. A program paused only
by the Safeguard stop resumes.
• Similar to the Safeguard Reset, if the default Automatic Mode Safeguard
Reset is disabled, the Robot Arm is no longer Safeguard Stop stopped once
the Automatic Mode Safeguard Stop input is high. A program paused only by
the Automatic Mode Safeguard Stop resumes.

21.16.2. Output Signals

You can apply the following Safety functions for output signals. All signals return to low when the
state which triggered the high signal has ended:
System Emergency Stop
Signal is Low when the safety system has been triggered into an Emergency Stopped state by
the Robot Emergency Stop input or the Emergency Stop Button. To avoid deadlocks, if the
Emergency Stopped state is triggered by the System Emergency Stop input, low signal will not
be given.
Robot Moving
Signal is Low if the robot is moving, otherwise high.
Robot Not Stopping
Signal is High when the robot is stopped or in the process of stopping due to an emergency
stop or safeguard stop. Otherwise it will be logic low.
Reduced Mode
User Manual
page 115).
133 UR5e