Safety Function; Modes - Universal Robots E Series Original Instructions Manual

Safety
Description
Output
Reduced
Logic low when the safety system is in Reduced Mode.
Mode
Not
Reduced Logic low when the system is not in Reduced Mode.
Mode
Safe Home Logic high when robot is in the configured Safe Home Position.
All safety I/O are dual channel, meaning they are safe when low (e.g., the Emergency Stop
is active when the signals are low).

3.4. Safety Function

The safety system acts by monitoring if any of the safety limits are exceeded or if an
Emergency Stop or a Safeguard Stop is initiated.
The reactions of the safety system are:
Trigger
Emergency Stop
Safeguard Stop
Limit Violation
Fault Detection
NOTE
If the safety system detects any fault or violation, all safety outputs re-set
to low.

3.5. Modes

Normal and Reduced Mode
The safety system has two configurable Modes: Normal and Reduced. Safety limits can
be configured for each of these two modes. Reduced Mode is active when the robot
tool/end effector is positioned on the Reduced Mode side of a Trigger Reduced Mode
plane or when triggered by a safety input.
Using a plane to trigger Reduced Mode: When the robot moves from the Reduced Mode
UR5e
3. Safety-related Functions and Interfaces
Reaction
Stop Category 1.
Stop Category 2.
Stop Category 0.
Stop Category 0.
22 User Manual