Communicating Via Profisafe - Universal Robots e-Series Original Instructions Manual

Please refer to 1.7. Robot Registration and License file on page 18
registration and license activation.

8.22.1. Communicating via PROFIsafe

A control message received from the safety PLC contains the information in the table below.
Signal
E-Stop by system
Safeguard stop
Reset safeguard stop
Safeguard stop auto
Reset safeguard stop auto
Reduced mode
Operational mode
A status message sent to the safety PLC contains the information in the table below.
Signal
Stop, cat. 0
Stop, cat. 1
Stop, cat. 2
Violation
e-Series
Description
Asserts the system e-stop.
Asserts the safeguard stop.
Resets safeguard stop state (on low-to-high transition in
automatic mode) if the safeguard stop input is cleared
beforehand.
Asserts safeguard stop if the robot is operating in Automatic
mode.
Safeguard stop auto shall only be used when a 3-Position
Enabling (3PE) Device is configured. If no 3PE Device is
configured, the safeguard stop auto acts as a normal safeguard
stop input.
Resets safeguard stop auto state (on low-to-high transition
when in automatic mode) if safeguard stop auto inputs are
cleared beforehand.
Activates the Reduced mode safety limits.
Activates either manual or automatic operational mode. If the
safety configuration "Operational mode selection via PROFIsafe"
is disabled, this field shall be omitted from the PROFIsafe
control message.
Description
Robot is performing, or it has completed, a safety stop of
category 0; A hard stop by immediate removal of power to the
arm and the motors.
Robot is performing, or it has completed, a safety stop of
category 1; A controlled stop after which the motors are left in a
power off state with brakes engaged.
Robot is performing, or it has completed, a safety stop of
category 2; A controlled stop after which the motors are left in a
power on state.
Robot is stopped because the safety system failed to comply
with the safety limits currently defined.
156
8. Installation Tab
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Software Manual