Ossd Safety Signals - Universal Robots e-Series Original Instructions Manual

Signal is Low when the robot arm is placed in Reduced mode or if the safety input is
configured with a Reduced Mode input and the signal is currently low. Otherwise the signal is
high.
Not Reduced Mode
This is the inverse of the Reduced Mode defined above.
Safe Home
Signal is High if the Robot Arm is stopped in the configured Safe Home Position. Otherwise,
the signal is Low.
NOTE
Any external machinery receiving its Emergency Stop state from the robot through
the System Emergency Stop output must comply with ISO 13850. This is
particularly necessary in setups where the Robot Emergency Stop input is
connected to an external Emergency Stop device. In such cases, the System
Emergency Stop output becomes high when the external Emergency Stop device is
released. This implies that the emergency stop state at the external machinery will
be reset with no manual action needed from the robot's operator. Hence, to comply
with safety standards, the external machinery must require manual action in order
to resume.

5.16.3. OSSD Safety Signals

You can configure the Control Box to output OSSD pulses when a safety output is inactive/high.
OSSD pulses detect the ability of the Control Box to make safety outputs active/low. When OSSD
pulses are enabled for an output, a 1ms low pulse is generated on the safety output once every
32ms. The safety system detects when an output is connected to a supply and shuts down the
robot.
The illustration below shows: the time between pulses on a channel (32ms), the pulse length (1ms)
and the time from a pulse on one channel to a pulse on the other channel (18ms)
Enabling OSSD for Safety Output
1. In the Header, tap Installation and select Safety.
2. Under Safety, select I/O.
3. On the I/O screen, under Output Signal, select the desired OSSD checkbox. You must assign
the output signal to enable the OSSD checkboxes.
e-Series 48
5. Safety Configuration
Software Manual