Universal Robots PolyScope X UR16e User Manual page 140

Output Signals
System Emergency Stop
Robot Moving
Robot Not Stopping
Reduced Mode
7.4.3. Safety Planes
Safety planes restrict robot workspace, the tool and the elbow.
WARNING
Defining safety planes only limits the defined Tool spheres and elbow, not the overall limit for
the robot arm.
Defining safety planes does not guarantee that other parts of the robot arm will obey this type
of restriction.
UR16e PolyScope X
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.
Signal is Low if the robot is moving, otherwise high.
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.
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.
Figure 2.5: PolyScope X screen displaying safety planes.
User Manual