Universal Robots UR12e User Manual page 172

Advan
Signal
ced
Optio
ns
Safeguard stop auto
3PE stop
Operational mode
Reduced mode
Active limit set
Robot moving
Safe home position
UR12e
Description
The robot is stopped because it is operating in Automatic mode
and because of one of the following conditions:
• A safety PLC connected via PROFIsafe has asserted
safeguard stop auto.
• A unit connected to a safeguard stop auto configurable
safety input of the control box has asserted safeguard
stop auto.
The signal follows the safeguard reset semantics. A configured
safeguard stop reset functionality shall be used to reset this
signal
PROFIsafe implies use of the safeguard reset functionality
Robot is stopped because it is operating in Manual mode and
because of one of the following conditions:
• You are using a 3PE TP and none of the buttons are in the
middle position.
• A 3-position enabling device connected to a configurable
safety input of the control box has asserted the 3PE stop.
Indication of the current operational mode of the robot.
This mode can be: Disabled (0), Automatic (1), or Manual (2).
Reduced mode safety limits are currently active.
The active set of safety limits.
This can be: Normal (0), Reduced (1), or Recovery (2).
Robot is moving. If any joint moves at a velocity of 0.02 rad/s or
higher the robot is considered in motion.
Robot is at rest (robot not moving), and in the position defined as
the Safe Home Position.
173
11. Fieldbus
User Manual