Universal Robots UR30 PolyScope X User Manual page 30

Safety
Safety Input
inputs
Emergency
Stop Button
Robot
Emergency
Stop
Safeguard
Stop
Automatic
Mode
Safeguard
Stop
Safeguard
Reset
Reduced
Mode
Three-
Position
Enabling
Device
Freedrive on
robot
Operational
Mode
Automatic
Mode
Safeguard
Reset
UR30 PolyScope X
Description
Performs a Stop Category 1 (IEC 60204-1) informing other machines using
the System Emergency Stop output, if that output is defined. A stop is
initiated in anything connected to the output.
Performs a Stop Category 1 (IEC 60204-1) via Control Box input, informing
other machines using the System Emergency Stop output, if that output is
defined.
Performs a Stop Category 2 (IEC 60204-1) in all modes, except when using
a 3-Position Enabling Device and a mode selector - then when in Manual
Mode, the Safeguard Stop can be set to only function in Automatic Mode.
Performs a Stop Category 2 (IEC 60204-1) in Automatic mode ONLY.
Automatic Mode Safeguard Stop can only be selected when a Three-
Position Enabling Device is configured and installed.
Returns from the Safeguard Stop state, when a rising edge on the
Safeguard Reset input occurs.
Transitions the safety system to use the Reduced mode limits.
Initiates a Stop Category 2 (IEC 60204-1) when the enabling device is fully
pressed or fully released in manual mode only. Three-Position Enabling
Device Stop is triggered when an input goes low. It is unaffected by a
Safeguard Reset.
Enables freedrive, when the robot is not in Automatic Mode.
Switches between Operational modes. The robot is in Automatic mode
when input is low, Manual mode when input is high.
Returns from the Automatic Mode Safeguard Stop state, when a rising edge
on the Automatic Mode Safeguard Reset input occurs.
30
2. Safety
User Manual