Universal Robots UR30 PolyScope X User Manual page 31

2. Safety
Safety For interfacing with other machines, the robot is equipped with the following safety outputs:
outputs
Safety
Output
System
Emergency
Stop
Robot
Moving
Robot Not
Stopping
Reduced
Not Reduced
Safe Home
All safety I/O are dual channel, meaning they are safe when low (e.g., the Emergency Stop is
active when the signals are low).
2.10.3. Safety Functions
Description The safety system acts by monitoring if any of the safety limits are exceeded or if an
Emergency Stop or a Safeguard Stop is initiated.
The reactions of the safety system are:
Trigger
Emergency Stop
Safeguard Stop
3PE Stop (if a 3-Position Enabling device is connected)
Limit Violation
Fault Detection
User Manual
Description
While this signal is logic low, the Robot Emergency Stop input is logic low
or the Emergency Stop button is pressed.
While this signal is logic high, no single joint of the robot moves more than
0.1 rad/s.
Logic 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.
Logic low when the safety system is in Reduced Mode.
Logic low when the system is not in Reduced Mode.
Logic high when robot is in the configured Safe Home Position.
NOTICE
If the safety system detects any fault or violation, all safety outputs re-
set to low.
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Reaction
Stop Category 1
Stop Category 2
Stop Category 2
Stop Category 0
Stop Category 0
UR30 PolyScope X