Universal Robots UR10e PolyScope X User Manual page 33

2. Safety
Safety inputs
User Manual
The robot also has the following safety inputs:
Safety Input Description
Performs a Stop Category 1 (IEC 60204-1) informing other machines
Emergency
using the System Emergency Stop output, if that output is defined. A
Stop Button
stop is initiated in anything connected to the output.
Robot Performs a Stop Category 1 (IEC 60204-1) via Control Box input,
informing other machines using the System Emergency Stop output,
Emergency
Stop if that output is defined.
System
Performs a Stop Category 1 (IEC 60204-1) on robot only, in all
Emergency
modes and takes precedence over all other commands.
Stop
Performs a Stop Category 2 (IEC 60204-1) in all modes, except
Safeguard when using a 3-Position Enabling Device and a mode selector - then
Stop when in Manual Mode, the Safeguard Stop can be set to only
function in Automatic Mode.
Automatic
Performs a Stop Category 2 (IEC 60204-1) in Automatic mode
Mode
ONLY. Automatic Mode Safeguard Stop can only be selected when a
Safeguard
Three-Position Enabling Device is configured and installed.
Stop
Safeguard Returns from the Safeguard Stop state, when a rising edge on the
Reset Safeguard Reset input occurs.
Reduced
Transitions the safety system to use the Reduced mode limits.
Mode
Three- Initiates a Stop Category 2 (IEC 60204-1) when the enabling device
Position is fully pressed or fully released in manual mode only. Three-Position
Enabling Enabling Device Stop is triggered when an input goes low. It is
Device unaffected by a Safeguard Reset.
Freedrive on
Enables freedrive, when the robot is not in Automatic Mode.
robot
Operational Switches between Operational modes. The robot is in Automatic
Mode mode when input is low, Manual mode when input is high.
Automatic
Mode Returns from the Automatic Mode Safeguard Stop state, when a
Safeguard rising edge on the Automatic Mode Safeguard Reset input occurs.
Reset
33 UR10e PolyScope X