Universal Robots UR10e PolyScope X User Manual page 34

Safety outputs For interfacing with other machines, the robot is equipped with the following safety
outputs:
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
UR10e PolyScope X
Safety
Description
Output
System
While this signal is logic low, the Robot Emergency Stop input is logic
Emergency
low or the Emergency Stop button is pressed.
Stop
Robot While this signal is logic high, no single joint of the robot moves more
Moving than 0.1 rad/s.
Logic high when the robot is stopped or in the process of stopping
Robot Not
due to an Emergency Stop or Safeguard Stop. Otherwise it will be
Stopping
logic low.
Reduced Logic low when the safety system is in Reduced Mode.
Not Reduced Logic low when the system is not in Reduced Mode.
Safe Home Logic high when robot is in the configured Safe Home Position.
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
NOTICE
If the safety system detects any fault or violation, all safety outputs
re-set to low.
34
2. Safety
Reaction
Stop Category 1
Stop Category 2
Stop Category 2
Stop Category 0
Stop Category 0
User Manual