Universal Robots UR16e PolyScope X User Manual page 65

8. Installation
Input The inputs are described in the tables below:
Signals
Emergency
Stop Button
Robot
Emergency
Stop
External
Emergency
Stop
Reduced
User Manual
Performs a Stop Category 1 (IEC 60204-1) informing other machines
using the System 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 1 (IEC 60204-1) on robot only.
All safety limits can be applied while the robot is using a Normal
configuration, or a Reduced configuration.
When configured, a low signal sent to the inputs causes the safety
system to transition to the reduced configuration. The robot arm
decelerates to satisfy the reduced parameters.
The safety system guarantees the robot is within reduced limits less
than 0.5s after the input is triggered. If the robot arm continues to
violate any of the reduced limits, a Stop Category 0 is triggered. Trigger
planes can also cause a transition to the reduced configuration. The
safety system transitions to the normal configuration in the same way.
67 UR16e PolyScope X