Universal Robots UR16e PolyScope X User Manual page 66

Input The inputs are described in the table below
Signals
Operational
Mode
Safeguard
Reset
Safeguard
Automatic
Mode
Safeguard
Stop
Automatic
Mode
Safeguard
Reset
Freedrive on
robot
UR16e PolyScope X
When an external mode selection is used it switches between
Automatic Mode and Manual Mode. The robot is in Automatic mode
when input is low and Manual mode when the input is high .
Returns from the Safeguard Stop state, when a rising edge on the
Safeguard Reset input occurs. When a Safeguard Stop occurs, this
input ensures that the Safeguard Stop state continues until a reset is
triggered.
A stop triggered by a safeguard input. Performs a Stop Category 2
(IEC 60204-1) in all modes, when triggered by a Safeguard.
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 Automatic Mode Safeguard Stop state when a rising
edge on the Automatic Mode Safeguard Reset input occurs.
You can configure the Freedrive input to enable and use Freedrive
without pressing the Freedrive button on a standard TP, or without
having to press-and-hold any of the buttons on the 3PE TP in the
light-press position.
WARNING
When the default Safeguard Reset is disabled, an automatic reset happens
when the safeguard no longer triggers a stop.
This can happen if a person passes though the field of the safeguard.
If a person is not detected by the safeguard and the person is exposed to
hazards, automatic reset is forbidden by standards.
•
Use the external reset to ensure resetting only when a person is not
exposed to hazards.
WARNING
When Automatic Mode Safeguard stop is enabled, a safeguard Stop is not
triggered in Manual Mode.
68
8. Installation
User Manual