protective stop vs. safeguard stop
Robot Emergency stop vs. System Emergency stop
- a safeguard stop is a stop triggered by a safety hardware which pauses the robot program execution and is set to a digital config in
- a protective stop is (mostly) a stop caused by the robot software for e.g. Hardware protection, limited joint angles or speed limits.
- a system emergency stop is a emergency stop triggered by an external (2-channel) emergency stop button from a digital config In
- the robot emergency stop is triggered by the 2-Channel digital Emergency In or the emergency button on the UR pendant.
For further information, consider the manual
Sorry, I didn’t find detail information in the manual.
There are also SAFETY_MODE_VIOLATION and SAFETY_MODE_FAULT which seems to conflict with SAFETY_MODE_PROTECTIVE_STOP as you explained.