Universal Robots+

Documentation Inconsistency on "Robot Not Stopping" Safety Output

There is a documentation inconsistency for the description on “Robot Not Stopping” in the two documents:

  • User Manual 2.5.2 ( UR3/CB3 v 3.7.0)
    “Logic high when the robot is stopped or in the process of stopping due to an emergency stop or safeguard stop. Otherwise it will be logic low.”
  • Software Manual 10.13.2 (PolyScope Manual v 3.5.0)
    “When the robot arm has been requested to stop, some time will pass from the request until the arm stops. During this time the signal will be high. When the robot arm is moving and has not been requested to stop, or when the robot arm is in a stopped position, the signal will be low.”