Hi there,
I am connected to an UR10e from Siemens 1500 PLC and Dashboarder Server. All is working well.
In order to start the robot from the PLC I use a digital output that is connected to the “power on” input of the controller box. This also works well.
Then in order to “initiate” everything (releasing brakes, starting a program,…) I use the dashboard server together with the “Robot mode” and “Safety mode” variables provided by the UR UDT. See attached screenshot.
Now my question: Is there a description of those modes? I would like to know what Robot mode = 3 or 5 or 7 means. Equally I would like to know what the “Safety mode” numbers mean exactly.
Thanks
Jan
| Robot Modes | ||||||
|---|---|---|---|---|---|---|
| -1 | ROBOT_MODE_NO_CONTROLLER | |||||
| 0 | ROBOT_MODE_DISCONNECTED | |||||
| 1 | ROBOT_MODE_CONFIRM_SAFETY | |||||
| 2 | ROBOT_MODE_BOOTING | |||||
| 3 | ROBOT_MODE_POWER_OFF | |||||
| 4 | ROBOT_MODE_POWER_ON | |||||
| 5 | ROBOT_MODE_IDLE | |||||
| 6 | ROBOT_MODE_BACKDRIVE | |||||
| 7 | ROBOT_MODE_RUNNING | |||||
| 8 | ROBOT_MODE_UPDATING_FIRMWARE |
| Safety Mode Types | ||||||
|---|---|---|---|---|---|---|
| Value | CB3 | e-Series | Comment | |||
| — | — | — | — | — | ||
| SAFETY_MODE_UNDEFINED_SAFETY_MODE | 11 | X | X | |||
| SAFETY_MODE_VALIDATE_JOINT_ID | 10 | X | ||||
| SAFETY_MODE_FAULT | 9 | X | X | |||
| SAFETY_MODE_VIOLATION | 8 | X | X | |||
| SAFETY_MODE_ROBOT_EMERGENCY_STOP | 7 | X | X | (EA + EB + SBUS->Euromap67) Physical e-stop interface input activated | ||
| SAFETY_MODE_SYSTEM_EMERGENCY_STOP | 6 | X | X | (EA + EB + SBUS->Screen) Physical e-stop interface input activated | ||
| SAFETY_MODE_SAFEGUARD_STOP | 5 | X | X | (SI0 + SI1 + SBUS) Physical s-stop interface input | ||
| SAFETY_MODE_RECOVERY | 4 | X | X | |||
| SAFETY_MODE_PROTECTIVE_STOP | 3 | X | X | |||
| SAFETY_MODE_REDUCED | 2 | X | X | |||
| SAFETY_MODE_NORMAL | 1 | X | X |
| Safety Status Types | ||||||
|---|---|---|---|---|---|---|
| Value | CB3 | e-Series | Comment | |||
| — | — | — | — | — | ||
| SAFETY_STATUS_SYSTEM_THREE_POSITION_ENABLING_STOP | 13 | X | ||||
| SAFETY_STATUS_AUTOMATIC_MODE_SAFEGUARD_STOP | 12 | X | ||||
| SAFETY_STATUS_UNDEFINED_SAFETY_MODE | 11 | X | X | |||
| SAFETY_STATUS_VALIDATE_JOINT_ID | 10 | X | ||||
| SAFETY_STATUS_FAULT | 9 | X | X | |||
| SAFETY_STATUS_VIOLATION | 8 | X | X | |||
| SAFETY_STATUS_ROBOT_EMERGENCY_STOP | 7 | X | X | (EA + EB + SBUS->Euromap67) Physical e-stop interface input activated | ||
| SAFETY_STATUS_SYSTEM_EMERGENCY_STOP | 6 | X | X | (EA + EB + SBUS->Screen) Physical e-stop interface input activated | ||
| SAFETY_STATUS_SAFEGUARD_STOP | 5 | X | X | (SI0 + SI1 + SBUS) Physical s-stop interface input | ||
| SAFETY_STATUS_RECOVERY | 4 | X | X | |||
| SAFETY_STATUS_PROTECTIVE_STOP | 3 | X | X | |||
| SAFETY_STATUS_REDUCED | 2 | X | X | |||
| SAFETY_STATUS_NORMAL | 1 | X | X |
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