UDT description available

Technical Questions
1

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.

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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

2
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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