# \#safety-system **URL:** https://forum.universal-robots.com/tag/safety-system/42.md [Latest](https://forum.universal-robots.com/latest.md) · [Categories](https://forum.universal-robots.com/categories.md) · [Tags](https://forum.universal-robots.com/tags.md) --- ## [Emergency Stop Reset](https://forum.universal-robots.com/t/emergency-stop-reset/473)
**Author:** [@anon28486919](https://forum.universal-robots.com/u/anon28486919)\ **Replies:** 15\ **Last updated:** [June 16, 2024, 4:09pm UTC](https://forum.universal-robots.com/t/emergency-stop-reset/473 "2024-06-16T16:09:52Z")
Does anyone know if it is possible to reset an emergency stop event using a reset push button or programmatically? Thanks in advance. --- ## [Output signal when the UR Robot enters in Protection Stop or Emergency Stop](https://forum.universal-robots.com/t/output-signal-when-the-ur-robot-enters-in-protection-stop-or-emergency-stop/2290)
**Author:** [@anon39414626](https://forum.universal-robots.com/u/anon39414626)\ **Replies:** 4\ **Last updated:** [August 31, 2022, 6:46am UTC](https://forum.universal-robots.com/t/output-signal-when-the-ur-robot-enters-in-protection-stop-or-emergency-stop/2290 "2022-08-31T06:46:20Z")
Hi, I would like to now if its there a way to make the robot alert via an output signal when it enters an emergency stop, for example , when it hits something, it stop automatically, but i would want to output a signal … --- ## [Error: C281A7 Fault, problem with the teach pendant](https://forum.universal-robots.com/t/error-c281a7-fault-problem-with-the-teach-pendant/6356)
**Author:** [@anon67918840](https://forum.universal-robots.com/u/anon67918840)\ **Replies:** 4\ **Last updated:** [August 29, 2022, 9:11am UTC](https://forum.universal-robots.com/t/error-c281a7-fault-problem-with-the-teach-pendant/6356 "2022-08-29T09:11:57Z")
Unfortunately one of our two UR10e’s started yesterday with a C281A7 FAULT code… Nothing special has happened to this UR (as far as I know), the days before it was working properly. Our distributor is not very helpfull… --- ## [UR3 Wrist 3 reports different number of rotations after Safety Violation](https://forum.universal-robots.com/t/ur3-wrist-3-reports-different-number-of-rotations-after-safety-violation/2195)
**Author:** [@anon30558613](https://forum.universal-robots.com/u/anon30558613)\ **Replies:** 4\ **Last updated:** [July 12, 2022, 7:02pm UTC](https://forum.universal-robots.com/t/ur3-wrist-3-reports-different-number-of-rotations-after-safety-violation/2195 "2022-07-12T19:02:15Z")
I could not find a specific place to report bugs, so I figured I should post this here. Specifically, this issue corresponds to tracking the number of revolutions for Wrist 3 on a UR3 after a Safety Violation with a cor… --- ## [Profisafe for Safety](https://forum.universal-robots.com/t/profisafe-for-safety/2638)
**Author:** [@michael.brucksch](https://forum.universal-robots.com/u/michael.brucksch)\ **Replies:** 5\ **Last updated:** [June 27, 2022, 10:38am UTC](https://forum.universal-robots.com/t/profisafe-for-safety/2638 "2022-06-27T10:38:02Z")
We use the Robot with a safety S7. When we connecting the Robot, we Need many parts an cables for the safety communications. I think this is very helpful for many People. --- ## [Safety Inputs and NC+NO safety relay](https://forum.universal-robots.com/t/safety-inputs-and-nc-no-safety-relay/6224)
**Author:** [@anon13258759](https://forum.universal-robots.com/u/anon13258759)\ **Replies:** 2\ **Last updated:** [April 13, 2022, 2:51pm UTC](https://forum.universal-robots.com/t/safety-inputs-and-nc-no-safety-relay/6224 "2022-04-13T14:51:47Z")
Hi everyone. I had a question about the Emergency and Safeguard Stop dedicated inputs on the UR-10e. It is written in the documentation that « All safety-related I/O are constructed redundantly (two independent channel… --- ## [Safety plane just for TCP](https://forum.universal-robots.com/t/safety-plane-just-for-tcp/8493)
**Author:** [@anon15159825](https://forum.universal-robots.com/u/anon15159825)\ **Replies:** 12\ **Last updated:** [July 16, 2021, 8:25am UTC](https://forum.universal-robots.com/t/safety-plane-just-for-tcp/8493 "2021-07-16T08:25:43Z")
Hello, Our Cobot works with a hot tool and I´m trying to get the process safer. I want to create a plane that can´t be passed by the tool. That sounds like the perfect use for a safetyplane. The problem is, the robot st… --- ## [Rest FAULT via remote interface](https://forum.universal-robots.com/t/rest-fault-via-remote-interface/1528)
**Author:** [@anon77093046](https://forum.universal-robots.com/u/anon77093046)\ **Replies:** 6\ **Last updated:** [June 23, 2021, 8:48pm UTC](https://forum.universal-robots.com/t/rest-fault-via-remote-interface/1528 "2021-06-23T20:48:45Z")
Sometimes our robots end in a FALUT state, but I have nut found a good way of remote resetting this fault. I have tried via the Dashboard interface with the following: robotmode Robotmode: POWER\_OFF safetymode Safetym… --- ## [C281A3: Robot State Machine: Shoulder joint eneterd the Fault State](https://forum.universal-robots.com/t/c281a3-robot-state-machine-shoulder-joint-eneterd-the-fault-state/11925)
**Author:** [@anon20128741](https://forum.universal-robots.com/u/anon20128741)\ **Replies:** 5\ **Last updated:** [May 11, 2021, 10:54am UTC](https://forum.universal-robots.com/t/c281a3-robot-state-machine-shoulder-joint-eneterd-the-fault-state/11925 "2021-05-11T10:54:58Z")
Hey there, we are using an UR5e to assemble lithium-ion batteries by using the forces measured in its joints. I have written a state machine in URScript telling the robot how to find the hole and center the battery. B… --- ## [How to Fault the Robot Safely for Testing](https://forum.universal-robots.com/t/how-to-fault-the-robot-safely-for-testing/4930)
**Author:** [@anon83916365](https://forum.universal-robots.com/u/anon83916365)\ **Replies:** 2\ **Last updated:** [April 13, 2021, 6:41am UTC](https://forum.universal-robots.com/t/how-to-fault-the-robot-safely-for-testing/4930 "2021-04-13T06:41:45Z")
Hey Guys i am working with a UR 10e interfacing with a PC. Does anyone know how i can safely fault the robot for testing purposes? --- ## [Shutting off a tool when a fault condition is met](https://forum.universal-robots.com/t/shutting-off-a-tool-when-a-fault-condition-is-met/8796)
**Author:** [@anon71517064](https://forum.universal-robots.com/u/anon71517064)\ **Replies:** 1\ **Last updated:** [February 8, 2021, 6:44pm UTC](https://forum.universal-robots.com/t/shutting-off-a-tool-when-a-fault-condition-is-met/8796 "2021-02-08T18:44:50Z")
Hello first a description of what we are doing . We are using a orbital sander on a Ur 10 E and the sander is enabled and Disabled thru the Ur set function. so currently if our system Has any type of fault the robo… --- ## [Remote Protective Stop Enable](https://forum.universal-robots.com/t/remote-protective-stop-enable/8665)
**Author:** [@mmillet](https://forum.universal-robots.com/u/mmillet)\ **Replies:** 1\ **Last updated:** [February 8, 2021, 6:06pm UTC](https://forum.universal-robots.com/t/remote-protective-stop-enable/8665 "2021-02-08T18:06:29Z")
We are using the new digital output “Low on unscheduled stop, otherwise High” to activate an external safety stop. We would like it also to be released remotely For this we need to “Enable” the robot remotely, this mea… --- ## [Constraint joint limits during movement](https://forum.universal-robots.com/t/constraint-joint-limits-during-movement/4344)
**Author:** [@anon15593451](https://forum.universal-robots.com/u/anon15593451)\ **Replies:** 0\ **Last updated:** [May 22, 2019, 6:39am UTC](https://forum.universal-robots.com/t/constraint-joint-limits-during-movement/4344 "2019-05-22T06:39:38Z")
I am using UR5e model. Is there a way to constraint joint limits during movement. If I set the robot to move from one point to another with a constraint saying wrist 1 can move only +/- 45 deg from the current pose, wil… --- ## [Fault the UR trough URScript](https://forum.universal-robots.com/t/fault-the-ur-trough-urscript/6120)
**Author:** [@moliveira](https://forum.universal-robots.com/u/moliveira)\ **Replies:** 0\ **Last updated:** [January 21, 2020, 3:58pm UTC](https://forum.universal-robots.com/t/fault-the-ur-trough-urscript/6120 "2020-01-21T15:58:13Z")
I am trying to fault the UR using the “popup(s, title=’Popup’, warning=False, error=False, blocking=False)” URScript command. However, when if I set popup(s, title=’Popup’, error=True, blocking=True) I get my pop up to… --- ## [Get safety system configuration](https://forum.universal-robots.com/t/get-safety-system-configuration/3600)
**Author:** [@anon50684728](https://forum.universal-robots.com/u/anon50684728)\ **Replies:** 1\ **Last updated:** [August 7, 2019, 2:19pm UTC](https://forum.universal-robots.com/t/get-safety-system-configuration/3600 "2019-08-07T14:19:58Z")
I’m new with UR so sorry if this question sound strange. We are using external application to control UR5. And are developing an application for processing objects with different size. It would be nice to manage safet… --- ## [Polyscope freezes when the robot enters emergency stop during movement](https://forum.universal-robots.com/t/polyscope-freezes-when-the-robot-enters-emergency-stop-during-movement/11657)
**Author:** [@umberto.fontana](https://forum.universal-robots.com/u/umberto.fontana)\ **Replies:** 1\ **Last updated:** [January 25, 2021, 2:43pm UTC](https://forum.universal-robots.com/t/polyscope-freezes-when-the-robot-enters-emergency-stop-during-movement/11657 "2021-01-25T14:43:44Z")
Hi, I am developing a URCap to interact with a tool and I follow the official guide. I have noticed a malfunction that occurs when the robot, in motion, goes into emergency mode. Specifically, the keys no longer respon… --- ## [Dashboard - Restart program after safety mode "violation" without teach pendant](https://forum.universal-robots.com/t/dashboard-restart-program-after-safety-mode-violation-without-teach-pendant/2038)
**Author:** [@jwestphal](https://forum.universal-robots.com/u/jwestphal)\ **Replies:** 5\ **Last updated:** [January 19, 2021, 6:41pm UTC](https://forum.universal-robots.com/t/dashboard-restart-program-after-safety-mode-violation-without-teach-pendant/2038 "2021-01-19T18:41:13Z")
Hello, my company is selling machines with UR5 and UR10. They are fully integrated in our machine, what means, that we do not have a teachpendant. If a stop situation occurs (safeguard, protective, emergency, violation… --- ## [Documentation Inconsistency on "Robot Not Stopping" Safety Output](https://forum.universal-robots.com/t/documentation-inconsistency-on-robot-not-stopping-safety-output/2943)
**Author:** [@lcs](https://forum.universal-robots.com/u/lcs)\ **Replies:** 0\ **Last updated:** [October 17, 2018, 11:38am UTC](https://forum.universal-robots.com/t/documentation-inconsistency-on-robot-not-stopping-safety-output/2943 "2018-10-17T11:38:35Z")
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 … --- ## [Recalculate Checksum after safety setting change without Teach Pendant installed](https://forum.universal-robots.com/t/recalculate-checksum-after-safety-setting-change-without-teach-pendant-installed/1430)
**Author:** [@anon30558613](https://forum.universal-robots.com/u/anon30558613)\ **Replies:** 4\ **Last updated:** [January 13, 2021, 2:06pm UTC](https://forum.universal-robots.com/t/recalculate-checksum-after-safety-setting-change-without-teach-pendant-installed/1430 "2021-01-13T14:06:59Z")
My company is trying to run a UR robot headless (i.e. without a Teach Pendant). One of the impediments we are facing is changing the safety parameters on the robot without the Teach Pendant. Does anyone know how the saf… --- ## [OSSD safety sensor at Safeguard input](https://forum.universal-robots.com/t/ossd-safety-sensor-at-safeguard-input/6595)
**Author:** [@ts1](https://forum.universal-robots.com/u/ts1)\ **Replies:** 3\ **Last updated:** [March 12, 2020, 1:45pm UTC](https://forum.universal-robots.com/t/ossd-safety-sensor-at-safeguard-input/6595 "2020-03-12T13:45:07Z")
Hi We have an application where we want to trigger a safeguard stop with a OSSD safety sensor directly into the UR controller. (The sensor is a SICK IME2S12-04B4DC0). Is the safeguard input capable to take OSSD signals … --- ## [Reduced Mode only allowed to be used for 1 Configurable Input set](https://forum.universal-robots.com/t/reduced-mode-only-allowed-to-be-used-for-1-configurable-input-set/11079)
**Author:** [@randy.campbell](https://forum.universal-robots.com/u/randy.campbell)\ **Replies:** 2\ **Last updated:** [December 28, 2020, 10:57pm UTC](https://forum.universal-robots.com/t/reduced-mode-only-allowed-to-be-used-for-1-configurable-input-set/11079 "2020-12-28T22:57:15Z")
I would like to have 2 separate devices have the opportunity to trigger reduced mode in my system. After I have configured the first configurable input for “Reduced Mode” the safety settings page will not allow another … --- ## [C281A4: Robot State Machine:Wrist 3 joint entered violation state](https://forum.universal-robots.com/t/c281a4-robot-state-machine-wrist-3-joint-entered-violation-state/10836)
**Author:** [@anon978737](https://forum.universal-robots.com/u/anon978737)\ **Replies:** 1\ **Last updated:** [December 21, 2020, 7:39am UTC](https://forum.universal-robots.com/t/c281a4-robot-state-machine-wrist-3-joint-entered-violation-state/10836 "2020-12-21T07:39:49Z")
Hi I am trying to implement torque control of a UR5e robot. However as I tested the script I hope will be able to set the torque to each of the joints this error message appeared. C281A4: Robot State Machine:Wrist 3 jo… --- ## [Difference between backdrive and running](https://forum.universal-robots.com/t/difference-between-backdrive-and-running/9799)
**Author:** [@anon75952180](https://forum.universal-robots.com/u/anon75952180)\ **Replies:** 2\ **Last updated:** [November 10, 2020, 2:19pm UTC](https://forum.universal-robots.com/t/difference-between-backdrive-and-running/9799 "2020-11-10T14:19:27Z")
Hi, Could you tell me what’s the difference between the robot mode BACKDRIVE and RUNNING? Are the robot modes described somewhere in a document? Thank you! Aurélien --- ## [Dynamically changing gravity vector](https://forum.universal-robots.com/t/dynamically-changing-gravity-vector/7633)
**Author:** [@anon40343945](https://forum.universal-robots.com/u/anon40343945)\ **Replies:** 12\ **Last updated:** [October 8, 2020, 5:27pm UTC](https://forum.universal-robots.com/t/dynamically-changing-gravity-vector/7633 "2020-10-08T17:27:32Z")
Hello, we are trying to operate an UR5 as part of an extended manipulator, i.e. it’s mounted as part of a kinematic chain with additional movable joints prior to the UR5. Those joints change the orientation of the UR5’… --- ## [Simulate safety cond. on URsim?](https://forum.universal-robots.com/t/simulate-safety-cond-on-ursim/8615)
**Author:** [@anon6991142](https://forum.universal-robots.com/u/anon6991142)\ **Replies:** 1\ **Last updated:** [September 1, 2020, 10:30am UTC](https://forum.universal-robots.com/t/simulate-safety-cond-on-ursim/8615 "2020-09-01T10:30:56Z")
Hi… Is there a way to simulaet Safety conditions on URsim? (E-stop, ligth curtains, triggering reduce mode) Im developing a URCap that need to monitor the safety status. and doing that will shorten may shorting my deve… --- ## [Obtaining configuration data](https://forum.universal-robots.com/t/obtaining-configuration-data/8565)
**Author:** [@anon30805486](https://forum.universal-robots.com/u/anon30805486)\ **Replies:** 2\ **Last updated:** [August 25, 2020, 11:53am UTC](https://forum.universal-robots.com/t/obtaining-configuration-data/8565 "2020-08-25T11:53:08Z")
Is there a way to obtain the below mentioned configuration data? Maximum payload Number of settable TCPS Number of settable Payloads Controller Software Version\*\* --- ## [What is meant by collaborative mode?](https://forum.universal-robots.com/t/what-is-meant-by-collaborative-mode/8358)
**Author:** [@anon30805486](https://forum.universal-robots.com/u/anon30805486)\ **Replies:** 4\ **Last updated:** [August 4, 2020, 12:15pm UTC](https://forum.universal-robots.com/t/what-is-meant-by-collaborative-mode/8358 "2020-08-04T12:15:38Z")
What is meant by the collaborative mode in UR Driver? Are there any interfaces involved in enabling collaborative mode? --- ## [Difference between protective stop and safeguard stop](https://forum.universal-robots.com/t/difference-between-protective-stop-and-safeguard-stop/8167)
**Author:** [@highouse1990](https://forum.universal-robots.com/u/highouse1990)\ **Replies:** 2\ **Last updated:** [July 20, 2020, 7:59am UTC](https://forum.universal-robots.com/t/difference-between-protective-stop-and-safeguard-stop/8167 "2020-07-20T07:59:15Z")
protective stop vs. safeguard stop Robot Emergency stop vs. System Emergency stop --- ## [Activate Safety Boundaries with safe input](https://forum.universal-robots.com/t/activate-safety-boundaries-with-safe-input/2062)
**Author:** [@anon30144596](https://forum.universal-robots.com/u/anon30144596)\ **Replies:** 2\ **Last updated:** [June 11, 2018, 12:58pm UTC](https://forum.universal-robots.com/t/activate-safety-boundaries-with-safe-input/2062 "2018-06-11T12:58:16Z")
Hi is there a possibility to link the activation of a safety boundary to a safe input? Let’s say I want to activate a certain safety boundary (or even combination of boundaries) when a certain safety input is high? Vol… --- ## [Differences between Fault and Violation](https://forum.universal-robots.com/t/differences-between-fault-and-violation/5448)
**Author:** [@anon4739170](https://forum.universal-robots.com/u/anon4739170)\ **Replies:** 1\ **Last updated:** [November 1, 2019, 7:44am UTC](https://forum.universal-robots.com/t/differences-between-fault-and-violation/5448 "2019-11-01T07:44:25Z")
Hello everybody, I have been through the user manual several times and I still do not get when a Fault or Violation is triggered. Could someone give a clarification, that is, what causes a Fault or Violation? Of course… [Next page](https://forum.universal-robots.com/tag/safety-system/42.md?match_all_tags=true&page=1&tags%5B%5D=safety-system)