I need to trigger alarm at protective stop using UR10 . Where buzzer is connected with relay.

There are configurable outputs on the robot that can be triggered on various events. Here's some info from the manual. 

I already tried with system emergency stop but alarm or buzzer is on every time it is stopped i.e. stopped as program is over. But i want an alarm when robot is stopped only due to emergency stop.

Kindly please suggest me if i am wrong.

Thanking you in advance.

The output should be high so long as the e-stop is not active. You would need to use normally closed relay so that when the output is high the relay would open and it would be closed when the output is low. You need to flip the logic of the configurable output

Thanks a lot. I understood the concept.But I think this can be applicable only when it is a continuous operation I mean when robot is repeating the process. But if there is an operator running the process each time. Each time after process completion it comes to an halt.Whenever robot comes to stop universal robot takes it as an emergency stop I guess then buzzer is on every time it is stopped but I want to know only protective stop like robot stuck into the working metal on conveyor I need to alert the operator about stopping the conveyor. 

Suggest me if I am wrong.

Thanking you in advance.

@lakshmip001 you may want to look at the Robot Moving signal, the Emergency Stop signal from the testing I have done only activates on an Emergency Stop, not on a protective stop.  We have a similar requirement and I am looking to use the Moving signal to do what I need.

@Stefan_Stubgaard do any of the safety outputs trigger on protective stop?  If not, could we have that added to the feature requests please as I think we will have more people that want to be alerted to issues in the cell.  Especially as we move to more and more systems that are designed to operate without an operator standing right there at the system.

@matthewd92 the functionality is available as I/O action under Installation/I-O setup. An output can be setup to go High when program is running and Low when it is not running. In case a protective stop occurs, the output will go Low.

As the state of the output is opposite of what you are requesting, you need to hardware the output to a relay that provides power to a lamp for example, when the relay is not triggered.

@Stefan_Stubgaard but then anytime the program is stopped the output will go low.  So if they stop the robot for the day for instance.  I am just looking for a way to know that a protective stop has occurred as that needs to be quickly resolved.  My fear is if they see a red flashing light anytime that the robot is stopped then they will just assume someone else stopped it and not go check on the cell to see what the issue is.  We already use the I/O actions on outputs to control what they are doing with the program for example, pieces of equipment that we want to make sure turn off when the robot stops playing such as conveyors or feeders so that we do not have over run situations

@matthewd92 my proposal was intended as pragmatic solution for what is already possible with the existing functionality.

Agree it will be useful for some application setups to have this functionality. Thanks for the input.

@Stefan_Stubgaard thanks.