Description Under normal conditions, i.e.when no
1
robot stop is in effect, the safety system
operates in a Safety Mode associated with a set of safety limits:
•
Normal mode is the safety mode that is active by default
•
Reduced mode is active when the robot Tool Center Point (TCP) is positioned
beyond a Trigger Reduced mode plane (see17.8 Software Safety
Restrictionson page153), or when triggered using a configurable input
(see17.7 Safety I/Oon page149)
•
Recovery mode activates when a safety limit from the active limit set is
violated, the robot arm performs a Stop Category 0. If an active safety limit,
such as a joint position limit or a safety boundary, is violated already when the
robot arm is powered on, it starts up in Recovery mode. This makes it possible
to move the robot arm back within the safety limits. While in Recovery mode,
the movement of the robot arm is restricted by a fixed limit that you cannot
customize.
WARNING
Limits for joint position, tool position and tool orientation are
disabled in Recovery mode, so take caution when moving the robot
arm back within the limits.
The menu of the Safety Configuration screen enables the user to define separate sets
of safety limits for Normal and Reduced mode. For the tool and joints, Reduced mode
limits for speed and momentum are required to be more restrictive than their Normal
mode counterparts.
17.6. Software Safety Limits
Description In the Safety Configuration the safety system limits are specified. The
Safety System
receives the values from the input fields and detects any violation if any these values
are exceeded. The robot controller attempts to prevent any violations by making a
robot stop or by reducing the speed.
17.6.1. Robot Limits
Description Robot Limits restrict general robot movements. The Robot Limits screen has two
configuration options: Factory Presets and Custom.
1
Robot stop was previously known as "Protective Stop" for UniversalRobots robots.
UR10e 144 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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