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Reduced Mode

All safety limits have two modes in which they can be applied: Normal mode, which specifies the

default safety configuration, and Reduced mode (see1.20.6. Safety Modeson page91 for more

details). When this input safety function is selected, a low signal given to the inputs causes the

safety system to transition to Reduced mode. If necessary, the robot arm then decelerates to

satisfy the Reduced mode limit set. Should the robot arm still violate any of the Reduced mode

limits, it performs a Stop Category 0. The transition back to Normal mode happens in the same

manner. Note that safety planes can also cause a transition to Reduced mode (seeSafety plane

configurationon page99 for more details).

Safeguard Reset

If Safeguard Stop is wired in the safety I/Os, then this input is used to ensure the Safeguard

Stopped state continues until a reset is triggered. The robot arm will not move when in Safeguard

Stopped state.

WARNING

By default, the Safeguard Reset function is configured for input pins 0 and 1.

Disabling it altogether implies that the robot arm ceases to be Safeguard Stopped

as soon as the Safeguard Stop input becomes high. In other words, without a

Safeguard Reset , the Safeguard Stop inputs SI0 and SI1 (see the

Hardware Installation Manual ) fully determine whether the Safeguard Stopped

state is active or not.

Three-Position Enabling Device and Operational Mode

These allow for using a 3-position enabling device as an additional protective measure during

setup and programming of the robot. With the Three-Position Enabling Device input

configured, the robot is either in “running mode” or “programming mode”. An icon will appear in

the upper right corner displaying the current operational mode:

• Running mode: Robot can perform only pre-defined tasks. The Move tab and Freedrive

mode are unavailable.

• Programming mode: The restrictions present in Running mode are lifted. Whenever the

Three-Position Enabling Device input is low, the robot is Safeguard Stopped and,

the speed slider is set at an initial value that corresponds to 250mm/s in normal mode.

However, in reduced mode, the scaling remains the same as for normal mode, so the

speed slider does not always reach 250mm/s; instead it can scale to a lower percentage

of the normal mode.

The speed slider can be incrementally increased to reach higher speed. The speed slider is

reset to the low value whenever the Three-Position Enabling Device input goes

from high to low.

There are two methods for configuring operational mode selection:

User Manual 105 UR10

Universal Robots UR10/CB3 User Manual

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