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1.20.6. Safety Modes

Under normal conditions (i.e.when no protective stop is in effect), the safety system operates in

one of the following safety modes, each with an associated set of safety limits:

Normal mode

The safety mode that is active by default;

Reduced mode

Active when the robot TCP is positioned beyond a Trigger Reduced mode plane (see1.20.13.

Safety I/Oon page104).1.20.12. Boundarieson page97), or when triggered using a

configurable input (see

Recovery mode

When the robot arm is in violation of one of the other modes (i.e. Normal or Reduced mode)

and a Stop Category 0 has occurred,

the robot arm will start up in Recovery mode. This

mode allows the robot to move slowly back to the allowed area using MoveTab or Freedrive.

It is not possible to run programs for the robot in this mode.

WARNING

Note that limits for joint position, TCP position and TCP orientation are disabled in

Recovery mode, so take caution when moving the robot arm back within the

limits.

The subtabs of the Safety Configuration screen enable the user to define separate sets of

safety limits for Normal and Reduced mode. For the tool and joints, Reduced mode limits

regarding speed and momentum are required to be more restrictive than their Normal mode

counterparts.

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 limited by a fixed limit set that is not customizable by the user. For details about Recovery

mode limits, see the Hardware Installation Manual .

1. According to IEC60204-1, see Glossary for more details.↩

1.20.7. Freedrive Mode

When in Freedrive mode (seeFreedriveon page122) and the movement of the robot arm comes

close to certain limits, the user will feel a repelling force. This force is generated for limits on

the position, orientation and speed of the robot TCP and the position and speed of the joints.

The purpose of this repelling force is to inform the user that the current position or speed is

close to a limit and to prevent the robot from violating that limit. However, if enough force is

applied by the user to the robot arm, the limit can be violated. The magnitude of the force

increases as the robot arm comes closer to the limit.

User Manual 91 UR10

Universal Robots UR10/CB3 User Manual

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