side of the trigger plane, back to the Normal Mode side, there is a 20mm area around the
trigger plane where both Normal and Reduced Mode limits are allowed. It prevents the
Safety Mode from flickering if the robot is right at the limit.
Using an input to trigger Reduced Mode: When an input is used (to either start or stop
Reduced Mode), up to 500ms can elapse before the new mode limit values are applied.
This could happen either when changing Reduced Mode to Normal Mode OR changing
Normal Mode to Reduced Mode. It allows the robot to adapt e.g. the speed to the new
safety limits.
Recovery Mode
When a safety limit is exceeded, the safety system must be restarted. If the system is
outside a safety limit at start-up (e.g.outside a joint position limit), the special Recovery
Mode is entered. In Recovery Mode, it is not possible to run programs for the robot, but
the robot arm can be manually moved back within limits either by using Freedrive Mode or
by using the Move tab in PolyScope (see partPart II PolyScope Manualon
page97PolyScope Manual ). The safety limits of Recovery Mode are:
Safety Function Limit
Joint Speed Limit 30°/s
Speed Limit 250mm/s
Force Limit 100N
Momentum Limit 10kg m/s
Power Limit 80W
The safety system issues a Stop Category 0 if a violation of these limits appears.
WARNING
Limits for the joint positions, the safety planes, and the tool/end effector
orientation are disabled in Recovery Mode. Take caution when moving the
robot arm back within the limits.
User Manual 23 UR5e
3.Safety-related Functions and Interfaces
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
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