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1.6.4. Safety Modes

Normal and Reduced mode

The safety system has two configurable safety modes: Normal and Reduced. Safety limits can

be configured for each of these two modes. Reduced mode is active when the robot TCP is

positioned beyond a Trigger Reduced mode plane or when triggered by a safety input. Reduced

mode can be triggered either by using a plane or by using an input.

Using a plane to trigger Reduced mode: When the robot moves from the Reduced mode 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 violated, 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85 “PolyScope Manual ”). The safety limits

of Recovery mode are:

Limiting Safety Function Limit

Joint speed 30°/s

TCP speed 250mm/s

TCP force 100N

Momentum 10kg m/s

Power 80W

The safety system issues a Stop Category 0 if a violation of these limits appears.

WARNING

Notice that limits for the joint position, the TCP position, and the TCP orientation

are disabled in Recovery Mode. Take caution when moving the robot arm back

within the limits.

UR10 16 User Manual

Universal Robots UR10/CB3 User Manual

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