Universal Robots UR10e PolyScope X - Modes

2.10.5. Modes
Description When a safety limit is exceeded, Recovery Mode is automatically activated, allowing
the robot arm to be moved. Recovery Mode is a type of Manual Mode .
You cannot run robot programs when Recovery Mode is active.
During Recovery Mode, the robot arm is moved to be within joint limits, using either
Freedrive or the Move tab in PolyScope.
Safety limits of
Recovery Mode
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
Failure to use caution when moving the robot arm in recovery mode
can lead to hazardous situations.
•
Use caution when moving the robot arm back within the limits,
as limits for the joint positions, the safety planes, and the
tool/end effector orientation are all disabled in recovery.
User Manual 37 UR10e PolyScope X
2.Safety
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