Universal Robots UR16e

Description Under normal conditions, i.e.when no
1
robot stop is in effect, the safety
system operates in a Safety Mode associated with a set of safety limits:
•
Normal mode is the safety mode that is active by default
•
Reduced mode is active when the robot Tool Center Point (TCP) is
positioned beyond a Trigger Reduced mode plane (see5.8. Software
Safety Restrictionson page146), or when triggered using a
configurable input (see5.7. Safety I/Oon page141)
•
Recovery mode activates 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 restricted by a fixed limit that you cannot customize.
WARNING
Limits for joint position, tool position and tool orientation
are disabled in Recovery mode, so take caution when
moving the robot arm back within the limits.
The menu of the Safety Configuration screen enables the user to define
separate sets of safety limits for Normal and Reduced mode. For the tool
and joints, Reduced mode limits for speed and momentum are required to
be more restrictive than their Normal mode counterparts.
5.6. Software Safety Limits
Description In the Safety Configuration the safety system limits are specified. The
Safety System receives the values from the input fields and detects any
violation if any these values are exceeded. The robot controller attempts to
prevent any violations by making a robot stop or by reducing the speed.
5.6.1. Robot Limits
Description Robot Limits restrict general robot movements. The Robot Limits screen
has two configuration options: Factory Presets and Custom.
1
Robot stop was previously known as "Protective Stop" for UniversalRobots robots.
UR16e 136 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.