Universal Robots UR30 - Safety Parameter Set

9.3.3. Safety Parameter Set
Description The safety system has the following set of configurable safety parameters:
•
Normal
•
Reduced
Normal and
Reduced
You can set up the safety limits for each set of safety parameters, creating distinct
configurations for normal, or higher settings, and reduced. The reduced configuration is
active when the tool/end effector is positioned on the reduced side of a Trigger Reduced
Plane, or when the reduced configuration is externally triggered by a safety input.
Using a plane to trigger the Reduced configuration: When the robot arm moves from the
side of the trigger plane configured with reduced safety parameters, to the side that is
configured with normal safety parameters, there is a 20mm area around the trigger plane
where both normal and reduced limits are allowed. This area around the trigger plane
prevents nuisance safety stops when the robot is exactly at the limit.
Using an input to trigger the Reduced configuration: When a safety input starts, or stops,
the reduced configuration, up to 500ms can elapse before the new limit values become
active. This can happen in either of the following circumstances:
•
Switching from the reduced configuration to normal
•
Switching from the normal configuration to reduced
The robot arm adapts to the new safety limits within the 500ms.
UR30 135 User Manual
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