Universal Robots UR30 - Software Safety Configuration

Recovery When a safety limit is exceeded, the safety system must be restarted. For example, if a joint
position limit is outside a safety limit, at start-up, Recovery is activated.
You cannot run programs for the robot when recovery is activated, but the robot arm can be
manually moved back within limits using Freedrive, or by using the Move tab in PolyScope.
The safety limits for Recovery 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
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 mode.
9.4. Software Safety Configuration
User Manual 136 UR30
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