Universal Robots UR3e PolyScope X - Page 30

NOTICE
The tool speed and force are limited at the tool flange and the center of the two user-defined
tool positions
Under normal conditions, i.e.when no Robot stop is in effect, the safety system operates in a Safety Mode
associated with a set of safety limits
1
:
Safety mode Effect
Normal mode is the safety mode that is active by default.
Reduced mode activates when the Tool Center Point (TCP) is positioned beyond a Trigger
Reduced mode plane, or when triggered using a configurable input.
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. In Recovery mode, the movement of the robot
arm is restricted by a fixed limit that you cannot customize.
Safety Planes
Safety planes restrict robot workspace, the tool and the elbow.
WARNING
Defining safety planes only limits the defined Tool spheres and elbow, not the overall limit for
the robot arm.
Defining safety planes does not guarantee that other parts of the robot arm will obey this type
of restriction.
1
Robot stop was previously known as "Protective stop" for UniversalRobots.
UR3e PolyScope X 30 User Manual
3.Safety
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