2.4 Safety Modes
750 mm
200 mm
Figure 2.1: Certain areas of the workspace should receive attention regarding pinching hazards, due to
the physical properties of the robot arm. One area is defined for radial motions, when the wrist 1 joint
is at a distance of at least 750 mm from the base of the robot. The other area is within 200 mm of the base
of the robot, when moving in the tangential direction.
plane where both Normal and Reduced mode limits are allowed. It prevents the safety mode
from flickering if the robot is right at the limit.
Using an input to trigger Reduced mode: When an input is used (to either start or stop Reduced
mode), up to 500ms can elapse before the new mode limit values are applied. This could happen
either when changing Reduced mode to Normal mode OR changing Normal mode to Reduced
mode. It allows the robot to adapt e.g. the speed to the new safety limits.
Recovery Mode When a safety limit is violated, the safety system must be restarted. If the
system is outside a safety limit at start-up (e.g. outside a joint position limit), the special Recovery
mode is entered. In Recovery mode it is not possible to run programs for the robot, but the robot
arm can be manually moved back within limits either by using Freedrive mode or by using the
Move tab in PolyScope (see part II “PolyScope Manual”). The safety limits of Recovery mode
are:
Limiting Safety Function Limit
Joint speed 30
◦
/s
TCP speed 250
mm
/s
TCP force 100 N
Momentum 10
kg m
/s
Power 80 W
The safety system issues a Stop Category 0 if a violation of these limits appears.
WARNING:
Notice that limits for the joint position, the TCP position, and the
TCP orientation are disabled in Recovery Mode. Take caution when
moving the robot arm back within the limits.
UR5/e-Series I-14 Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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