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5.2 Safety Modes

WARNING:

There are two exceptions to the force limiting function that are impor-

tant to notice when designing the work cell for the robot. These are

illustrated in Figure 5.1. As the robot stretches out, the knee-joint ef-

fect can give high forces in the radial direction (away from the base),

but at the same time, low speeds. Similarly, the short leverage arm,

when the tool is close to the base and moving tangential (around) the

base, can cause high forces, but also at low speeds. Pinching haz-

ards can be avoided for instance by, removing obstacles in these ar-

eas, placing the robot differently, or by using a combination of safety

planes and joint limits to remove the hazard by preventing the robot

moving into this region of its workspace.

5.2 Safety Modes

Normal and Reduced mode The safety system has two conﬁgurable safety modes:

Normal and Reduced. Safety limits can be conﬁgured for each of these two modes.

Reduced mode is active when the robot TCP is positioned beyond a Trigger Reduced

mode plane or when triggered by a safety input.

On the side of the Trigger Reduced mode planes where the normal mode limit set is

deﬁned, there is an area of 20 mm where the reduced mode limit set is accepted. When

Reduced mode is triggered by a safety input, both limit sets are accepted for 500 ms.

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 of the

PolyScope Manual). The safety limits of Recovery mode are:

Limiting Safety Function Limit

Joint speed 30

◦

TCP speed 250

TCP force 100 N

Momentum 10

kg m

Power 80 W

The safety system issues a category 0 stop if a violation of these limits appears.

Version 3.1 (rev. 17782)

I-41 UR5/CB3

Universal Robots UR5 Original Instructions

Other manuals for Universal Robots UR5