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.
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 pro-
grams 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/CB3 I-14 Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
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