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15.11 Boundaries
mal or Reduced mode and the movements of the robot arm are limited by the respective
limit set.
By default, the safety system is in Normal mode. It transitions into Reduced mode when-
ever one of the following situations occurs:
a) The robot TCP is positioned beyond some Trigger Reduced mode plane, i.e. it is
b) The Reduced Mode safety input function is configured and the input signals are
When none of the above is the case any longer, the safety system transitions back to
Normal mode.
When the transition from Normal to Reduced mode is caused by passing through a
Trigger Reduced mode plane, a transition from the Normal mode limit set to the Reduced
mode limit set occurs. As soon as the robot TCP is positioned 20 mm or closer to the
Trigger Reduced mode plane (but still on the Normal mode side), the more permissive
of the Normal and Reduced mode limits is applied for each limit value. Once the robot
TCP passes through the Trigger Reduced mode plane, the Normal mode limit set is no
longer active and the Reduced mode limit set is enforced.
When a transition from Reduced to Normal mode is caused by passing through a Trigger
Reduced mode plane, a transition from the Reduced mode limit set to the Normal mode
limit set occurs. As soon as the robot TCP passes through the Trigger Reduced mode
plane, the more permissive of the Normal and Reduced mode limits is applied for each
limit value. Once the robot TCP is positioned 20 mm or further from the Trigger Reduced
mode plane (on the Normal mode side), the Reduced mode limit set is no longer active
and the Normal mode limit set is enforced.
If the predicted trajectory takes the robot TCP through a Trigger Reduced mode plane,
the robot arm will start decelerating even before passing through the plane if it is
about to exceed joint speed, tool speed or momentum limit in the new limit set. Note
that since these limits are required to be more restrictive in the Reduced mode limit
set, such premature deceleration can occur only when transitioning from Normal to
Reduced mode.
Version 3.1
(rev. 17782)
located on the side of the plane that is opposite to the direction of the small arrow
in the visualization of the plane.
low (see 15.12 for more details).
II-107
CB3
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