Modes - Universal Robots UR5e User Manual

2.5 Modes

Figure 2.1: Due to the physical properties of the robot arm, certain workspace areas require attention
regarding pinching hazards. One area (left) is defined for radial motions when the wrist 1 joint is at least
750 mm from the base of the robot. The other area (right) is within 200 mm of the base of the robot,
when moving tangentially.
2.5 Modes
Normal and Reduced Mode The safety system has two configurable Modes: Normal and Re-
duced. Safety limits can be configured for each of these two modes. Reduced Mode is active
when the robot tool/end effector is positioned on the Reduced Mode side of a Trigger Reduced
Mode plane or when triggered by a safety input.
Using a plane to trigger Reduced Mode: When the robot moves from the Reduced Mode side of
the trigger plane, back to the Normal Mode side, there is a 20mm area around the trigger 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:
Version 5.0.2
750 mm
I-17
200 mm
UR5e/CB5