Tolerances; Joint Limits - Universal Robots E Series Original Instructions Manual

Recovery mode activates when a safety limit from the active limit set is violated, the robot arm
performs a Stop Category 0. If an active safety limit, such as a joint position limit or a safety
boundary, is violated already when the robot arm is powered on, it starts up in Recovery mode. This
makes it possible to move the robot arm back within the safety limits. While in Recovery mode, the
movement of the robot arm is restricted by a fixed limit that you cannot customize. For details
about Recovery mode limits (see Hardware Installation Manual ).
WARNING
Limits for joint position, tool position and tool orientation are disabled in Recovery
mode, so take caution when moving the robot arm back within the limits.
The menu of the Safety Configuration screen enables the user to define separate sets of safety
limits for Normal and Reduced mode. For the tool and joints, Reduced mode limits for speed and
momentum are required to be more restrictive than their Normal mode counterparts.

21.9. Tolerances

In the Safety Configuration the safety system limits are specified. The Safety System receives the
values from the input fields and detects any violation if any these values are exceeded. The robot
controller attempts to prevent any violations by making a protective stop or by reducing the speed.
This means that a program might not be able to perform motions very close to a limit.
WARNING
Tolerances are specific to Software version. Updating software may change
tolerances. Consult the release notes for information about Software version
changes.

21.10. Joint Limits

Joint Limits allow you to restrict individual robot joint movements in joint space i.e. joint rotational
position and joint rotational speed. There are two Joint Limits options: Maximum speed and
Position range.
The Wrist 3 position range is unlimited by default. When using cables attached to the robot, you
must first disable the Unrestricted Range for Wrist 3 checkbox to avoid cable tension and
protective stops.
1. Maximum speed is where you define the maximum angular velocity for each joint.
2. Position range is where you define the position range for each joint. Again, the input fields for
Reduced mode are disabled if there is no safety plane or configurable input set to trigger it.
This limit enables safety-rated soft axis limiting of the robot.
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21. Safety Configuration
User Manual