Modes - Universal Robots e Series Hardware Manual

Trigger
Safeguard Stop
Limit Violation
Fault Detection
NOTE
If the safety system detects any fault or violation, all safety outputs re-set to low.

2.5. Modes

Normal and Reduced Mode
The safety system has two configurable Modes: Normal and Reduced. 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 exceeded, 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.PolyScope Manual ). The safety limits of Recovery Mode are:
Safety Function
Joint Speed Limit
Speed Limit
Force Limit
Momentum Limit
Power Limit
The safety system issues a Stop Category 0 if a violation of these limits appears.
UR5e
2. Safety-related Functions and Interfaces
Reaction
Stop Category 2.
Stop Category 0.
Stop Category 0.
Limit
30 °/s
250 mm/s
100 N
10 kg m/s
80 W
20 Hardware Manual