Safety Modes - Universal Robots e-Series Original Instructions Manual

5. Safety Configuration
Tool Speed
limits maximum robot tool speed.
Tool Force
limits the maximum force exerted by the robot tool in clamping situations.
Elbow Speed
limits maximum robot elbow speed.
Elbow Force
limits maximum force that the elbow exerts on the environment.
The tool speed and force are limited at the tool flange and the center of the two user-defined
tool positions, see
NOTE
You can switch back to Factory Presets for all robot limits to reset to their
default settings.

5.8. Safety Modes

Under normal conditions, i.e. when no protective stop is in effect, the safety system operates in a
Safety Mode associated with a set of safety limits:
Normal mode is the safety mode that is active by default
Reduced mode is active when the robot Tool Center Point (TCP) is positioned beyond a Trigger
Reduced mode plane
(see 5.16. I/O on page 46)
Software Manual
5.14. Tool Position on
(see 5.11. Planes on page 39), or when triggered using a configurable input
page 43.
37 e-Series