Universal Robots PolyScope X UR16e User Manual page 138

NOTICE
The tool speed and force are limited at the tool flange and the center of the two user-defined
tool positions
Under normal conditions, i.e. when no Robot stop is in effect, the safety system operates in a Safety Mode
associated with a set of safety limits
Safety mode
Normal mode
Reduced mode
Recovery mode
7.4.2. Safety I/O Signals
The I/O are divided between inputs and outputs and are paired up so that each function provides a Category 3
and PLd I/O.
1
Robot stop was previously known as "Protective stop" for Universal Robots.
UR16e PolyScope X
1
:
Effect
is the safety mode that is active by default.
activates when the Tool Center Point (TCP) is positioned beyond a Trigger
Reduced mode plane, or when triggered using a configurable input.
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. In Recovery mode, the movement of the robot
arm is restricted by a fixed limit that you cannot customize.
Figure 2.4: PolyScope X screen displaying the Inpu signals.
User Manual