Universal Robots PolyScope X UR16e User Manual page 34

Safety Parameter Set
Description
Normal and You can set up the safety limits for each set of safety parameters, creating distinct
Reduced configurations for normal, or higher settings, and reduced. The reduced configuration is
active when the tool/end effector is positioned on the reduced side of a Trigger
Reduced Plane, or when the reduced configuration is externally triggered by a safety
input.
Using a plane to trigger the Reduced configuration: When the robot arm moves from
the side of the trigger plane configured with reduced safety parameters, to the side that
is configured with normal safety parameters, there is a 20 mm area around the trigger
plane where both normal and reduced limits are allowed. This area around the trigger
plane prevents nuisance safety stops when the robot is exactly at the limit.
Using an input to trigger the Reduced configuration: When a safety input starts, or
stops, the reduced configuration, up to 500 ms can elapse before the new limit values
become active. This can happen in either of the following circumstances:
The robot arm adapts to the new safety limits within the 500 ms.
UR16e PolyScope X
The safety system has the following set of configurable safety parameters:
•
Normal
•
Reduced
•
Switching from the reduced configuration to normal
•
Switching from the normal configuration to reduced
Part I Hardware Installation Manual
34 User Manual