Universal Robots PolyScope X UR16e User Manual page 36

Modes
Description
Safety limits of
Recovery Mode
The safety system issues a Stop Category 0 if a violation of these limits appears.
1.2. Mechanical Interface
Description
1.2.1. Workspace and Operating Space
UR16e PolyScope X
When a safety limit is exceeded, Recovery Mode is automatically activated, allowing
the robot arm to be moved. Recovery Mode is a type of Manual Mode .
You cannot run robot programs when Recovery Mode is active.
During Recovery Mode, the robot arm is moved to be within joint limits, using either
Freedrive or the Move tab in PolyScope.
Safety Function
Joint Speed Limit
Speed Limit
Force Limit
Momentum Limit
Power Limit
WARNING
Failure to use caution when moving the robot arm in recovery mode
can lead to hazardous situations.
•
Use caution when moving the robot arm back within the limits,
as limits for the joint positions, the safety planes, and the
tool/end effector orientation are all disabled in recovery.
The elements of the robot make up the robot system: Robot arm,
tool or workpiece, Control Box and 3PE Teach Pendant are
described in this chapter. You can also find maximum payload and
workspace requirements.
For information about adding the serial number during first boot,
please see the "Robot Arm Installation" in the software section.
Part I Hardware Installation Manual
Limit
30 °/s
250 mm/s
100 N
10 kg m/s
80 W
36 User Manual