Universal Robots UR12e User Manual page 138

Description 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
The menu of the Safety Configuration screen enables the user to define separate sets of
safety limits for Normal and Reduced mode. For the tool and joints, Reduced mode limits
for speed and momentum are required to be more restrictive than their Normal mode
counterparts.
To Switch
Modes: PolyScope
Using the
Dashboard
Server
8.4.6. Software Safety Limits
Description In the Safety Configuration the safety system limits are specified. The Safety System
receives the values from the input fields and detects any violation if any these values are
exceeded. The robot controller attempts to prevent any violations by making a robot stop
or by reducing the speed.
1
Robot stop was previously known as "Protective Stop" for Universal Robots robots.
UR12e
•
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, or when triggered using a configurable
input.
•
Recovery mode 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. While in Recovery mode, the movement of
the robot arm is restricted by a fixed limit that you cannot customize.
WARNING
Limits for joint position, tool position and tool orientation are disabled
in Recovery mode, so take caution when moving the robot arm back
within the limits.
1. In the Header, select the profile icon.
• Automatic indicates the operational mode of the robot is set to
Automatic.
• Manual indicates the operational mode of the robot is set to Manual.
1. Connect to the Dashboard server.
2. Use the Set Operational Mode commands.
•
Set Operational Mode Automatic
•
Set Operational Mode Manual
•
Clear Operational Mode
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139 User Manual