Universal Robots UR10e PolyScope X User Manual page 36

Recovery When a safety limit is exceeded, the safety system must be restarted. For example, if a
joint position limit is outside a safety limit, at start-up, Recovery is activated.
You cannot run programs for the robot when recovery is activated, but the robot arm
can be manually moved back within limits using Freedrive, or by using the Move tab in
PolyScope.
The safety limits for Recovery are:
The safety system issues a Stop Category 0 if a violation of these limits appears.
UR10e PolyScope X
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 mode.
Limit
30 °/s
250 mm/s
100 N
10 kg m/s
80 W
36
2. Safety
User Manual