Universal Robots UR3/CB3, Original Instructions Manual, Page: 115 / 256

10.12 Boundaries
a) The robot TCP is positioned beyond some Trigger Reduced mode plane, i.e. it is located on the
side of the plane that is opposite to the direction of the small arrow in the visualization of the
plane.
b) The
Reduced Mode
safety input function is configured and the input signals are low (see 10.13
for more details).
When none of the above is the case any longer, the safety system transitions back to Normal mode.
When the transition from Normal to Reduced mode is caused by passing through a Trigger Reduced
mode plane, a transition from the Normal mode limit set to the Reduced mode limit set occurs. As
soon as the robot TCP is positioned 20 mm or closer to the Trigger Reduced mode plane (but still on
the Normal mode side), the more permissive of the Normal and Reduced mode limits is applied for
each limit value. Once the robot TCP passes through the Trigger Reduced mode plane, the Normal
mode limit set is no longer active and the Reduced mode limit set is enforced.
When a transition from Reduced to Normal mode is caused by passing through a Trigger Reduced
mode plane, a transition from the Reduced mode limit set to the Normal mode limit set occurs. As
soon as the robot TCP passes through the
Trigger Reduced mode
plane, the more permissive of the
Normal and Reduced mode limits is applied for each limit value. Once the robot TCP is positioned
20 mm or further from the Trigger Reduced mode plane (on the Normal mode side), the Reduced mode
limit set is no longer active and the Normal mode limit set is enforced.
If the predicted trajectory takes the robot TCP through a Trigger Reduced mode plane, the robot arm
will start decelerating even before passing through the plane if it is about to exceed joint speed,
tool speed or momentum limit in the new limit set. Note that since these limits are required to be
more restrictive in the Reduced mode limit set, such premature deceleration can occur only when
transitioning from Normal to Reduced mode.
Version 3.10
Cop
yr
ight
©
2009–2019
b
y
Univ
ersal
Robots
A/S
.
All
rights
reser
v
ed.
II-17 CB3