Universal Robots UR10/CB3, Руководство пользователя

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1.6.4. Safety Modes
Normal and Reduced mode
The safety system has two configurable safety modes: Normal and Reduced . Safety limits can
be configured for each of these two modes. Reduced mode is active when the robot TCP is
positioned beyond a
Trigger Reduced mode plane or when triggered by a safety input. Reduced
mode can be triggered either by using a plane or by using an input.
Using a plane to trigger Reduced mode: When the robot moves from the Reduced mode side of
the trigger plane, back to the Normal mode side, there is a 20mm area around the trigger plane
where both Normal and Reduced mode limits are allowed. It prevents the safety mode from
flickering if the robot is right at the limit.
Using an input to trigger Reduced mode: When an input is used (to either start or stop Reduced
mode), up to 500ms can elapse before the new mode limit values are applied. This could happen
either when changing Reduced mode to Normal mode OR changing Normal mode to Reduced
mode. It allows the robot to adapt e.g. the speed to the new safety limits.
Recovery Mode
When a safety limit is violated, the safety system must be restarted. If the system is outside a
safety limit at start-up (e.g. outside a joint position limit), the special
Recovery mode is entered.
In Recovery mode it is not possible to run programs for the robot, but the robot arm can be
manually moved back within limits either by using
Freedrive mode or by using the Move tab in
PolyScope (see part Part II PolyScope Manual on page 85 “PolyScope Manual ”). The safety limits
of Recovery mode are:
Limiting Safety Function Limit
Joint speed 30 °/s
TCP speed 250 mm/s
TCP force 100 N
Momentum 10 kg m/s
Power 80 W
The safety system issues a Stop Category 0 if a violation of these limits appears.
WARNING
Notice that limits for the joint position , the TCP position , and the TCP orientation
are disabled in Recovery Mode. Take caution when moving the robot arm back
within the limits.
UR10 16 User Manual
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