| Description
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Under normal conditions, i.e. when no protective stop is in effect, the safety system operates in a Safety Mode associated with a set of safety limits.
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Normal mode is the safety mode that is active by default
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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.
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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.
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.
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.
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