Copy Feature
The position and normal of the safety plane is specified using a feature (see
) from the current robot installation. Use the drop-down box in the lower
left portion of the
Safety Plane Properties
section to select a feature. Only the point and
plane type features are available. Choosing the
<Undefined>
item clears the configuration of
the plane.
The z-axis of the selected feature will point to the disallowed area and the plane normal will point
in the opposite direction, except when the
Base
feature is selected, in which case the plane
normal will point in the same direction. If the plane is configured as a
Trigger Reduced mode
plane (see
), the plane normal indicates the side of the plane that does
not
trigger transition into
Reduced
mode.
It should be noted that when the safety plane has been configured by selecting a feature, the
position information is only
copied
to the safety plane; the plane is
not
linked to that feature. This
means that if there are changes to the position or orientation of a feature which has been used to
configure a safety plane, the safety plane is not automatically updated.
If the feature has changed, this is indicated by a
positioned over the feature selector.
Click the
button next to the selector to update the limit with the current position and
orientation of the feature.
The
icon is also displayed if the selected feature has been deleted from the installation.
Safety mode
The drop down menu on the right hand side of the
Safety Plane Properties
panel is used
to choose the
safety mode
for the safety plane, with the following modes available:
Disabled
The safety plane is
never active
.
Normal
When the safety system is in
Normal
mode, a
Normal
mode plane is
active
and it acts as a
strict limit
on the position of the robot TCP.
Reduced
When the safety system is in
Reduced
mode, a
Reduced
mode plane
is
active
and it acts as a
strict limit
on the position of the robot TCP.
Normal &
Reduced
When the safety system is either in
Normal
or
Reduced
mode, a
Normal & Reduced
mode plane is
active
and it acts as a
strict limit
on the position of the robot TCP.
Trigger
Reduced mode
When the safety system is either in
Normal
or
Reduced
mode, a
Trigger Reduced mode
plane is
active
and it causes the safety system
to switch to
Reduced
mode for as long as the robot TCP is positioned
beyond it.
The selected
safety mode
is indicated by an icon in the corresponding entry in the
Safety
Boundaries
panel. If the
safety mode
is set to
Disabled
, no icon is shown.
UR10
100
User Manual
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Summary of Contents for UR10/CB3
Page 1: ...Universal Robots User Manual UR10 CB3 Original instructions en...
Page 28: ...UR10 20 User Manual Copyright 2009 2020 by Universal Robots A S All rights reserved...
Page 30: ...UR10 22 User Manual Copyright 2009 2020 by Universal Robots A S All rights reserved...
Page 36: ...UR10 28 User Manual Copyright 2009 2020 by Universal Robots A S All rights reserved...
Page 56: ...UR10 48 User Manual Copyright 2009 2020 by Universal Robots A S All rights reserved...
Page 62: ...UR10 54 User Manual Copyright 2009 2020 by Universal Robots A S All rights reserved...
Page 64: ...UR10 56 User Manual Copyright 2009 2020 by Universal Robots A S All rights reserved...
Page 72: ...China RoHS UR10 64 User Manual Copyright 2009 2020 by Universal Robots A S All rights reserved...
Page 73: ...KCC Safety User Manual 65 UR10 Copyright 2009 2020 by Universal Robots A S All rights reserved...
Page 92: ...UR10 84 User Manual Copyright 2009 2020 by Universal Robots A S All rights reserved...
Page 116: ...UR10 108 User Manual Copyright 2009 2020 by Universal Robots A S All rights reserved...
Page 124: ...UR10 116 User Manual Copyright 2009 2020 by Universal Robots A S All rights reserved...
Page 164: ...UR10 156 User Manual Copyright 2009 2020 by Universal Robots A S All rights reserved...
Page 214: ...UR10 206 User Manual Copyright 2009 2020 by Universal Robots A S All rights reserved...
