Structure Tab - Universal Robots UR5 User Manual

14.30 Structure Tab

Safety planes are visualized in yellow and black with a small arrow representing
the plane normal, which indicates the side of the plane on which the robot TCP
is allowed to be positioned. Trigger planes are displayed in blue and green and a
small arrow pointing to the side of the plane, where the Normal mode limits (see
10.6) are active. The tool orientation boundary limit is visualized with a spherical
cone together with a vector indicating the current orientation of the robot tool. The
inside of the cone represents the allowed area for the tool orientation (vector).
When the target robot TCP no longer is in the proximity of the limit, the 3D repre-
sentation disappears. If the TCP is in violation or very close to violating a boundary
limit, the visualization of the limit turns red.
The 3D view can be zoomed and rotated to get a better view of the robot arm.
The buttons in the top-right side of the screen can disable the various graphical
components in the 3D view. The bottom button switches on/off the visualization
of proximate boundary limits.
The motion segments shown depend on the selected program node. If a Move node
is selected, the displayed path is the motion defined by that move. If a Waypoint
node is selected, the display shows the following
14.30 Structure Tab
The program structure tab gives an opportunity for inserting, moving, copying and
removing the various types of commands.
To insert new commands, perform the following steps:
1) Select an existing program command.
2) Select whether the new command should be inserted above or below the se-
Version 3.4.5
lected command.
II-101
10 steps of movement.
CB3