Selecting A Boundary To Configure - Universal Robots UR5 User Manual

10.12 Boundaries
The configuration of each boundary limit is based on one of the features defined in
the current robot installation (see 13.12).
When in Freedrive mode (see 13.1.5), and the current position of the robot TCP is
close to a safety plane, or the deviation of the orientation of the robot tool from the
desired orientation is close to the specified maximum deviation, the user will feel a
repelling force which increases in magnitude as the TCP approaches the limit. The
force is generated when the TCP is within approximately 5 cm of a safety plane, or
the deviation of the orientation of the tool is approximately 3 from the specified
maximum deviation.
When a plane is defined as a Trigger Reduced mode plane and the TCP goes beyond
this boundary, the safety system transitions into Reduced mode which applies the
Reduced mode safety settings. Trigger planes follow the same rules as regular safety
planes except they allow the robot arm to pass through them.
10.12.1 Selecting a boundary to configure
The Safety Boundaries panel on the left side of the tab is used to select a
boundary limit to configure.
To set up a safety plane, click on one of the top eight entries listed in the panel. If
the selected safety plane has already been configured, the corresponding 3D repre-
sentation of the plane is highlighted in the 3D View (see 10.12.2) to the right of this
panel. The safety plane can be set up in the Safety Plane Properties section
(see 10.12.3) at the bottom of the tab.
Click the Tool Boundary entry to configure the orientation boundary limit for the
robot tool. The configuration of the limit can be specified in the Tool Boundary
Properties section (see 10.12.4) at the bottom of the tab.
Click the
on/off. If a boundary limit is active, the safety mode (see 10.12.3 and 10.12.4) is
indicated by one of the following icons
Version 3.4.5
WARNING:
Defining safety planes only limits the TCP and not the overall limit
for the robot arm. This means that although a safety plane is spec-
ified, it does not guarantee that other parts of the robot arm will
obey this restriction.
NOTE:
It is highly recommended, that you create all features needed for
the configuration of all the desired boundary limits and assign
them appropriate names before editing the safety configuration.
Note that since the robot arm is powered off once the Safety tab
has been unlocked, the Tool feature (containing the current po-
sition and orientation of the robot TCP) as well as Freedrive mode
(see 13.1.5) will not be available.
/ button to toggle the 3D visualization of the boundary limit
II-13
/ / / .
CB3