Tool Boundary Configuration - Universal Robots UR5 User Manual

10.12 Boundaries
applied for each limit value. Once the robot TCP is positioned 20 mm or further
from the Trigger Reduced mode plane (on the Normal mode side), the Reduced mode
limit set is no longer active and the Normal mode limit set is enforced.
If the predicted trajectory takes the robot TCP through a Trigger Reduced mode plane,
the robot arm will start decelerating even before passing through the plane if it is
about to exceed joint speed, tool speed or momentum limit in the new limit set.
Note that since these limits are required to be more restrictive in the Reduced mode
limit set, such premature deceleration can occur only when transitioning from Nor-
mal to Reduced mode.
10.12.4 Tool Boundary configuration
The Tool Boundary Properties panel at the bottom of the tab defines a limit
on the orientation of robot tool composed of a desired tool orientation and a value
for the maximum allowed deviation from this orientation.
Deviation The Deviation text field shows the value for the maximum allowed
deviation of the orientation of the robot tool from the desired orientation. Modify
this value by tapping the text field and entering the new value.
The accepted value range together with the tolerance and unit of the deviation are
listed next to the text field.
Copy Feature The desired orientation of the robot tool is specified using a feature
(see 13.12) from the current robot installation. The z-axis of the selected feature will
be used as the desired tool orientation vector for this limit.
Use the drop down box in the lower left portion of the Tool Boundary Properties
panel to select a feature. Only the point and plane type features are available.
Version 3.4.5 II-17 CB3