Universal Robots UR5e User Manual page 175

18.3 Tool Position
"shadow" of the robot arm shows the target position of the robot arm controlled by the specified
values on the right hand side of the screen. Push the magnifying glass icons to zoom in/out or
drag a finger across to change the view.
If the specified target position of the robot TCP is close to a safety or trigger plane, or the orien-
tation of robot tool is near the tool orientation boundary limit (see 13.2.5), a 3D representation
of the proximate boundary limit is shown.
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 13.2.2) 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 representation disap-
pears. If the target TCP is in violation or very close to violating a boundary limit, the visualization
of the limit turns red.
18.3.1.2 Feature and tool position
In the top right corner of the screen, the feature selector can be found. The feature selector
defines which feature to control the robot arm relative to
Below the feature selector, the name of the currently active Tool Center Point (TCP) is displayed.
For further information about configuring several named TCPs, see 17.1.1. The text boxes show
the full coordinate values of that TCP relative to the selected feature. X, Y and Z control the
position of the tool, while RX, RY and RZ control the orientation of the tool.
Use the drop down menu above the RX, RY and RZ boxes to choose the orientation representation.
Available types are:
• Rotation Vector [rad] The orientation is given as a rotation vector. The length of the axis is
the angle to be rotated in radians, and the vector itself gives the axis about which to rotate.
This is the default setting.
• Rotation Vector [
vector is the angle to be rotated in degrees.
• RPY [rad] Roll, pitch and yaw (RPY) angles, where the angles are in radians. The RPY-
rotation matrix (X, Y', Z" rotation) is given by:
R (γ, β, α) = R
rpy
◦
• RPY [ ] Roll, pitch and yaw (RPY) angles, where angles are in degrees.
Values can be edited by clicking on the coordinate. Clicking on the + or - buttons just to the
right of a box allows you to add or subtract an amount to/from the current value. Pressing and
holding down a button will directly increase/decrease the value. The longer the button is down,
the larger the increase/decrease will be.
18.3.1.3 Joint positions
Allows the individual joint positions to be specified directly. Each joint position can have a value
in the range from 360
the joint position. Clicking on the + or - buttons just to the right of a box allows you to add or
Version 5.0.2
◦
] The orientation is given as a rotation vector, where the length of the
(α) · R (β) · R
(γ)
Z Y X
◦ ◦
to +360 , which are the joint limits. Values can be edited by clicking on
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