Table of Contents
Advertisement
When in Freedrive mode (see 13.1.5), and the current position or speed of a joint is close to the limit,
the user will feel a repelling force which increases in magnitude as the joint approaches the limit.
The force is generated when joint speed is within approximately 20 /
position is within approximately 8 of the position limit.
The Wrist 3 position range is unlimited by default. When using cables attached to the robot, you
must first disable the Unrestricted Range for Wrist 3 checkbox to avoid cable tension and protective
stops.
Maximum Speed This option defines the maximum angular velocity for each joint. This is done
by tapping the corresponding text field and entering the new value. The highest accepted value is
listed in the column titled Maximum. None of the values can be set below the tolerance value.
Note that the fields for limits in Reduced mode are disabled when neither a safety plane nor a con-
figurable input is set to trigger it (see 10.12 and 10.13 for more details). Furthermore, the limits for
Reduced mode must not be higher than their Normal mode counterparts.
The tolerance and unit for each limit are listed at the end of the row that corresponds to it. When
a program is running, the speed of the robot arm is automatically adjusted in order to not exceed
any of the entered values minus the tolerance (see 10.4). Note that the minus sign displayed with
each tolerance value is only there to indicate that the tolerance is subtracted from the actual entered
value. Nevertheless, should the angular velocity of some joint exceed the entered value (without
tolerance), the safety system performs a Stop Category 0.
Position Range This screen defines the position range for each joint. This is done by tapping the
corresponding text fields and entering new values for the lower and upper joint position boundary.
The entered interval must fall within the values listed in the column titled Range and the lower
boundary cannot exceed the upper boundary.
If Wrist 3 is used for applications that require unlimited number of revolutions in either direction,
then check the Unrestricted limits for Wrist 3 option.
Note: The fields for limits in Reduced mode are disabled when neither a safety plane nor a config-
urable input is set to trigger it (see 10.12 and 10.13 for more details).
The tolerances and unit for each limit are listed at the end of the row that corresponds to it. The
first tolerance value applies to the minimum value and the second applies to the maximum value.
Program execution is aborted when the position of a joint is about to exceed the range resulting
from adding the first tolerance to the entered minimum value and subtracting the second tolerance
from the entered maximum value, if it continues moving along the predicted trajectory. Note that
the minus sign displayed with the tolerance value is only there to indicate that the tolerance is
subtracted from the actual entered value. Nevertheless, should the joint position exceed the entered
range, the safety system performs a Stop Category 0.
10.12 Boundaries
In this tab you can configure boundary limits consisting of safety planes and a limit on the maxi-
mum allowed deviation of the robot tool orientation. It is also possible to define planes that trigger
CB3
II-12
10.12 Boundaries
of the speed limit or joint
s
Version 3.10
Advertisement
Table of Contents
