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Robot
The current position of the robot arm and the specified new target position are shown in 3D graph-
ics. The 3D drawing of the robot arm shows the current position of the robot arm, and the "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 orientation
of robot tool is near the tool orientation boundary limit (see 10.12), 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 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 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.
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
CB3
II-34
12.2 Pose Editor Screen
Version 3.10
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