Universal Robots UR3/CB3 Original Instructions Manual page 212

14.31 Graphics Tab
Graphical representation of the current robot program. The path of the TCP is shown in 3D view,
with motion segments in black, and blend segments (transitions between motion segments) shown
in green. The green dots specify the positions of the TCP at each of the waypoints in the program.
The 3D drawing of the robot arm shows the current position of the robot arm, and the shadow of the
robot arm shows how the robot arm intends to reach the waypoint selected in the left hand side of
the screen.
If the current position of the robot TCP comes 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
boundary limit is shown.
Note: when the robot is running a program, the visualization of boundary limits will be disabled.
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 TCP is in violation or very close to violating a boundary limit, the visualization of the
limit turns red.
The 3D view can be zoomed and rotated to get a better view of the robot arm. The buttons in the
top-right side of the screen can disable the various graphical components in 3D view. The bottom
button switches on/off the visualization of proximate boundary limits. The motion segments
shown depend on the selected program node. If a Move node is selected, the displayed path is the
motion defined by that move. If a Waypoint node is selected, the display shows the following 10
steps of movement.
CB3 II-114 Version 3.10