Universal Robots UR10/CB3 User Manual page 106

NOTE
It is highly recommended, that you create all features needed for the
configuration of all the desired boundary limits and assign them appropriate
names before editing the safety configuration. Note that since the robot arm is
powered off once the Safety tab has been unlocked, the Tool feature (containing
the current position and orientation of the robot TCP) as well as Freedrive mode
(see Freedrive on
When in Freedrive mode
close to a safety plane, or the deviation of the orientation of the robot tool from the desired
orientation is close to the specified maximum deviation, the user will feel a repelling force which
increases in magnitude as the TCP approaches the limit. The force is generated when the TCP is
within approximately 5 cm of a safety plane, or the deviation of the orientation of the tool is
approximately 3 ° from the specified maximum deviation.
When a plane is defined as a Trigger Reduced mode plane and the TCP goes beyond this
boundary, the safety system transitions into Reduced mode which applies the Reduced mode
safety settings. Trigger planes follow the same rules as regular safety planes except they allow
the robot arm to pass through them.
Selecting a boundary to configure
The Safety Boundaries panel on the left side of the tab is used to select a boundary limit to
configure.
To set up a safety plane, click on one of the top eight entries listed in the panel. If the selected
safety plane has already been configured, the corresponding 3D representation of the plane is
highlighted in the 3D View
plane can be set up in the Safety Plane Properties section
configuration on the facing
Click the Tool Boundary entry to configure the orientation boundary limit for the robot tool.
The configuration of the limit can be specified in the Tool Boundary Properties section
(see Tool Boundary configuration on
Click the / button to toggle the 3D visualization of the boundary limit on/off. If a
boundary limit is active, the safety mode
the following icons
3D visualization
The 3D View displays the configured safety planes and the orientation boundary limit for the
robot tool together with the current position of the robot arm. All configured boundary entries
where the visibility toggle is selected (i.e. showing icon) in the Safety Boundaries section
are displayed together with the current selected boundary limit.
UR10
page 122) will not be available.
(see Freedrive on page 122), and the current position of the robot TCP is
(see 3D visualization below) to the right of this panel. The safety
page) at the bottom of the tab.
page 102) at the bottom of the tab.
(see Safety mode on
/ / / .
(see Safety plane
page 103) is indicated by one of
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