Creating Clearance Shapes For The Tool - Universal Robots ActiNav Operating Manual

3. Procedures
Tool Properties
In the Tool Properties, enter the tool payload and the center of gravity coordinates.
NOTICE
Failure to enter the same data in both the Tool Payload and the Center of Gravity can
result in protective stops and/or robot joint wear.
• Manually enter both the Tool Payload and the Center of Gravity in the ActiNav
Tool screen.

3.2.3. Creating Clearance Shapes for the Tool

Clearance shapes for the Tool are created at the origin of the tool flange.
To create a Clearance Shape:
1. Select the Clearance tab.
2. In the Add new shape section, select desired shape type (Sphere, Capsule, or Lozenge).
3. PolyScope creates the new Shape with a default name. Edit the name if necessary.
4. Enter the values in the Shape Properties and Shape Coordinates sections. The available fields
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