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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.
Note: The fields for limits in Reduced mode are disabled when neither a safety plane nor a
configurable 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
maximum allowed deviation of the robot tool orientation. It is also possible to define planes
that trigger a transition into Reduced mode.
Safety planes can be used to restrict the allowed workspace of the robot by enforcing that the
robot TCP stay on the correct side of the defined planes and not pass through them. Up to
eight safety planes can be configured. The constraint on the orientation of tool can be utilized
to ensure that the robot tool orientation does not deviate more than a certain specified amount
from a desired orientation.
The configuration of each boundary limit is based on one of the features defined in the current
robot installation (see 13.12).
e-Series
WARNING:
Defining safety planes only limits the TCP and not the overall limit
for the robot arm. This means that although a safety plane is spec-
ified, it does not guarantee that other parts of the robot arm will
obey this restriction.
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 po-
sition and orientation of the robot TCP) as well as Freedrive mode
(see 13.1.5) will not be available.
II-12
10.12 Boundaries
Version 3.11
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