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10.12 Boundaries
Safety mode The drop down menu on the right hand side of the Safety Plane Properties
panel is used to choose the safety mode for the safety plane, with the following modes available:
Disabled
Normal
Reduced
Normal & Reduced
Trigger Reduced mode When the safety system is either in Normal or Re-
The selected safety mode is indicated by an icon in the corresponding entry in the Safety
Boundaries panel. If the safety mode is set to Disabled, no icon is shown.
Displacement When a feature has been selected in the drop down box in the lower left portion
of the Safety Plane Properties panel, the safety plane can be translated by tapping the
Displacement text field in the lower right portion of this panel and entering a value. Entering
in a positive value increases the allowed workspace of the robot by moving the plane in the
opposite direction of the plane normal, while entering a negative value decreases the allowed
area by moving the plane in the direction of the plane normal.
The tolerance and unit for the displacement of the boundary plane are shown to the right of the
text field.
Effect of strict limit planes Program execution is aborted when the TCP position is about
to cross an active, strict limit safety plane minus the tolerance (see 10.4), 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. The safety
system will perform a Stop Category 0, should the TCP position exceed the specified limit safety
plane (without tolerance).
Effect of Trigger Reduced mode planes When no protective stop is in effect and the safety
system is not in the special Recovery mode (see 10.6), it operates either in Normal or Reduced
mode and the movements of the robot arm are limited by the respective limit set.
By default, the safety system is in Normal mode. It transitions into Reduced mode whenever one
of the following situations occurs:
Version 3.11
The safety plane is never active.
When the safety system is in Normal mode, a
Normal mode plane is active and it acts as a strict
limit on the position of the robot TCP.
When the safety system is in Reduced mode, a
Reduced mode plane is active and it acts as a strict
limit on the position of the robot TCP.
When the safety system is either in Normal or Re-
duced mode, a Normal & Reduced mode plane
is active and it acts as a strict limit on the position
of the robot TCP.
duced mode, a Trigger Reduced mode plane is active
and it causes the safety system to switch to Re-
duced mode for as long as the robot TCP is posi-
tioned beyond it.
II-15
e-Series
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