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Robot
The current position of the robot arm and the specified new target position are shown in 3D
graphics. The 3D drawing of the robot arm shows the current position of the robot arm, and the
"shadow" of the robot arm shows the target position of the robot arm controlled by the specified
values on the right hand side of the screen. Push the magnifying glass icons to zoom in/out or
drag a finger across to change the view.
If the specified target position of the robot TCP is close to a safety or trigger plane, or the orien-
tation of robot tool is near the tool orientation boundary limit (see 10.12), a 3D representation
of the proximate boundary limit is shown.
Safety planes are visualized in yellow and black with a small arrow representing the plane nor-
mal, 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
disappears. If the target TCP is in violation or very close to violating a boundary limit, the
visualization of the limit turns red.
Feature and tool position
In the top right corner of the screen, the feature selector can be found. The feature selector
defines which feature to control the robot arm relative to
Below the feature selector, the name of the currently active Tool Center Point (TCP) is displayed.
For further information about configuring several named TCPs, see 13.6. The text boxes show
the full coordinate values of that TCP relative to the selected feature. X, Y and Z control the
position of the tool, while RX, RY and RZ control the orientation of the tool.
e-Series
II-32
12.2 Pose Editor Screen
Version 3.11
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