Universal Robots e-Series Original Instructions Manual page 164

Robot
The 3D image shows the current Robot Arm position. The shadow shows the Robot Arm target
position controlled by the specified values on the screen. Press the magnifying glass icons to
zoom in/out or drag a finger across it to change the view.
If the specified target position of the robot TCP is close to a safety or trigger plane, or the
orientation of robot tool is near the tool orientation boundary limit (see
3D representation of the proximate boundary limit is shown. Safety planes are visualized in yellow
and black with a small arrow representing the plane normal, 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
Modes on page 37) 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 is no
longer in 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
The active TCP and coordinate values of the selected feature are displayed. The X, Y, Z coordinates
specify tool position. The RX, RY, RZ coordinates specify orientation. For further information about
configuring several named TCPs,
Use the drop down menu above the RX, RY and RZ boxes to choose the orientation representation
type:
• Rotation Vector [rad] The orientation is given as a rotation vector. The length of the axis is
the angle to be rotated in radians, and the vector itself gives the axis about which to rotate.
This is the default setting.
• Rotation Vector [
vector is the angle to be rotated in degrees.
• RPY [rad] Roll, pitch and yaw (RPY) angles, where the angles are in radians. The RPY-
rotation matrix (X, Y', Z" rotation) is given by:
R (γ, β, α) = R
rpy
∘
• RPY [
] Roll, pitch and yaw (RPY) angles, where angles are in degrees.
You can tap the values to edit the coordinates. You can also tap the + or - buttons to the right of a
box to add/subtract an amount to/from the current value. Or you can hold down a button to directly
increase/decrease the value.
Joint Positions
Individual joint positions are specified directly. Each joint position can have Joint Limit range from
∘ ∘
− 360 to + 360 . You can configure Joint Positions as follows:
e-Series
see 8.2. TCP Configuration on
∘
] The orientation is given as a rotation vector, where the length of the
(α) ⋅ R (β) ⋅ R
(γ)
Z Y X
page 123.
164
9. Move Tab
5.11. Planes on page 39), a
5.8. Safety
Software Manual