Universal Robots UR12e User Manual page 124

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, 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 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 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 The active TCP and coordinate values of the selected feature are displayed. The X, Y, Z
Tool coordinates specify tool position. The RX, RY, RZ coordinates specify orientation. For
Position 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:
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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 Individual joint positions are specified directly. Each joint position can have Joint Limit range
Positions from − 360
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OK Button If you activate this screen from the Move screen, tap the OK button to return to the Move
screen. The Robot Arm moves to the specified target. If the last specified value was a tool
coordinate, the Robot Arm moves to the target position using movement type MoveL; or it
uses movement type MoveJ if a joint position was specified last.
UR12e
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 [ ] The orientation is given as a rotation vector , where the length of
the 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:
( α ) ⋅ R
R ( γ , β , α ) = R
rpy Z Y
∘
RPY [ ] Roll , pitch and yaw ( RPY ) angles, where angles are in degrees.
∘ ∘
to + 360 . You can configure Joint Positions as follows:
Tap the joint position to edit the values.
Tap the + or - buttons to the right of a box to add or subtract an amount to/from the
current value.
Hold down a button to directly increase/decrease the value.
( β ) ⋅ R
( γ )
X
125 User Manual