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 21.8. Safety Modeson page123) 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 TCP is in violation or very close to violating a boundary limit, the visualization of
the limit turns red.
The 3D view can be zoomed and rotated to get a better view of the robot arm. The buttons in the
top-right side of the screen can disable the various graphical components in 3D view. The bottom
button switches on/off the visualization of proximate boundary limits.
23.10. Variables Tab
The Variables tab shows the live values of variables in the running program, and keeps a list of
variables and values between program runs. It only appears when it has information to display.
Waypoint variables will be shown in the list if Show Waypoints is enabled.
User Manual 151 UR5e
23.Program Tab
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
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