Copy Feature
The desired orientation of the robot tool is specified using a feature (see1.23.12. Installation →
Featureson page140) from the current robot installation. The z-axis of the selected feature will
be used as the desired tool orientation vector for this limit.
Use the drop down box in the lower left portion of the Tool Boundary Properties panel to
select a feature. Only the point and plane type features are available. Choosing the
<Undefined> item clears the configuration of the plane.
It should be noted that when the limit has been configured by selecting a feature, the orientation
information is only copied to the limit; the limit is not linked to that feature. This means that if
there are changes to the position and orientation of a feature, which has been used to configure
the limit, the limit is not automatically updated. If the feature has changed, this is indicated by a
icon is also displayed if the selected feature has been deleted from the installation. button
next to the selector to update the limit with the current orientation of the feature. The icon
positioned over the feature selector. Click the
Safety mode
The drop down menu on the right hand side of the Tool Boundary Properties panel is used
to choose the safety mode for the tool orientation boundary. The available options are:
Disabled
The tool boundary limit is never active.
Normal
When the safety system is in Normal mode, the tool boundary limit is
active.
Reduced
When the safety system is in Reduced mode, the tool boundary limit is
active.
Normal &
Reduced
When the safety system is either in Normal or Reduced mode, the tool
boundary limit is active.
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.
Effect
Program execution is aborted when the deviation of the tool orientation is about to exceed the
entered maximum deviation minus the tolerance (see1.20.4. Toleranceson page90), 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 deviation of the tool
orientation exceed the limit (without tolerance).
User Manual 103 UR10
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