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
orientation of robot tool is near the tool orientation boundary limit (see 1.20.12. Boundarieson
page97), 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 (see 1.20.6. Safety Modeson page91) 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.
UR10 118 User Manual
Copyright © 2009–2020 by UniversalRobotsA/S. All rights reserved.
To Next Page
Loading...
Need help?
General
