points that define the line feature. Configure the line feature by placing the tool firmly against
the side of the conveyor when teaching the two points. If the line feature’s direction is
opposite to the conveyor’s movement, use the Reverse direction button. The Ticks per meter
field displays the number of ticks the encoder generates when the conveyor moves one
meter.
Circular Conveyors
When tracking a circular conveyor, the conveyor center point must be defined.
1. Define the center point in the Features part of the installation. The value of Ticks per
revolution must be the number of ticks the encoder generates when the conveyor
rotates one full revolution.
2. Select the Rotate tool with conveyor checkbox for the tool orientation to track the
conveyor rotation.
1.23.14. Smooth Transition Between Safety Modes
When switching between safety modes during events (i.e., Reduced Mode Input, Reduced Mode
Trigger Planes, Safeguard Stop, and Three-Position Enabling Device), the Robot Arm aims to use
0.4s to create a "soft" transition. Existing applications have unchanged behavior which
corresponds to the "hard" setting. New installation files default to the "soft" setting.
Adjusting Acceleration/Deceleration Settings
• Press the Installation tab.
• In the Side Menu on the left, select Smooth Transition.
• Select Hard to have a higher acceleration/deceleration or select Soft for the smoother
default transition setting.
1.23.15. Installation → Default Program
User Manual 149 UR10
Copyright © 2009–2020 by UniversalRobotsA/S. All rights reserved.
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