5.8.1. Tool Direction Restriction
Description The Tool Direction screen can be used to restrict the angle in which the tool
is pointing. The limit is defined by a cone that has a fixed orientation with
respect to the robot arm Base. As the robot arm moves around, tool
direction is restricted so it remains within the defined cone. The default
direction of the tool coincides with the Z-axis of the tool output flange. It can
be customized by specifying tilt and pan angles.
Before configuring the limit, you must define a point or plane in the robot
installation. The feature can then be copied and its Z axis used as the
center of the cone defining the limit.
NOTICE
Configuration of the tool direction is based on features. We
recommend you create desired feature(s) before editing the
safety configuration, as once the Safety Tab has been
unlocked, the robot arm powers off making it impossible to
define new features.
User Manual 153 UR16e
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
To Next Page
Loading...
