Universal Robots UR16e

Planes A plane is a boundary that limits the movement of the TCP. A plane can
also limit the movement of a tool.
A 3D representation of the plane appears in the pane when the TCP, or
tool, comes close to a plane.
•
You can zoom in to the 3D view to get a better view of the robot arm,
TCP or tool.
•
You can use two types planes to limit TCPand tool movement.
Safety Planes Safety planes appear in the 3D view in yellow and black. A small arrow
indicates the side of the plane where the TCP is allowed to be positioned.
Trigger Planes Trigger planes appear in the 3D view in blue and green. A small arrow
points to the side of the plane, where the Normal mode limits (see 5.5.
Software Safety Modes on page135) 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).
Limits When a program is running, the 3Dview of boundary limits are disabled.
When the TCP is no longer close to any limit, the 3D view disappears.
•
You can set tool orientation boundary limits that appear in the 3D
view as 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).
•
You can also set red limits that appear red in the 3D view when the
TCP is in violation, or very close to violating a boundary limit.
User Manual 179 UR16e
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