13.14 Smooth Transition Between Safety Modes
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 con-
veyor 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 con-
veyor rotation.
13.14 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.
13.14.1 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.
Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
II-61 CB3
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