9.5. Software Safety Restrictions
Description
NOTICE
Configuring planes is entirely based on features. We recommend you
create and name all features before editing the safety configuration, as
the robot is powered off once the Safety Tab has been unlocked and
moving the robot will be impossible.
Safety planes restrict robot workspace. You can define up to eight safety planes,
restricting the robot tool and elbow. You can also restrict elbow movement for each safety
plane and disable by deselecting the checkbox. Before configuring safety planes, you
must define a feature in the robot installation. The feature can then be copied into the
safety plane screen and configured.
WARNING
Defining safety planes only limits the defined Tool spheres and elbow,
not the overall limit for the robot arm. This means that specifying a
safety plane, does not guarantee that other parts of the robot arm will
obey this restriction.
Saf
ety
Pla
nes
Mod
es
You can configure each plane with restrictive Modes using the icons listed below.
Disabled The safety plane is never active in this state.
Normal
When the safety system is in Normal mode, a normal plane is
active and it acts as a strict limit on the position.
Reduced
When the safety system is in Reduced mode, a reduced mode
plane is active and it acts as a strict limit on the position.
Normal & Reduced
When the safety system is either in Normal or Reduced mode,
a normal and reduced mode plane is active and acts as a strict
limit on the position.
Trigger Reduced
Mode
The safety plane causes the safety system to switch to
Reduced mode if the robot Tool or Elbow is positioned beyond
it.
Show
Pressing this icon hides or shows the safety plane in the
graphics pane.
Delete
Deletes the created safety plane. There is no undo/redo
action. If a plane is deleted in error, it must be remade.
Rename Pressing this icon allows you to rename the plane.
User Manual 150 UR30
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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