Universal Robots UR30 - Page 156

Limit
Prope
rties
The Tool Direction limit has three configurable properties:
1. Cone center: You can select a point or plane feature from the drop-down menu, to define
the center of the cone. The Z axis of the selected feature is used as the direction around
which the cone is centred.
2. Cone angle: You can define how many degrees the robot is allowed to deviate from center.
Disabled Tool direction limit Never active
Normal Tool direction limit Active only when safety system is in Normal mode
Reduced Tool direction limit Active only when the safety system is in Reduced mode
Normal & Reduced Tool
direction limit
Active when the safety system is in Normal mode as
well as when it is in Reduced mode.
You can reset the values to default or undo the Tool Direction configuration by setting the copy
feature back to "Undefined".
Tool
Prope
rties
By default, the tool points in the same direction as the Z axis of the tool output flange. This can be
modified by specifying two angles:
•
Tilt angle: How much to tilt the Z axis of the output flange towards the X axis of the output
flange
•
Pan angle: How much to rotate the tilted Z axis around the original output flange Z axis.
Alternatively, the Z axis of an existing TCP can be copied by selecting that TCP from the drop-down
menu.
UR30 157 User Manual
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