Universal Robots UR3e

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 17.5 Software Safety Modes on
page139) 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.
UR3e 182 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.