Universal Robots UR3e

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Description When switching between safety modes during events (i.e., Reduced Mode Input,

Reduced Mode Trigger Planes, Safeguard Stops, 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.

Adjusting

Acceleration/Deceleration

Settings

1. In the Header, tap Installation.

2. In the In the Side Menu on the left, under General, select Smooth

Transition.

3. Select Hard to have a higher acceleration/deceleration

or select Soft for the smoother default transition setting.

20.9. Home

Description Home is a user-defined return position for the Robot Arm. Once defined, the Home

Position is available when creating a robot program. You can use the Home Position to

define a Safe Home Position. (See17.9 Safe Home Positionon page163) Use the

Home screen buttons for the following:

•

Edit Position modifies a Home Position.

•

Move here moves the Robot Arm to the defined Home Position.

•

Zero Position returns the Robot Arm to an upright position.

UR3e 290 User Manual

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