10.12 Boundaries
10.12.3 Safety plane configuration
The Safety Plane Properties section at the bottom of the tab defines the configuration of
the selected safety plane in the Safety Boundaries panel in the upper left portion of the tab.
Name The Name text field allows the user to assign a name to the selected safety plane. Change
the name by tapping the text field and entering a new name.
Copy Feature The position and normal of the safety plane is specified using a feature (see 13.12)
from the current robot installation. Use the drop-down box in the lower left portion of the
Safety Plane Properties section to select a feature. Only the point and plane type fea-
tures are available. Choosing the <Undefined> item clears the configuration of the plane.
The z-axis of the selected feature will point to the disallowed area and the plane normal will
point in the opposite direction, except when the Base feature is selected, in which case the
plane normal will point in the same direction. If the plane is configured as a Trigger Reduced
mode plane (see 10.12.3), the plane normal indicates the side of the plane that does not trigger
transition into Reduced mode.
It should be noted that when the safety plane has been configured by selecting a feature, the
position information is only copied to the safety plane; the plane is not linked to that feature.
This means that if there are changes to the position or orientation of a feature which has been
used to configure a safety plane, the safety plane is not automatically updated. If the feature
has changed, this is indicated by a icon positioned over the feature selector. Click the
button next to the selector to update the safety plane with the current position and orientation
of the feature. The icon is also displayed if the selected feature has been deleted from the
installation.
e-Series II-14 Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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