10.12 Boundaries
The Tool Boundary Properties panel at the bottom of the tab defines a limit on the orien-
tation of robot tool composed of a desired tool orientation and a value for the maximum allowed
deviation from this orientation.
Deviation The Deviation text field shows the value for the maximum allowed deviation of
the orientation of the robot tool from the desired orientation. Modify this value by tapping the
text field and entering the new value.
The accepted value range together with the tolerance and unit of the deviation are listed next to
the text field.
Copy Feature The desired orientation of the robot tool is specified using a feature (see 13.12)
from the current robot installation. The z-axis of the selected feature will be used as the desired
tool orientation vector for this limit.
Use the drop down box in the lower left portion of the Tool Boundary Properties panel to
select a feature. Only the point and plane type features are available. Choosing the <Undefined>
item clears the configuration of the plane.
It should be noted that when the limit has been configured by selecting a feature, the orientation
information is only copied to the limit; the limit is not linked to that feature. This means that if
there are changes to the position and orientation of a feature, which has been used to configure
the limit, the limit 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 limit with the current orientation of the feature. The icon is also displayed if the selected
feature has been deleted from the installation.
Safety mode The drop down menu on the right hand side of the Tool Boundary Properties
panel is used to choose the safety mode for the tool orientation boundary. The available options
are:
Disabled The tool boundary limit is never active.
Normal When the safety system is in Normal mode, the
tool boundary limit is active.
Reduced When the safety system is in Reduced mode, the
tool boundary limit is active.
Normal & Reduced When the safety system is either in Normal or Re-
duced mode, the tool boundary limit is active.
The selected safety mode is indicated by an icon in the corresponding entry in the Safety
Boundaries panel. If the safety mode is set to Disabled, no icon is shown.
Effect Program execution is aborted when the deviation of the tool orientation is about to
exceed the entered maximum deviation minus the tolerance (see 10.4), if it continues moving
along the predicted trajectory. Note that the minus sign displayed with the tolerance value is
only there to indicate that the tolerance is subtracted from the actual entered value. The safety
system will perform a Stop Category 0, should the deviation of the tool orientation exceed the
limit (without tolerance).
Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
II-17 e-Series
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