15.11 Boundaries
Note that the fields for limits in Reduced mode are disabled when neither a safety plane
nor a configurable input is set to trigger it (see 15.11 and 15.12 for more details). Fur-
thermore, the limits for Reduced mode must not be higher than their Normal mode
counterparts.
The tolerance and unit for each limit are listed at the end of the row that corresponds
to it. When a program is running, the speed of the robot arm is automatically adjusted
in order to not exceed any of the entered values minus the tolerance (see 15.3). Note
that the minus sign displayed with each tolerance value is only there to indicate that
the tolerance is subtracted from the actual entered value. Nevertheless, should the
angular velocity of some joint exceed the entered value (without tolerance), the safety
system performs a category 0 stop.
Position Range This screen defines the position range for each joint. This is done by
tapping the corresponding text fields and entering new values for the lower and upper
joint position boundary. The entered interval must fall within the values listed in the
column titled Range and the lower boundary cannot exceed the upper boundary.
Note that the fields for limits in Reduced mode are disabled when neither a safety plane
nor a configurable input is set to trigger it (see 15.11 and 15.12 for more details).
The tolerances and unit for each limit are listed at the end of the row that corresponds
to it. The first tolerance value applies to the minimum value and the second applies to
the maximum value. Program execution is aborted when the position of a joint is about
to exceed the range resulting from adding the first tolerance to the entered minimum
value and subtracting the second tolerance from the entered maximum value, 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. Nevertheless, should the joint position exceed the entered
range, the safety system performs a category 0 stop.
15.11 Boundaries
In this tab you can configure boundary limits consisting of safety planes and a limit
on the maximum allowed deviation of the robot tool orientation. It is also possible to
define planes that trigger a transition into Reduced mode.
Safety planes can be used to restrict the allowed workspace of the robot by enforcing
that the robot TCP stay on the correct side of the defined planes and not pass through
them. Up to eight safety planes can be configured. The constraint on the orientation
of tool can be utilized to ensure that the robot tool orientation does not deviate more
than a certain specified amount from a desired orientation.
CB3 II-102 Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
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