To Next Page

To Previous Page

15.11 Boundaries

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 fea-

ture (see 12.12) 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 features 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 15.11.3), 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 fea-

ture, 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 auto-

matically 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.

Version 3.1 (rev. 17782)

II-105 CB3

Universal Robots UR5 Original Instructions

Other manuals for Universal Robots UR5