15.11 Boundaries
Safety mode The drop down menu on the right hand side of the Safety Plane
Properties panel is used to choose the safety mode for the safety plane, with the
following modes available:
Disabled The safety plane is never active.
Normal When the safety system is in Normal mode, a
Normal mode plane is active and it acts as a strict
limit on the position of the robot TCP.
Reduced When the safety system is in Reduced mode, a
Reduced mode plane is active and it acts as a strict
limit on the position of the robot TCP.
Normal & Reduced When the safety system is either in Normal or Re-
duced mode, a Normal & Reduced mode plane is
active and it acts as a strict limit on the position of
the robot TCP.
Trigger Reduced mode When the safety system is either in Normal or Re-
duced mode, a Trigger Reduced mode plane is active
and it causes the safety system to switch to Reduced
mode for as long as the robot TCP is positioned be-
yond it.
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.
Displacement When a feature has been selected in the drop down box in the lower
left portion of the Safety Plane Properties panel, the safety plane can be trans-
lated by tapping the Displacement text field in the lower right portion of this panel
and entering a value. Entering in a positive value increases the allowed workspace of
the robot by moving the plane in the opposite direction of the plane normal, while en-
tering a negative value decreases the allowed area by moving the plane in the direction
of the plane normal.
The tolerance and unit for the displacement of the boundary plane are shown to the
right of the text field.
Effect of strict limit planes Program execution is aborted when the TCP position
is about to cross an active, strict limit safety plane minus the tolerance (see 15.3), 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 category 0 stop, should the
TCP position exceed the specified limit safety plane (without tolerance).
Effect of Trigger Reduced mode planes When no protective stop is in effect and
the safety system is not in the special Recovery mode (see 15.5), it operates either in Nor-
CB3 II-106 Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
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