15.11 Boundaries
15.11.4 Tool Boundary configuration
The Tool Boundary Properties panel at the bottom of the tab defines a limit on
the orientation 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 de-
viation 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 12.12) 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. Choos-
ing 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
CB3 II-108 Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
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