15.11 Boundaries
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 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
deviation of the tool orientation exceed the limit (without tolerance).
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
II-109 CB3
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