10.12 Boundaries
Choosing 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 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 bound-
ary. 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 10.4),
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 Stop
Category 0, should the deviation of the tool orientation exceed the limit (without
tolerance).
CB3 II-18 Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
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