10.12 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
feature (see 13.12) 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 se-
lected, in which case the plane normal will point in the same direction. If the plane
is configured as a Trigger Reduced mode plane (see 10.12.3), the plane normal indi-
cates 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 feature, 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 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 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.
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 Re-
duced mode for as long as the robot TCP is posi-
tioned beyond 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
Version 3.4.5
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II-15 CB3
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