Tool Flange
Restriction
Restricting the tool flange prevents the tool flange and the attached tool
from crossing a safety plane. When you restrict the tool flange, the
unrestricted area is the area inside of the safety plane, where the tool
flange can operate normally. The tool flange cannot cross the restricted
area, outside of the safety plane.
Removing the restriction allows the tool flange to go beyond the safety
plane, to the restricted area, while the attached tool remains inside of the
safety plane.
You can remove the tool flange restriction when working with a large tool
off-set. This will allow extra distance for the tool to move.
Restricting the tool flange requires the creation of a plane feature. (See
3.5.13. Featureson page298). The plane feature is used to set up a safety
plane later in the safety settings.
Adding a plane
feature example
Displacement offsets the plane in either the positive or negative direction
along the plane normal (Z-axis of the plane feature).
Deselect the checkbox for the Elbow and the Tool Flange so they do not
trigger the safety plane. The Elbow can remain checked as needed by your
application.
The unrestricted tool flange can cross a safety plane, even when no tool is
defined.
If no tool is added, a warning on the Tool Position button prompts you to
correctly define the tool.
When working with an unrestricted tool flange and a defined tool, it is
ensured that the dangerous part of the tool can't go above and/or beyond
certain area. The unrestricted tool flange can be used for any application
where safety planes are needed, like Welding or Assembly.
User Manual 140 UR5e
Copyright © 2009–2023 by UniversalRobotsA/S. All rights reserved.
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