Limit Properties The Tool Direction limit has three configurable properties:
1. Cone center: You can select a point or plane feature from the drop-down menu,
to define the center of the cone. The Z axis of the selected feature is used as the
direction around which the cone is centred.
2. Cone angle: You can define how many degrees the robot is allowed to deviate
from center.
Disabled Tool direction limit
is never active
Normal Tool direction limit
is active only when safety system is in Normal mode.
Reduced Tool direction limit
is active only when the safety system is in Reduced mode.
Normal & Reduced Tool direction limit
is active when the safety system is in Normal mode as well as when it is in
Reduced mode.
You can reset the values to default or undo the Tool Direction configuration by setting
the copy feature back to "Undefined".
Tool Properties By default, the tool points in the same direction as the Z axis of the tool output flange.
This can be modified by specifying two angles:
•
Tilt angle: How much to tilt the Z axis of the output flange towards the X axis of
the output flange
•
Pan angle: How much to rotate the tilted Z axis around the original output flange
Z axis.
Alternatively, the Z axis of an existing TCP can be copied by selecting that TCP from the
drop-down menu.
UR10e 162 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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