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The tolerance and unit for each limit are listed at the end of the row that corresponds to it. When

a program is running, the speed of the robot arm is automatically adjusted in order to not exceed

any of the entered values minus the tolerance (see1.20.4. Toleranceson page90). Note that the

minus sign displayed with each tolerance value is only there to indicate that the tolerance is

subtracted from the actual entered value. Nevertheless, should the angular velocity of some joint

exceed the entered value (without tolerance), the safety system performs a Stop Category 0.

Position Range

This screen defines the position range for each joint. This is done by tapping the corresponding

text fields and entering new values for the lower and upper joint position boundary. The entered

interval must fall within the values listed in the column titled Range and the lower boundary

cannot exceed the upper boundary.

Note: The fields for limits in Reduced mode are disabled when neither a safety plane nor a

configurable input is set to trigger it (see1.20.13. Safety I/Oon page104 for more

details).1.20.12. Boundariesbelow and

The tolerances and unit for each limit are listed at the end of the row that corresponds to it. The

first tolerance value applies to the minimum value and the second applies to the maximum

value. Program execution is aborted when the position of a joint is about to exceed the range

resulting from adding the first tolerance to the entered minimum value and subtracting the

second tolerance from the entered maximum value, 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. Nevertheless, should the joint

position exceed the entered range, the safety system performs a Stop Category 0.

1.20.12. Boundaries

In this tab you can configure boundary limits consisting of safety planes and a limit on the

maximum allowed deviation of the robot tool orientation. It is also possible to define planes that

trigger a transition into Reduced mode.

Safety planes can be used to restrict the allowed workspace of the robot by enforcing that the

robot TCP stay on the correct side of the defined planes and not pass through them. Up to eight

safety planes can be configured. The constraint on the orientation of tool can be utilized to

ensure that the robot tool orientation does not deviate more than a certain specified amount from

a desired orientation.

WARNING

Defining safety planes only limits the TCP and not the overall limit for the robot

arm. This means that although a safety plane is specified, it does not guarantee

that other parts of the robot arm will obey this restriction.

The configuration of each boundary limit is based on one of the features defined in the current

robot installation (see1.23.12. Installation → Featureson page140).

User Manual 97 UR10

Universal Robots UR10/CB3 User Manual

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