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Displacement

When a feature has been selected in the drop down box in the lower left portion of the Safety

Plane Properties panel, the safety plane can be translated by tapping the Displacement

text field in the lower right portion of this panel and entering a value. Entering in a positive value

increases the allowed workspace of the robot by moving the plane in the opposite direction of the

plane normal, while entering a negative value decreases the allowed area by moving the plane in

the direction of the plane normal.

The tolerance and unit for the displacement of the boundary plane are shown to the right of the

text field.

Effect of strict limit planes

Program execution is aborted when the TCP position is about to cross an active, strict limit

safety plane minus the tolerance (see1.20.4. Toleranceson page90), 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 TCP position exceed the specified limit safety

plane (without tolerance).

Effect of Trigger Reduced mode planes

When no protective stop is in effect and the safety system is not in the special Recovery mode

(see1.20.6. Safety Modeson page91), it operates either in Normal or Reduced mode and the

movements of the robot arm are limited by the respective limit set.

By default, the safety system is in Normal mode. It transitions into Reduced mode whenever one

of the following situations occurs:

1. The robot TCP is positioned beyond some Trigger Reduced mode plane, i.e.it is located on

the side of the plane that is opposite to the direction of the small arrow in the visualization

of the plane.

2. The Reduced Mode safety input function is configured and the input signals are low

(see1.20.13. Safety I/Oon page104 for more details).

When none of the above is the case any longer, the safety system transitions back to Normal

mode.

When the transition from Normal to Reduced mode is caused by passing through a Trigger

Reduced mode plane, a transition from the Normal mode limit set to the Reduced mode limit set

occurs. As soon as the robot TCP is positioned 20mm or closer to the Trigger Reduced mode

plane (but still on the Normal mode side), the more permissive of the Normal and Reduced mode

limits is applied for each limit value. Once the robot TCP passes through the Trigger Reduced

mode plane, the Normal mode limit set is no longer active and the Reduced mode limit set is

enforced.

When a transition from Reduced to Normal mode is caused by passing through a Trigger

Reduced mode plane, a transition from the Reduced mode limit set to the Normal mode limit set

occurs. As soon as the robot TCP passes through the Trigger Reduced mode plane, the more

permissive of the Normal and Reduced mode limits is applied for each limit value. Once the

User Manual 101 UR10

Universal Robots UR10/CB3 User Manual

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