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10.12 Boundaries

Click the Tool Boundary entry to conﬁgure the orientation boundary limit for the robot tool. The

conﬁguration of the limit can be speciﬁed in the Tool Boundary Properties section (see 10.12.4)

at the bottom of the tab.

Click the / button to toggle the 3D visualization of the boundary limit on/off. If a boundary

limit is active, the safety mode (see 10.12.3 and 10.12.4) is indicated by one of the following icons

/ / / .

10.12.2 3D visualization

The 3D View displays the conﬁgured safety planes and the orientation boundary limit for the

robot tool together with the current position of the robot arm. All conﬁgured boundary entries

where the visibility toggle is selected (i.e. showing icon) in the Safety Boundaries section

are displayed together with the current selected boundary limit.

The (active) safety planes are shown in yellow and black with a small arrow representing the plane

normal, which indicates the side of the plane on which the robot TCP is allowed to be positioned.

Trigger planes are displayed in blue and green. A small arrow illustrates the side of the plane that

does not trigger the transition into Reduced mode. If a safety plane has been selected in the panel on

the left side of the tab, the corresponding 3D representation is highlighted.

The tool orientation boundary limit is visualized with a spherical cone together with a vector indi-

cating the current orientation of the robot tool. The inside of the cone represents the allowed area

for the tool orientation (vector).

When a plane or the tool orientation boundary limit is conﬁgured but not active, the visualization

is gray.

Push the magnifying glass icons to zoom in/out or drag a ﬁnger across to change the view.

10.12.3 Safety plane conﬁguration

The Safety Plane Properties section at the bottom of the tab deﬁnes the conﬁguration of the

selected safety plane in the Safety Boundaries panel in the upper left portion of the tab.

CB3 II-14 Version 3.10

Universal Robots UR3/CB3 User Manual

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