10.12 Boundaries
Disabled The safety plane is never active.
Normal When the safety system is in Normal mode, a
Normal mode plane is active and it acts as a strict
limit on the position of the robot TCP.
Reduced When the safety system is in Reduced mode, a
Reduced mode plane is active and it acts as a strict
limit on the position of the robot TCP.
Normal & Reduced When the safety system is either in Normal or Re-
duced mode, a Normal & Reduced mode plane is
active and it acts as a strict limit on the position of
the robot TCP.
Trigger Reduced mode When the safety system is either in Normal or Re-
duced mode, a Trigger Reduced mode plane is active
and it causes the safety system to switch to Reduced
mode for as long as the robot TCP is positioned be-
yond it.
The selected safety mode is indicated by an icon in the corresponding entry in the Safety Boundaries
panel. If the safety mode is set to Disabled, no icon is shown.
Displacement When a feature has been selected in the drop down box in the lower left por-
tion 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 oppo-
site 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 10.4), 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 10.6), 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:
CB3 II-16 Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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