10.12 Boundaries
shown.
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 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:
a) 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.
b) The Reduced Mode safety input function is configured and the input signals
are low (see 10.13 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 Re-
duced 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 per-
missive 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set is no longer active and the Reduced mode limit set is enforced.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 Nor-
mal 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
CB3 II-16 Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
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