Universal Robots UR10/CB3, Руководство пользователя

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NOTE
It is highly recommended, that you create all features needed for the
configuration of all the desired boundary limits and assign them appropriate
names before editing the safety configuration. Note that since the robot arm is
powered off once the
Safety tab has been unlocked, the
Tool
feature (containing
the current position and orientation of the robot TCP) as well as Freedrive mode
(see Freedrive on page 122 ) will not be available.
When in Freedrive mode (see Freedrive on page 122 ), and the current position of the robot TCP is
close to a safety plane, or the deviation of the orientation of the robot tool from the desired
orientation is close to the specified maximum deviation, the user will feel a repelling force which
increases in magnitude as the TCP approaches the limit. The force is generated when the TCP is
within approximately 5 cm of a safety plane, or the deviation of the orientation of the tool is
approximately 3 ° from the specified maximum deviation.
When a plane is defined as a Trigger Reduced mode plane and the TCP goes beyond this
boundary, the safety system transitions into Reduced mode which applies the Reduced mode
safety settings. Trigger planes follow the same rules as regular safety planes except they allow
the robot arm to pass through them.
Selecting a boundary to configure
The
Safety Boundaries
panel on the left side of the tab is used to select a boundary limit to
configure.
To set up a safety plane, click on one of the top eight entries listed in the panel. If the selected
safety plane has already been configured, the corresponding 3D representation of the plane is
highlighted in the
3D View
(see 3D visualization below ) to the right of this panel. The safety
plane can be set up in the
Safety Plane Properties
section (see Safety plane
configuration on the facing page ) at the bottom of the tab.
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 Tool Boundary configuration on page 102 ) 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 Safety mode on page 103 ) is indicated by one of
the following icons / / / .
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.
UR10 98 User Manual
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