Universal Robots UR10/CB3, Руководство пользователя

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Copy Feature
The position and normal of the safety plane is specified using a feature (see 1.23.12. Installation
→
Features on page 140 ) from the current robot installation. Use the drop-down box in the lower
left portion of the
Safety Plane Properties
section to select a feature. Only the point and
plane type features are available. Choosing the
<Undefined>
item clears the configuration of
the plane.
The z-axis of the selected feature will point to the disallowed area and the plane normal will point
in the opposite direction, except when the
Base
feature is selected, in which case the plane
normal will point in the same direction. If the plane is configured as a Trigger Reduced mode
plane (see Safety mode below ), the plane normal indicates the side of the plane that does not
trigger transition into Reduced mode.
It should be noted that when the safety plane has been configured by selecting a feature, the
position information is only
copied to the safety plane; the plane is not linked to that feature. This
means that if there are changes to the position or orientation of a feature which has been used to
configure a safety plane, the safety plane is not automatically updated.
If the feature has changed, this is indicated by a positioned over the feature selector.
Click the button next to the selector to update the limit with the current position and
orientation of the feature.
The icon is also displayed if the selected feature has been deleted from the installation.
Safety mode
The drop down menu on the right hand side of the
Safety Plane Properties
panel is used
to choose the safety mode for the safety plane, with the following modes available:
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 Reduced 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 Reduced 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
beyond 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.
UR10 100 User Manual
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