Create Safety Plane Using a Frame

Description

You can use an existing frame to define a safety plane. This provides a more intuitive way to specify plane parameters from a predefined position and rotation (X, Y, Z, RX, RY, RZ). Select the frame in the Copy Frame drop-down menu.

 

 

The Copy Frame drop-down menu is found in the parameters of a safety plane definition on the Planes screen. This list includes frames defined on the Frames screen. When you select a frame, it is used as the safety plane definition.

If you specify offset, tilt, and rotation parameters, they are applied to the selected frame (see "Configuring a Safety Plane"). The resulting safety plane combines all parameters.

 

 

See the "Frames" section in Software Handbook.

Creating Safety Planes using Frames

  1. In the Application tab, select Frames.

  2. Tap + Add Frame under Custom Frames, then rename the frame using the three vertical dots (kebab icon).

    Frames are created relative to Base.
 

  1. In the Parent field, select Base.

 

Selecting Reference Frame in Safety Plane

  1. In the Application, go to Safety, select Planes and tap Unlock.

  2. On the Safety Planes screen, select a frame in the Copy Frame drop-down menu. You can also apply offset, tilt, and rotation.

  3. Tap the Apply button.

 

  1. Configured planes are listed in the function assignment table on the Confirmation of Applied Safety Configuration overview dialog.

     

 

A frame used for a safety plane may be inverted from what you expect. If the robot is positioned on the violating side of the plane, add a tilt of 180 degrees.

For restrictions on plane configurations, elbow joint restriction, and tool flange restriction, see "Safety Planes".