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Safety plane trigger.

This article will explain some details about the trigger of safety plane.

I the Safety menu when setting safety plane the menu for how to trigger the safety plane has 5 options.

universal-robots-zacobria-safety-plane-trigger-menu-1

Disabled:

The safety plane is disabled and will not be triggered.

Normal:

The safety plane will be triggered when the robot running with normal speed meet the plane – And it will create a hard stop.

(Notice “Normal” means that the plane is triggered when the robot run with normal speed. So if the robot was already running reduced speed then this plane will not be triggered as a safety plane.

Reduced:

The safety plane will be triggered when the robot running with reduced speed meet the plane – And it will create a hard stop.

(Notice “Reduced” means that the plane is triggered when the robot run with reduced speed. So if the robot was running normal speed then this plane will not be triggered as a safety plane.

Both:

The safety plane will be triggered when the robot running with normal or reduced speed meet the plane – And it will create a hard stop.

(Notice “Normal” means that the plane is triggered when the robot run with normal or reduced speed. So if the robot was running normal speed or reduced speed then this plane will not be triggered as a safety plane.

Trigger reduced mode:

The safety plane will be triggered when the robot meet the plane and this will trigger the robot to enter Reduced mode. Notice that the “Reduced mode” can be set with different values for example a reduced speed.

Below is an example of setting 2 different planes which are configured so the plane furthest away is a hard stop when the robot reach there – and the plane nearest to the robot is triggering a reduced mode with reduced speed.

So in the space before the plane near to the robot the robot can run with normal speed – and in the space between the planes the robot run with reduced speed – and when the robot reach the plane furthest away from the robot the robot will stop with a safety stop messages.

 

Example of setting Safety plane:

In this example the safety plane furthest away from the robot is set first.

The Features menu under Installation Tab the plane position is defined by setting 3 points in the plane.

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To enter the Safety settings menu a password must be provided. When the correct password has been entered the robot will remove power to the robot.

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In the Safety menu and Boundaries the “safety plane 0” is defined as a safety plane by selecting the Plane_1.

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In the “Boundary restrict” menu the mode of trigger is defined (see above for description of each mode). For this plane furthest away from the robot “Both” is selected in this example which means the safety plane will be triggered whether the robot run with normal speed or the robot run with reduced speed.

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“Both” is selected.

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The go out of the safety menu the robot

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In “Features” under “Installation tab” the next pale is set. In this example this plane is set nearer to the robot.

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The two planes defined.

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In the Safety menu and Boundaries the “safety plane 1” is defined as a safety plane by selecting the Plane_2.

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In this example for safety plane nearest to the robot the mode “Trigger Reduced mode” is selected.

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To set the desired speed in the area between the planes which is the area with Reduced mode speed – the speed value can be set in the general limits menu. In this example the value of 160 mm/s is selected.

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To run the robot the power to the robot must be applied. From the “File” menu the “Initialize screen can be selected.

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In the Initialize screen the power can be reapplied with “ON” and “Start” and “OK”.

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When the robot is in the area outside both planes – then the robot can run with normal speed.

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In the area in between the two planes the robot can run with reduced speed.

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In this example when the robot reach the plane furthest away from the robot – the robot will stop and display a safety stop messages.

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Disclaimer: While the Zacobria Pte. Ltd. believes that information and guidance provided is correct, parties must rely upon their skill and judgement when making use of them. Zacobria Pte. Ltd. assumes no liability for loss or damage caused by error or omission, whether such an error or omission is the result of negligence or any other cause. Where reference is made to legislation it is not to be considered as legal advice. Any and all such liability is disclaimed.

If you need specific advice (for example, medical, legal, financial or risk management), please seek a professional who is licensed or knowledgeable in that area.

Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.

Also check out the CB3 forum



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8 comments

  1. Hello

    Is it possible to activate the safety plane only when an input is True ?

    If the input=False, the plane don’t run and the robot can move normally everywhere.
    But if the input=True, the plane is active and the robot is in reduce mode if it triggered it

    Thanks

    1. Hello Vince

      Thanks for the question.

      I am not aware of such function – and it would also defeat the purpose of safety not being part of the program.

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum



  2. I currently have a Universal robot and a conveyor belt as a part of my project. The task of the robot is to pick a certain workpiece and place it on the conveyor belt. The home position of the robot (which is also my 1st waypoint and is pretty away from the base) is around 40-50cm diagonally away from the conveyor belt. My 2nd waypoint is 30cm straight above the conveyor belt. My 3rd waypoint is few centimeters straight above the conveyor belt. I have built a safety plane say around 10-15cm above the conveyor belt. The waypoints are such that my 2nd waypoint is above the safety plane and my 3rd waypoint is below the safety plane. The safety plane is set to ‘Trigger reduced speed’. My normal speed value is 500 and reduced speed is 250. So my robot starts from waypoint 1, goes to waypoint 2 and then drops the workpiece after reaching waypoint 3. The safety plane is constructed between waypoint 2 and waypoint 3 (so as to make sure the robot drops the piece carefully!). But the problem is, my robot gives me a protective stop as soon as it touches my safety plane and seizes to enter further (which should not happen in the ‘Trigger reduced mode’). I thought that the speed values (keeping in mind the speed change and jerk problems) could pose a problem and so I tried with the same speed values in the normal and reduced mode (just to test whether my robot at least enters the safety plane). Unfortunately, the robot did not enter the safety plane and stopped as soon as the gripper touched the safety plane. Whereas, a safety plane with ‘Trigger reduced mode’ constructed elsewhere in the same project works absolutely fine. Why is the Universal robot behaving this way with the safety plane, just close to the home position?
    If safety planes feature cannot solve my need of dropping the workpiece slowly on the conveyor, what other things can I possibly do to achieve the same aim? Any suggestions/ideas/inputs would be highly appreciated.

    P.S:
    1. I tried to play around by changing the speed and distance values as per the basic formula of speed but none worked on the robot and it seized to enter the safety plane near the conveyor belt.
    2. Just to assure you all, none of my robot joints enter the safety plane. It is just the gripper and the workpiece that enters the safety plane near the conveyor belt.
    3. My robot works absolutely fine and performs all the tasks as required near the conveyor belt if I disable the safety plane on the conveyor (Just that it drops my workpiece little harshly).

    1. Mahalakshmi Hari

      Thanks for the question.

      Can it be that there has been configured an offset in the TCP setting.

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum



  3. Hi,
    I have problem with my UR5, while trying to move it , a joint position limit was violated and I could not fix it
    whenever I try to restartd the Robot I got the same following message

    C191A1: Safety system violation: joint position limit violated

    How can I fix it ?

    1. Hi Ghada

      Thanks for the question.

      There can be different reasons.

      1.
      Maybe the speed is too fast so the shock impact when turning is causing a safety stop.

      2.
      Maybe the robot is hitting something of meeting an obstacle.

      3.
      Maybe the program is trying to move the joint beyond the max turn.

      4.
      There can be a malfunction on a joint.

      Maybe consider to contact your robot provider.

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum



  4. Hi,
    my robot is mounted on a table, is it possible to set the safety plane in a way that it is triggered not only by the TCP but also by every joint of the robot?
    That the robot is not hitting the table?

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