Limit Properties - Universal Robots E Series Original Instructions Manual

21. Safety Configuration
NOTE
Configuration of the tool direction is based on features. We recommend you create
desired feature(s) before editing the safety configuration, as once the Safety Tab
has been unlocked, the robot arm powers off making it impossible to define new
features.

21.15.1. Limit Properties

The Tool Direction limit has three configurable properties:
1. Cone center: You can select a point or plane feature from the drop-down menu, to define the
center of the cone. The Z axis of the selected feature is used as the direction around which
the cone is centred.
2. Cone angle: You can define how many degrees the robot is allowed to deviate from center.
Disabled Tool direction limit
is never active
Normal Tool direction limit
is active only when safety system is in Normal mode.
Reduced Tool direction limit
is active only when the safety system is in Reduced mode.
Normal & Reduced Tool direction limit
is active when the safety system is in Normal mode as well as when it is in Reduced mode.
You can reset the values to default or undo the Tool Direction configuration by setting the copy
feature back to "Undefined".
User Manual 131 UR5e