Universal Robots e Series User Manual page 113

13.2 Safety Menu Settings
13.2.5 Planes
Safety planes restrict robot workspace. You can define up to eight safety planes, restricting the
robot tool and elbow. You can also restrict elbow movement for each safety plane and disable by
deselecting the checkbox. Before configuring safety planes, you must define a feature in the robot
installation (see 16.1.3). The feature can then be copied into the safety plane screen and config-
ured.
Modes
You can configure each plane with restrictive Modes using the icons listed below.
Disabled The safety plane is never active in this state.
Normal When the safety system is in Normal mode, a normal plane is active and it acts as a
strict limit on the position.
Version 5.4
NOTE:
Configuring planes is entirely based on features. We recommend you
create and name all features before editing the safety configuration,
as the robot is powered off once the Safety Tab has been unlocked
and moving the robot will be impossible.
WARNING:
Defining safety planes only limits the defined Tool spheres and elbow,
not the overall limit for the robot arm. This means that specifying a
safety plane, does not guarantee that other parts of the robot arm will
obey this restriction.
II-23 e-Series