Universal Robots e Series User Manual page 114

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.
Normal & Reduced When the safety system is either in Normal or Reduced mode, a normal
and reduced mode plane is active and acts as a strict limit on the position.
Trigger Reduced Mode The safety plane causes the safety system to switch to Reduced mode
if the robot Tool or Elbow is positioned beyond it.
Show Pressing this icon hides or shows the safety plane in the graphics pane.
Delete Deletes the created safety plane (note: there is no undo/redo action here so if a plane
is deleted by mistake, it will have to be remade)
Rename Pressing this icon allows you to rename the plane.
Configuring Safety Planes
1. In your PolyScope header, tap Installation.
2. In the Side Menu on the left of the screen, tap Safety and select Planes.
3. On the top right of the screen, in the Planes field, tap Add plane.
4. On the bottom right of the screen, in the Properties field, set up Name, Copy Feature and Re-
strictions. Note: In Copy Feature, only Undefined and Base are available. You can reset a
configured safety plane by selecting Undefined
If the copied feature is modified in the Features screen, a warning icon appears to the right of the
Copy Feature text. This indicates that the feature is out of sync i.e. the information in the properties
card is not updated to reflect the modifications that may have been made to the Feature.
Elbow
You can enable Restrict Elbow to prevent robot elbow joint from passing through any of your defined
planes. Disable Restrict Elbow for elbow to pass through planes.
e-Series II-24
13.2 Safety Menu Settings
Version 5.4