Universal Robots e Series User Manual page 118

specifying tilt and pan angles.
Before configuring the limit, you must define a point or plane in the robot installation (see 16.3).
The feature can then be copied and its Z axis used as the center of the cone defining the limit.
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".
e-Series
NOTE:
Configuration of the tool direction is based on features. We recom-
mend you create desired feature(s) before editing the safety configu-
ration, as once the Safety Tab has been unlocked, the robot arm pow-
ers off making it impossible to define new features.
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13.2 Safety Menu Settings
Version 5.4