Planes; Modes - Universal Robots e-Series Original Instructions Manual

5. Safety Configuration

5.11. Planes

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.
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 8.5. I/O Setup on
screen and configured.
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.

5.11.1. Modes

You can configure each plane with restrictive Modes using the icons listed below.
Disabled
The safety plane is never active in this state.
Software Manual
page 129). The feature can then be copied into the safety plane
39 e-Series