UFactory XARM User Manual page 102

1.4.5 Safety Settings
1.4.5.1 Safety Boundary
Safety Boundary
When this mode is turned on, the working range of the robotic arm in
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Cartesian space can be limited. If the tool center point (TCP) of the
robotic arm exceeds the set safety boundary, the robotic arm will stop
moving. The user can then adjust the robotic arm back into the
restricted space.
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