Universal Robots UR30 User Manual page 152

Elbow You can enable Restrict Elbow to prevent robot elbow joint from passing through any of
Restriction your defined planes. Disable Restrict Elbow for elbow to pass through planes.
The diameter of the ball that restricts the elbow is different for each size of robot.
UR3e
UR5e
UR10e / UR16e
UR20 / UR30
The information about the specific radius can be found in the urcontrol.conf file on the robot
under the section [Elbow].
Tool Flange Restricting the tool flange prevents the tool flange and the attached tool from crossing a
Restriction safety plane. When you restrict the tool flange, the unrestricted area is the area inside of
the safety plane, where the tool flange can operate normally.
The tool flange cannot cross the restricted area, outside of the safety plane.
Removing the restriction allows the tool flange to go beyond the safety plane, to the
restricted area, while the attached tool remains inside of the safety plane.
You can remove the tool flange restriction when working with a large tool off-set. This will
allow extra distance for the tool to move.
Restricting the tool flange requires the creation of a plane feature. The plane feature is
used to set up a safety plane later in the safety settings.
UR30
0.1 m
0.13 m
0.15 m
0.19 m
153 User Manual