Universal Robots UR12e User Manual page 151

8.5.1. Tool Direction Restriction
Description The Tool Direction screen can be used to restrict the angle in which the tool is pointing.
The limit is defined by a cone that has a fixed orientation with respect to the robot arm
Base. As the robot arm moves around, tool direction is restricted so it remains within the
defined cone. The default direction of the tool coincides with the Z-axis of the tool output
flange. It can be customized by specifying tilt and pan angles.
Before configuring the limit, you must define a point or plane in the robot installation. The
feature can then be copied and its Z axis used as the center of the cone defining the limit.
User Manual
NOTICE
Configuration of the tool direction is based on features. We recommend
you create desired feature(s) before editing the safety configuration, as
once the Safety Tab has been unlocked, the robot arm powers off
making it impossible to define new features.
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