Universal Robots UR30 PolyScope X User Manual page 155

WARNING
Defining safety planes only limits the defined Tool spheres and elbow, not the overall limit for
the robot arm.
Defining safety planes does not guarantee that other parts of the robot arm will obey this type
of restriction.
•
Disabled: The safety plane is never active in this state.
•
Normal: When the safety system is in Normal mode, a normal plane is active and it acts as a strict limit
on the position.
•
Reduced: When the safety system is in Reduced mode, a reduced mode plane is active and it acts as a
strict limit on the position.
•
Normal & Reduced: When the safety system is either in Normal or Reduced mode, a normal and
reduced mode plane is active and acts as a strict limit on the position.
•
Trigger Reduced Mode: The safety plane causes the safety system to switch to Reduced mode if the
robot Tool or Elbow is positioned beyond it.
Configuring a safety plane
You can configure safety planes with the properties listed below:
•
Name This is the name used to identify the safety plane.
•
Offset from base This is the height of the plane from the base, measured in the -Y direction.
•
Tilt This is the tilt of the plane, measured from the power cord.
•
Rotation This is the rotation of the plane, measured clockwise.
You can configure each plane with the restrictions listed below:
User Manual
Figure 3.5: PolyScope X screen displaying safety planes.
UR30 PolyScope X