Universal Robots UR30 PolyScope X User Manual page 156

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Normal When the safety system is in Normal mode, a normal plane is active and it acts as a strict limit
on the position.
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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.
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Both 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.
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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.
Elbow Joint Restriction
You can prevent the robot elbow joint from passing through any of your defined planes.
To restrict the elbow joint
1. Disable Restrict Elbow for elbow to pass through planes.
UR30 PolyScope X User Manual