Universal Robots UR10e PolyScope X User Manual page 100

Configuring a You can configure safety planes with the properties listed below:
Safety Plane
You can configure each plane with the restrictions listed below:
Elbow Joint You can prevent the robot elbow joint from passing through any of your defined planes.
Restriction
Disable Restrict Elbow for elbow to pass through planes.
UR10e PolyScope X
•
Name This is the name used to identify the safety plane.
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Offset from base This is the height of the plane from the base, measured in the -Y
direction.
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Tilt This is the tilt of the plane, measured from the power cord.
•
Rotation This is the rotation of the plane, measured clockwise.
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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.
•
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.
•
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.
•
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.
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9. First Time Use
User Manual