Elbow Restriction You can enable Restrict Elbow to prevent robot elbow joint from passing through any of
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 0.1m
UR5e 0.13m
UR10e / UR16e 0.15m
UR20 / UR30 0.1891m
The information about the specific radius can be found in the
urcontrol.conf
file on the
robot under the section [Elbow].
Tool Flange
Restriction
Restricting the tool flange prevents the tool flange and the attached tool from crossing a
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. (See 20.13
Featureson page299). The plane feature is used to set up a safety plane later in the
safety settings.
User Manual 157 UR10e
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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