5.8. Software Safety Restrictions
Description
NOTICE
Configuring planes is entirely based on features. We
recommend you create and name all features before
editing the safety configuration, as the robot is powered off
once the Safety Tab has been unlocked and moving the
robot will be impossible.
Safety planes restrict robot workspace. You can define up to eight safety
planes, restricting the robot tool and elbow. You can also restrict elbow
movement for each safety plane and disable by deselecting the checkbox.
Before configuring safety planes, you must define a feature in the robot
installation (see8.4. I/O Setupon page289). The feature can then be
copied into the safety plane screen and configured.
WARNING
Defining safety planes only limits the defined Tool spheres
and elbow, not the overall limit for the robot arm. This
means that specifying a safety plane, does not guarantee
that other parts of the robot arm will obey this restriction.
UR16e 146 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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