Universal Robots UR16e

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
8.13. Featureson page306). The plane feature is used to set up a safety
plane later in the safety settings.
UR16e 150 User Manual
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