Universal Robots UR16e

Tool flange
restriction example
In this example, an X-Y-plane is created with an offset of 300mm along the
positive Z-axis with reference to the base feature.
The Z-axis of the plane can be thought of as “pointing” towards the
restricted area.
If the safety plane is needed on e.g., the surface of a table, rotate the plane
3.142 rad or 180° around either the X- or Y-axis so the restricted area is
under the table.
(TIP: Change the display of rotation from “Rotation Vector [rad]” to “RPY
[°]”)
If needed it is possible to offset the plane in either positive or negative Z-
direction later in the safety settings.
When satisfied with the position of the plane, tap OK.
UR16e 152 User Manual
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