Universal Robots UR16e

8.12. Safety
Description See chapter: 5.Software Safety Configurationon page130.
8.13. Features
Description A Feature represents an object defined by a six dimensional pose (position
and orientation) relative to the robot base. You can name a feature for
future reference.
Some subparts of a robot program consist of movements executed relative
to specific objects other than the base of the robot arm. These objects can
be tables, other machines, workpieces, vision systems, blanks, or
boundaries existing around the robot arm.
The robot includes two predefined features, listed below, with poses
defined by the configuration of the robot arm itself:
•
The Base feature is located with origin in the centre of the robot base.
•
The Tool feature is located with origin in the centre of the current
TCP.
UR16e 306 User Manual
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