Universal Robots UR3e PolyScope X - Configuring a Safety Plane

Figure1.4: PolyScope X screen displaying safety planes.
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Disabled: The safety plane is never active in this state.
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Normal: When the safety system is in Normal mode, a normal plane is active and it acts as a strict limit
on the position.
•
Reduced: When the safety system is in Reduced mode, a reduced mode plane is active and it acts as a
strict limit on the position.
•
Normal & Reduced: When the safety system is either in Normal or Reduced mode, a normal and
reduced mode plane is active and acts as a strict limit on the position.
•
Trigger Reduced Mode: The safety plane causes the safety system to switch to Reduced mode if the
robot Tool or Elbow is positioned beyond it.
Configuring a safety plane
You can configure safety planes with the properties listed below:
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Name This is the name used to identify the safety plane.
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Offset from base This is the height of the plane from the base, measured in the -Y direction.
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Tilt This is the tilt of the plane, measured from the power cord.
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Rotation This is the rotation of the plane, measured clockwise.
You can configure each plane with the restrictions listed below:
•
Normal When the safety system is in Normal mode, a normal plane is active and it acts as a strict limit
on the position.
•
Reduced When the safety system is in Reduced mode, a reduced mode plane is active and it acts as a
strict limit on the position.
•
Both When the safety system is either in Normal or Reduced mode, a normal and reduced mode plane
User Manual 31 UR3e PolyScope X
3.Safety
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