Universal Robots UR3e

Adding a plane
feature example
Displacement offsets the plane in either the positive or negative direction along the
plane normal (Z-axis of the plane feature).
Deselect the checkbox for the Elbow and the Tool Flange so they do not trigger the
safety plane. The Elbow can remain checked as needed by your application.
The unrestricted tool flange can cross a safety plane, even when no tool is defined.
If no tool is added, a warning on the Tool Position button prompts you to correctly define
the tool.
When working with an unrestricted tool flange and a defined tool, it is ensured that the
dangerous part of the tool can't go above and/or beyond certain area. The unrestricted
tool flange can be used for any application where safety planes are needed, like
Welding or Assembly.
UR3e 154 User Manual
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