Universal Robots UR3e

Workspace
1.1: Due to the physical properties of the robot arm, certain workspace areas
require attention regarding pinching hazards. One area (left) is defined for radial
motions when the wrist 1 joint is at least 450mm from the base of the robot. The
other area (right) is within 200mm of the base of the robot, when moving
tangentially.
Pinching hazards can be avoided by removing obstacles in these areas, by placing the
robot differently, or by using a combination of safety planes and joint limits to eliminate
the hazards by preventing the robot moving into this region of its workspace.
UR3e 32 User Manual
2.Safety
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