Universal Robots UR5e - Setting a Software Safety Password

Color Codes Gray
Plane is configured but disabled (A)
Yellow & Black
Normal Plane (B)
Blue & Green
Trigger Plane (C)
Black Arrow
The side of the plane the tool and/or elbow is allowed to be on (For
Normal Planes)
Green Arrow
The side of the plane the tool and/or elbow is allowed to be on (For
Trigger Planes)
Gray Arrow
The side of the plane the tool and/or elbow is allowed to be on (For
Disabled Planes)
Elbow Restriction You can enable Restrict Elbow to prevent robot elbow joint from passing
through any of your defined planes. Disable Restrict Elbow for elbow to
pass through planes.
UR5e 139 User Manual
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