Safety Planes

Safety planes restrict robot workspace, the tool and the elbow.

Defining safety planes only limits the defined Tool spheres and elbow, not the overall limit for the robot arm.

Defining safety planes does not guarantee that other parts of the robot arm will obey this type of restriction.

Figure 1.4: PolyScope X screen displaying safety planes.

Disabled: The safety plane is never active in this state.
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.

You can configure safety planes with the properties listed below:

Name This is the name used to identify the safety plane.
Offset from base This is the height of the plane from the base, measured in the -Y direction.
Tilt This is the tilt of the plane, measured from the power cord.
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 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.

You can prevent the robot elbow joint from passing through any of your defined planes.