I am testing out some safety features of the UR. I have set up 3 safety planes that it cannot pass through. I have restricted the elbow and added a tool protection sphere. When I try to start the robot, it says that it is violating one or more safety planes, and I don’t understand why. According to the model shown on screen with the safety planes, it isn’t passing through or even near to any of the planes. I’m kind of stumped as to why this is happening…
Hello, sometimes it is not obvious which side of the plane is the ‘safe’ side and which is the violation side. I would try checking/reversing each plane one by one and see if that fixes it. Can be a tedious process though.
That worked! It looks like the planes needed to be flipped around 180degrees.