20.12. Safety
Description See chapter: 17 Software Safety Configurationon page137.
20.13. Features
Description A Feature represents an object defined by a six dimensional pose (position and
orientation) relative to the robot base. You can name a feature for future reference.
Some subparts of a robot program consist of movements executed relative to specific
objects other than the base of the robot arm. These objects can be tables, other
machines, workpieces, vision systems, blanks, or boundaries existing around the
robot arm.
The robot includes two predefined features, listed below, with poses defined by the
configuration of the robot arm itself:
•
The Base feature is located with origin in the centre of the robot base.
•
The Tool feature is located with origin in the centre of the current TCP.
User Manual 299 UR10e
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