Hello,I have two question regarding the Robots of Universal robots:1. Are the parameters of the reduced mode and the normal mode are independant from each other? So you can also switch their parameters so that the normal mode is actually "reduced" and the parameters of the reduced mode are "normal". 2. If I understood the function correctly the reduced mode is dominant. So if the robot is passing the safety feature to the "reduced" side, the robot will always be in reduced mode despite other surfaces which might have the normal mode on the side of their surface where your tcp might be at? Do the other saftey featureswhere your robot has to stop have also a dominant function side?Thank you guys!