Robot Limits

Speed Limits

Limit Description Tool Speed Limits maximum robot tool speed. Elbow Speed Limits maximum robot elbow speed. Momentum Limits maximum robot momentum. Stopping Time Limits maximum time it takes the robot to stop e.g. when an emergency stop is activated. Stopping Distance Limits maximum distance the robot tool or elbow can travel while stopping.

Force Limits

Limit Description Tool Force Limits the maximum force exerted by the robot tool in clamping situations. Elbow Force Limits maximum force that the elbow exerts on the environment. Power Limits maximum mechanical work produced by the robot in the environment. This limit considers the payload a part of the robot and not of the environment. Wrist Claming Torque Limits how much torque the wrist can apply for pushing. Enabled by default.

Safety Mode

Restricting stopping time and distance affect overall robot speed. For example, if stopping time is set to 300 ms, the maximum robot speed is limited allowing the robot to stop within 300 ms. The tool speed and force are limited at the tool flange and the center of the two user-defined tool positions The tool and elbow forces may be exceeded by the three wrist joints if the "wrist clamping torque" safety function is disabled Under normal conditions, i.e. when no Robot stop is in effect, the safety system operates in a Safety Mode associated with a set of safety limits 1 Robot stop was previously known as "Protective stop" for Universal Robots.: Safety mode Effect Normal This configuration is active by default. Reduced This configuration activates when the Tool Center Point (TCP) is positioned beyond a Trigger Reduced mode plane, or when triggered using a configurable input.