Robot Limits

Speed Limits

Tool Speed

Tool Speed limits the maximum speed of your robot tool at the Tool Center Point (TCP). You set the limit, which applies at the tool flange and at the center of the two user-defined tool positions. As part of the Speed Limit safety function (SF6), it monitors TCP speed and, if you exceed the limit, either reduces speed or torque or triggers a robot stop.

	Normal	Reduced
Value	1.5 m/s	0.75 m/s
Function	Maximum permitted TCP speed while the safety system is in Normal mode.	Lower TCP speed cap enforced when the robot enters Reduced mode (for example, an operator approaches a safeguarded zone).

Elbow Speed

Elbow Speed limits the maximum speed of the robot elbow. As part of the Speed Limit safety function, it monitors both TCP and elbow speed, which covers the whole arm because the arm sections between the elbow and TCP cannot move faster than those endpoints.

	Normal	Reduced
Value	1.5 m/s	0.75 m/s
Function	Maximum elbow speed in Normal mode.	Lower elbow speed cap in Reduced mode.

Momentum

Momentum limits the maximum robot momentum, treating the payload as part of the robot. You use it to reduce the force of sudden impacts across the entire robot. When you lower the limit, the robot reduces its speed and acceleration to stay within it.

	Normal	Reduced
Value	25 kg·m/s	10 kg·m/s
Function	Maximum momentum in Normal mode.	Lower momentum limit in Reduced mode, reducing impact energy in a collision.

Stopping Time

Stopping Time limits the maximum time the robot takes to stop, such as when you activate an emergency stop. The safety function continuously monitors the robot's stopping capability during motion and dynamically reduces speed so the robot can always stop within your configured time. If stopping time is at risk of being exceeded, it initiates a stop. When you restrict the stopping time, you directly reduce the robot's overall speed.

	Normal	Reduced
Value	0.4 s	0.3 s
Function	Maximum allowed stopping time in Normal mode.	Tighter stopping-time limit in Reduced mode.

For stopping times and distances, see Stopping Times and Stopping Distances.

Stopping Distance

Stopping Distance limits the maximum distance the robot tool or elbow can travel while stopping. Like Stopping Time, it is continuously monitored in real time. The robot dynamically reduces its speed to stop within your set distance, and triggers a Category 0 stop if the limit is at risk of being exceeded. Both stopping settings automatically slow the robot before it reaches a limit (joint position, safety plane, or orientation), so you do not need to perform periodic stop-performance testing manually.

	Normal	Reduced
Value	0.5 m	0.3 m
Function	Maximum allowed stopping distance in Normal mode.	Shorter stopping-distance limit in Reduced mode, minimizing work area and floor space.

For stopping times and distances, see Stopping Times and Stopping Distances.

Power and Force

Tool Force

Tool Force limits the maximum force the robot tool exerts at the Tool Center Point (TCP) in clamping situations. You limit the force at the tool flange and at the center of the two tool positions you define. When the tool force exceeds your set limit, the robot triggers a protective stop. Force limits reduce risk but do not eliminate the possibility of injury.

	Normal	Reduced
Value	150 N	120 N
Function	Standard force ceiling at the tool flange and user-defined tool positions.	Lower force cap enforced when the robot enters Reduced mode (for example, an operator approaches a safeguarded zone).

Elbow Force

Elbow Force limits the maximum force the robot elbow exerts on its environment. The Force Limit safety function continuously calculates the torques allowed for each joint, keeping the forces at both the TCP and the elbow within the limit you define. When either force exceeds this limit, the robot stops.

	Normal	Reduced
Value	150 N	120 N
Function	Standard elbow force limit. The safety function keeps TCP and elbow forces within range.	Lower elbow force limit applied in Reduced mode to reduce contact energy.

Power

Power limits the maximum mechanical work (power) the robot produces in its environment. This limit treats the payload as part of the robot rather than part of the environment, so lowering it can reduce the speed and acceleration the robot achieves. The Power Limit safety function (SF9) monitors the mechanical work you allow the robot to perform.

	Normal	Reduced
Value	300 W	200 W
Function	Standard mechanical power ceiling (SF9 monitors joint torques × angular speeds).	Lower power ceiling in Reduced mode, which may further reduce achievable speed and acceleration.

Wrist Clamping

Wrist Clamping Torque limits how much torque the robot's wrist joints apply when pushing. You enable or disable this limit as needed. It is enabled by default.

When enabled, the robot limits torque in the wrist joints to prevent clamping between the wrist, payload, and the lower arm of the robot. When disabled, the robot can use higher pushing force with the wrist joints.

	Normal	Reduced
Value	Limit Enabled	Limit Enabled
Function	Robot limits wrist torque to prevent clamping between wrist, payload, and lower arm.	Same clamping protection maintained in Reduced mode.

Enabling Wrist Clamping Torque can reduce achievable contact forces well below your Tool Force and Elbow Force limits. You can disable it only in PolyScope X 10.12 and newer versions.

For related information, see Maximum Payload g-Series.