Robot Limits

Description

Robot Limits restrict general robot movements.

Change the values for Normal and Reduced modes in Robot Limits, and tap Apply to see the changes in the safety checksum.
Verify that values in Reduced are always less than values in Normal.

The safety limits restrict forces and motions at the tool flange and the center of the two user-defined tool positions.

Speed Limits

Restricting stopping time and distance affects 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.

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.

Power and Force

The tool and elbow forces may be exceeded by the three wrist joints if the Wrist Clamping Torque safety function is disabled.

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 Clamping Torque	Limits how much torque the wrist can apply for pushing. Enabled by default.

Safety Mode

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:

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.