Robot Limits

Limit	Description
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.
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.
Tool Speed	limits maximum robot tool speed.
Tool Force	limits the maximum force exerted by the robot tool in clamping situations
Elbow Speed	limits maximum robot elbow speed
Elbow Force	limits maximum force that the elbow exerts on the environment

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

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:

Safety mode	Effect
Normal mode	is the safety mode that is active by default.
Reduced mode	activates when the Tool Center Point (TCP) is positioned beyond a Trigger Reduced mode plane, or when triggered using a configurable input.
Recovery mode	activates when a safety limit from the active limit set is violated, the robot arm performs a Stop Category 0. If an active safety limit, such as a joint position limit or a safety boundary, is violated already when the robot arm is powered on, it starts up in Recovery mode. This makes it possible to move the robot arm back within the safety limits. In Recovery mode, the movement of the robot arm is restricted by a fixed limit that you cannot customize.