Force Limits

The force limits restrict the forces exerted by the robot at the TCP/tool positions (Tool Force) and elbow joint (Elbow Force, on e-Series only). The UR safety system continuously calculates the torque allowed for each joint, so that the TCP/tool positions and elbow joint stay within the force limits.

The least restricted force limits that the risk assessment permits should be implemented, to allow the joints to use more current/torque if needed.