Universal Robots UR3/CB3 User Manual page 88

The safety settings consist of a number of limit values used to constrain the move-
ments of the robot arm, and of safety function settings for the configurable inputs and
outputs. They are defined in the following subtabs of the safety screen:
CB3
• The General Limits subtab defines the maximum force, power, speed and mo-
mentum of the robot arm. When the risk of hitting a human or colliding with a
part of its environment is particularly high, these settings need to be set to low
values. If the risk is low, higher general limits enable the robot to move faster and
exert more force on its environment. For further details, see 10.10.
• The Joint Limits subtab consists of joint speed and joint position limits. The
joint speed limits define the maximum angular velocity of individual joints and
serve to further limit the speed of the robot arm. The joint position limits define
the allowed position range of individual joints (in joint space). For further details,
see 10.11.
• The Boundaries subtab defines safety planes (in Cartesian space) and a tool ori-
entation boundary for the robot TCP. The safety planes can be configured either
as hard limits for the position of the robot TCP, or triggers for activating the Re-
duced mode safety limits (see 10.6)). The tool orientation boundary puts a hard
limit on the orientation of the robot TCP. For further details, see 10.12.
• The Safety I/O subtab defines safety functions for configurable inputs and
outputs (see 13.2). For example, Emergency Stop can be configured as an input.
For further details, see 10.13.
II-4
10.1 Introduction
Version 3.3.3