General Limits - Universal Robots UR3/CB3 User Manual

10.10 General Limits

Furthermore, on confirmation the changes are automatically saved as part of the cur-
rent robot installation. See 13.5 for further information on saving the robot installation.
10.10 General Limits
The general safety limits serve to limit the linear speed of the robot TCP as well as the
force it may exert on the environment. They are composed of the following values:
Force: A limit for the maximum force that the robot TCP exerts on the environment.
Power: A limit for the maximum mechanical work produced by the robot on the envi-
Speed: A limit for the maximum linear speed of the robot TCP.
Momentum: A limit for the maximum momentum of the robot arm.
There are two means available for configuring the general safety limits within the in-
stallation; Basic Settings and Advanced Settings which are described more fully below.
Version 3.3.3
ronment, considering that the payload is part of the robot and not of the environ-
ment.
II-9 CB3