Universal Robots UR3/CB3 User Manual page 94

10.10 General Limits
Defining the general safety limits only defines the limits for the tool, and not the over-
all limits of the robot arm. This means that although a speed limit is specified, it does
not guarantee that other parts of the robot arm will obey this same limitation.
When in Freedrive mode (see 13.1.5), and the current speed of the robot TCP is close
to the Speed limit, the user will feel a repelling force which increases in magnitude the
closer the speed comes to the limit. The force is generated when the current speed is
within approximately 250 mm / of the limit.
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Basic Settings The initial general limits subpanel, shown as the default screen, fea-
tures a slider with four predefined sets of values for force, power, speed, and momen-
tum limits in both Normal and Reduced mode.
The specific sets of values are shown in the GUI. Predefined sets of values are sugges-
tions only and shall not substitute a proper risk assessment.
Switching to Advanced Settings Should none of the predefined sets of values be
satisfactory, the Advanced Settings... button can be pressed to enter the ad-
vanced general limits screen.
Advanced Settings
Here, each of the general limits, described in 10.10, can be modified independently of
the others. This is done by tapping the corresponding text field and entering the new
value. The highest accepted value for each of the limits is listed in the column titled
CB3 II-10 Version 3.3.3