Universal Robots UR3/CB3 User Manual page 95

10.10 General Limits
Maximum. The force limit can be set to a value between 100 N (50 N for a UR3) and
250 N, and the power limit can be set to a value between 80 W and 1000 W.
Note that the fields for limits in Reduced mode are disabled when neither a safety plane
nor a configurable input is set to trigger it (see 10.12 and 10.13 for more details). Fur-
thermore, the Speed and Momentum limits in Reduced mode must not be higher than
their Normal mode counterparts.
The tolerance and unit for each limit are listed at the end of the row that corresponds
to it. When a program is running, the speed of the robot arm is automatically adjusted
in order to not exceed any of the entered values minus the tolerance (see 10.4). Note
that the minus sign displayed with the tolerance value is only there to indicate that
the tolerance is subtracted from the actual entered value. The safety system performs
a Stop Category 0, should the robot arm exceed the limit (without tolerance).
Switching to Basic Settings Pressing the Basic Settings... button switches
back to the basic general limits screen and all general limits are reset to their Default
preset. Should this cause any customized values to be lost, a popup dialog is shown
to confirm the action.
Version 3.3.3
WARNING:
The speed limit is imposed only on the robot TCP, so other parts of
the robot arm may move faster than the defined value.
II-11 CB3