Joint Limits - Universal Robots UR3/CB3 User Manual

10.11 Joint Limits

Joint limits restrict the movement of individual joints in joint space, i.e. they do not
refer to Cartesian space but rather to the internal (rotational) position of the joints and
their rotational speed. The radio buttons in the upper portion of the subpanel make
it possible to independently set up Maximum Speed and Position Range for the
joints.
When in Freedrive mode (see 13.1.5), and the current position or speed of a joint is close
to the limit, the user will feel a repelling force which increases in magnitude as the joint
approaches the limit. The force is generated when joint speed is within approximately
20 /
limit.
Maximum Speed This option defines the maximum angular velocity for each joint.
This is done by tapping the corresponding text field and entering the new value. The
highest accepted value is listed in the column titled Maximum. None of the values can
be set below the tolerance value.
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 limits for Reduced mode must not be higher than their Normal mode
counterparts.
CB3
of the speed limit or joint position is within approximately 8 of the position
s
II-12
10.11 Joint Limits
Version 3.3.3