Universal Robots UR5e User Manual page 102

1. Factory Presets is where you can use the slider to select a predefined safety setting . The
values in the table are updated to reflect the preset values ranging from Most Restricted to
Least Restricted
Note: Slider values are only suggestions and do not substitute a proper risk assessment.
2. Custom is where you can set Limits on how the robot functions and monitor the associated
Tolerance.
Power limits maximum mechanical work produced by the robot in the environment.
Note: this limit considers the payload a part of the robot and not of the environment.
Momentum limits maximum robot momentum.
Stopping Time limits maximum time it takes the robot to stop e.g. when an emergency
stop is activated.
Stopping Distance limits maximum distance the robot tool or elbow can travel while stop-
ping.
Tool Speed limits maximum robot tool speed.
Tool Force limits the maximum force exerted by the robot tool in clamping situations.
Elbow Speed limits maximum robot elbow speed.
Elbow Force limits maximum force that the elbow exerts on the environment.
The tool speed and force are limited at the tool flange and the center of the two user-defined
tool positions, see 13.2.6.
CB5
NOTE:
Restricting stopping time and distance affect overall robot speed.
For example, if stopping time is set to 300 ms, the maximum robot
speed is limited allowing the robot to stop within 300 ms.
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13.2 Safety Menu Settings
Version 5.0.2