Universal Robots UR5e User Manual page 32

Safety Function
Joint Speed Limit
Speed Limit
Force Limit
Momentum Limit
Power Limit
The safety system issues a Stop Category 0 if a violation of these limits appears.
UR5e/CB5
Limit
◦
30 /
s
250 mm /
s
100 N
10 kg m /
s
80 W
WARNING:
Notice that limits for the joint positions, the safety planes, and the
tool/end effector orientation are disabled in Recovery Mode. Take
caution when moving the robot arm back within the limits.
I-18
2.5 Modes
Version 5.0.2