Limits Selection; Test Force Settings - Universal Robots UR10/CB3 User Manual

1.24.27. Limits selection

For all axes a limit can be set, but these have different meaning corresponding to the axes being
compliant or non-compliant.
• Compliant: The limit is the maximum speed the TCP is allowed to attain along/about the
axis. Units are [mm/s] and [deg/s].
• Non-compliant: The limit is the maximum deviation from the program trajectory which is
allowed before the robot protective stops. Units are [mm] and [deg].

1.24.28. Test force settings

The on/off button, labelled Test, toggles the behavior of the Freedrive button on the back of the
Teach Pendant from normal Freedrive mode to testing the force command.
When the Test button is on and the Freedrive button on the back of the Teach Pendant is
pressed, the robot will perform as if the program had reached this force command, and this way
the settings can be verified before actually running the complete program. Especially, this
possibility is useful for verifying that compliant axes and forces have been selected correctly.
Simply hold the robot TCP using one hand and press the Freedrive button with the other, and
notice in which directions the robot arm can/cannot be moved.
Upon leaving this screen, the Test button automatically switches off, which means the Freedrive
button on the back of the Teach Pendant is again used for regular Freedrive mode.
The Freedrive button is only effectual when a valid feature is selected for the Force command.
User Manual 195 UR10