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10.10 General Limits
Furthermore, on confirmation the changes are automatically saved as part of the current robot
installation. See 13.5 for further information on saving the robot installation.
10.10 General Limits
The general safety limits serve to limit the linear speed of the robot TCP as well as the force it
may exert on the environment. They are composed of the following values:
Force: A limit for the maximum force that the robot TCP exerts on the environment.
Power: A limit for the maximum mechanical work produced by the robot on the environment,
considering that the payload is part of the robot and not of the environment.
Speed: A limit for the maximum linear speed of the robot TCP.
Momentum: A limit for the maximum momentum of the robot arm.
There are two means available for configuring the general safety limits within the installation;
Basic Settings and Advanced Settings which are described more fully below.
Defining the general safety limits only defines the limits for the tool, and not the overall limits
of the robot arm. This means that although a speed limit is specified, it does not guarantee that
other parts of the robot arm will obey this same limitation.
When in Freedrive mode (see 13.1.5), and the current speed of the robot TCP is close to the Speed
limit, the user will feel a repelling force which increases in magnitude the closer the speed comes
to the limit. The force is generated when the current speed is within approximately 250
the limit.
Basic Settings The initial general limits subpanel, shown as the default screen, features a
slider with four predefined sets of values for force, power, speed, and momentum limits in both
Normal and Reduced mode.
The specific sets of values are shown in the GUI. Predefined sets of values are suggestions only
and shall not substitute a proper risk assessment.
Switching to Advanced Settings Should none of the predefined sets of values be satisfac-
tory, the Advanced Settings... button can be pressed to enter the advanced general limits
screen.
Advanced Settings
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