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Here, each of the general limits, described in 10.10, can be modified independently of the others.
This is done by tapping the corresponding text field and entering the new value. The highest
accepted value for each of the limits is listed in the column titled Maximum. The force limit can
be set to a value between 100 N and 250 N, and the power limit can be set to a value between
80 W and 1000 W.
Note: The fields for limits in Reduced mode are disabled when neither a safety plane nor a con-
figurable input is set to trigger it (see 10.12 and 10.13 for more details). Furthermore, the Speed
and Momentum limits in Reduced mode must not be higher than their Normal mode counterparts.
The tolerance and unit for each limit are listed at the end of the row that corresponds to it.
When a program is running, the speed of the robot arm is automatically adjusted in order to
not exceed any of the entered values minus the tolerance (see 10.4). Note that the minus sign
displayed with the tolerance value is only there to indicate that the tolerance is subtracted from
the actual entered value. The safety system performs a Stop Category 0, should the robot arm
exceed the limit (without tolerance).
Switching to Basic Settings Pressing the Basic Settings... button switches back to
the basic general limits screen and all general limits are reset to their Default preset. Should this
cause any customized values to be lost, a popup dialog is shown to confirm the action.
e-Series
WARNING:
The speed limit is imposed only on the robot TCP, so other parts of
the robot arm may move faster than the defined value.
II-10
10.10 General Limits
Version 3.11
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