Universal Robots UR3e PolyScope X User Manual page 29

3. Safety
3.6.4. Safety Menu Settings
Robot Limits
Limit
Power
Momentum
Stopping Time
Stopping Distance
Tool Speed
Tool Force
Elbow Speed
Elbow Force
NOTICE
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.
User Manual
Description
limits maximum mechanical work produced by the robot in the
environment. This limit considers the payload a part of the robot and not
of the environment.
limits maximum robot momentum.
limits maximum time it takes the robot to stop e.g. when an emergency
stop is activated
limits maximum distance the robot tool or elbow can travel while stopping.
limits maximum robot tool speed.
limits the maximum force exerted by the robot tool in clamping situations
limits maximum robot elbow speed
limits maximum force that the elbow exerts on the environment
29 UR3e PolyScope X