Universal Robots UR12e User Manual page 140

Custom Custom is where you can set Limits on how the robot functions and monitor the associated
Tolerance.
Power
Momentum
Stopping
Time
Stopping
Distance
Tool Speed
Tool Force
Elbow Speed
Elbow Force
UR12e
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.
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.
Limits maximum robot tool speed.
Limits maximum force that the robot tool exerts on the environment to
prevent clamping situations.
Limits maximum robot elbow speed.
Limits maximum force that the elbow exerts on the environment to
prevent clamping situations.
141 User Manual