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 in-
stallation.
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
Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
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