EN UG-020 Link 6 user guide r1.0 69
TCP limit Safety mode Range
Force n/a 0 N to 200 N
Orientation X n/a -180° to + 180°
Orientation Y n/a -180° to + 180°
Orientation Y n/a -180° to + 180°
Elbow limits
The speed and orientation of the elbow must be configured.
The position and orientation of an end effector being used must be configured.
Important: There must be no power in the arm when the robot safeties are being
configured.
Figure 53: Elbow limits
Table 48: Elbow configuration limits
Elbow limit Safety mode Range
Normal 0 m/s to 1.8 m/sSpeed
Reduced 0 m/s to 0.75 m/s
Force n/a 0 N to 200 N
Protection zones
Prevent or limit where the robot can move by creating protection zones.
The zones are three-dimensional geometric volumes intended to limit the possibility of the
robot running into users or objects near the it. Protection zones define such things as end
effectors, walls, tables, and objects. Up to eight zones, excluding the tool zone, can be active
simultaneously.
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