Tool Speed
limits maximum robot tool speed.
Tool Force
limits the maximum force exerted by the robot tool in clamping situations.
Elbow Speed
limits maximum robot elbow speed.
Elbow Force
limits maximum force that the elbow exerts on the environment.
The tool speed and force are limited at the tool flange and the center of the two user-defined
tool positions, see 21.14. Tool Positionon page129.
NOTE
You can switch back to Factory Presets for all robot limits to reset to their
default settings.
21.8. Safety Modes
Under normal conditions, i.e.when no protective stop is in effect, the safety system operates in a
Safety Mode associated with a set of safety limits:
Normal mode is the safety mode that is active by default
Reduced mode is active when the robot Tool Center Point (TCP) is positioned beyond a Trigger
Reduced mode plane (seeon page126), or when triggered using a configurable input (see21.16.
I/Oon page132)
User Manual 123 UR5e
21.Safety Configuration
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
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