Universal Robots UR16e

Tool Speed
limits maximum robot tool speed.
Tool Force
limits the maximum force exerted by the robot tool in clamping
situations. Limited to 400N.
Elbow Speed
limits maximum robot elbow speed.
Elbow Force
limits maximum force that the elbow exerts on the environment.
Limited to 400N.
The tool speed and force are limited at the tool flange and the center of the
two user-defined tool positions, (see 5.8.2. Tool Position Restrictionon
page155).
NOTICE
You can switch back to Factory Presets for all robot limits
to reset to their default settings.
5.6.2. Joint Limits
User Manual 139 UR16e
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