Universal Robots UR30 - Page 144

Custom Custom is where you can set Limits on how the robot functions and monitor the associated
Tolerance.
Power
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.
Momentum Limits maximum robot momentum.
Stopping
Time
Limits maximum time it takes the robot to stop e.g. when an
emergency stop is activated.
Stopping
Distance
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.
Tool Speed Limits maximum robot tool speed.
Tool Force
Limits maximum force that the robot tool exerts on the environment to
prevent clamping situations.
Elbow Speed Limits maximum robot elbow speed.
Elbow Force
Limits maximum force that the elbow exerts on the environment to
prevent clamping situations.
UR30 145 User Manual
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