Universal Robots UR3e

Tool Speed
limits maximum robot tool speed.
Tool Force
limits the maximum force exerted by the robot tool in clamping situations. Limited
to 250.
Elbow Speed
limits maximum robot elbow speed.
Elbow Force
limits maximum force that the elbow exerts on the environment. Limited to 250N.
The tool speed and force are limited at the tool flange and the center of the two user-
defined tool positions, (see 17.8.2 Tool Position Restrictionon page159).
NOTICE
You can switch back to Factory Presets for all robot limits to reset to
their default settings.
17.6.2. Joint Limits
Description Joint Limits allow you to restrict individual robot joint movements in joint space i.e. joint
rotational position and joint rotational speed. There are two Joint Limits options:
Maximum speed and Position range.
UR3e 142 User Manual
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