10.10 General Limits
the closer the speed comes to the limit. The force is generated when the current
speed is within approximately 250
mm
/s of the limit.
Basic Settings The initial general limits subpanel, shown as the default screen,
features a slider with four predefined sets of values for force, power, speed, and
momentum limits in both Normal and Reduced mode.
The specific sets of values are shown in the GUI. Predefined sets of values are sug-
gestions only and shall not substitute a proper risk assessment.
Switching to Advanced Settings Should none of the predefined sets of values
be satisfactory, the Advanced Settings... button can be pressed to enter the
advanced general limits screen.
Advanced Settings
Here, each of the general limits, described in 10.10, can be modified independently
of the others. This is done by tapping the corresponding text field and entering the
new value. The highest accepted value for each of the limits is listed in the column
titled Maximum. The force limit can be set to a value between 100 N and 250 N,
and the power limit can be set to a value between 80 W and 1000 W.
Note that the fields for limits in Reduced mode are disabled when neither a safety
plane nor a configurable input is set to trigger it (see 10.12 and 10.13 for more de-
tails). Furthermore, the Speed and Momentum limits in Reduced mode must not be
higher than their Normal mode counterparts.
The tolerance and unit for each limit are listed at the end of the row that corre-
sponds to it. When a program is running, the speed of the robot arm is automati-
cally adjusted in order to not exceed any of the entered values minus the tolerance
CB3 II-10 Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
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