Universal Robots UR5e - Page 129

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.
UR5e 129 User Manual
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