Universal Robots UR5e - Quick System Start-Up

Tool Speed
limits maximum robot tool speed.
Tool Force
limits the maximum force exerted by the robot tool in clamping
situations.
Elbow Speed
limits maximum robot elbow speed.
Elbow Force
limits maximum force that the elbow exerts on the environment.
The tool speed and force are limited at the tool flange and the center of the
two user-defined tool positions, (see Tool Position Restrictionon
page144).
NOTICE
You can switch back to Factory Presets for all robot limits
to reset to their default settings.
Joint Limits
User Manual 130 UR5e
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