Universal Robots UR10/CB3, User Manual

Page: 104 / 249

1.20.11. Joint Limits
Joint limits restrict the movement of individual joints in joint space, i.e. they do not refer to
Cartesian space but rather to the internal (rotational) position of the joints and their rotational
speed. The radio buttons in the upper portion of the subpanel make it possible to independently
set up
Maximum Speed
and
Position Range
for the joints.
When in Freedrive mode (see Freedrive on page 122 ), and the current position or speed of a joint
is close to the limit, the user will feel a repelling force which increases in magnitude as the joint
approaches the limit. The force is generated when joint speed is within approximately 20 °/s of
the speed limit or joint position is within approximately 8 ° of the position limit.
The Wrist 3 position range is unlimited by default. When using cables attached to the robot, you
must first disable the
Unrestricted Range for Wrist 3 checkbox to avoid cable tension and
protective stops.
Maximum Speed
This option defines the maximum angular velocity for each joint. This is done by tapping the
corresponding text field and entering the new value. The highest accepted value is listed in the
column titled
Maximum
. None of the values can be set below the tolerance value.
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 1.20.13. Safety I/O on page 104 for more details).
Furthermore, the limits for 1.20.12. Boundaries on the facing page and Reduced mode must not
be higher than their Normal mode counterparts.
UR10 96 User Manual
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