Universal Robots UR10/CB3, Руководство пользователя

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Here, each of the general limits, described in 1.20.10. General Limits on page 93 , 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: 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 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 corresponds to it. When
a program is running, the speed of the robot arm is automatically adjusted in order to not exceed
any of the entered values minus the tolerance (see
1.20.4. Tolerances on page 90 ). Note that the
minus sign displayed with the tolerance value is only there to indicate that the tolerance is
subtracted from the actual entered value. The safety system performs a Stop Category 0, should
the robot arm exceed the limit (without tolerance).
WARNING
The speed limit is imposed only on the robot TCP, so other parts of the robot arm
may move faster than the defined value.
Switching to Basic Settings
Pressing the
Basic Settings...
button switches back to the basic general limits screen and
all general limits are reset to their Default preset. Should this cause any customized values to be
lost, a popup dialog is shown to confirm the action.
User Manual 95 UR10
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