Wrist Clamping Position Limit

Description

Joint Positions in Joint Limits has a new setting for enabling and disabling Wrist Clamping Position, which is enabled by default. This safety function avoids hand or finger clamping between tool flange and lower arm.

 

Wrist Clamping Position details

When enabled, the robot stops the program if the tool flange moves closer than 25.0 mm to the lower arm of the robot, reducing the risk of collisions or pinching.

When disabled, the robot won’t stop automatically, allowing full wrist movement but offering less protection in collaborative settings.

This safety function is enabled on all robots by default. In PolyScope X 10.12, it is possible to disable this safety function.

 

To enable and disable wrist clamping position

  1. Got to Application tab and choose Safety.

  2. Under Joint Limits, tap Joint Positions. Unlock, enter the safety password, and confirm.

  3. When the Joint Positions screen is activated, tick the checkbox of Wrist Clamping Position.

  4. Tap the Apply button to apply the safety configuration and restart the safety system.

  5. A pop-up box appears for you to revert or confirm configuration.