Joint Limits

Description

Joint limits allow you to restrict individual robot joint movements in joint space i.e. joint rotational position and joint rotational speed. Joint limiting can also be called software based axis limiting. The joint limit options are: Maximum speed and Position range.

 

 

Wrist 3 position range

When using cables attached to the robot, you must first disable the Unrestricted Range for Wrist 3 checkbox to avoid cable tension and robot stops.

  1. Maximum speed is where you define the maximum angular velocity for each joint.

  2. Position range is where you define the position range for each joint. Again, the input fields for Reduced mode are disabled if there is no safety plane or configurable input set to trigger it. This limit enables safety-rated soft axis limiting of the robot.