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10.11 Joint Limits
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 10.4). 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 (with-
out tolerance).
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.
10.11 Joint Limits
Joint limits restrict the movement of individual joints in joint space, i.e. they do not refer to Carte-
sian 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.
Version 3.10
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.
II-11
CB3
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