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10.11 Joint Limits
10.11 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 13.1.5), 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 /
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 10.12 and 10.13 for more details). Furthermore, the
limits for 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 10.4). Note that the minus sign
displayed with each tolerance value is only there to indicate that the tolerance is subtracted
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