SetJointLimits#

This command redefines the lower and upper limits of a robot joint. To apply these user-defined joint limits, execute the command SetJointLimitsCfg(1). The new joint limits must remain within the default limits.

Syntax#

SetJointLimits(n,qn,min,qn,max)

Arguments#

  • n: joint number, an integer;

  • qn,min: lower joint limit, in degrees (for joints 1, 2, and 4) or in mm (for joint 3);

  • qn,max: upper joint limit, in degrees (for joints 1, 2, and 4) or in mm (for joint 3).

Default values#

This setting is persistent and retained after a power cycle (a reboot). It is restored to its factory default after a complete factory reset of the robot.

The factory default joint limits are specified in the technical specifications of the robot’s user manual. Use SetJointLimits(n,0,0) to reset the joint limits of joint n to its factory default values or simply disable the user-defined joint limits with the command SetJointLimitsCfg(0).

Responses#

  • [2092][n]

Usage restrictions#

This command can only be executed when the robot is deactivated.

Cyclic protocols#

In cyclic protocols, the SetJointLimits command is represented by MotionCommandID 150. See Section 4.2 for more details.