SetJointLimitsCfg#

This command enables or disables the user-defined limits set by the SetJointLimits command. If the user-defined limits are disabled, the default joint limits become active. However, user-defined limits remain in memory, and can be re-enabled, even after a power down.

Syntax#

SetJointLimitsCfg(e)

Arguments#

  • e: enable (1) or disable (0) the user-defined joint limits.

Default values#

This setting is persistent and retains its value even after power cycling the robot. The factory default is 0.

Responses#

  • [2093][User-defined joint limits enabled.]

  • [2093][User-defined joint limits disabled.]

Note

If any robot joints are inadvertently moved outside the defined limits, the robot will not activate. To resolve this, enable recovery mode (see Section 1.3.2), which allows movement of the joints even when they are outside the configured limits.

Usage restrictions#

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

Cyclic protocols#

In cyclic protocols, the SetJointLimitsCfg command is represented by MotionCommandID 151. See Section 3.2 for more details.