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;

  • qn,max: upper joint limit, in degrees.

Note

The configured limits must allow each of the six joints at least 25° of motion range.

Default values#

This setting is persistent and retained after a power cycle (a reboot).

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.