EN UG-020 Link 6 user guide r1.0 67
• Protection zone
• TCP and elbow speed
Related topics
List of safety functions on page 52
Safety modes on page 57
Joint limits
Each joint can be configured with specific minimum and maximum angular positions.
Additionally, the speed of each joint can be configured in both normal and reduced safety modes.
Figure 50: Position Limits page of Joint Limits page
When configuring the speed limits of the joints, select either Normal or Reduced from the Safety
Mode menu. The limits apply to the safety mode that is selected.
Figure 51: Speed Limits page of Joint Limits page
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