Universal Robots UR30 - Joint Limits

The tool speed and force are limited at the tool flange and the center of the two user-defined tool
positions.
NOTICE
You can switch back to Factory Presets for all robot limits to reset to their
default settings.
Joint Limits
Description Joint limits allow you to restrict individual robot joint movements in joint space i.e. joint
rotational position and joint rotational speed. Joint limiting can also be called software
based axis limiting. The joint limit options are: Maximum speed and Position range.
User Manual 146 UR30
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