15.10 Joint Limits
Switching to Basic Settings Pressing the Basic Settings... button switches
back to the basic general limits screen and all general limits are reset to their Default
preset. Should this cause any customized values to be lost, a popup dialog is shown
to confirm the action.
15.10 Joint Limits
Joint limits restrict the movement of individual joints in joint space, i.e. they do not
refer to Cartesian space but rather to the internal (rotational) position of the joints and
their rotational speed. The radio buttons in the upper portion of the subpanel make
it possible to independently set up Maximum Speed and Position Range for the
joints.
When in Freedrive mode (see 12.1.5), and the current position or speed of a joint is close
to the limit, the user will feel a repelling force which increases in magnitude as the joint
approaches the limit. The force is generated when joint speed is within approximately
20
◦
/s of the speed limit or joint position is within approximately 8
◦
of the position
limit.
Maximum Speed This option defines the maximum angular velocity for each joint.
This is done by tapping the corresponding text field and entering the new value. The
highest accepted value is listed in the column titled Maximum. None of the values can
be set below the tolerance value.
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
II-101 CB3
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