Edit Joint Limits Travel Limits Specify Joint Limits 1. Click the joint to configure in the tree view. The fields on the configuration page will update to dis- play the current settings for the joint. 2. To change a limit, position the cursor in the field and enter a value, or use the arrow buttons on the left of the field to adjust the value up or down. 3. After making changes, click Apply to save your changes. ACE User's Guide, 3.6.x 18316-000 Rev A Page 286 Item Description Minimum Travel The minimum physical location to which the joint may travel before hitting a physical hardstop.
(This item is read-only in restricted-access mode.) Lower Limit The minimum physical location to which the joint may travel before disabling power. This value must be greater than the Minimum Travel limit to provide a safety buffer so that the joint does not travel to a physical hardstop. If you try to move the robot beyond the limit of the joint, you will receive an "out of range" message or error. The Lower Limit is also referred to as a "soft stop". Mid Range Indicates the approximate middle of travel for the joint. This value can be used to specify the safe position for the joint.
(This item is read-only in restric- ted-access mode.) Upper Limit The maximum physical location that the joint may travel before disabling power. This value must be smaller than the Maximum Travel limit to provide a safety buffer so that the joint does not travel to a physical hardstop. If you try to move the robot beyond the limit of the joint, you will receive an "out of range" message or error. The Upper Limit is also referred to as a "soft stop". Maximum Travel Specifies the maximum physical location that the joint may travel before hit- ting a physical hardstop. (This item is read-only in restricted-access mode.)