> For the complete documentation index, see [llms.txt](https://hyundai-robotics.gitbook.io/cobot-safety-function/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://hyundai-robotics.gitbook.io/cobot-safety-function/sf-english/1-cobot-safety-function/1-6-robot-safety-condition/2-joint-limit-parameter.md).

# 1.6.2 Joint limiting parameters

These parameters are the limit values for monitoring the safety functions relating to the space in which the robot’s joints move. If a joint limiting parameter is enabled in a Cartesian space, monitoring will be done at all times, and if the deceleration mode is enabled, monitoring will be done based on Condition0. If a monitoring violation occurs, safety stops (Stop0, Stop1, and Stop2) will be actuated immediately.

You can set the parameter values in the **\[Joint limit]** tab of the **\[Set up > 4: Application parameter > 21: Cobot setup > 1: Cobot Safety Function > 1: Safety condition]** menu.

![Figure 4 An example of joint limiting setting (S-axis)](https://750947965-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FhqVdQ33KTj4Dy7dZ4zfQ%2Fuploads%2FxZnNXoRAWzqrbTsguLdA%2Fimage.png?alt=media\&token=da4c42a3-663d-4f36-98fe-d3b92d1ea789)

![Figure 5 Window for setting joint limiting parameters](https://750947965-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FhqVdQ33KTj4Dy7dZ4zfQ%2Fuploads%2FmvV9tYW16FaCrX903U5z%2Fimage.png?alt=media\&token=c1c4174c-4a5a-47b4-82a1-68fec9b5103c)

<table data-header-hidden><thead><tr><th width="161.33333333333331" align="center">Parameter</th><th width="364.6267562484528">Description</th><th align="center">Default setting value</th></tr></thead><tbody><tr><td align="center"><strong>Parameter</strong></td><td>　　　　　　　　<strong>Description</strong></td><td align="center"><strong>Default setting value</strong></td></tr><tr><td align="center">Joint angle limit</td><td><p>The angle limit value of a joint </p><p>(-360.0°–360.0°)</p></td><td align="center">It is identical to a robot soft limit.</td></tr><tr><td align="center">Joint speed limit</td><td><p>The angular speed limit value of a joint </p><p>(1.0°–500.0°)</p></td><td align="center">It is identical to the highest speed of the axis.</td></tr><tr><td align="center">Joint torque limit</td><td><p>The torque limit value of a joint </p><p>(-500.0–500.0 Nm)</p></td><td align="center">It is identical to the highest torque of the axis.</td></tr></tbody></table>

{% hint style="warning" %}
**\[Caution]**: In configuring a speed limit, you must consider the STOP reaction time and put a cover on the target to prevent collisions and injuries.
{% endhint %}