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)

Figure 5 Window for setting joint limiting parameters

Parameter	Description	Default setting value
Joint angle limit	The angle limit value of a joint (-360.0°–360.0°)	It is identical to a robot soft limit.
Joint speed limit	The angular speed limit value of a joint (1.0°–500.0°)	It is identical to the highest speed of the axis.
Joint torque limit	The torque limit value of a joint (-500.0–500.0 Nm)	It is identical to the highest torque of the axis.

[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.