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2.2 Joint limits
Joint movement is limited by hardware and software end stops.
| Joint | Max speed |
|---|---|
| A1 (deg/s) | 156 |
| A2 (deg/s) | 156 |
| A3 (deg/s) | 156 |
| A4 (deg/s) | 330 |
| A5 (deg/s) | 330 |
| A6 (deg/s) | 615 |
| E1 (mm/s) | 500 |
| E2 (mm/s) | 830 |
| E3 (mm/s) | 550 |
No information on acceleration is available. It is most likely due to acceleration being limited by mass and maximum motor current.
There are rubber buffers on the hardware end stops. KUKA recommends changing these if the end stop is reached. If it impacts at high speed they recommend inspection of the robot by KUKA personel before use.
| Joint | Gantry upper limit | Gantry lower limit | Floor upper limit | Floor lower limit |
|---|---|---|---|---|
| A1 (deg) | 185 | -185 | 185 | -185 |
| A2 (deg) | 35 | -155 | 35 | -155 |
| A3 (deg) | 154 | -130 | 154 | -130 |
| A4 (deg) | 350 | -350 | 350 | -350 |
| A5 (deg) | 130 | -130 | 130 | -130 |
| A6 (deg) | 350 | -350 | 350 | -350 |
| E1 (mm) | 1540 | 0 | ||
| E2 (mm) | 4800 | 0 | ||
| E3 (mm) | 0 | -1600 |
In addition to the hardware stops, there are software end stops. Should you reach one of these, the robot must be manually jogged away from the end stop. If, after thorough consideration, it is decided to relax these, they can be changed in R1\Mada\$machine.dat (Lines 1172-1180 and lines 1185-1193). Do not change these unless told to.
MoveIt! joint limits are set to be [5 deg \ 10 mm] stricter than the software end stops.
| Joint | Gantry upper limit | Gantry lower limit | Floor upper limit | Floor lower limit |
|---|---|---|---|---|
| A1 (deg) | 185 | -185 | 185 | -185 |
| A2 (deg) | 35 | -155 | 35 | -155 |
| A3 (deg) | 154 | -130 | 154 | -130 |
| A4 (deg) | 350 | -350 | 350 | -350 |
| A5 (deg) | 130 | -130 | 130 | -130 |
| A6 (deg) | 350 | -350 | 350 | -350 |
| E1 (mm) | 1540 | 0 | ||
| E2 (mm) | 4700 | 0 | ||
| E3 (mm) | 0 | -1600 |