Joint Jog Limiters

How To Configure Joint Jog Limiters

less than a minute

The Joint Jog limits are an important safety feature that restrict the manual jog movement range of individual robot joints.

Note

Switching to jog mode outside the defined joint jog limiters, will trigger an WA_JOG_JOINT_JOYSTICK_OUTSIDE_LIMITERS_ERROR. Outside the limits you can only move toward the limits.

Configure Joint Jog Limiters via the GUI

You can define the joint jog limiters per axis through the GUI under the Axis Limiters Tab.

You can enable the joint jog limiters per axis.
Define the position lower and upper limit per axis.
A warning light per joint indicates if the limiter is activated.
Save Configuration
- Press Save Settings to store all your changes.

Configure joint jog limiters via the DESK-Tool

To configure joint jog limiters for an axis (e.g., axis 1) using the desk-tool:

GUI parameter:	Description:	Desk Parameter:
Joint Jog Limiters
Enable	Enables Joint Jog Limiter	root/ManipulatorControl/jointCompliance/Controllers/admittanceControl01/positionIntegrator/outputLimiterEnable
Lower Limit	Lower Position Limit	root/ManipulatorControl/jointCompliance/Controllers/admittanceControl01/positionIntegrator/outputLimiterMin
Upper Limit	Upper Position Limit	root/ManipulatorControl/jointCompliance/Controllers/admittanceControl01/positionIntegrator/outputLimiterMax
Limiter Active Light	Indication if Limiter is active	root/ManipulatorControl/jointCompliance/Controllers/admittanceControl01/positionIntegrator/outputLimiterIsActive