This is an array of joint stop limit values that defines the maximum values to which the "Joint max soft stop limits" (DataID 16077) can be set. These parameters are only used when the system is configured and are not tested when the robot is running. They are typically set by the robot manufacturer to just inside the physical hard stop positions. These values are in units of degrees or millimeters and can be set to extremely large values to allow the Joint max soft stop limits to be set to any value.

These are the negative or minimum values that are the counter parts to the "Joint max hard stop limits" (DataID 16075).

These values limit the maximum position to which each joint can be moved. These limits are tested when position controlled motions are planned and when the robot is moved in automatic and manual control modes. Normally, these limits should be set inside of the actual physical joint limits to ensure the robot can be decelerated prior to impacting the physical stops. These values are in units of degrees or millimeters.

These are the negative or minimum values that are the counter parts to the "Joint max soft stop limits" (DataID 16077) .

When set TRUE, limit stop testing is performed at the motor encoder level in addition to the standard joint limit stop level. Motor limit stop testing is beneficial when mechanical coupling between motors results in joint limit stop tests that overly restrict the range of travel of coupled joints.

This is an array of motor stop limit values that defines the maximum values to which the "Motor max soft stop limits" (DataID 16082) can be set. These parameters are only used when the system is configured and are not tested when the robot is running. They are typically set by the robot manufacturer to just inside the physical motor stop positions. These values are in units of encoder counts and can be set to extremely large values to allow the Motor max soft stop limits to be set to any value.

These are the negative or minimum values that are the counter parts to the "Motor max hard stop limits" (DataID 16080).

When motor limit stops are enabled, these values limit the maximum position to which each motor can be moved. These limits are tested when position controlled motions are planned and when the robot is moved in automatic and manual control modes. Normally, these limits should be set inside of the actual physical motor limits to ensure the robot can be decelerated prior to impacting the physical stops. These values are in units of encoder counts.