A protective stop is encountered, with the error message 'Joint Limit Reached'. This is an expected message/stoppage when one of the joints (Base/Shoulder/Elbow/Wrists 1,2,3) hit a degree limit for their joint. The farthest that the robot arm can rotate around a joint is referred to as the joint limit.
- A move or blend turns a joint further than the robot arm can support safely.
- Can occur when running a new blend or when moving the robot in Teach mode
A user can confirm where the joint limit is currently by accessing the Advanced Robot Control Panel:
A user can access this screen by first pressing the Robot Arm icon in the taskbar:
Once the Basic Robot Control Panel is opened, you can tap the top left menu option in that screen and press 'Advanced Robot Control Panel".
Note that in this screen you can verify the joint positions. When exceeding the joint limits, they will show up in red. This way you can adjust the specific joint within the move or blend to ensure the limit is not reached when a task is running.
- A user will first be presented with a pop-up that has a "fix" button available to press. Upon pressing this, the robot will attempt to rotate that joint back to an allowable degree of rotation.
- As mentioned above, access the Advanced Robot Control Panel to confirm the joint that is reaching the joint limit, and make adjustments to the moves/blend/waypoints that move the arm to this degree.
If none of these solutions are correcting the problem, please gather all details of the issue, as well as troubleshooting steps attempted, and send an email to firstname.lastname@example.org to open a support ticket with our technical support team.