Dorna Document

Dorna Document

  • GitHub
  • Dorna.ai

›Guides

Guides

  • Motion concepts
  • Auxiliary axes
  • Connect to the robot
  • Mounting
  • Joint limit
  • Setting joints
  • Installation of toolheads
  • Set tool length
  • Inputs and outputs
  • Upgrade process

Joint limit

Each joint in the robot has a limited range of rotary motion, known as joint limit (upper and lower limits). We use some of these hard limits for homing the robot as well. So, make sure that the robot is not hitting these hard limits, and only touches them when necessary. Hitting these limits with force, can cause physical damage to the robot and harm the homing process.

Notice that, depending on the robot orientation, some additional limits may apply to each joint.

JointRange of motionLower limitUpper limit
j0355-175180
j1270-90180
j2284-142142
j3270-135135
j4InfiniteN/AN/A

limit-1 limit-2 work-envelope

Last updated on 7/12/2022
← MountingSetting joints →
Dorna website →
Copyright © 2022 Dorna Robotics