JOINT_RANGE

This structure defines the motion limits for each robot joint, including maximum velocity, upper range, and lower range values. It is typically used as a substructure within CONFIG_JOINT_RANGE to specify joint limits in Normal Mode and Reduced Mode.

BYTE#

Field Name

Data Type

Value

Remarks

0

_fMaxVelocity

float[NUMBER_OF_JOINT]

Maximum allowable joint velocity (°/s)

24

_fMaxRange

float[NUMBER_OF_JOINT]

Maximum angular position limit for each joint (°)

48

_fMinRange

float[NUMBER_OF_JOINT]

Minimum angular position limit for each joint (°)

Total size: 72 bytes

Defined in: DRFS.h

typedef struct _JOINT_RANGE
{
    /* Maximum joint velocity (deg/s) */
    float _fMaxVelocity[NUMBER_OF_JOINT];

    /* Maximum joint angle (deg) */
    float _fMaxRange[NUMBER_OF_JOINT];

    /* Minimum joint angle (deg) */
    float _fMinRange[NUMBER_OF_JOINT];

} JOINT_RANGE, *LPJOINT_RANGE;

Note

  • Each array contains 6 elements corresponding to the 6 robot joints.

  • The velocity and range limits are used internally to enforce safe motion boundaries during joint-space control.

  • This structure is embedded within CONFIG_JOINT_RANGE for mode-specific (Normal / Reduced) configurations.