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Doc No.
：
T202001004
9.8.6 Speed Parameters
In the page of "Settings - Speed Parameters", the following parameters can be set: the
maximum and minimum rotational speeds of each axis, the maximum and minimum speeds for
moving in straight line, the maximum and minimum posture angle speeds, the speed of returning
to the home position, the joint acceleration time, etc. Generally, the factory default values can be
used for the parameters in this page, which most users do not need to set.
9.8.7 Limit Parameters
In the page of "Settings - Limit Parameters", the maximum and minimum angular position of
each axis can be set as the joint soft limits. If one of the joint positions is out of the soft limits
during the operation, the manipulator will stop immediately and give an alarm. The limit
parameters are set to the default values when shipping from the factory. Note that the soft limits
cannot be expanded in order not to damage the manipulator body. However, the limit range can
be reduced according to the actual requirements.
