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How to Resolve the “Joint Limits Are Not Set Properly” Warning

Fix missing or misconfigured joint limits on your UR robot

Context:

This article helps you troubleshoot the “Joint limits are not set properly” warning that may appear when setting up your UR robot. The error usually indicates that the safety configuration is incomplete or has been reset.

 

Depending on your setup, this message may indicate a misconfiguration or simply a confirmation of intentional joint limit settings. Below are two typical scenarios and how to handle them.

 

Scenario 1 – Joint limits are incorrectly configured

If you see this warning and didn’t configure any special joint limits, it likely means the default values need to be reviewed and corrected.

To fix this:

 

    • Refer to the UR user manual
      Look up the correct joint limits for your robot model and application.

    • Open the robot interface
      Navigate to:

      • Installation

      • Safety

      • Joint Limits

    • Adjust the joint limits manually
      Set the joint values to match your intended use and safety requirements.

    • Save and test the configuration
      Confirm the limits and restart the robot to apply them.

Helpful resource: Robotiq Support Website

Scenario 2 – Joint limits were set intentionally and the warning can be ignored

If you've configured joint limits for a specific application and want to prevent the warning from showing up:

  1. Open the robot interface
    Go to:

    • Installation

    • URCaps

    • Copilot

    • Configuration

  2. Disable the warning check
    Uncheck the box labeled: “Verify joint limits at program start”

This disables the warning at startup without changing your joint limit configuration.

This will prevent the warning from appearing when launching the program.

Conclusion

The “Joint limits are not set properly” warning is either a prompt to correct an oversight or an alert that can be safely bypassed if intentional limits are configured. Always validate with the user manual and use Copilot settings responsibly.

If you need further assistance, visit the Robotiq Support Portal