How to Resolve the "Joint limits are not set properly" Warning

Context:

This article helps you understand and resolve the warning message: "Joint limits are not set properly" that appears when starting a program in the UR robot interface.

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 limits need to be reviewed and corrected.

To fix this:

1. Refer to the user manual to verify correct joint limits.

2. Open the UR interface and go to:

   • Installation

   • Safety

   • Joint Limits

3. Adjust the limits based on your robot's configuration and intended use.

4. Save and test the configuration.

Helpful resource: Robotiq Support Website

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

If you have configured joint limits for a specific application and want to bypass the warning:

1. On the UR interface, go to:

   • Installation

   • URCaps

   • Copilot

   • Configuration

2. Uncheck the box labeled: "Verify joint limits at program start"

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.

Updated: September 2025