Changing Joint Limit Values for Absolute Joints or Horizontal links in Robotmaster V7

Certain robots models have special kinematics like Absolute Joints or Horizontal Links. Brands like Fanuc are notorious for having their Joint 3 as an Absolute Joint. The following article shows how to change the Joint Limits in Robotmaster V7 for these specific cases.

Changing the Joint Limits directly on the .rmcell file will not be sufficient for these special cases.

Prior experience with .XML V6 files is needed for this procedure.

To change the Joint Limits for these special robots, follow the next steps:

Download the V6 files for the desired robot.
Modify the V6 .XML by changing the “J3A” and “J3B” limits to -360 to 360.
Figure 1: Highlighted modified Joint 3 values.
Compile the .rmrobot file using the robot converter.
Load the .rmrobot file in Robotmaster V7 Cell editor.
Change the Joint Limits as usual.

Notes:

For Robots with Absolute Joints and Horizontal Links, J2A J2B, J3A and J3B will need to be changed in the .XML. (similar to the procedure above).
The Robot limits can be directly changed in the .xml file by changing the J3 and J2 min and max values.
When the new V7 .rmrobot file is opened in Robotmaster’s cell editor, the joints can be modified without issues.