Physical robot has 2 types of Joint limit : 

• Mechanical : Limit determined by physical stopper.
• Soft : Limit defined in the robot controller parameter. The user can modify the limit to adapt these values to the robot environment for example.

In order to support the modeling of the safety guard  on the kinematic resource,  we have introduced the capability of Soft joint limits.

The different scenario to use these Soft limits are :

• The user wants to upload or download the soft limit setting from the controller back up file.
• The user wants to use a Soft limit with a certain margin as a joint limit check.
  • In jogging panel for jogging and teach.
  • In the data readout during the simulation.

Per default,  all  robots available in the standard DELMIA Robot library have their soft limit identical to the mechanical limit, the user can easily adapt them easily for a specific use.

This enhancement is available from r2017x FD14, r2018x FD10, r2019x F04 with a variable DELRSC_SOFT_LIMITS=1 and without variable from r2020x FD03 and r2021 all levels

Take the time to see this very short video and see how its works :