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Joint Limit Violation

Platform: Process Simulate

This sanity check verifies that all target positions have joint values within their allowed ranges. Targets with out-of-range joint values cannot be reached by the robot and indicate incorrect target placement or joint limit configuration. The export cannot proceed until all targets are within valid joint ranges.

Dialog shown in Resolver​

Robot: {robotName}Target: {targetName} Violates limits: {jointName} = {value} (limits: {min} to {max}) Adjust targets before export

What you can do in this dialog​

  • Can you continue export? No
  • Buttons in the popup: OK
  • What happens next: The export does not continue until the issue is fixed.
  • Next step: How to fix it

Impact if you continue​

Export cannot complete until every reported target sits inside the robot's joint limits Resolver validates.

How to fix it​

  1. In Process Simulate Path Editor (or Jog), open the robot and target named in the dialog. Use the reported joint, its value, and the limit range to identify which joint is out of range and by how much.
  2. Either move the target so the violating joint returns within limits, or adjust the joint limits on the robot definition if the pose is intentional and physically valid.
  3. Save the study and run export again until the dialog clears.
FANUC robots — Start Distance (SD) and End Distance (ED)

For FANUC robots, the Start Distance (SD) and End Distance (ED) values shift the approach/retreat position, which may produce joint configurations different from the nominal location.

If a target is within limits at its nominal pose but still reported here, check the SD/ED values for that motion, because the shifted approach/retreat pose can push a joint out of range.