Configuring MOVIKIT^® Robotics

• If the customer does not make any specifications, software limit switches can be made ineffective. To do this, set the values of the software limit switches of the joints in the kinematic model configuration and the Cartesian software limit switches in the "Cartesian limits" configuration menu very high.
• If the customer has not communicated them, the acceleration limits can be made ineffective. To do this, set the emergency stop ramps to very high values (for joints in the "Kinematic model" configuration menu and for Cartesian motion in the "Emergency stop motion parameters" configuration menu). Example: Set emergency stop deceleration to 1000000 mm/s² or °/s² and emergency stop jerk to 1000000000 mm/s³ or °/s³.
• Activate and configure the physics simulation of MOVIKIT^® Robotics as described in chapter Physics (MOVIKIT^® Robotics). The inertia data can usually be exported from the CAD software used to design the robot. Make sure that the coordinate systems are specified correctly so that the data can be transferred easily.