[Hamid]

Hi,

I know that with JointLimits(self) you can read the joint limits. But is it possible to change the joint limits? Because in the real robot  it is always less than the nominal values.

Hamid

[RoboDK]

It is currently not possible to change the joint limits through the API.
You can change it manually in the Parameters menu of your robot or you can double click the joint limits in the Joint jog menu and modify the upper and lower limits.