How to configure allowable maximum joint torque

[luorui93]

Currently, when something went wrong, the robot would hit too hard before triggering a fault. So I'm trying to reduce the maximum allowable joint torque. Currently I can check each joint's maximum torque in the Web App but they are only viewable. I cannot find anywhere in the documentation on changing this. Is it possible to edit this safety item?

[felixmaisonneuve]

Hi @luorui93,

Sorry for the delay.

It is not possible to configure safeties on the Gen3 arm.

The best you could do is monitor actuators torque and call ApplyEmergencyStop if it is too high.

Regards
Felix