6.3 Minimum, Maximum & Current Joint Values

These are all doubles. The minimum and maximum values constrain the movement of the joint the range between the two values; the maximum joint value must be greater than or equal to the minimum joint value. The current value is the initial value for the joint when the cell file is first read in and must be greater than or equal to the minimum value and less than or equal to the maximum value. For rotational joints, the values are angles (measured in degrees) about the joint's local Z-axis, with a value of 0.0 representing the home position. For translational joints, the values are distance units, measured from the origin, along the joint's local Z-axis; zero indicates the home (origin) position. These values are ignored if the joint type is 0.