A device for detecting the limits of the rotational motion of a rotating member in an industrial robot is provided. The rotating member rotates in a first and a second rotational direction about an axis relative to a fixed member. The device comprises a limit switch provided on one of the members and...http://www.google.de/patents/US5558196?utm_source=gb-gplus-sharePatent US5558196 - Device for detecting limits of rotational motion in a robot
