# UR10 Joint conflicts

**URL:** <https://forum.universal-robots.com/t/ur10-joint-conflicts/34866>\
**Category:** Technical Questions\
**Created:** [June 21, 2024, 10:12pm UTC](https://forum.universal-robots.com/t/ur10-joint-conflicts/34866 "2024-06-21T22:12:54Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![amaqso1](https://avatars.discourse-cdn.com/v4/letter/a/49beb7/32.png) [@amaqso1](https://forum.universal-robots.com/u/amaqso1)\
**Post date:** [June 21, 2024, 10:12pm UTC](https://forum.universal-robots.com/t/ur10-joint-conflicts/34866/1 "2024-06-21T22:12:54Z")

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I am using a UR10 arm for a printing simulation and have attached an extruder to the tool. I apply a G-code via a USB drive for the URCap toolpath. Due to some cables and connections of the extruder, I need to limit joint 3 from rotating and keep it fixed. I used the safety joint limits, but this causes the G-code execution to stop immediately. I was wondering if anyone can help me find a method to solve this problem.

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**Author:** ![marra](https://avatars.discourse-cdn.com/v4/letter/m/f6c823/32.png) [@marra](https://forum.universal-robots.com/u/marra)\
**Post date:** [July 3, 2026, 2:30pm UTC](https://forum.universal-robots.com/t/ur10-joint-conflicts/34866/2 "2026-07-03T14:30:53Z")

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hi @Amaqso1 i am having the same problem with my UR10e, can i ask you how (if even) you were able to resolve this issue of trying to keep the joint 3 from rotating during the toolpath?