diff --git a/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf b/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf
index 31d57dc..dcb6eb1 100755
--- a/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf
+++ b/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf
@@ -142,17 +142,17 @@
 
 
   <joint name="joint3_to_joint2" type="revolute">
-    <axis xyz="0 0 -1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-    <origin xyz= "0 0  0" rpy = "1.5708 0 0"/>  
+    <origin xyz= "0 0  0" rpy = "1.5708 -1.5708 0"/>  
   </joint>
 
 
   <joint name="joint4_to_joint3" type="revolute">
-    <axis xyz=" 0 0 -1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
     <origin xyz= "0.25 0 0   " rpy = "0 0 0"/>  
@@ -160,15 +160,15 @@
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz=" 0 0 -1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-    <origin xyz= "0.25 0  -0.1091" rpy = "0 0 0"/>  
+    <origin xyz= "0.25 0  -0.1091" rpy = "0 0 1.5708"/>  
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
     <origin xyz= "0 -0.108 0" rpy = "1.57080 -1.57080 0"/>  
@@ -176,7 +176,7 @@
 
   <joint name="joint6output_to_joint6" type="revolute">
     <axis xyz="-1 0 0"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
     <origin xyz= "-0.07586 0 0" rpy = "-1.57080 0 0 "/>