diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
index 045cd6af4de2f49f643ccb75c6469682b3717e4a..e958a6c6534e9c4139e744537440c34feaa41717 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
@@ -189,7 +189,7 @@
         </Transform>
         <Joint type="revolute">
             <Axis x="0" y="0" z="-1"/>
-            <Limits unit="degree" lo="-24" hi="5"/> <!-- Real high limit is 27. Deactivated to avoid unnatural poses-->
+            <Limits unit="degree" lo="-20" hi="5"/> <!-- Motor encoder gives values until -24, but eyes only move until -20 or -21 -->
             <MaxVelocity unit="radian" value="1"/>
             <MaxAcceleration value="10"/>
             <MaxTorque value="3000"/>