Joint errors when moving from reduced to normal operation.

J_Spittlehouse 2019-09-12

I'm getting issues on my application when switching from reduced to normal operation modes.

the error I'm getting is "Critical Joint Error on Wrist 3".

I'm currently using linear moves when the error occurs as I'm having to avoid safety planes.

are there any suggestions as to how to best avoid issues like this?

Thanks!

matthewd92 2019-09-12

How fast is your move in normal speed? Have you gone to the installation tab and changed the safety ramp speed from hard to soft? We have found that reduced the number of protective stops we were experiencing when using fast speed and accel and safeguard stop due to light curtains or safety scanners being broken.

J_Spittlehouse 2019-09-12

Hi @matthewd92 thanks for the reply, I've seen a lot of your posts so hoped you might!

the linear move that is causing us the most issues is at Tool Speed 750mm/s Acc 2000mm/s

also our reduced settings are the same as what they would be using the factory presets "most restricted setting" so 250mm/s max.

for the smooth transition, yes I have checked that we are set to soft.