Hello,
I have problems with stopping robot during executions program.
50204: Motion supervision
Motion supervision triggered
for joint %s.
Possible causes: collision,
incorrect load definition,
external process forces.
Check:
If load definition incorrect,
use load identification.
If external forces, use RAPID
command or system parameters
This is my MOC.CFG:
MOTION_SUP:
-name "irb" -path_col_detect_on -jog_col_detect_on \
-path_col_detect_level 300 -jog_col_detect_level 300\
-inertia_tolerance 0.3 -gravity_tolerance 0.2 -friction_tolerance 1\
-disturbance_tolerance 0.2
I should chnge the detect level? I understand that this sensitivity is max now?