RJ3 SRVO-191 Illegal joint speed ??

    I need help please. I was working with an older RJ3 controller today and with the robot slowed down to 10%, i would occasionally get this error. It then says " to recover, power controller off". When I did, the TCP data recorded in the variable list Group/UTOOL =recorded went to all zeros. It was like the controller glitched. After i copied back in a sysvar file (controlled start) the TCP data was restored and the error would still happen. IF i increased the speed on the teach pendant to >25% , i wouldnt get the error anymore...

    Any idea what would throw this error?

    Thanks -Eric

    what is the movement that you are making in this line? Check if the physical movement is not just rotation of one axis without any movement in Cartesian XYZ because some strange error can happen. Give more details about the type of motion and points before and after the line..

    Movement is a linear move at 2000mm/sec spanning the distance of about 1500mm from point A --> B. Only occurred at 10% TP speed, at higher speeds it went away and the real concern is why it damaged the sysvar file when I had to power off. No Acc overides or other motion modifiers in play other than a NODECEL statement. Karel programming . The move faults out after about 80% of the move is completed.

    Thanks for the help. -Eric

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