Hello everybody,
how to fix MOTN-017 G1 A6 problem? I read manual and it said that it is axis 2 and axis 3 interaction problem. so if I only need change axis 2 and 3 limit then can fit it.
Any help would be appriciated!
Hello everybody,
how to fix MOTN-017 G1 A6 problem? I read manual and it said that it is axis 2 and axis 3 interaction problem. so if I only need change axis 2 and 3 limit then can fit it.
Any help would be appriciated!
This error typically means the arm is too bunched up on to itself. The only solution is to change your motion.
Hi
Press the POS key on the teach pendant and check the position (in joint format) according to the error you posted the problem is A6 (axis 6) motion limit. Either you change the limit setting to get more allowance or modify the position to stay within limits.
You might need to change the configuration (posture) of the arm at some point in your path to avoid this error.
At the position details of the taught point you will see the configuration in the upper right: CONF. The first letter affects the posture of J5, and can be either N (Normal or Non-flip) or F (Flip) wich corresponds to positive or negative values of J5.
This parameters are your posture choice used by the controller to calculate a particular solution.
Display the taught position in joint values check J5 sign (positive or negative?)
Change to XYZ display, toggle the CONF to Flip (on Non-Flip), j5 will change sign, J4 and J5 will move to compensate this change (will make half turn, so be aware)
Again, you need to make this change at a via point or add a via point from where the robot would change posture
Thank you -robotero
I fix it by change Axis 2 and 3 limit.
Thank you again!
On R30iBs, the sub error code will refer to the actual axis causing the error.
However, on R30iAs and earlier, the sub error code is actually hex, and needs to be decoded. So with a sub error code of 6, it means an error with J2 and J3.
Here is a table I use to do the decoding: