Limit error on tracking motion start

    Why would M3iA/R30iB fall into occasional "Limit error J1,J2,J3", after starting tracking motion?
    Not "Position not reachable" nor "Track destination gone", but "Limit".
    When this happens, the robot is far from the downstream boundary, and not on any joint limit, even after stop by the error.
    This is a single item tracking, no vision, no queue.

    Do it well right away. It will become bad by itself.

    The problem is intermittent and appears only on some items during operation, with no any changes in the setup.
    The robot is far from boundaries and its own reach limits at the moment.

    And should "cannot get there in time" cause the "Limit error"?

    Do it well right away. It will become bad by itself.

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