Hello All,
After a day of fruitless searching I am hoping you FANUC geniuses can help me again. I have an R30iB with an M-410 arm running HandlingTool, palletizing application. I have Axis Limits set up on the J5 axis to +240 and -240, this is to prevent the end effector cable ripping out. During palletization the end effector does a lot of rotation on some patterns, which is normal, but every once in a while the robot will calculate the shortest path to the destination through the limits resulting in an axis limit error (for example, it wants to rotate J5 to an R of 180, and it determines its faster/closer to rotate past the -240 mark to get there instead of the other direction). I can't seem to find any pattern to why it does it when it does, it's always at the same point in the pattern but there are other move's it does that are identical in the X Y and R co-ordinates (different Z because it's a higher or lower layer) but it does not calculate the path through the limit on those moves.
In short, is there a variable or something to set to make the robot check that it isn't trying to push through a soft limit to reach its destination? Thank you for your time!