Hi!
Sometimes I have error "Workspace error" during linear motion. Trajectory isn't const, I shift it but shifts are small and I check it for reachability.
Why does this error occur? I don't find description in docs.
I don't use WORKSPACE.
Is it something wrong with configurations?
Workzone error
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Vlad222 -
November 10, 2019 at 12:28 PM -
Thread is Unresolved
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If the message number is 1342 it is probably a Status (configuration) issue. Workspace then refers to the overall reachable space by the robot system and has nothing to do with workzones.
Fubini
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What is the exact error number and text?
What motion type is being executed when the error occurs?
Does the error happen at the start of a motion, or partway through? Is the robot stretched out or posed strangely when the error occurs?
You said you are shifting paths -- how? Are you altering point data, tool data, or base data?
Usually, the "Workspace Error", as Fubini says, indicates that the robot has been programmed to move to a point physically outside of the robot's reach -- like, a point 3m from the base when the robot's arm length is only 2m. However, I usually don't see it during LIN motions, only PTPs. That's because PTPs do a "pre-check" of the destination, but the LIN motion usually doesn't -- it just keeps moving towards the destination until it hits an axis limit. Similarly, LIN motions generally ignore the S&T values of the destination point -- or, more correctly, they subordinate the S&T in favor of maintaining the linear path motion.