I m constantly getting MOTN-56 G1-A4,A6....This is a warning but still its filling my alarm log..How to get rid of this? Or what could be the cause of the repeated warning?
Speed limits used MOTN-56
- Abhinandan Nag
- Thread is Unresolved
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This just means that J4 and J6 have reached their top axis speed, just a warning. You can either reduce the speed on those motions or you can set it up to not log those warnings.
If you would like to prevent them from showing up on the error log then you can go to menu>setup>Error Table.
Set FCode = 15, ECode = 56, Severity= DEFAULT, ErrorLog = NOERLOG.
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If J4 and J6 are reaching full speed, I would look at the positions surrounding them.
It maybe related to singularities and configuration changes between positions which may require some tweaking.
When you jog the robot around manually in those areas, you will get a hint/sense of this as the TCP will generally slow down, whilst JT4 and JT6 are actually speeding up and if this happens it's usually down to being close to singularity, worth checking at least.
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