Error 50080 position not compatible S4C IRB6400

Hi All,

I've seen threads describing a similar problem, but none that really solve my problem. I'd really appreciate any suggestions.

I have a robot which throws this error frequently (50080 position not compatible), throughout the workspace, when jogging and in auto run. The mastering is correct, but the world frame is rotated about the Y axis. Base frame is straight.

I could see the two being connected, but it doesn't seem like the occurrence of the the error matches a path that leads outside of a quadrant, and definitely not to a different configuration. In fact I can jog the robot into a "tunnel" in linear, rotate A6 in reorient, and be completely unable to jog further, until I switch to axis jog.

CONFL helps in programs, but it's still unworkable while programming positions.

Hi Lemster. I don't know why the world frame would be rotated about Y, but I haven't changed it. The robot is a typical 6 axis for welding. No weird physical configuration.

No, it's PTA, and the error occurs EVERYWHERE, with no joint angles near limits. It's very difficult to program, as there are so many unusable positions. There is a clunky joint, A5.

Thanks Skooter. The TCP was good, but I redid it to be sure. I loaded the oldest backup I could find, but apparently this has been a problem as long as anyone still working there can remember. One poor guy has been programming around it for a long time.

The robot type, IRB6400, is from a data plate on the controller, there's nothing on the robot. I'll check the system info, thanks

I'll check the System Info, as soon as I can. Yes, there is a work object. I'll report back when I have some results, thank you so much.