UR-Protective Stop

Hello Everybody,

I am getting Protective Stop Error when I am waiting a signal.

to be more specific:

I have Move1 : it is a MoveJ > Move 1

then I have wait condition till signal to be 1

after that Move2: it is MoveL > Move2

when the robot went to Move1 I am getting Protective Stop Error.

why this is happening ?

Thanks In Advance,

Moelsayed

Hi Rekd,

I am getting [ C204A3: Protective stop:Invalid setpoints : Sudden Stop ]

this error start happening after I add wait instruction between two movement

MoveJ > Move 1

wait : for a condition

MoveL > Move 2

why is that ?

Thanks In Advance,

Moelsayed

yes The program is running fine without Wait instruction

I will do it now Thank you

Ii tried and still get the same error.

Thank you very much I switched from Blend to Stop and now is working fine.

Really appreciate your help.

Moelsayed