Robin fault

The flange speed exceeds 250mm/sec in T1 mode.

Reduce your override speed value as it's reporting the speed is exceeding the maximum speed allowable.

3.7 T1 MODE SPEED CHECK FUNCTION

The standard Robot control software limits the TCP speed and the wrist flange center speed so it does not exceed 250 mm/sec in T1 Mode. In addition, DCS will shut down motor power if the TCP speed or the

wrist flange canter speed exceeds 250 mm/sec in T1 Mode. The T1 Mode Speed Check function allows

the user to further restrict the TCP Speed and wrist flange center speed to a speed lower than 250 mm/sec while in T1 mode.

- T1 Mode Speed Check can be enabled / disabled for each motion group. (Default is disable)

- The speed limit of the T1 Mode Speed Check can be changed, but it cannot exceed 250mm/sec.

- In T1 Mode, when the DCS TCP speed exceeds the specified speed limit, the alarm "SRVO-340

DCS T1 TCP speed" occurs and motor power is shut down immediately.

- In T1 Mode, when the DCS flange center speed exceeds the specified speed limit, the alarm

"SRVO-341 DCS T1 flange speed" occurs and motor power is shut down immediately.

- The target TCP is the DCS Tool Frame that is selected by the "Tool select" item in the DCS Tool

frame menu. When "Tool select" in the DCS Tool Frame menu is set to -1, the DCS Tool Change

function is enabled and the target tool frame number is changed when the ordinary TCP is changed.