MOTN-017 Limit error

yolovs · February 10, 2023 at 9:49 AM

Deal Gents,

I simulate robot cell in ROBOGUIDE and since yesterday, I experience error MOTN-017, which I cannot figure out how to resolve. The error is:

MOTN-017 Limit error (G:1, A:1)

It happens when, I want to move robot gripper down, in order to change it. The robot is turns to the back. I noticed that “Current position” dialog (POSN button on pendant), J1 axis is yellow.

According the documentation, A:1 means axis 1 (J1).

In SYSTEM Axis Limits are on their default values.

Any ideas what exactly is the problem and how to resolve it?

Best regards,

Svetozar Yolov

kluk-kluk · February 10, 2023 at 1:41 PM

You will get a limit error when the next point you are going to is out of reach.

In case of a linear movement all of the intermediate positions must be reachable too.

So the problem is the next point or the fact that it is a linear movement.

check if the PR41 is within limits and with the offset is too.

If that is ok, try a joint movement.

yolovs · February 10, 2023 at 1:56 PM

Dear kluk-kluk,

Many, many thanks for explanations.

What is the best way, to check if a point or PR point is in the permissible range to reach, i.e. is in the axis limits in ROBOGUIDE?

Thanks again mate!

Svetozar

kluk-kluk · February 10, 2023 at 2:08 PM

Move to the pr41 position. without the offset.

If it moves the problem is the offset.

If not :

Change it to a joint movement.

If it moves, the position is reachable and the problem is an intermediate position.

Try to reach it from another angle by adding a position, or keep it a joint movement.

If it still don't move you will have to change the position or rotate the robot.

yolovs · February 10, 2023 at 3:08 PM

Many, many thanks Sir!

I wish you great weekend!

Svetozar

MOTN-017 Limit error

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