I have got an issue, with error MOTN-017 Limit error (G:1, A:6). From the documentation:
Cause: Limit error.
Remedy: Reteach the position out of limits.
I believe that this means error with axis 6.
After some analysis, I understand the following. As you see on attached picture, from conveyor side, the angle of J6 is under 180° (the configuration of coordinates id NUT 0,0,0). After robot approach the pallet side (when cross the thick red line), the angle of J6 becomes more than 180° and the configuration of coordinates becomes NUT 0,0,1. The position register I use, the configuration of coordinates id NUT 0,0,0. So my robot stops with error MOTN-017 Limit error (G:1, A:6).
To sort the issue I put a new intermediate point (orange one on the picture) with configuration NUT 0,0,1. All position register used below red line (in pallet side) are with configuration NUT 0,0,1.
I thought that the problem is sorted out but suddenly, on the way from pallet side to conveyor side, my robot stops again with the same error. I was in orange point (NUT 0,0,1) and next position was on conveyor side (NUT 0,0,0). Why that happen – no idea.
In addition, because of the gripper mounting, my J6 is at angle 105°. This cannot be changed because of the mounting of the gripper and cables an air duct installed.
Please share you experience and advise me how to resolve the issue – on my way from pallet side to conveyor side, the robot stops again with the same error.
Any advice and information are highly appreciated!