Controller: R-30iB
Arm Type: M200iA 900L
Software: V8.33/P13
I'm working on a large MH robot and encounter this 'CPMO-095: Too large Jnt Cmd' alarm on Axis 8 (Joint 6 on this robot). The remedy for this alarm is to 'increase value of $CP_PARAMGRP[].JNT_VEL_LIM[], $CP_PARAMGRP[].JNT_ACC_LIM[], $CP_PARAMGRP[].JNT_JRK_LIM[]'. There isn't any detail regarding these variables. There are other robots of this size carrying around the same payload (800-900 kg) that do not encounter this alarm, but the mounting of this tool on this robot in particular is further offset to one side of the tool (mounting is further from COG). I'm assuming that this exceeds a limit when the motion is calculated. Adjusting speed does not seem to help. This is on joint motion. Any idea's on how to fix this?