Hello,
I am working on a GP50 MH robot in a sanding application. One of my sanding patterns requires a circular motion in the direction of travel; similar to buffing a car. To achieve this, I am using an 'Ellipse(Tool)' pattern weave schedule, running over the work piece in passes. However, I am receiving numerous 'Alarm 4513: Excessive segment(Safety 1)' alarms on multiple axis throughout the path. The alarm description in the manual is very vague, but I gather that this is caused due to a motion command that is unachievable (excessive) by the robot. I have tried different speeds, PL values, etc. but nothing seems to fix the alarm. The robot is not near singularity.
Another weird issue that I am noticing is if I make any motion or weave schedule changes, the alarm will still occur in the same area of the taught path. However, if I cycle power (after schedule or motion changes), the alarm no longer occurs in that area of the path. I still receive the alarm, but further or closer to the start of my path. It seems like the alarm, or some motion, does not take effect until after a power cycle.
Any ideas regarding motion, schedule, or programming changes to remedy this alarm and achieve my desired path?