MOTN-017 Limit error (G1:1, A:2,3) after Mastering robot

    Hello Everyone, :smiling_face:

    I'm in need of some assistance with an issue I'm facing on a Fanuc M20iD robot. I recently performed calibration and mastering on a brand new robot, but after the calibration process, I encountered an error message: "MOTN-017 Limit error (G1:1, A:2,3)".

    I want to clarify that the robot's position is well within its axis limits, and I've attempted to recalibrate multiple times to resolve the problem. Unfortunately, the error persists.

    As of now, my robot is pointed upwards and refuses to descend.

    I would greatly appreciate any guidance or insights anyone can provide to help me resolve this issue. Your assistance means a lot to me.

    Thank you all in advance for your support.

    jbc

  • MOM September 8, 2023 at 12:29 PM

    Approved the thread.

    Which mastering procedure did you use (Quick, Zero position, Single axis, ...). Have you checked the zero position of the robot after mastering? Mastering position was correct?

    Do you get the MOTN-017 alarm when trying to move to a position with a linear motion or when using SHIFT + MOVE_TO? Did you already set up any axis limits?

    Is it possible to manually jog the robot around? Create a small program with a joint motion with a position or position register in joint representation and set all values to 0. Run the program in T1. The robot should move to its zero position.

    Hello Everyone and please help!

    After replacing the power supply battery in ArcMate 120iC, Zero mastering and Calibrate was done according to the exposed labels.

    I also get an alarm "MOTN-017 Limit error" when I try to move to a position by linear motion on any axis.

    It's no possible to manually jog the robot around!

    Thank you all.

    First of all, linear motions do not honor the config turns, so if you are not able to reach a L point the first thing you should try is to change it to a J one and try again, if you still cant reach, you can tru to change the turn number from axis 6 to -1, 0 or 1 and see if you can reach.

    If you are trying to move to a PR point using the "Move to" button, forget that, instead create a new tp program, add the instructions to select the correct utool and uframe and add a J motion to move to that PR point.

    This will ensure the robot moves to the position with the same config and turn number you have recorded previously.

    Lastly, if you have recalibrated the robot and you have previously saved a position that was near a config change (like FUT to NUT), or even a turn number change (000 to 001 -> axis 6 goes beyond 180dg), after the new calibration that config may no be possible to be achieved.

    I've found this problem before with some robots where axis2 was incorrectly calibrated the time positions were taught.

    Also ensure that you have selected the correct tool and frame if you are moving to PR positions and they are jot save in joint representation, as PR cartesian points work with any utool or uframe you have selected...

    I am having a similar problem JBC. After the robot mounting position was rotated I keep getting MOTN-017 G:1 A:1,2,3 errors. The POSN key shows that I am well within my limits. I changed the robot mounting position in the maintenance menu of the controlled start. My zero position looked good aligning (at least the first 5 axes) to 0. I am going to try remastering when I get back to this project. Any other ideas? I have tried opening up the J2/J3 interaction limit way past what it says it is when I get the error too.

    The mount moved from a 90 degree setting to a -90 degree setting. I anticipated redoing all of the points and have, but now I sometimes get the MOTN-017 G:1 A:1,2,3 error when jogging the arm, even when they are very clear of the limits :thinking_face:

    Quote from Brad T

    The mount moved from a 90 degree setting to a -90 degree setting. I anticipated redoing all of the points and have, but now I sometimes get the MOTN-017 G:1 A:1,2,3 error when jogging the arm, even when they are very clear of the limits :thinking_face:

    As far as I know, changing the mounting angle only affects the calculations about the gravity factor, this is needed so the robot know hiw to calculate the maximum motor consumptions to use on the collision and motion overload detections. If mount angle is changed you should redo your payloads.

    I do not remember right now if the Uframe[0] is also rotated but I think it's not unless you change it manually.

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