FANUC CRX 10iA/L cobot J4 limit error

    Dear Colleagues,

    I am working on simulation on cardboard erector, using FANUC CRX 10iA/L cobot.

    I am straggling more than 2 days and could not make it work. The problem is when I move the robot through the taping head, in the middle of the move I am getting limit error at J4. For this robot, J4 limits are +/-180 degrees. J4 goes more than -180 degrees and limit error raises.

    To sort the issue out, I try to place taping head:

    - On the other side of the robot

    - Change the height of mounting of the robot

    Until now, nothing seems to improve the situation.

    Does someone, got an experience with this kind of robot and can provide any advices, how to place the robot in order to get rid of limit error?

    On simulation and even activate Singularity Avoidance (R792) function. It was without success.

    According a more experienced than me colleague, those robot was very fastidious.

    Any advises will be highly appreciated!

    Regards,

    Svetozar Yolov

    You have a shoulder singularity where J4 tries to move faster than the collaborative speed limit and even under the negative 180 degrees limit. One solution could be to place the robot further away (in the X axis) from the pink fixture in your images. Look for "shoulder singularity" on this forum and elsewhere. I strongly suggest you attach your user frame (UF) used for your program to the pink fixture. To do so, double click on the user frame in the workcell tree. Then, in the "Attached" property combo box, select your pink fixture. Apply the changes. Now, if you move the robot or the fixture, the positions in your program will move according to the new fixture/robot relative position. This will make trial and error easier and faster.

    Thank you gpunkt,

    When I position the robot, and it J4 went to its limit. The bad thing is that when I teach points - it seems OK. As soon as I tray using "MOVE TO" button on TP or I create simple program with linear movement (I need linear, because the cardboard box need to go straight through taping head), I got limit error on J4.

    I struggled with this problem for day and a half!

    Cheers!

    Svetozar

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