ID 292080

Wrist position in non-reachable area (cylinder around C1 axis).

Description

If the parameter HD32 of the robot kinematic KIN_TYP_45 is unequal to zero, this results in a cylindrical area about the C1 rotary axis that cannot be physically reached by the robot wrist (intersection A1-B3-A2 rotary axis).

The programmed position and orientation result in a wrist position that is within the unreachable range.

Response

Class

2

Abort NC program processing.

Solution

Class

5

Check and modify the NC program, e.g. increase the distance between the workpiece and the C1 rotary axis.

Error type

1, Error message from NC program.