ID 51068

Movement too close to kinematic singularity. Axis velocity exceeds maximum limit.

Description

The maximum axis velocity (P-AXIS-00212) set in the axis parameter list was exceeded near a singularity. Dynamic look-ahead also considers the error threshold defined by P-AXIS-00440.

Response

Class

4

Controlled stop for the axis group.´

Solution

Class

6

Create diagnosis data.

Parameter

%1:

Logical axis number [-]

Logical axis number (P-AXIS-00016) of axis affected.

%2:

Current value [1µm/s or 0.001°/s]

Current command velocity of the axis.

%3:

Upper limit value [1µm/s or 0.001°/s]

Maximum permissible velocity of the axis (P-AXIS-00212).

%4:

Current value[-]

Ratio of current velocity to maximum permissible axis velocity (absolute value).

%5:

Upper limit value[-]

Factor for exceeding the maximum permissible velocity (P-AXIS-00440)

Error type

1, Error message from NC program.