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. | |||
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