Description
The reduced speed has exceeded the limit in the safety controller of drive module arg.
Consequences
The safety controller will stop all robot movements.
Possible causes
One or more mechanical units exceed the deceleration limit. Speed violations are of type arg .
- TCP.
- elbow.
- wrist.
- axis.
Recommended actions
- Check that the correct tool is selected in the safety controller and that it is consistent with the tool definition used for jogging or program execution.
- Check that the manual mode speed configured in the safety controller matches the value in the robot controller configuration.
- If the manipulator is installed on a track, set the robot controller configuration parameter 'Use world-wide checkpoint limits' to Yes. in the "Motion Planner" type and "Motion" topics
- If a cyclic brake check has not been performed within the specified interval, perform a new brake check.
- Reduce the value of the "Maximum speed in teach mode" parameter.