Description
Joint arg cannot be set to soft servo mode. The reason is that the axis reaches its maximum torque level for a short period of time before or during activation.
Consequences
System emergency stop, soft activation command is also canceled.
Recommended actions
Find out why torque is too high.
- Check if any conflicts have occurred.
- Check payload data.
- Decrease acceleration or velocity to slow down.
- Check the hardware.
- Move the program pointer and restart.