Joint 3 mechanical limit exceeded.

Cause:

For a palletizing robot, the sum of the joint positions of axis 2 and axis 3 exceeds the hard limit.

Troubleshooting:

Check whether the sum of the joint position values of axis 2 and axis 3 exceeds the D3SW limit set in the robot configuration file.

Solution:

Jog back within the joint 3 limits; add a transition path.

Case sharing:

None.