Description
Cartesian soft servo is close to unstable.
Consequences
For safety reasons, the robot will stop motion.
Possible causes
System damping is too low.
Recommended actions
Damping is calculated from the stiffness ratio.
Change the value of " Stiffness " or " StiffnessNonSoftDir " in the CSSAct instruction. If this does not work, increase the value of the system parameter "Damping Stability Limit (damping stability limit)" or change the parameter "Stiffness to Damping" in the Motion (motion) topic and CSS type Ratio (stiffness-damping ratio)”.