Error: Command speed limit error

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  4. Error: Command speed limit error

Problem

Generated command value exceeded the speed limit. All joints were Emergency-stopped and motor power was turned OFF. On CP-motion or Pass-motion, the speed of each joint might change rapidly, so as to realize the target motion and pose of TCP.

Related Error codes:
84204061, 84204062, 84204063, 84204064, 84204065, 84204066, 84204067, 84204068

Solution

Double check your optimization settings after sending the project data. It is likely you may have reverted them to the default values.

ARM > AUX > CONFIG > confirm option 1 (mass of payload) and option 8 (set of motion optimization)

Optimal Speed Control Function (Owner’s Manual)
https://www.fa-manuals.denso-wave.com/en/usermanuals/001542/


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