ID 294056

Gripper moves force controlled under FORCE_LIM.

Description

The gripper opens further than the position corresponding to FORCE_LIM. This results in a stop to prevent uncontrolled opening of the gripper.

Note: These monitors are only enabled during force control.

Response

Class

7

Dynamic braking.

Active commands inhibited.

Output “$ALARM_STOP” has signal level 0.

Solution

Class

6

Check force sensor.

Check force sensor cable.

Check RDC plug in board (KSK).

Trace test group 11-Force control to determine if the controller oscillates.

Error type

11, Error message from position controller.