MOTN-018: Position Not Reachable

What it means

The robot cannot reach the commanded position. This often ties to the position being outside the reachable workspace or to Cartesian motion passing near the J1 singularity, where the wrist center sits on the J1 axis.

Common causes

Ranked by what technicians most often find, most likely first.

1. The taught position is simply outside the robot's reachable range.
2. A Cartesian motion path runs near the J1 singularity (wrist center on the J1 axis).
3. A Cartesian jog was attempted near the J1 singularity.
4. The position before an applied offset (position, tool, or vision offset) itself hits the unreachable or singularity condition.
5. An offset (position, tool, or vision) rotated the wrist axis 180 degrees.

How to fix it

1. Reteach the position so it falls within reach. Reteaching jogs the robot; work in T1 low-speed with the deadman held and the cell clear of people.
2. To clear the J1 singularity case, reteach to avoid it (in T1 low-speed, deadman held, cell clear), add intermediate points to route around it, or switch that move to Joint motion.
3. Use Joint jog to move the robot clear of the J1 singularity, in T1 low-speed with the deadman held and the cell clear.
4. For an offset-related fault, apply remedy 1 or 2 to the position before the offset; if offsets are stacked, correct each pre-offset position.
5. Adjust the offset amount so it does not rotate the wrist axis 180 degrees.