MOTN-063: Position Configuration Mismatch
The start position and the destination position use different configurations, so the requested motion can't be executed as programmed.
What it means
The start position and the destination position use different configurations, so the requested motion can't be executed as programmed. This often shows up with linear or constant-path moves where the configuration must match end to end.
Common causes
Ranked by what technicians most often find, most likely first.
- The start and destination positions have different configuration strings.
- The constant path function is disabled ($CPCFG.$CP_ENABLE=FALSE), which can happen when the continuous rotation function is in use.
- For a wrist joint motion instruction, the wrist joint configuration differs between the start and destination positions even though the main configuration matches.
How to fix it
- Set the start position and destination position to the same configuration.
- If the configurations can't be matched, change the motion type to joint motion.
- Consider using a wrist joint motion instruction.
- If constant path is disabled ($CPCFG.$CP_ENABLE=FALSE), change the motion type to joint motion, or change the termination type to FINE or CNT0.
- If the alarm still occurs with matching configuration and a wrist joint motion instruction, the wrist joint configuration is mismatched between the two positions. Remove the wrist joint motion instruction or change the motion type to joint motion.
Quick facts
- Category
- Motion
- Affected series
- R-30iB; R-30iB Mate; R-30iB Plus; R-30iB Mate Plus
- Alarm family
- MOTN