MOTN-147: Joint Slowdown After Linear Moves (Turn Number Mismatch)
When a joint motion follows several linear motions, the turn number can end up mismatched because linear motions ignore turn numbers.
What it means
When a joint motion follows several linear motions, the turn number can end up mismatched because linear motions ignore turn numbers. That mismatch forces the robot to slow down as it replans the joint move.
Common causes
Ranked by what technicians most often find, most likely first.
- A joint motion positioned right after one or more linear motions, where the linear moves have left the turn number unresolved.
- A taught path that mixes linear and joint motion types in a sequence that produces a turn number mismatch.
How to fix it
- Change the current motion's motion type to linear so it stays consistent with the preceding linear moves.
- Alternatively, change the previous motion's motion type to joint so the turn numbers line up going into the joint move.
- If the slowdown persists after adjusting motion types, re-teach the affected path.
Quick facts
- Category
- Motion
- Affected series
- R-30iB; R-30iB Mate; R-30iB Plus; R-30iB Mate Plus
- Alarm family
- MOTN