RC40 Control manual
67
e0x0BD7
The robot is close
to the elbow
singularity position
The robot is close to the
elbow singular position,
unable to continue the
trajectory movement or
teaching movement;
Remove robot from elbow
singularity position in teach
mode, and then run or
teach;
e0x0BD8
The target
trajectory passes
through the elbow
singularity
The target trajectory passes
through the elbow singular
position of the robot, unable
to execute the current
trajectory motion;
Modify the target position or
the starting point of the
trajectory to avoid the
trajectory passing through
the elbow singular position;
e0x0BEA
The robot is at the
wrist singularity
position
The robot is in the wrist
singular position, unable to
execute the trajectory
movement or teaching
movement;
Remove robot from wrist
singularity position in teach
mode, and then run or
teach;
e0x0BEB
The robot is close
to the wrist
singularity position
The robot is close to the wrist
singular position, unable to
continue the trajectory
movement or teaching
movement;
Remove robot from wrist
singularity position in teach
mode, and then run or
teach;
e0x0BEC
The target
trajectory passes
through the wrist
singularity
The target trajectory passes
through the wrist singular
position of the robot, unable
to execute the current
trajectory motion;
Modify the target position or
the starting point of the
trajectory to avoid the
trajectory passing through
the wrist singular position;
e0x0FA0
J1 speed limit
trigged
The target velocity of the J1
axis exceeded the maximum
speed limit of the J1 joint.
Lower robot speed,
acceleration or
deceleration ;
