[H.tanino]

This thread arose while I was troubleshooting the following thread, but I thought it
would be better to separate it, so I am posting this as a new thread.

I created a robot processing program using Yaskawa Motoman GP50 and verified it
using Yaskawa MotoSim, but the following error appears.

1:ROBOT(0)
2:ALARM 4416 PULSE LIMIT
3:EXTENDED SERVICE Fatal error.Stopped calculating(for GET_NEXT_STEP only)
4:SOFTLIMIT:0

<MotoSim controller screen>
ALARM 4416
PULSE LIMIT OVER
[R1:MIN SLURBT]

What is causing this? It seems that an error occurred in the middle of an arc.
Could it be because the step size of the robot program is too small? For straight lines,
I set it to the default of 0.005mm.

[Albert]

It looks like you are exceeding the joint limits.

Did you load the ALL.PRM file of your Yaskawa Motoman robot in RoboDK? It will extract the correct pulses/degree ratio.

[H.tanino]

The customer provided us with the pulse values when each axis of the robot was moved,
and we calculated and confirmed them.We have also attached various data.

The following thread dealt with ALL.PRM.
https://robodk.com/forum/Thread-Python-s...ile?page=2

We tried changing the minimum step size of the straight line and arc to 0.1mm,
and lowered the speed to 50mm/s, and the alarm seemed to be resolved.
What caused the joint limit to be exceeded?