This article uses the following program as an example to illustrate how to solve this error C24: Speed Exceeds Limit.

Example

When running the above program, the C24 error will appear:

There are two reasons for this error:

(1) The motion speed is too high.

(2) Singularity appears in the motion path.

We can solve this problem through the following three methods.

Solution:

(1) Reduce TCP speed

Reduce TCP speed

Reducing the motion speed in the program.

(2) Re-plan the path to the target point(Interpolation)

You can insert one or more points between original path points to avoid singularities.

For a detailed description of the singularity, please refer to the page 155-157 of the xArm user manual: xArm user manual

(3) Use joint motion to replace the TCP pose

Note

If the above methods can not solve your issue, please send the files below to us.

● The script or points(>2) that can reproduce the problem.

● The configuration file of the xArm.

The method of downloading the configuration file:

1) Enter the "settings"-"Advanced"-"Advanced Tool"-"Configuration File"

2) Click the 【Export Configuration】button to export the parameters of the robotic arm as a configuration file.

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