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 UFACTORY xArm user manual: UFACTORY 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 UFACTORY 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.
