RobotStudio event

Dynamic Load Too High error when using EGM in Base Frame

kazoo
kazoo ✭
in RobotStudio
I’m trying to use Base Frame mode of EGM on IRB and having “Dynamic load too high” error. The robot tried to go up (+z) for a very short time (less than 1sec or 0.5msec) and stopped with the error.

What I tried was just to send the current position (translation position = 400, 0, 125, rotation = 0, 1, 0, 0) as a destination. 
The following is a RAPID code I used for EGM. If you notice any mistakes, please let me know. Other parts worked correctly when I used Tool Frame mode.

EGMActPose egmID1\Tool:=tMyTool, corr_frame_offs, EGM_FRAME_WORLD, tMyTool.tframe, EGM_FRAME_BASE \x:=egm_minmax_lin1 \y:=egm_minmax_lin1 \z:=egm_minmax_lin1 \rx:=egm_minmax_rot1 \ry:=egm_minmax_rot1 \rz:=egm_minmax_rot1 \LpFilter:=4, \MaxPosDeviation:=1000 \MaxSpeedDeviation:=1000;
EGMActPose egmID1\Tool:=tMyTool, corr_frame_offs, EGM_FRAME_WORLD, tMyTool.tframe, EGM_FRAME_BASE \x:=egm_minmax_lin1 \y:=egm_minmax_lin1 \z:=egm_minmax_lin1 \rx:=egm_minmax_rot1 \ry:=egm_minmax_rot1 \rz:=egm_minmax_rot1 \LpFilter:=4, \MaxPosDeviation:=1000 \MaxSpeedDeviation:=1000;
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