How to prevent YuMi arms from going limp during e-stop or joint load error?
The YuMi has a payload of 0.5kg and I am using the stock ABB grippers (one vacuum/grippers/camera) with some modified grippers which weigh ~70 grams a pair. The arm with the modified grippers move to a location and pick up a fixture/payload which weighs ~300 grams. I am having problems with the gripper moving the payload to its destination and am receiving "joint load too high" errors which causes the arm to stop, however the joints closest to the gripper go limp during this error which causes the objects resting on the fixture/payload to fall off the fixture and onto the ground. These parts are expensive so we cannot afford the robot to drop the parts. Is there a setting on the controller which completely seizes the motors during this 'joint load' error such that joints don't just give out and go limp? This problem also occurs if the arm is carrying parts and the e-stop is engaged. When moving the fixtures, I am using a 'MoveJ' instruction with a speed of 'v200' and zonedata value of 'fine'.
I have tried lowering the sensitivity of motion supervision for the arm as well as adjusting the tooldata weight for the modified grippers. What can I do to prevent this undesired behavior?