"Axis speed exceeded" warning : can't see why

[Wall-E]

I just used the "Axis movement" component for the first time, and find that it induces an error message during execution.
I set the "Vel" input to a value of 10, which is 10% of the max speed if I understant well.

So what could be the problem ?
The message states that I am exceeding the max speed by over 600% ; this seems completely crazy...

Here's a screen capture of the pendant : https://goo.gl/photos/tgKrVTGVtCuUongj8

Cheers,

[Wall-E]

Wild guess : Since the A4 axis is involved, this was probably due to a singularity.
I broke the alignment by forcing a small A5 angle, and the problem is gone.

Cheers

[Johannes @ Robots in Architecture]

Hello,

That sounds very likely, sorry for the slightly delayed reply. Just one quick remark: According to your screenshot, he problem occurred with a LIN movement, where the speed is set in m/sec and refers to the TCP, so individual axes can go up to their maximum speed in order to achieve the tooltip speed. When you are close to a singularity, the required speeds quickly ramp up and can cause the robot to stop. With PTP movements you do not have the singularity issues and set the speed in percent, as you've mentioned.

Best,
Johannes

[singline]

Excellent! Thanks!