This thread collects reports about ServoJ commands sent from the SDK being rejected, with sudden robot movement as a result.
Status
Open collection. The root cause is not confirmed. Treat this as a safety issue when testing.
Symptoms
- ServoJ runs with cmdtype=1 at 100 Hz from the SDK.
- Now and then the controller returns "rejected by controller", error code 14.
- The robot swerves unexpectedly at that moment.
- Reported on FR3 and FR20.
Until the cause is known
- Test at low speed, with a clear working area and a person at the stop button.
- Keep external safety measures in place. Do not rely on your own code to catch this.
- Log the time of every command and every return code, so the moment of failure can be checked.
- Check the recommended servo cycle time in the SDK manual for your version.
Related setting: safety speed for servo motion
The V3.9.4 release notes added a safety strategy under Initial Settings, Safety, Safety Speed that stops and reports an error with disable after overspeed. One user found that strategy 0 (stop and alarm) reacts slowly, while strategy 2 (stop and de-enable) stops faster. Please confirm if you have measured this.
Please reply with
- Robot model, software version and controller version
- SDK language and version
- cmdtype and cycle period
- Whether the PC is on a real-time OS, and how it connects to the robot
- Controller log from the moment it happened