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Kawasaki-Robotics / khi_robot

ROS KHI robot meta-package
http://wiki.ros.org/khi_robot
BSD 3-Clause "New" or "Revised" License
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Unexpected shock is detected! #42

Open frash83 opened 4 years ago

frash83 commented 4 years ago

What could be the reason behind this log (unexpected shock is detected!) on the teach pendant?

matsui-hiro commented 4 years ago

The safety function monitors time variation of the motor current. When the amount of variation per unit of time greater than the threshold, the error occurs. So the higher the acceleration, the easier to occur. Could you try our latest version of khi_robot ? It is tuned the the acceleration of **_joint_limits.yaml.