运行机械手抓取示例程序error code 18


#1

我是Dobot以及机器人方面的新手。最近我实验室买来一个Dobot Magician机械手以及一个小传送带。现在运行示例程序 Conveyor_sorting,每次要到抓取位置(或者到放置位置的时候)的时候就只能原地上下运动,running log提示[18]ERR_PLAN_INV_LIMIT alarm triggered。
求帮助。谢谢!

附:

  1. running log (前后运行了两次):
    [SETTING UP] Place Dobot Magician near by the motor of conveyor belt, make sure the conveyor belt is in front of the Dobot, the two sensor is close by the motor.
    [HOME] Restore to home position at first launch, please wait 30 seconds after turnning on the Dobot.
    [SET HOME] Open the Teaching and Playback module, save one point, and right click to set the home position.
    [COLOR RECOGNIZING] After start the sorting blockly demo, Dobot Magician will move to the top of the color sensor and hold a while. Please adjust the position if it is not correct.
    [DIRECTION] Standing behind the Dobot Magician facing its front direction, X is front and back direction, Y is right and left direction.
    [COLOR SENSOR] Please connect the color sensor to GP4.
    [PHOTOELECTRIC SENSOR]Please connect the photoelectric sensor to GP2.
    [18]ERR_PLAN_INV_LIMIT alarm triggered
    Red
    PopupCmdWorker Get a error info:parse hex file error!
    [SETTING UP] Place Dobot Magician near by the motor of conveyor belt, make sure the conveyor belt is in front of the Dobot, the two sensor is close by the motor.
    [HOME] Restore to home position at first launch, please wait 30 seconds after turnning on the Dobot.
    [SET HOME] Open the Teaching and Playback module, save one point, and right click to set the home position.
    [COLOR RECOGNIZING] After start the sorting blockly demo, Dobot Magician will move to the top of the color sensor and hold a while. Please adjust the position if it is not correct.
    [DIRECTION] Standing behind the Dobot Magician facing its front direction, X is front and back direction, Y is right and left direction.
    [COLOR SENSOR] Please connect the color sensor to GP4.
    [PHOTOELECTRIC SENSOR]Please connect the photoelectric sensor to GP2.
    Red
    [18]ERR_PLAN_INV_LIMIT alarm triggered

2.Blockly code (基本和原来一样;但由于只有一个机械手,改了一些端口设置,以及加入了使传送带运动/停止的语句。)


#2

我把抓取位置改为传送带离机器人较近的位置,就没有错误了。。。之前在传送带中间不行