Steps to reproduce:
Create a safety plane set to “Trigger Reduced Mode.” Set your Robot Limits to be the exact same between Normal and Reduced. Have the robot move across the safety plane using a MoveL instruction.
Expected Behavior:
As the settings are set to identical values, the robot should seamlessly move across the transition plane
Actual Behavior:
Robot hits hard like it’s using a blend radius of 0 when transitioning OUT of reduced move. Doesn’t seem to suffer the same behavior when going FROM normal TO reduced.
Workaround Suggestion:
None. Just deal with it, but I have a feeling it isn’t great for the joints.
Robot Serial Number:
20225205237
Affected Version(s):
5.13.1