How to solve C24 error?

Product: xArm series, UF 850, Lite6

UFactory version: V2.1.0+

There are 2 reasons for C24 error:

1. The motion speed(calculated joint speed) is too high.
2. Singularity appears in the motion path.

1. Reduce TCP speed

Reducing TCP motion speed/acceleration/jerk in the program.

2. Re-plan the path to the target point(Interpolation)

3. Bypass singularities

1. UFACTORY Studio: Settings-General-Advanced Settings-Bypassing Singularities.

2. Python SDK: set_allow_approx_motion(self, on_off)

Example

1. Reduce TCP Speed

2. Re-plan the path

3. Enable 'Bypassing Singularities'.

Note: If the above methods can not solve your issue, please send the files below to the support team.

1. The firmware and UFactory Studio version.

2. The script or points(>2) that can reproduce the problem.

3. The configuration file. It can be downloaded in 'Settings-General-Advanced Settings-Logic-Export the configuration file'.