A delta-robot axis group reports “The dynamic limits for the movement are invalid” whenever the circular-absolute motion command executes, while MC_MoveLinearAbsolute completes without the same error. This comparison isolates the problem to requirements or inputs specific to circular motion; it does not prove that the group-wide limits or mechanical configuration are valid.
Separate Confirmed Behavior From Unknowns
| Evidence | Engineering implication |
|---|---|
| The error occurs when the circular command receives Execute. | Inspect command inputs and limit validation performed at execution. |
MC_MoveLinearAbsolute does not produce the error. |
The group can accept at least one linear move, but that result does not validate circular-motion dynamics. |
| Dynamic-limit functions exist in the project environment. | They may provide required configuration or diagnostics, but their names and behavior are not identified. |
| Controller manufacturer, runtime version, command signature, and input values are absent. | Do not assume parameter names, valid ranges, units, or required initialization order. |
The supplied command name, MC_MoveCirvularAbslolute, appears exactly as provided and may contain spelling errors. Confirm the actual block name and use its vendor documentation before mapping any inputs.
Audit the Circular-Move Inputs
- Capture every input connected to the circular-absolute command at the Execute transition, including target geometry, path definition, velocity, acceleration, deceleration, jerk, and any group override or limit inputs that the actual block exposes.
- Check for unset, zero, negative, stale, or unit-mismatched dynamic values. Treat these as diagnostic hypotheses until the controller documentation identifies the accepted ranges.
- Compare the circular command’s dynamics with the working
MC_MoveLinearAbsolutecall. Record which values are shared and which circular-only values differ. - Review the available dynamic-limit functions in the same software documentation. Determine whether they configure limits, read limits, or validate a proposed move; do not call them interchangeably.
- Repeat the command only after all required circular-motion inputs and applicable group limits have known, documented values.
Determine Whether Geometry or Dynamics Triggers Validation
Change one input category at a time. First retain the intended circular geometry and adjust only documented dynamic inputs. Then retain known-valid dynamics and change only the circular path definition. If the error follows the dynamics, investigate command and group limit compatibility. If it follows the path definition, investigate the circular geometry and the group’s ability to realize that path.
Do not conclude that the absence of a linear-move error proves the same path speed is achievable on a circular move. A circular trajectory can require different coordinated-axis behavior, but the evidence does not identify which limit or axis caused this rejection.
Verify the Correction
A valid correction must do more than clear the message. Confirm that the circular command leaves its error state, becomes active or completes according to its documented state outputs, and produces the intended path. Also inspect the axis group and member axes for remaining diagnostic information. Record the final command inputs and limit settings so the successful test is reproducible.
FAQ
Why does circular motion report invalid dynamic limits when linear motion works?
The evidence shows that the failure is specific to the circular-command execution. Compare circular-only inputs and dynamics with the working MC_MoveLinearAbsolute call, but do not treat the linear result as proof that circular-motion requirements are satisfied.
Which dynamic value causes the axis-group error?
The available evidence does not identify a specific value. Capture the velocity, acceleration, deceleration, jerk, overrides, and configured group limits exposed by the actual command, then check each against the controller documentation.
Should I use a dynamic-limit function to clear the error?
Only after confirming whether that function configures, reads, or validates limits. The evidence does not provide its name or behavior, so using it without the manufacturer’s command reference could change the wrong setting.