Forums Niryo One Troubleshooting V1 NiryoOne prevented from Z

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  • FindingNiryo
    Participant
    Post count: 105

    Niryo One Studio V2.1.1
    Raspberry Pi 3 image 2.1.0

    Sequence move pose xyz 0.32, 0.194, -0.026
    results in error: Goal has been rejected : z not in range ( 0.0 , 0.6 )
    running the same command on V2 movement is allowed.
    Ground plain work space should be nearly identical for the two versions.
    The robot is mounted on a pillar and can physically move below Z=0.
    As a safety measure it would be nice to specify the working volume.

    • This topic was modified 1 year, 6 months ago by FindingNiryo.
    Edouard Renard
    Keymaster
    Post count: 239

    I just tested with same versions and the command “xyz 0.32, 0.194, -0.026” works.

    The z-axis limits are -0.15m / 0.65m. More details on this config file.

    EDIT: I think you have this error working with a Niryo One V1 from an old order. In this case yes the limits for z-axis are 0.0m/0.60m. You can edit this config file directly on the robot to modify the global settings. (and don’t forget to restart the program on the robot after that)

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