Industrial Robotics & Automation

Setting up a FANUC M-20iD/25 robot with R-30iB Plus controller. When configuring DCS Cartesian Speed Check on Tool Frame 2 (pneumatic gripper with 8kg payload), robot halts with DCS alarm `SRVO-402 DCS Cart. Pos. limit` during high-speed blending moves near safe zone boundaries. How do we properly model the tool sphere envelope to prevent false triggers?

In a palletizing application with a KUKA KR 120 R2700-2, we need an optical sensor on `$IN[12]` to trigger an immediate safe stop while retaining trajectory recovery. In the global interrupt routine, does `BRAKE F` require a `RESUME` statement to jump back to the main loop, or should `HALT` be called first?