Common issue with PAROL6 robot when using Commander software is getting errors like:
speed error in cart mode -6399980 OR
Error: MoveCartRelTRF() sign of position flipped
These are common issues related to singularities, joint limits and robot orientation.
You can read more about singularities HERE!
These are common issue in our commander software but also in general robot arm control. There are limits in the commander code not allowing the bot to move fast when near singularity. It is very conservative and will trigger when not needed, you could remove the limits but it could do some high speed moves then and destroy the robot.
But generally try to find a pose that works and from there perform cartesian movements.
To do that use the example codes in the commander software as a reference. Also use cart moves only when you really need them, focus more on joint space moves. If you encounter cart error best bet is to move away from that position a bit and try again. If that does not work try to change the robot orientation or configuration (approach from left or right).
