# SoftMove - faulting when disabling Cartesian soft servo CSSDeactMoveL

**URL:** <https://tech-community.robotics.abb.com/t/softmove-faulting-when-disabling-cartesian-soft-servo-cssdeactmovel/10958>\
**Category:** RobotStudio\
**Tags:** cartesian-soft-servo, css, cssdeactmovel, safemove, softmove\
**Created:** [December 14, 2022, 1:55am UTC](https://tech-community.robotics.abb.com/t/softmove-faulting-when-disabling-cartesian-soft-servo-cssdeactmovel/10958 "2022-12-14T01:55:52Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![SWoollett](https://avatars.discourse-cdn.com/v4/letter/s/a9a28c/32.png) [@SWoollett](https://tech-community.robotics.abb.com/u/SWoollett)\
**Post date:** [December 14, 2022, 1:55am UTC](https://tech-community.robotics.abb.com/t/softmove-faulting-when-disabling-cartesian-soft-servo-cssdeactmovel/10958/1 "2022-12-14T01:55:52Z")

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Hello,

I have an application where we want to use CSS to allow the end-effector to fully engage with a bracket we are picking up from a stack.

I enable CSS using the following command

CSSAct \RefFrame:=CSS\_REFFRAME\_WOBJ, CSS\_Z \StiffnessNonSoftDir:=50 \Stiffness:=1 \AllowMove;

Then move to engage with the part, enable vacuum and then move away and disable CSS

CSSDeactMoveL p1, v50, tool1\WObj:=wobj1;

The robot moves to p1 no issue but once it reaches it throws a series of errors (I’ll list them later) mostly to do excessive servo speed.

I read through the manual and see that if you are using safe move to setup a contact application tolerance, i configured this and it didn’t seem to help.

Does anyone have experience with this?

Few things I will try is setting the CSSDeactMoveL position to the robot current position and disabling SafeMove to see if it is that which is causing the issue.

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<div class="post-metadata">

**Author:** ![Newman](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/newman/32/2900_2.png) [@Newman](https://tech-community.robotics.abb.com/u/Newman)\
**Post date:** [December 14, 2022, 6:47pm UTC](https://tech-community.robotics.abb.com/t/softmove-faulting-when-disabling-cartesian-soft-servo-cssdeactmovel/10958/2 "2022-12-14T18:47:29Z")

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I have used Softmove and Safemove together and I just added a CAP to all my safe zones.

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<div class="post-metadata">

**Author:** ![SWoollett](https://avatars.discourse-cdn.com/v4/letter/s/a9a28c/32.png) [@SWoollett](https://tech-community.robotics.abb.com/u/SWoollett)\
**Post date:** [December 18, 2022, 7:33am UTC](https://tech-community.robotics.abb.com/t/softmove-faulting-when-disabling-cartesian-soft-servo-cssdeactmovel/10958/3 "2022-12-18T07:33:53Z")

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Thanks, I found calculating a robotarget from the current joint position and then use that as the target position when disabling CSS fixed the issue.