![]() ![]() ![]() Why did I still see the COLLISION DETECT error when COLLISION GUARD was disabled?.I am almost certain this a mechanical failure (bearings or harmonic drive maybe), but I have 2 questions: I disabled COLLISION GUARD but it did allow the joint to move against gravity. I used the TP to manually move the joints and discover that J2 was the culprit, but in the process I found that J2 would move down (with gravity) but when I asked it to move against gravity it threw the SRVO-050 error. In normal operation, the robot has a somewhere between 50-90% chance of completing its program cycle without throwing one of the above errors. It is also emitting a “ratcheting” sound when J2 is actuated. I have a robot that has started to show excessive vibration and throwing frequent SRVO-050 COLLISION DETECT and SRVO-053 EXCESS DISTURBANCE errors. ![]()
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