I have a robot that has started to show excessive vibration and throwing frequent SRVO-050 COLLISION DETECT and SRVO-053 EXCESS DISTURBANCE errors. It is also emitting a “ratcheting” sound when J2 is actuated.
In normal operation, the robot has a somewhere between 50-90% chance of completing its program cycle without throwing one of the above errors.
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. I disabled COLLISION GUARD but it did allow the joint to move against gravity.
I am almost certain this a mechanical failure (bearings or harmonic drive maybe), but I have 2 questions:
- Why did I still see the COLLISION DETECT error when COLLISION GUARD was disabled?
- Why can the robot make it through its program cycle (sometimes) but it is not able to move J2 against gravity when using TP?
Additional info:
The TP shows the max torque for J2 to be 4.460 and the max/min disturbance torque is 6.000/-6.000, respectively.