Collision Guard automatically uses more sensitive limits for jogging motion. These limits cannot be adjusted.
That's not quite true, we had some success in the past modifying servo parameters to adjust the sensitivity to get us out of situations where it kept tripping (for example when freeing a robot from a collision).. However I don't work at that place anymore and I don't have a record of which parameters... so sorry! Although reading the original post I don't think jogging was the problem....
Accurate payload is the most helpful recommendation I could make... The COG, mass, inertia values need to be as
accurate (not "higher") as possible... The best way to do this is with payload ID, however there are right and wrong ways to do Payload ID... (entering a known mass, posture of the robot, doing it 3 times, etc)..... The physical payload the robot's carrying also needs to be within the robot's payload capabilities...
I would recommend using the ACC instruction on big vertical movements etc, or any moves where it regularly faults... Trying ACC80 for example and then bring the value down until it goes away... May cost a small amount of cycle time but not much...
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