Motor disturbance

[e_port_ranger]

In the interests of self education can anyone define what 'disturbance' actually is. I take it to mean motor current over or under that which is expected for a given motion.

[Jim Tyrer]

Yes, I also understand it to mean when the torque (current) value is pushed or pulled beyond the limits of it's expected value range.

SRVO-053 WARN Disturbance excess(G:%d A:%d)
Cause: Disturbance estimated in the software exceeds the threshold value. There is a possibility that SRVO-050 occurs when the robot runs leaving this warning.
Remedy:
Check whether the payload (mass, center of gravity, and inertia) are set correctly.
Check whether the applied load exceed the rating. If so, reduce the applied load.
If this alarm occurs when the robot is used after long time interval or when the temperature is very low, run the robot with low speed for a while before running with normal speed.