I'm looking for some insight into a problem I am dealing with. I have an ABB 6400 that I have been fighting with for a while now.
It began with intermittent Joint speed errors(always axis 4, NEVER any other axis). I have suspected the encoder cable and possibly the servo itself for a while now, but it has been suggested to me that the issue could be in the cabinet. Possible overheating, dust, etc. (I even changed the SMB on a suggestion, to no avail)
Now it has reached the point that the robot is not only throwing axis 4 joint speed errors, but every few times it also looses the rev count for axis 4.
I am thinking of replacing axis 4 servo and upper arm cable, but I need to make an informed decision.