Hello all, I have quite the odd conundrum. Maybe someone else has seen this happen.
I had axis 5 die in one of our M16ib handlers, I replaced the motor and all was well for about 15,000 cycles.
The operator had made an adjustment to an offset and caused the robot to collision on axis 5, it faulted with a collision and an SRVO-045 HCAL alarm.
Now anytime the robot has a collision I get the HCAL alarm, but if the program runs without fault I will never see an HCAL alarm, I have monitored it very closely
and during collision never see a spike.
It is an RJ3iB controller. I have 3 of these, the only other time I have seen srvo-045 faults were failed cables, or motors that were dying. This one does not seem to be that situation.
Any help would be much appreciated.