One of our engineers brought a problem to me, and a quick search of the forum didn't turn up anything quite like this, so i thought i would ask before going on with suggestions for slightly different problems.
We have an external axis which holds the part we are welding. The robot comes to a point in space, arc starts, and the external axis rotates the part beneath the stationary EOAT. After completing one circular move, at the start of a second, the robot is giving a SRVO-050 and a SRVO-053 alarm on G1:A6. These are pretty new robots, no recent greasing, and it always happens at the same point in the program, no collision, and in fact no movement of that axis at all.
My first thought is that we may need to clean the insulating joint, as we have blown a circuit once before from a build up of conductive particles shorting the robot and weld together. I just don't understand why this would be happening at a single point in the program. I am going to try and observe this happening myself to see if i can get any additional insight that they might have missed.
R-30iB controller, ArcMate 120iC robot.