Robot model: irb6000
Controller: s3 M93
Having a problem with my axis 4 vibrating when idled. Also when idle it is drawing about 3.5-4.5A on 2 of the legs with out any motion. I have checked each leg to ground and found no shorts. I have checked the resistance of each leg and each reading is consistent from leg to leg. The cables for this axis have been replaced about 2 months ago. Also tried switching drive cards and found no change. Only thing I have not done is meggar test the motor. After about 3 hrs this motor has an average temp about 110 F before reaching a high current fault. I am leaning towards the motor being my problem but at the same time I'm thinking it is something else. I only say that because I have a spare robot here and pulled off the same axis motor and tested it on the robot that I am having problems with and has some very slight oscillating when idle. Any help or guidance is highly appreciated.