ABB S4C+ Controller || Error 50056

    Hello Everyone,
    I have ABB IRB2400 and IRB1400 robots with S4C+ Controller.When I try to jog the manipulator arm it doesn't allow me to jog the robot and immediately drops the error 50056 Error: Joint collision. I Checked all the axis but its not hitting anywhere when I try to jog.The actual error description is as follows:

    50056 Error: Joint collision Actual torque on joint irb_3 ishigher than ordered while at low or zero speed. Might be caused by jam error (the arm has got stuck) or hardware error.

    Initially i was able to jog axis no. 1,2 & 3 and had problem on axis 4,5 & 6.But,Now it gives me the same error on all the axis.

    I am new with these S4C+ Controllers.can someone please give me some reason for this thing.Any comments would be really appreciated.
    Thank you

    Could be a lot of things, but first you could/should verify that the brake for the axis actually releases (be careful with ax 2/3 and don't release more than one at a time).
    You'd want someone supporting the arm while you test it, the 2400 have individual buttons for each axis, tap/blip the button real quick and listen for a "clonk" and arm will move.
    On the 1400 there's just one for all of them so be careful.

    If the brake releases I'd verify that you have the correct robot type booted (save system parameters and look in the moc.cfg file), it should match what's printed on the back of the robot.
    Over the years they've changed motors and gearboxes which is designated by a Type A(or nothing) Type B, C etc...

    To expand on SAABoholic's brake check:
    After verifing the manual brake release using the buttons as described, verify the brakes release automatically. Do this by pulling in the deadman, then slightly move the joystick to release the brakes but not move the robot. Make sure you get the "clonk" sound on all six motors as their brakes release. The brakes are located internally near the back in each motor. Try using a mechanics stethoscope (or screwdriver to the ear) if you have problems hearing it. If you do not get the "clonk" when first moving the joystick after pulling in the deadman, then verify that contactor KM3 is pulling all the way down when you first move the joystick and that you have 24VDC at KM3-14 (wires 364 & 365).

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