Disturbance excess

First, make sure that your payload is correct (Menu > System > Motion). Payload has a huge effect on disturbance torque.

At that point, the collision guard settings (Menu > Setup > Collision Guard) will calculate the acceptable disturbance torque. Decreasing the sensitivity will allow for higher disturbance torque.

I set my collision guard at 115% in MENU-SETUP-COLL GUARD. It goes up to 200%. I had it set at 100% before on RJ3iB 2000ia 165F router robot that has been run hard for over 15 years. Recently robot was smashing tools on touch plate while doing TCP check. I had to slow down a jerky tool pick up move in order to avoid collision detect and haven't had any trouble since.

SRVO-053 is just a warning, and if your payload is setup properly it is actually a good thing because it means you're close to your threshold tolerance which means any additional forces (like a crash) will trip collision detection rather than have to build to a detection level that causes more damage to the EOAT or other equipment, such as if you raise the collision sensitivity.

If the warning is causing eyebrows to raise, like most of our customers, you can always silence the warning from the error table screen by going to SETUP > ERROR TABLE and then setting the fields as seen in the image. This will still have the warning posted to the alarm log, but will not display it to the teach pendant alarm line.

Hello.

I had a similar problem - alarm 053/050 was coming out and the robot was stoped. Is there any possibility that the robot will not react to this error without any changes? Collsion detest is set enable, MENU-SETUP-COLL GUARD - 100%.

Thx, lukas

hello,

I'm getting this error srvo 053 and the robot does it's moves completely sometimes and especially on 3rd shift it won't complete the moves. the payload , collision guard, and speed have all been checked adjusted and put back with no real changes. It would star working correct for a while then it goes crazy again. Could an over due for PM/greasing be part of my issue?

Quote from Badford1

hello,

I'm getting this error srvo 053 and the robot does it's moves completely sometimes and especially on 3rd shift it won't complete the moves. the payload , collision guard, and speed have all been checked adjusted and put back with no real changes. It would star working correct for a while then it goes crazy again. Could an over due for PM/greasing be part of my issue?

Yup.

You're grease probably looks like a gold flake bass boat. I would open up a drain port and take a small sample with a shop vac. Your nose may tell you more than your eyes

I'd be surprised if the reducer is not shot.

Quote from pdl

You're grease probably looks like a gold flake bass boat. I would open up a drain port and take a small sample with a shop vac. Your nose may tell you more than your eyes

Sometimes a long cable tie can get deep enough and the small ridges hang on to the grease. Hold a rag over the fitting/plug when you loosen it as there may be pressure in the cavity that can cause grease to rush out when first opened.