100iD robot
R30iB Plus
So I'm having numerous issues with disturbance excess (mainly J4), and on occasion, collisions when running thru my weld programs on a dual arm weld cell. These alarms and/or warnings occur during a weld (in dry run or in actual welding) and when exiting a weld. I have the program cleaned up as much as possible with using J or L moves in the right spot and at the right speed. As far as the collisions go during a weld, my travel speed is only 18-25 in/min. All in all, it's a very simple weld program with no heavy moving.
Some other notes that I have checked to eliminate my disturbance excess':
-Not using any ACC motion
-I have proper voltage to the controller
-Payload settings are correct (as far as I know)
-Speed settings for wrist motions are low
-Axis for is not near singularity
So, assuming that my payload is set up properly, which I've double checked and what not, what am I missing?
Also, the base that both robots are sitting on are attached to a common base at an angle of 45 degrees and roughly four foot off of the ground. The arms travel down to the part that's on a headstock/tailstock that sits below and out from the base of the robots. Will my payload settings be affected if it is configured with J4 parallel to the ground and not parallel to the robot base that is at 45 degrees? If so, should the payload configuration be set with J4 parallel with the robot base?
I could use some help as my only fix right now is to reduce the collision sensitivity to 80-90% in the affected areas.
Hope this makes sense. Any help would be greatly appreciated!