I was tasked recently with getting out CR-35iA up and running again after we moved facilities. It's used in an automation lab, not production.
After issues with the collaborative software I've managed to get in running smoothly until we started getting multiple payload errors. It seems to be happening at similar spots through it's movement. I've got accurate payload data per a model I made in Autodesk Inventor.
While jogging J1 the force feedback will continuously increase until tripping the error, the reading usually is around 60N. Not sure if that related to the payload error limit being set at 60N as well. This happens in both directions. Occasionally after resetting DCS the force reading will drop back to single digits but it will also remain at 60+ and immediately fault if you attempt to run it.
Is this a sign of a failing joint? Is there a way to check the brake that it is releasing properly?
I'm not sure what maintenance has been performed. There's been a bit of turnover and the robot wasn't used much until now. I've only been with the company for 6 months as well. Would greasing the joint be the first step?
Just looking for some advice on where to go from here.
Thanks in advance.