R2000iA-165. R3J. Twice now this robot has started faulting with collision detection, but no collisions occurred. J5 starts SRVO-050 (collision) and 053 (disturbance). Gets worse over a couple of days and finally won't run at all. I have noticed that the four D-cell batteries will be down to 1.3 or 1.4 volts. After I change the batteries - 1.6 volts, and remaster, J5 is smooth again. It will run fine for a couple of weeks and then same thing over again. It is lightly loaded with torques averaging 10 - 20%. Anyone have any ideas?
Pulse Coder Batteries go Dead in 2 Weeks
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dg512055 -
November 25, 2020 at 10:34 PM -
Thread is Unresolved
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Change the batteries with the power on and you won't have to remaster.
Batteries that drain quickly can be:
> Cheap batteries - always use industrial grade or premium batteries.
> Debris on the back side of the battery box.
> Corrosion inside the battery box left over from old leaking batteries.
> Bad PulseCoder drawing too much current.
> Bad cable or broken PulseCoder connector that intermittently draws current.
> Pinched wire in the wire harness. (Only seen this once)
Because the J5 issue seems to be related, you might want to change the PulseCoder after verifying the battery box or a broken PulseCoder connector is not the issue.