Collision alarm with no collision

    I've been having an issue with my M-410iC/185. Getting a servo 050 and 053 alarm with no collision. The robot will run for several hours with no issue. Seems to happen more often than not when one skid is full and it starts building the next skid in the cage

    I have seen these alarms through out many years. Collision Detection and Excessive Disturbance. if no impact has been made and you are in open air we need to know what axis does it state is the issue ? On many robot models with a Balancer Axis 2 we hear a ringing like a bell coming from a bad balancer. I would also check the pins and casting around the balancer. I have also seen this when the TCP and Payload in conjunction with the collision detect was setup incorrectly. Many things can cause these errors.

    Matjcji

    Welcome to the robot forum

    This is a wild guess (You didn't explain much on your post)

    We stars the skid the robot travels a longer distance than when at the top. Meaning the acceleration is different and on top of that gravity'

    Make the speed a variable R and change it to make it slower on the first few rows, see how that works

    Retired but still helping

    I have seen the payload or product shift due to the gripper not securing it. Changing the speed may fix the issue, you still need to see what has caused this issue. If the system was running OK for 2 to 3 months, something has change?

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