Shortly after Christmas we got a robot set up, calibrated, mastered, the whole bit. Now you can't even move it in joint without it giving a collision error which is insane because its nowhere near anything and it was moving just fine like a week ago when it was mastered. It happens for every joint you try even if you disable collision guard. I was on vacation between then and now so I can't say for sure exactly what was done but the others in my department are no fools so I am inclined to believe that they tried everything reasonable. Not really sure where to start, more likely a controller issue or a robot issue? Any information or leads are appreciated.
Constant collision error with no collison
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EPeters1 -
January 4, 2022 at 1:11 PM -
Thread is Unresolved
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I'd start by checking what the collision detection percentage is currently set at. Whatever its at, bump up the percentage and see if its still happening and diagnose from there. Can be found in the manipulator section I believe
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Is the payload Accurate?
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Do you get any movement at all or is the Collision Detection Instant? Could be a brake releasing issue.
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the mount angle must have been inadvertently changed between now and when it was mastered. As a result, the robot thought gravity was in a different direction. Id be faulting if i thought gravity was elsewhere too
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Yes. Besides that, typically payload problems will be a j6 issue not a whole robot issue but its a good thought. Even tried increasing payload higher than whats actually there just as a shot in the dark but yeah no change.
Payload can affect more than just J6, at Robot Zero for instance, payload would affect J2, j3 and, j5 more so than j6. In your case I would almost compare your payload to having been a negative value.
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