SRVO-050 Collision Detection

    I have a Fanuc R2000 with a 7th axis. During the process the robot is stationary while the track is moving. On a couple occasions I have seen the Axis 5 disturbance value slowly increase to the point of collision detection. This is over a 2.5 hour period. As soon as the robot is moved the current "unwinds" and returns close to zero.


    I have adjusted my collision sensitivity to increase the threshold,

    Fine tuned my payload data.

    Looked into turning on the brakes, but all axis are on the same group so I cant just disable A5 while its not moving.


    Any suggestions?

    I could try to move the track and the robot a little to keep the robot axis turning so this issues doesn't pop up, but it seems like a Band-Aid solution

    You could try disabling brake hold on that axis. By doing this you force the robot to hold position with the motor powered rather than enabling brakes after a set time period. Go to variable $PARAM_GROUP > MRR_GRP_T > MRR_GRP_T > SV_OFF_ENB then scroll down to number [5] and change from TRUE to FALSE. Then cycle power. This worked for me in a similar situation years ago.

    Quote from Hazard

    You could try disabling brake hold on that axis. By doing this you force the robot to hold position with the motor powered rather than enabling brakes after a set time period. Go to variable $PARAM_GROUP > MRR_GRP_T > MRR_GRP_T > SV_OFF_ENB then scroll down to number [5] and change from TRUE to FALSE. Then cycle power. This worked for me in a similar situation years ago.

    Sorry for the late reply...


    I don't think the holding brake is active, because while axes 1-6 are not moving, Axis 7 is. and since they are all part of the same group I don't think they are turning off. ,


    The problem seems to be the axis holding the same positions over a course of 2+ hours. I will try this to prove out the theory, if that doesn't work, I will attempt to adjust the track position, while keeping the TCP in the moving at the correct velocity. Moving about 200mm on the track allowed A5 to see almost a 1° change in position, hopefully that may be enough.

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