I have a M20iD/35 mounted on a Rail (wall mount) 100ft long. There is little space between the rail and the working zone, so I have to extend the arm along the Y-Axis to reach down into the working cell. However, when I get close to this extended position (see image Robot_Position_Error_Status), I start getting "Servo-050 Collision Detect Alarm (G:1 A:1)", and the robot stops abruptly. I've tried turning off "Collision Guard Status" off, but doesn't seem to make a difference. The only way I can continue to move is to constantly press the RESET while holding down SHIFT.
I know it can be turned off in a TP program, but that doesn't help me when jogging to teach in points.
This seems to be an oversight on Fanuc's part because on a wall mount configuration, J1 constantly experiences a high load due to the gravity affect on all the axes (see image Torque_Reading), whereas on a traditional floor mount, J1 would only experience high load from inertia. In the working zone (see photo Robot_Position_Working), I don't get these errors because the arm is close to the 6 o'clock position (relative to wall mount).
Does anyone know how to permanently disable the Collision Guard feature, or what I can do to get around this issue?