Simultaneous collision detection alarms on two axis

    One of my robots (R2000iA/165F RJ3iB) just started throwing collision detect alarms on two axes (2 and 3) simultaneously. Looking at the error log, it looks like axis 2 triggered twice by itself earlier this afternoon, then axis 3 alarmed twice, and since then they've been occurring together.

    The operators don't know if it's been occurring in the same place or not. When I got called down to the robot I could jog it fine, but when trying to send it home (auto-homing routine) it seemed to be releasing the brakes then immediately erroring out. I dropped the collision detect sensitivity to 50%, the go-home routine worked, and it's run fine since then (all of about 10 minutes so far).

    What can cause collision detects simultaneously? Like I said, I could jog it fine and I saw the tool drop when the brakes released, so I'm thinking more likely to be reducer or servo amp or something like that that the motor or brake - but I'm far from being an expert which is why I'm asking here. It's 103°F (39°C) in the plant right now so I'm also wondering if something could be overheating.

    I had something similar happen a few days ago, (although it was over travel and not collision). try unplugging and plugging the EE cable in where it plugs into the robot. sounds silly, i know, but it worked for me.

    Dropping the collision detect to 50% increases the disturbance threshold. I would monitor that look for spikes. A lot of things can cause this.....cables, motors , bad RV gear and even a servo amp. When these things suddenly start happening I look for cable damage first especially if the RCC are laying on the floor. I've found metal shavings pierced through the insulation from people stepping on cables.

    Quote from ROBOT_G

    Dropping the collision detect to 50% increases the disturbance threshold. I would monitor that look for spikes. A lot of things can cause this.....cables, motors , bad RV gear and even a servo amp. When these things suddenly start happening I look for cable damage first especially if the RCC are laying on the floor. I've found metal shavings pierced through the insulation from people stepping on cables.

    Thanks. I should have mentioned, I put the collision detect back at 100% after sending it home and it's run fine since then. Will inspect the cables today if I get a chance.

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