i am working on IRB 6700 with Robotware 6.12 and mounted on a flex track. it was working absolutely fine without any error. today when i tried to jog, it shows some errors regarding:
Motion Supervision 50204,
Collison Triggered 10024 ,
Collision retraction 10026,
Joint Collision 50056.
Following steps are taken for remedy: robot never collide anything, no visible cable damage (Motor), also cross checked the flexibility of cables and found no such stress on the cables.
Tool Data, Mass was properly defined using Loadidentify system routine, no other system parameters are changed. i also tried moving robot in small increments and take it away from so called collision point but motion supervision gets active.
changed sensitivity of motion supervision from default upto 200 and give it a try but error persists.
Using brake release button on the manipulator i checked all axis , they move smoothly without any noise in both + and -ive direction.
one thing that confused me that its not about a specific joint or axis, after restarting the system which ever axis i select to jog robot in that axis direction using joy stick, motion supervision and joint collision errors comes with that axis name. which means its not related to some specific axis (mechanical or electrical), even if i try to move the flex track it stops movement after few mm move and generate motion supervision error.
Any help in this regard will be highly appreciated.