Hello again,
On an repurposed LR Mate200iC with an R-30iA Mate controller, I am getting a Collision Detect Alarm on J1 10 degree before it hits the -180 and 180 axis limit. I checked the $Param_Group for the soft upper and lower limits and they are both correct, -180 and 180. There is nothing physically stopping the joint. I did change the the mount angle in the maintenance screen in a controlled start. It was mounted on the ground, but now it is inverted. The very next screen was the J1 limits. I did optional -180 to 180. It was -170 to 170. Is there something else I need to change? Or is it something with the internal gears/positioner that isn't letting it go to -180, 180.
On another note, I was looking through the variables in the $Param_Group, and came upon the $Master_Pos variable. They're not at 0. I did have to remaster using the tic marks cause the robot had been off for a long time. Is that normal?
Thanks for the help!