Hi everyone!
This is my first thread and sorry in advance!
In our company we have a ARC Mate 0iB, with a R-30iB for teach the new guys in mainetance how to use it.
I use this robot time to time, and never had a problem with it, but lately he start to give me some Collision detect on axis J2.
The strange part is that he work really fine on AUTO in 100%, but every time i try to jog axis J2 or J3 he tells me collision detect on axis J2 (yeah, even if jog on J3 give collision on j2). Some technicians on FANUC tell me to remove the servomotor from the axis and test it. I did, and even out of the robot it give me the collision.
I manage to do a program with only the axis J2 working, and when a play even with FWD on TP he works well, when a press HOLD and try to do the same thing i get collision detect axis j2.
The fanuc guys tell me this is some problem on servo/cable/servo amp, but they never saw this problem.
The robot was left 3 or 4 months in the safe position, all axis up.
I'm reaching this forum to know any of you already had this problem or know a solution.
Thanks in advance. 
