Display MoreHow much displacement occurs with JT6 when running in repeat mode?
Can you replicate the error in repeat mode by running it at a lower speed?
Can you replicate it in repeat mode around the same locations in the program?
Have you thought of creating a standstill test program to just exercise JT6?
IMHO it sounds like you have reducer issues at JT6 and no amount of playing with settings will resolve it.
- Cross roller bearing damage.
- Harmonic wave generator/flex spine damage.
- Too much lubricant.
Turns out it was a grease distribution problem - we wrote a routine that exercised J6 slowly working up rotations and speed. After running it for 10 minutes we were able to successfully jog. Interesting to learn how much more sensitive the torque sensing is during jogging vs program running. I guess it makes sense, they assume during operation you have a better idea where the robot will be than during jogging....
Swap J5 motor with J6 motor - it's the same.
Then check whether the error migrates to J5 or not.
This is a great tip - I'll remember it if we run into any more trouble!
OK. I just wanted to clarify that the problem doesn't have anything to do with the type of grease used.
Molywhite RE-00 is written on the side of the axis (original fanuc plaque/label) so we just followed that! Maintenance has been neglected on this bot - grease looked only slightly yellowed but properties must have changed while sitting idle.
Thanks for all the help everyone -