I am occasionally getting a J1 "Collision or Motor Error" red message on the home screen and the robot stops motion. I also get regular "J1 Collision or Motor Error" messages in the log without the robot stopping or any error message on the home screen. I have looked through the Arduino code to understand these messages but I am still not sure of the logic.
Are there 2 levels of error? One delta value between commanded and sensed position that triggers just the log message and a larger delta that triggers the red message and stops motion?
In some cases I can see that the robot has failed to move the J1 to the desired position so I think at least in some cases this is not a false alert.
Running J1 in open loop mode I get no errors (as would be expected I assume?)
I have checked the obvious things such as wiring continuity, 3.3V and 5V on the terminals etc. Interestingly I set a program to run the J1 back and forth and it ran for over and hour with no message then as soon as i asked it to return to the rest position the message triggered and it stopped. So the error seems intermittent and difficult to pin down. Does anyone have any insight into what exactly triggers the different messages and where to start looking for the solution?
many thanks, Al