Joint load error

c63amg

Our robots have started running into "joint load errors"... 

We are trying to determine if the equipment is failing, programming is incorrect, etc...

any ideas on how to get started trouble shooting?

soup

• What model?
• What and weight of the tool?
• Other stuff: hoses, wires, robot suit, etc.?
  

Iowan

• Buildup on robot?
• Dry gearbox?
• Is it all axes or just one (or two)?
• Brake dragging?
• Do axes move freely if brake is released? (Assumes that joint will not free-fall)
• Does it fault at reduced speed?

c63amg

Thanks will investigate. 
Joint load errors go away when we reduce system acceleration.