Hi all! This error is quite forward. The problem is that there was no collision. I got this issue 3 times in an old Tecan EVO. Everytime no actual collision. Error cannot be reproduced, so it seem to happen randomly. The system is maintained once a year by a external service provider, so it should be in good shape. Is there something that can be actually done to prevent this error or is a sign of ageing (system is al least 8 years). Than you all.
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in the “Command” box, if you can enter C5REE and press Send
this will report which axis is detecting a collision,
this would allow a clearer diagnosis
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To add context, PAA45,1031,90,630… is a “Position Absolute” command sent to C5 for [x,y,s,z1,z2…z8] = [45, 1031, 90, 630, …], meaning send the arm directly to these absolute coordinates (as opposed to relative coordinates). Those numbers are in 0.1 mm so you can translate to inches by dividing each number by 254.0, which in the case of x will correlate with the deck grid number on the front of the evo. Origin [0,0,0] of the EVO is the back-left-top corner of the instrument. So translated: Move to the left side near the back, and tips are at a safe z height.
If there’s no collision and this error ALWAYS happens here, I’d dust off the front and back tracks the arms roll around on to see if there’s any debris on the track/rollers. For context, when running the same method for years, dirt can be shuffled around on the roller/track and accumulate at specific, typical stop locations like near tip pickup, waste, etc. If it’s a large enough compacted dust bunny, it could provide some resistance exactly at one position that otherwise would just be a speed bump if the arm were already in movement. Yearly maintenance SHOULD dust these off, but sometimes it is missed.
The C5REE command that @Optimize shared is always a good idea to run after any error. It’ll tell you the error state of each and every axis on the arm, albeit in a sort of EVOware specific code but it’s pretty easy to pickup what the trouble codes are.
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