I am getting something similar. I’ve been able to avoid it by moving the robot away from the homing position using joint moves. I think J4 can’t decid...

@chris-annin Thanks that does make sense. I move the arm before executing the code to avoid this and it’s ok

@Alasdair Penman  J2J6-collision-or-motor-errors_2.mp4

Hi Chris, thanks for your fast reply. I’ll look into the shielding. I jogged the x axis immediately after calibration and I just attached a video of t...

@chris-annin Hi Chris. Were you able to see if you can replicate the issue? It’s the x direction, I replied accidentally on my post so I’m not sure i...

@chris-annin  J2J6-collision-or-motor-errors.mp4