https://www.robot-forum.com/attachment/42215-vidio-output-mp4/
UR16, used for pick and place application, has been seen an obvious vibration of arm and wrist(as I see). the weight of the tooling and the transmitted workpiece is heavy, which is technically below the payload Capacity of ur16。
Except for vibration, the UR16 cann’t run at fullspeed, which would result in Alarm" C153A1 protective stop". the speed rate has to be set below 90%, and the plant ME complain about the bad OEE.
anybody happen to encounter the problem or have an idea what is the reason of these problems?
Is your Center of Gravity also within specs?
And no heavy cables/hoses running along the arm?
And what speeds and accelerations are used in the program?
This could be the issue regarding your protective stops.
I don’t know about the vibration. Is the robot foundation sturdy and not able to cause vibration? And did you set up center of gravity in the TCP settings?
That’s exactly what I suspected. The acceleration is way too high. It will wear out the robot too fast, and it will also cause protective stops, as you are witnessing.
The acceleration must be lowered to values as indicated in my earlier post.
It fairly often happens that people mistake MoveL and MoveJ for each other, and then set the acceleration in MoveJ similar to MoveL.
If the robot has been running for a while with these settings, it could possible that the robot has taken damage and that causes the vibration.
