How to know what causes the Protective Stop?

Technical Questions
1

The robot stopped while performing a regular linear motion. Nothing is in the way of the arm, that could have cause a protective Stop.
I want to understand what caused it.

Thanks

2

Well. The best you can get is a view of each joint and the current supplied to the joint. You can retrieve this with the Support File from the Log tab and open it in the UR Log Viewer (can be found in the download section).

A Protective Stop is basically a joint which has exceeded the allowed current used for the joint to reach its planned position. The allowed current is calculated automatically by the controller based on multiple variables: Payload, CoG, initia, calibration values (friction in each joint), speed etc.
So you’re probably getting a Protective Stop due to one of the following issues:

  • Wrong CoG/TCP set up
  • Wrong Payload set up
  • Robot moving very fast with high payload
  • A worn joint (excessive friction in joint)
  • Some other external phyiscal factor affecting the robot
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