Hello UR Society.
I have a very weird problem with UR16e.
It intermittently goes into protective stop when it trys to pick a payload from a slot even though the speed and acceleration are slow. I have more than 50 slots and it seems to be happening randomly at different slots. For example, if slot A has detected for protective stop today, the next day it would have no issue.
Popup message shows detect at Shoulder Joint detected position deviates from path.
I have checked payload, CoG and Inertia but it doesnt seem to be the issue as the weight is alwasy the same.
I have tried using the UR Log Viewer to check the graph and it shows some deviation between actual current and target current.
Would like to get some insight on what more i should check and take into consideration as the issue is quite intermittent.
Given the random nature of the issues, I don’t imagine your issue with be with the slots themselves. How heavy are the payloads you’re lifting? If theyre of a reasonable mass, are you changing the payload live in the program? You’ll need to make sure you are setting the robot to the new payload of tool + object.
If you are, then how does the robot pick it up? For picking up a sack for example, which we did on a palletising application a while back, the payload the robot is pickign gradualyl increases as the sack is lifted, and we needed to use the script function to set the payload, and spent a while tweaking the optional “transition time” argument to try to most closely match the time taken for the robto to take full weight of the sack. If your robot speeds/accelerations are already low, this might be something to consider?
Hope this helps.
Sam
