Raising the threshold for protective stop

Technical Questions
1

Hello,
I’m trying to use the UR 30 robotic arm to simulate opening and closing the door locking lever in a passenger airplane. To do this, a handle is mounted on the robotic arm, and the idea is that you have to grab the handle, and the robot will feel your hand pulling in the handle, and move in the correct circular motion, creating a sensation of both motion, weight and resistance.

This almost works.

There is however a small problem: If the user pulls too hard, the robot will do a protective stop. So my question is, can the threshold for protective stops be raised a bit? I’ve tried adjusting settings in the control panel connected to the robot, but has only helped a little bit. Could it be that the deviation between the estimate current draw and the actual current draw exceeds some kind of threshold? Because that might be the thing I need to raise. Or maybe it works in a different way?

Any help is appreciated.

2

The safety system in the UR does indeed compare an estimated current draw to the actual, and this way it can detect collisions.
There’s no way to disable this in the robot, since that’s the whole idea behind the UR robots.

You can raise the threshold a bit by setting the Safety settings to the highest preset (or editing the values individually).
You will have to bear in mind that the robot will be “less safe” to work beside, though, since this system simply put is what allows it to work without a fence.

1 Like