Reduced mode and movement speeds

General Application Help: How do I?
1

Hello everyone,

I have encountered an issue with my robot (UR3e, polyscope 5.16).

In my application, the robot is manipulating household appliances. The speed of movement is crucial and needs to be quite fast.

I have installed a light curtain in front of the robot. If someone puts their hand in the “robot working area,” I would like the robot to continue working, but at a much slower speed.

My initial idea was to trigger the “reduced mode” when the light curtain is triggered. So, I set it up with the following parameters (speed at the lowest):

config
config1582×815 158 KB

However, during the movement, I encountered an error “due to safety limits”:

error
error720×351 39.5 KB

So basically, my question is how can I maintain fast movements in “normal mode” but drastically reduce the speed when the light curtain is triggered? Should I use the reduced mode or use it in another way?

Thank you!

2

Hello Damien,

I have not personally encountered this before, but my best guess is that the robot will not allow a reduced speed when using MoveP.
The idea with MoveP is to always have a constant TCP speed when doing process applications.

You can try to change your MoveP to MoveL to see if that changes anything? :slight_smile:

3

Hello Efn,

Thank you for your feedback.

Indeed you are right ! It’s working with moveJ or moveL !

Thank you and have a nice day,

Damien