# Robot starts shaking while moving **URL:** \ **Category:** Technical Questions\ **Created:** [October 8, 2021, 9:23am UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925 "2021-10-08T09:23:47Z")\ **Posts on this page:** 20\ **Page:** 1
**Author:** ![anon75290446](https://avatars.discourse-cdn.com/v4/letter/a/71e660/32.png) [@anon75290446](https://forum.universal-robots.com/u/anon75290446)\ **Post date:** [October 8, 2021, 9:23am UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/1 "2021-10-08T09:23:47Z")
Hello, when the Robot is Moving in Automatic mode, it starts Shaking. Sometimes it stops and sends an Error about Payload. I have Checked this many times but the Paylode is fine. We use a UR10e. The weight is about 3.5 kg. I tried updating the Robot as a measure to fix the Problem but that isn´t working eather. Kind Regards K.S. ---
**Author:** ![krmi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/krmi/32/1945_2.png) [@krmi](https://forum.universal-robots.com/u/krmi)\ **Post date:** [October 8, 2021, 12:39pm UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/2 "2021-10-08T12:39:57Z")
Hi Kurt, What kind of tooling and parts do you have? ---
**Author:** ![anon75290446](https://avatars.discourse-cdn.com/v4/letter/a/71e660/32.png) [@anon75290446](https://forum.universal-robots.com/u/anon75290446)\ **Post date:** [October 11, 2021, 5:11am UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/3 "2021-10-11T05:11:10Z")
we are using a Vacuumgripper, It is holding a Metalsheet. the Vacuum is only to Sevure the Sheet on the Gripper. ---
**Author:** ![akde](https://avatars.discourse-cdn.com/v4/letter/a/858c86/32.png) [@akde](https://forum.universal-robots.com/u/akde)\ **Post date:** [October 11, 2021, 7:18am UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/4 "2021-10-11T07:18:42Z")
Hi Kurt How much payload information have you given the installation/robot? If you can add information about inertia, things might be more stable. ---
**Author:** ![anon75290446](https://avatars.discourse-cdn.com/v4/letter/a/71e660/32.png) [@anon75290446](https://forum.universal-robots.com/u/anon75290446)\ **Post date:** [October 11, 2021, 8:09am UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/5 "2021-10-11T08:09:25Z")
Hello akde, i used the Robot Wizard. Please explain what Information i should feed to the Robot. Best Regards ---
**Author:** ![akde](https://avatars.discourse-cdn.com/v4/letter/a/858c86/32.png) [@akde](https://forum.universal-robots.com/u/akde)\ **Post date:** [October 11, 2021, 8:43am UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/6 "2021-10-11T08:43:41Z")
Since version 5.10.0, you are able to add even more payload information that helps the control. See 5.10.0 for screen shots etc. at [Release Notes 5.10](https://www.universal-robots.com/articles/ur/release-notes/release-note-software-version-510xx/) ---
**Author:** ![anon75290446](https://avatars.discourse-cdn.com/v4/letter/a/71e660/32.png) [@anon75290446](https://forum.universal-robots.com/u/anon75290446)\ **Post date:** [October 11, 2021, 12:51pm UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/7 "2021-10-11T12:51:23Z")
Hello, i looked in to the Articel. The Problems remain, the only diffrents now is that it also Shows the Error: wrist 1 diffiates from Path. At the Moment I think the Main Problem lies in the Position of the Axes. But there is not much i can Change about the Position becouse I need the Max. length of the Arm ---
**Author:** ![krmi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/krmi/32/1945_2.png) [@krmi](https://forum.universal-robots.com/u/krmi)\ **Post date:** [October 11, 2021, 1:44pm UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/8 "2021-10-11T13:44:08Z")
Hi Kurt, Based on the description of the part I agree with Andreas on the inertia portion. If you can model your gripper and part in a 3D CAD software like SolidWorks you can pull the Moment of Inertia matrix from it and enter those values into the Payload screen at the bottom. The Inertia matrix was introduced in order to combat the exact issue that you’re experiencing and tends to happen more with elongated parts/tooling (like a piece of sheetmetal). ---
**Author:** ![anon75290446](https://avatars.discourse-cdn.com/v4/letter/a/71e660/32.png) [@anon75290446](https://forum.universal-robots.com/u/anon75290446)\ **Post date:** [October 12, 2021, 5:18am UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/9 "2021-10-12T05:18:15Z")
Good Morning, i have tryed all the proposed Ideas. The Problem remains. I have tryed the Programm with only the Tool. It does not make any diffrence. Thank you for your help this far. ---
**Author:** ![krmi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/krmi/32/1945_2.png) [@krmi](https://forum.universal-robots.com/u/krmi)\ **Post date:** [October 12, 2021, 12:57pm UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/10 "2021-10-12T12:57:23Z")
Hi Kurt, Can you share a screenshot of your CAD model and mass properties so we could take a look? Thanks! ---
**Author:** ![anon75290446](https://avatars.discourse-cdn.com/v4/letter/a/71e660/32.png) [@anon75290446](https://forum.universal-robots.com/u/anon75290446)\ **Post date:** [October 13, 2021, 4:50am UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/11 "2021-10-13T04:50:44Z")
![Greifer.PNG](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/7/77443e0d10c07a97e3c56e18919fb0618a013a16.jpeg) here is the Tool we are using. Thank you for your feedback. ---
**Author:** ![anon507564](https://avatars.discourse-cdn.com/v4/letter/a/e480ec/32.png) [@anon507564](https://forum.universal-robots.com/u/anon507564)\ **Post date:** [October 13, 2021, 1:57pm UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/12 "2021-10-13T13:57:17Z")
Probably way off base here but you never know… How fast are you running between waypoints? I’ve found that even when payload and COG are set correctly, if I manually slow down the robot it will shake at times. Odd that it will shake going slower, but the tech we usually have at our shop said, yes, if you slow it down it may shake a bit. And having that much weight out at the end of reach is probably not helping. If you’re well within your speed parameters, you might just try speeding it up to see if it helps. Again, probably way off base but it’s all I got! 🙂 ---
**Author:** ![krmi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/krmi/32/1945_2.png) [@krmi](https://forum.universal-robots.com/u/krmi)\ **Post date:** [October 13, 2021, 2:05pm UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/13 "2021-10-13T14:05:28Z")
Hmmm…okay I think your best bet would be to create a case in myUR where our tech team can debug with you further. Below is a quickstart guide to getting registered if you haven’t already, thanks! [myUR Service Support Portal Quick Guide\_April\_2021.pdf](https://forum.universal-robots.com/uploads/short-url/z1O8qVP1JOxFeri0tIvdjgsQQTJ.pdf) (1.5 MB) ---
**Author:** ![rvidrio](https://avatars.discourse-cdn.com/v4/letter/r/f0a364/32.png) [@rvidrio](https://forum.universal-robots.com/u/rvidrio)\ **Post date:** [October 13, 2021, 4:19pm UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/14 "2021-10-13T16:19:11Z")
Good day you have a safety radar connected to the safety stop? ---
**Author:** ![anon75290446](https://avatars.discourse-cdn.com/v4/letter/a/71e660/32.png) [@anon75290446](https://forum.universal-robots.com/u/anon75290446)\ **Post date:** [October 15, 2021, 5:40am UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/15 "2021-10-15T05:40:58Z")
> [@Robot starts shaking while moving](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/12): > > Probably way off base here but you never know… How fast are you running between waypoints? I’ve found that even when payload and COG are set correctly, if I manually slow down the robot it will shake at times. Odd that it will shake going slower, but the tech we usually have at our shop said, yes, if you slow it down it may shake a bit. And having that much weight out at the end of reach is probably not helping. If you’re well within your speed parameters, you might just try speeding it up to … Thank you for your Reply, the Shaking isn´t the Problem, it´s the Protektiv Stops at Random that ar causing my Problems. ---
**Author:** ![anon75290446](https://avatars.discourse-cdn.com/v4/letter/a/71e660/32.png) [@anon75290446](https://forum.universal-robots.com/u/anon75290446)\ **Post date:** [October 15, 2021, 5:42am UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/16 "2021-10-15T05:42:41Z")
> [@Robot starts shaking while moving](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/14): > > Good day you have a safety radar connected to the safety stop? Hello, No we do not. ---
**Author:** ![krmi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/krmi/32/1945_2.png) [@krmi](https://forum.universal-robots.com/u/krmi)\ **Post date:** [October 18, 2021, 3:53pm UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/17 "2021-10-18T15:53:47Z")
Hi Kurt, Random protective stops are typically the result of one or more of the following: 1. Incorrect payload/CoG/inertia matrix. 2. Too high accelerations in the program (we recommend a max of 2500mm/s^2 or 800 deg/s^2). 3. Joint wear/damage. I would again recommend reaching out to our Service team via myUR as they will be able to help you resolve the issues you are seeing. ---
**Author:** ![anon75290446](https://avatars.discourse-cdn.com/v4/letter/a/71e660/32.png) [@anon75290446](https://forum.universal-robots.com/u/anon75290446)\ **Post date:** [October 26, 2021, 4:52am UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/18 "2021-10-26T04:52:24Z")
Hello, so i have tried to run the Programm without any Tool to see if my COG an Payload are the Problem. The Robot still has the Same Error. And i did Change the COG and Payload when I detached the Gripper. ---
**Author:** ![anon75290446](https://avatars.discourse-cdn.com/v4/letter/a/71e660/32.png) [@anon75290446](https://forum.universal-robots.com/u/anon75290446)\ **Post date:** [October 27, 2021, 4:29am UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/19 "2021-10-27T04:29:16Z")
Hello, So we tryed the Programm on a different Robot. The Programm Works. It´s only Logical that our Robot is the Problem. Thank you for your help. ---
**Author:** ![pho](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/pho/32/2275_2.png) [@pho](https://forum.universal-robots.com/u/pho)\ **Post date:** [October 27, 2021, 6:11pm UTC](https://forum.universal-robots.com/t/robot-starts-shaking-while-moving/16925/20 "2021-10-27T18:11:20Z")
If you think you have a problem with the robot, please contact support at [https://myur.universal-robots.com/](https://myur.universal-robots.com/)