We have installed two UR 20 that is putting object on a trolley.
The system has now run for 5 months.
Sometimes one of the robots makes a unwanted movement and collides.
Typically wrist 2 accelerates and the gripper collides in the robot arm.
Have anyone else experienced anything like this?
I attach the code for the robot. The robot has now picked up the object and moved over to the trolley for putting it down. P10_LeverOffset is the last position before we search before the robot moves to -X and +Y for the last adjustment.
The unwanted movement happens after releasing vakuum.
After reset the robot can run for many days without any problems.
My best guess is that it’s a payload issue. If the robot lets go of the payload in the air, and if it’s a heavy payload, then the robot will vey likely make a sudden movement upwards and either collide with itself or go into an error state before that.
I guess your 0.5 seconds wait is to match the time it takes for the suction gripper to release. Maybe once in a while the suction gripper has a bad grip and lets go immediately when the vacuum is turned off.
The 0.5 second delay could very likely result in a robot that’s compensating for a payload which is no longer true.
You could try moving the Set Payload above the Wait and setting the transition time to 0.5 seconds?
