A UR16e Cobot, which the weight of tooling plus the workpiece (plastic part) is much less than 10kg, and the workpiece volume is normal.
There is an assembly operation in the application, which requires the Cobot to press the workpiece onto the assembly part (there are 3 assembly holes). During the press-fit process or at the beginning of the press, the cobot often reports a protection stop monitored by shoulder joint (see the picture). The press action strategy was adjusted : press the workpiece diagonally into one assembly hole at first, and then press in the three assembly hole together.There was an improvement after the adjustment, but the plant still complain about the protective stop alarm of 2% probability…
I would like to ask, shouldn’t the wrist torque be stressed by this kind of pressing action? Why is the shoulder detecting overload alarm?
Is there any way to reduce sensitivity by set, thereby reducing the alarm probability and the number of scrapping workpiece?
