UR16, used for pick and place application, has been seen an obvious vibration of arm and wrist(as I see). the weight of the tooling and the transmitted workpiece is heavy, which is technically below the payload Capacity of ur16。
Except for vibration, the UR16 cann't run at fullspeed, which would result in Alarm" C153A1 protective stop". the speed rate has to be set below 90%, and the plant ME complain about the bad OEE.
anybody happen to encounter the problem or have an idea what is the reason of these problems?
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