Cobot Arm obvious Vibration

    vidio-output.mp4

    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?

    Do you have a backup of your programs (+ the line number of this trajectory) + the log file.

    At home, thyssenkrupp integrated 2 UR, I had the same phenomena + emergency stops for overload or bad payload or collision. All my problems came from poor programming of my trajectories (acceleration, speed, choice of movement)

    Quote from xavier.rob

    Do you have a backup of your programs (+ the line number of this trajectory) + the log file.

    At home, thyssenkrupp integrated 2 UR, I had the same phenomena + emergency stops for overload or bad payload or collision. All my problems came from poor programming of my trajectories (acceleration, speed, choice of movement)

    could you please send me your email, I can deliver the UR backup files to you.

    for the oversize, I cann't attach the files here.

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