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Cobot Arm obvious Vibration

  • lavaman
  • November 24, 2024 at 12:12 AM
  • Thread is Unresolved
  • lavaman
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    • November 24, 2024 at 12:12 AM
    • #1

    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?

  • Cam1
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    • November 25, 2024 at 4:04 PM
    • #2

    if we break it down to first principles, what is a vibration? its a resultant disturbance through a collision, in this case, friction.

    Your gears are Ronkin my boy.


    Try a fanuc?

  • AustinC03
    Bagel Devourer
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    • November 25, 2024 at 10:01 PM
    • #3

    Reference your Error log... See which wrist is causing this 'vibration', and replace before it gets even worse. (Joints are expensive btw:grinning_squinting_face:)

  • lavaman
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    • November 27, 2024 at 7:40 AM
    • #4

    well, the wrist does not vibrate all the time, the cobot runs smoothly after having gripped the work piece.

  • AustinC03
    Bagel Devourer
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    • December 3, 2024 at 2:48 PM
    • #5

    Now it almost sounds like a payload issue.. Do you have 2 different payloads, one set for gripper alone, then gripper loaded? I'd recommend trying that

  • xavier.rob
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    • December 13, 2024 at 3:04 PM
    • #6

    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)

  • lavaman
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    • December 16, 2024 at 2:58 AM
    • #7
    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.

  • lavaman
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    • December 16, 2024 at 9:11 AM
    • #8
    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)

    UR_Programs&Log_Files.zip

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Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
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