Force Limit Protective Stop - Universal Robots UR5 Service Manual

5.3.3 Force limit protective stop

Force Limit Protective Stop
Payload and tcp settings in Installation\Mounting
must correspond with actual tool.
Are settings incorrect?
Is center of mass very different from tcp point?
Are waypoints positioned very close to cylindrical
area around base of robot where robot can not
operate?
Are robot moving with excessive speed or
accelerating very hard?
Press teach button on back of TP and check the
teach function of all joints > any abnormal friction
or behavior observed?
Contact distributor from where robot has been
purchased
All rights reserved
NO
NO
NO
NO
NO
YES
YES
YES
YES
YES
91 Servicemanual_UR5_en_rev2.0.5
Adjust payload and tcp
settings
Adjust center of mass using
script code set_payload()
(software v1.7 or newer)
Adjust waypoints away
from this area or reduce
speed/acceleration
Reduce speed or
acceleration
Inspect joint with abnormal
behavior, joint might have
mechanical failure