Universal Robots ur3 User Manual

All rights reserved 90 Servicemanual_UR3_en_rev3.1.2
5.3.3 Force limit protective stop
Force Limit Protective Stop
Is center of mass very different from tcp point?
Payload and tcp settings in Installation\TCP
Configuration must correspond with actual tool.
Are settings incorrect?
Are waypoints positioned very close to cylindrical
area around base of robot where robot can not
operate?
Adjust waypoints away
from this area or reduce
speed/acceleration
YES
NO
Adjust payload and tcp
settings
YES
Adjust center of mass using
script code set_payload()
YES
NO
Is robot moving with excessive speed or
accelerating very hard?
Reduce speed or
acceleration
YES
NO
Press free drive button on back of TP and check
the free drive function of all joints > observe any
abnormal friction or behavior observed?
NO
Inspect joint with abnormal
behavior, joint might have
mechanical failure
YES
Contact distributor from where robot has been
purchased
NO

Universal Robots ur3 Specifications

General

Brand	Universal Robots
Model	ur3
Category	Robotics
Language	English