Universal Robots UR5 - Protective Stop; Ur+;Urcaps; Interfaces

All rights reserved 10 Installation Guide (en) 1.3.3
6.2 Protective Stop
Relevant
Description
Further Information
Checked
“C153
Protective
Stop” in Log
File?
YES
NO
1. Check installation settings and make
sure the following settings are configured
correctly:
- Payload
- Tool Center Point
- Center of Gravity
- Mounting
- Accelerations
2. Verify that the robot does not push
excessively in pick-up place positions,
thereby creating unwanted forces that
can cause protective stops. Re-teach
relevant waypoints for higher precision.
3. Is Smooth Transition set to “Hard” and
the accelerations and/or speed is high,
its recommended to use “Soft” options
when possible.
UR Support Site
Article “Preventive
actions for error code
“C153 Protective
Stop: joint positions
deviates from path”“
6.3 UR+/URCaps
Relevant
Description
Further Information
Checked
URCaps
installed?
YES
NO
Unnecessary URCaps software delay the
program start and require additional
performance.
If many URCaps have been installed and
uninstalled again, generating new image
using Win32DiskImager (free-ware SW tool)
and downloaded Robot Image Software from
UR Support Site is a good practice.
It is important to backup programs and
calibration data and transfer to new image.
UR Service Manual
Chapter “Backup of
data”
UR Support Site
Article “How to
replace flashcard in
CB3 robots”
6.4 Interfaces
Relevant
Description
Further Information
Checked
Interfaces
used?
YES
NO
Please note that communication with
dashboard server or external devices is not
opened and closed unnecessarily often. This
is CPU intensive operation and may delay
the program execution.