MoveIt with UR10 causes protective stop (UR driver)

asked 2018-05-30 07:30:59 -0500

prajval10 gravatar image

updated 2018-05-30 07:42:45 -0500

I am using a real UR10 with CB3 (Polyscope v: 3.5) with ur_modern_driver and MoveIt. The robot has an RG6 gripper. While using MoveIt. the robot comes to a sudden protective stop even for small motion paths. The robot does not reach target position as well. Moveit screenshot Polyscope explanation: The program contains motions that are not ramped correctly down. Polyscope screenshot

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Comments

Have you checked the ur_modern_driver issue tracker? There are multiple issues about this exact problem. Things to already check:

  • don't use a wireless connection (anywhere) between you and the controller
  • configure eef weight correctly
  • check cpu usage of ROS PC

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gvdhoorn gravatar imagegvdhoorn ( 2018-05-30 07:46:03 -0500 )edit

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gvdhoorn gravatar imagegvdhoorn ( 2018-05-30 07:47:40 -0500 )edit

Thanks @gvdhoorn, I'll check and update this question.

prajval10 gravatar imageprajval10 ( 2018-06-01 05:39:44 -0500 )edit