Robot pauses mid cycle in different spots

BobL

We have a UR5 robot with a 2F Adaptive Gripper.  While running, it while pause it's motion, blue light on  gripper goes out, after light comes back on robot will continue in it's cycle.  This is happening randomly in 3 different positions in our cycle.  Time to restart will vary from 3-4 seconds to as much as 30 or more seconds.  No error codes given.  I'm assuming the blue light should stay on all the time.  I've removed the gripper and checked the connections with no improvement.  I checked the USB connector inside the control cabinet as well. it did not seem loose, but the problem got much better after that. Still happening though. Any help would be appreciated.

Yannik_Methot

Hi Bob, 

I have just opened a support ticket to help you with this issue. You should soon receive an e-mail from us.

matthewd92

One thing to look at is cable routing, is the cable maybe getting tugged on in those spots and once the robot stops the tension is relieved and then it resumes. I’ve seen similar issues in the past with the cable. 

BobL

The most common place it stops is definitely not pulling on the cable. I suppose the other 2 could be, but if so, not much.  It has gotten much better since checking the connections inside the control cab, although it has still done it a few times in 4 hrs of runtime.  Prior to that it had deteriorated to once/cycle, sometimes more.  Cycle is about 10 sec, so that was killing us.