At 2:11 a.m. the UR10e threw a Protective Stop after I fat-fingered the payload to 0.0 while a 2.6 kg gripper was hanging, then made me do the full safety reset like it was negotiating overtime. Anyone else get attitude from force limits right after a changeover, or is my teach pendant the new shop steward?
Happens — set ‘0.0 kg payload’ with a 2.6 kg tool and the safety kernel reads it like a collision… Fix: create a Tool with mass/CoG via the Payload wizard, save it to Installation, and select it at changeover (I/O or a program node) so the controller never sees zero. If folks still swap by hand, keep Reduced Mode with lower speed/accel during the swap, but treat it like HR: give it the paperwork first and it won’t strike.
I’ve seen UR10e get snippy after changeovers when Installation → Mounting orientation is wrong or the cable/adapter weight isn’t in the payload — gravity thinks you’re fibbing and calls HR… Add a slow 50 mm Z lift at program start and set_payload before any fast moves so the estimator settles after the safety reset; did that tame it, @ethan_tay30?