Analysis Report
Performance Check
Serial number: 201955XXXXXTS Case number: TS0XXXXX

Customer: Manufacturing Ltd

System integrator:-

Distributor: PowerDistribution

Date of the report: 15. March 2023

Analysis Report Performance Check

Introduction
The Analysis Report is the result of a Performance Check.
Data collected from the cobot has been analyzed by an expert from Universal Robots, toidentify concrete and actionable recommendations for the program and installation
settings.
The recommendations are based on a best practice knowledge database, and aims to:

Reduce the risk of unplanned stops (e.g., protective stops) by avoiding operationnear the physical limits and safety limits of the cobot.
Reduce mechanical stress when possible while maintaining similar cycle times.

Reading guideA checklist with all topics first provides an overview of the analysis results.
In the following sections all observations and recommendations are presented in moredetail.
The detailed presentation is ordered by the severity and expected impact, with the highest
impact first.

Next steps
A review meeting will be offered through the myur portal, to elaborate on the findings anddiscuss how the recommendations can be implemented.

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

1Analysis Report Performance Check

Robot installation overview
Installation data
Serial number

201955XXXXXTS Case number

TS0XXXXX

Date of extraction

23. January 2023 12:34

Robot model

UR5e

Robot mount

Floor

Robot software version

5.11.11

Application type

Quality

Sub Application type

Testing

Running program

BestProgram

Program last saved

8. December 2022 9:26

Safety checksum

1738092437

TCP

x: 0m, y: 0m, z: 0.4505m, rx: 0rad, ry: 0rad, rz: 0rad

Payload

4.20KgCoG

x: 0m, y: 0m, z: 0m

Inertia
Installed UR caps
Related cases

ixx: 0Kg*m², iyy: 0Kg*m², izz: 0Kg*m², ixy: 0Kg*m², ixz:
0Kg*m², iyz: 0Kg*m²
0: Ethernet/IP, 1: Profinet, 2: RG - On Robot, 3: Conveyor
Tracking, 4: polyscope-pallet-impl, 5: polyscopescrewdriving-impl
TS0XXXXYZ

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

2Analysis Report Performance Check

Robot work environment
Picture of the robot work environment.

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

3Analysis Report Performance Check

Performance review checklist
The checklist shows an overview of the topics that have been analyzed, and it indicates any
recommendation findings using the following severities:

Severity levels
No findings.
Best practice.
Potential performance improvement.
Performance improvement.

Analysis Summary
1. Environment
2. Payload configuration
3. Robot load
4. External forces and collisions
5. Motion parameters
6. Blends and motion flow
7. Force mode
8. Tool contact
9. Functions
10. Software version
11. Stops and transitions
12. Health
13. System performance

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

4Analysis Report Performance Check

2. Payload configuration
Overview of the recommendations ordered by importance and the expected impact.
Title

Severity

Payload inertia configuration
Payload mass and cog configuration

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

5Analysis Report Performance Check

Payload inertia configuration
Observation
The payload inertia is configured with default values while the robot is carrying payload ofsignificant size and mass. Furthermore, the motor current charts below show unwanted
oscillations in the actual current.

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

6Analysis Report Performance Check

Recommendation
Provide a more accurate inertia matrix when using large and flexible tools. This isimportant to optimize robot performance and reduce the risk of vibrations and protective
stops.

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

7Analysis Report Performance Check

Payload mass and cog configuration
Observation
The actual load on the robot has an almost constant deviation to the expected load, which
is seen in the current chart below as a deviation between target and actual currents.
This can indicate that the payload configuration is not accurate, and it is noted that the
payload center-of-gravity is configured to zero.

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

8Analysis Report Performance Check

Recommendation
The mass and center of gravity of the payload (including end-effector) at the end of therobot arm must always be configured accurately. The payload mass and center of gravity
must be updated each time the robot picks up or puts down a workpiece.
E-series
For E-series robots on software version 5.10+ use the set_target_payload(m, cog) script
function or the “Set Payload” PolyScope node.
Payload profiles for different tool and workpiece combinations can be defined in the
Payload Installation tab. Here you also find the Payload Estimation Wizard that allows you
to measure payload mass and cog values using the built-in force/torque sensor.
PolyScope will display a warning when the payload is not set in the Installation tab.

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

9Analysis Report Performance Check

4. External forces and collisions
Overview of the recommendations ordered by importance and the expected impact.
Title

Severity

External force

External force
Observation
There is a risk of protective stops due to unexpected forces exerted between the robot andthe environment. The tool is colliding with an object while the robot is in position control
mode which can cause protective stops because of a deviation from the expected path.
In the current chart below this collision is seen as a short deviation between actual andtarget currents until the movement is stopped.

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

10Analysis Report Performance Check

Recommendation
Reduce the risk of protective stops and damage of equipment by using force mode if
possible in the robot program to limit forces (E-series manual), or ensure proper alignment
between the robot and the surroundings.
A speed of 100.0mm/s is recommended for detecting a tool contact.

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

11Analysis Report Performance Check

5. Motion parameters
Overview of the recommendations ordered by importance and the expected impact.
Title

Severity

Trajectory deviation
Velocity not reached

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

12Analysis Report Performance Check

Trajectory deviation
Observation
A high number of trajectory deviations have been detected. More than 1000 times in thelast month, the planned trajectory causes protective stops due to a deviation from theexpected path.
Error Code

Last day

Last month

Last 4 months

C153

10

922

1064

C157

0

186

218

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

13Analysis Report Performance Check

Recommendation
These protective stops indicate a problem with the robot deployment or payload
configuration and should be thoroughly investigated.
They are triggered when the robot is unable to follow the planned trajectory, due to e.g. asafety or physical limit.
Several things can cause this. A short checklist is available here and a more general guidefor resolving typical issues is found here.
The script command position_deviation_warning() can be used to check whether the robot
is deviating from its planned path while running a program. No deviations over a thresholdof 0.2 is recommended.

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

14Analysis Report Performance Check

Velocity not reachedObservation
A specified velocity parameter will not be achieved given the acceleration parameter anddistance to travel.

Script Line

Polyscope Line

Command

9130

373

movej

9396

391

movej

9406

396

movej

9680

412

movej

10473

497

movej

10739

515

movej

10749

520

movej

11023

536

movej

Recommendation
Avoid target velocities that are not reached by either increasing the acceleration, typicallyfor longer distances or reducing the target velocity for shorter distances.
To get smoother movements the robot should not change directly from acceleration todeacceleration.
Also, it is sometimes preferred when the velocity parameters of the robot program reflect
the actual velocities achieved in operation.

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

15

Analysis Report Performance Check

6. Blends and motion flow
Overview of the recommendations ordered by importance and the expected impact.
Title

Severity

Aborted blend
Missing use of blends

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

16Analysis Report Performance Check

Aborted blend
Observation
A waypoint configured with a blend is followed by a blocking function which can cause
unnecessary hard decelerations.
An aborted blend requires the robot to stop, and this will be done at high deceleration tolimit the movement. This high deceleration can be reduced by either removing theconfigured blend or actively defining the stop movement with a call to e.g., the stopj script
function.

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

17Analysis Report Performance Check

Script Line

Polyscope Line

Command

8618

327

movel

Recommendation
Make sure that all paths through the robot program generate continuous robot movement,i.e., a waypoint with a blend radius should not be followed by e.g. a wait, sync, halt, popup
or similar blocking command. Remove the configured blend, or make sure the blended
movement is continued into another move or stop command.

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

18Analysis Report Performance Check

Missing use of blendsObservation
Potential blend candidates have been found, i.e. move commands followed by anothermove with no blend configured.

Script Line

Polyscope Line

Command

399

21

movel

416

30

movel

433

39

movel

8843

335

movel

9932

433

movel

Recommendation
Consider introducing blends at identified waypoints when the robot does not need to stopin this context. This is to ensure more smooth movements, avoid unnecessary
accelerations and at the same time improve cycle time.
Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

19Analysis Report Performance Check

9. Functions
Overview of the recommendations ordered by importance and the expected impact.
Title

Severity

Use of deprecated functions

Use of deprecated functions
Observation
Use of deprecated functions.

ScriptLine

PolyscopeLine

Deprecated Function

Alternative258

0

set_payload(…)

set_target_payload(…)

1539

74

set_payload(…)

set_target_payload(…)

1752

76

set_payload(…)

set_target_payload(…)

1783

77

set_payload(…)

set_target_payload(…)

2132

635

set_payload(…)

set_target_payload(…)

Recommendation
Deprecated script functions are typically replaced by new ones with improved functionalitythat should be preferred.
It is recommended to use the new functions when deploying a new robot application or
using an old program as a basis for a new deployment.
When upgrading the software on a robot or copying a PolyScope program from a robot withold software to a robot with newer software, the potential use of script functions that are
deprecated in the new software will continue. This is to ensure compatibility and meansthat some old program nodes need to be updated to benefit from new features or to avoid
mixing old and new behavior when new nodes are inserted in the program.

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

20Analysis Report Performance Check

10. Software version
Overview of the recommendations ordered by importance and the expected impact.
Title

Severity

Up-to-date software versions

Up-to-date software versions
Observation
The robot is currently running PolyScope software version 5.11.11.
The latest version is 5.13.0.

Recommendation
A new software version is available. When deploying a new robot application, it isrecommended to use up-to-date software.
The latest software update can be found here.
Instructions on how to perform updates can be found in the service manual.

Disclaimer: The enclosed contain recommendations only and Universal Robots does not guarantee any operational results.
Each customer must make the final determination whether to accept any of Universal Robots recommendations and it is the
responsibility of the customer to ensure that any recommendation fits the customers business needs.

21