Universal Robots ur3 Service Manual

C153A5 (wrist 3). Check
payload, center of
gravity and
acceleration
settings. Log screen
may contain
additional
information.
Check payload, center of
gravity and acceleration
settings.
C154A Protective Stop:
Position in
singularity
Robot cannot move linear
near a singularity
Use MoveJ or change the
motion
C155A Protective Stop:
Robot cannot
maintain its position,
check if payload is
correct
C156A Protective Stop:
Wrong payload or
mounting detected,
or something is
pushing the robot
when entering
Freedrive mode
The robot may move
unexpected due to wrong
settings
Verify that the TCP
configuration and mounting
in the used installation is
correct
C157A Protective Stop:
Collision detected by
joint
C157A0 (base). Check
payload, center of
gravity and
acceleration
settings. Log screen
may contain
additional
information.
Make sure no objects are in
the path of the robot and
resume the program.
C157A1 (shoulder). Check
payload, center of
gravity and
acceleration
settings. Log screen
may contain
additional
information.
Make sure no objects are in
the path of the robot and
resume the program.
UR3 116 Service Manual
7.Troubleshooting
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Universal Robots ur3 Specifications

General

Brand	Universal Robots
Model	ur3
Category	Robotics
Language	English