Universal Robots ur3 - Page 147

C216A3 Elbow The joint has been zeroed by
the user. Perform a
kinematic calibration to
improve kinematics if
needed.
C216A4 Wrist 1 The joint has been zeroed by
the user. Perform a
kinematic calibration to
improve kinematics if
needed.
C216A5 Wrist 2 The joint has been zeroed by
the user. Perform a
kinematic calibration to
improve kinematics if
needed.
C216A6 Wrist 3 The joint has been zeroed by
the user. Perform a
kinematic calibration to
improve kinematics if
needed.
C217A Blank space
detected at the
beginning of a string
Leading blank spaces in
strings are ignored in this
version
Make sure that these leading
blank spaces are intentional
otherwise remove them
C218A A thread used a lot
of time
There may be an infinite
loop or other command that
does not move the robot,
this can cause program
overload
Add a Wait command or sync
() script to split long program
sequences and have
sequenced processing time
C218A0 Main Robot Program
used a lot of time
Use a wait command or sync
() script
C218A1 A thread used a lot
of time
Use a wait command or sync
() script
C219 Change in offset is
too high
Following the specified
offsets would result in the
robot exceeding safety
limits
C219A1 Close to joint speed
safety limit
Review program speed and
acceleration
C219A2 Close to tool speed
safety limit
Review program speed and
acceleration
C219A3 Close to momentum
safety limit
Review program speed and
acceleration
Service Manual 141 UR3
7.Troubleshooting
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