Universal Robots ur3 - Page 77

All rights reserved 77 Servicemanual_UR3_en_rev3.1.2
CODE_161
Protective stop: Large
movement of the robot
detected while it was powered
off. The joints were moved
while it was powered off, or
the encoders do not function.
1. Verify that the robot
position in the 3D graphics
matches the real robot, to
ensure that the encoders
function before releasing the
brakes. Stand back and
monitor the robot performing
its first program cycle as
expected.
2. If the position is not correct,
the robot must be repaired. In
this case, click “Power Off
Robot”.
3. If the position is correct,
please tick the check box
below the 3D graphics and
click “Robot Position Verified”
CODE_171
Issue with blends
CODE_171A0
A MoveC-waypoint were
skipped due to a blend.
The value for the blend radius
is too large compared to the
distance between the
waypoints.
Decrease the blend radius
or choose waypoints that
are further apart.
CODE_171A1
Blend radius too small in a
MoveC
CODE_171A3
A ServoC-waypoint were
skipped due to a blend.
The value for the blend radius
is too large compared to the
distance between the
waypoints.
Decrease the blend radius
or choose waypoints that
are further apart.
CODE_171A4
Overlapping Blends in a
MoveJ, a waypoint was
skipped
Decrease the blend radius
or choose waypoints that
are further apart.
CODE_171A5
Overlapping Blends in a
MoveJ, a waypoint was
skipped
Decrease the blend radius
or choose waypoints that
are further apart.
CODE_171A6
Overlapping Blends in a
MoveJ, a waypoint was
skipped
Decrease the blend radius
or choose waypoints that
are further apart.
CODE_171A7
Overlapping Blends in a
MoveJ, a waypoint was
skipped
Decrease the blend radius
or choose waypoints that
are further apart.
CODE_171A9
A MoveP-waypoint were
skipped due to a blend.
The value for the blend radius
is too large compared to the
distance between the
waypoints.
Decrease the blend radius
or choose waypoints that
are further apart.
CODE_171A10
Blend radius too small error in
a MoveP
CODE_171A11
Overlapping Blends in a
MoveL, a waypoint was
skipped
Decrease the blend radius
or choose waypoints that
are further apart.
CODE_171A12
Overlapping Blends in a
MoveL, a waypoint was
skipped
Decrease the blend radius
or choose waypoints that
are further apart.