Universal Robots UR10 Service Manual page 83

C161 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.
C171 Issue with blends
C171A0 A MoveC-waypoint were
skipped due to a blend.
C171A1 Blend radius too small in a
MoveC
C171A3 A ServoC-waypoint were
skipped due to a blend.
C171A4 Overlapping Blends in a
MoveJ, a waypoint was
skipped
C171A5 Overlapping Blends in a
MoveJ, a waypoint was
skipped
C171A6 Overlapping Blends in a
MoveJ, a waypoint was
skipped
C171A7 Overlapping Blends in a
MoveJ, a waypoint was
skipped
C171A9 A MoveP-waypoint were
skipped due to a blend.
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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"
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"
The value for the blend radius
is too large compared to the
distance between the
waypoints.
The value for the blend radius
is too large compared to the
distance between the
waypoints.
The value for the blend radius
is too large compared to the
distance between the
waypoints.
83
Decrease the blend radius
or choose waypoints that
are further apart.
Decrease the blend radius
or choose waypoints that
are further apart.
Decrease the blend radius
or choose waypoints that
are further apart.
Decrease the blend radius
or choose waypoints that
are further apart.
Decrease the blend radius
or choose waypoints that
are further apart.
Decrease the blend radius
or choose waypoints that
are further apart.
Decrease the blend radius
or choose waypoints that
are further apart.
Servicemanual_UR10_en_3.1.3