Universal Robots E Series Service Manual page 100

C115A Unknown robot type
C116A Realtime part warning
C117A Restart SCB failed
C150A Protective Stop: Position close to joint limits
C151A Protective Stop: Tool orientation close to limits
C152A Protective Stop: Position close to safety plane
limits
C153A Protective Stop: Position deviates from path
C153A0 (base). Check payload, center of gravity and
acceleration settings. Log screen may contain
additional information.
C153A1 (shoulder). Check payload, center of gravity
and acceleration settings. Log screen may
contain additional information.
C153A2 (elbow). Check payload, center of gravity and
acceleration settings. Log screen may contain
additional information.
C153A3 (wrist 1). Check payload, center of gravity and
acceleration settings. Log screen may contain
additional information.
C153A4 (wrist 2). Check payload, center of gravity and
acceleration settings. Log screen may contain
additional information.
C153A5 (wrist 3). Check payload, center of gravity and
acceleration settings. Log screen may contain
additional information.
C154A Protective Stop: Position in singularity
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
C157A Protective Stop: Collision detected by joint
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The robot type specified in the configuration is
unknown
Possible CPU-overload due to structure of user
program
The Control Board couldn't be rebooted from
the controller.
Robot cannot move linear near a singularity
The robot may move unexpected due to wrong
settings
100
Restructure user program
Do a Complete rebooting sequence
Check payload, center of gravity and acceleration settings.
Check payload, center of gravity and acceleration settings.
Check payload, center of gravity and acceleration settings.
Check payload, center of gravity and acceleration settings.
Check payload, center of gravity and acceleration settings.
Check payload, center of gravity and acceleration settings.
Use MoveJ or change the motion
Verify that the TCP configuration and mounting in the used
installation is correct
Service Manual e-Series (EN) 1.1.8