Universal Robots E Series Service Manual page 103

C161A 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
C162A The protective stop was likely caused by
incorrectly specified payload mass and/or
center of gravity.
C171A 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.
C171A10 Blend radius too small error in a MoveP
C171A11 Overlapping Blends in a MoveL, a waypoint
was skipped
C171A12 Overlapping Blends in a MoveL, a waypoint
was skipped
C171A13 Overlapping Blends in a MoveL, a waypoint
was skipped
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Specifying an incorrect payload mass and/or
center of gravity may cause poor robot
performance and/or protective stops.
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.
103
a) 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.
b) If the position is not correct, the robot must be repaired. In this
case, click Power Off Robot.
c) If the position is correct, please tick the check box below the 3D
graphics and click Robot Position Verified
Make sure the specified payload mass and center of gravity are
correct.
Decrease the blend radius or choose waypoints that are further apart.
Increase blend in MoveC
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.
Decrease the blend radius or choose waypoints that are further apart.
Decrease the blend radius or choose waypoints that are further apart.
Service Manual e-Series (EN) 1.1.8