Universal Robots UR5 Service Manual page 132

C152 Protective Stop:
Position close to
safety plane limits
C153 Protective Stop:
Position deviates
from path
C154 Protective Stop:
Position in singularity
C155 Protective Stop:
Robot cannot
maintain its position,
check if payload is
correct
C156 Protective Stop:
Wrong payload or
mounting detected, or
something is pushing
the robot when
entering Freedrive
mode
C157 Protective Stop:
Collision detected by
joint
C160 Protective stop: The
robot was powered
off last time due to a
joint position
disagreement
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
UR5
Robot cannot move linear
near a singularity
The robot may move
unexpected due to wrong
settings
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"
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"
126
7. Troubleshooting
Check TCP configuration,
payload and mounting
settings
Use MoveJ or change the
motion
Verify that the TCP
configuration and mounting
in the used installation is
correct
Make sure no objects are
in the path of the robot and
resume the program
User Manual