Universal Robots UR5 Service Manual page 135

7. Troubleshooting
C191A1 Joint position limit
violated
C191A2 Joint speed limit
violated
C191A3 TCP speed limit
violated
C191A4 TCP position limit
violated
C191A5 TCP orientation limit
violated
C191A6 Power limit violated
C191A7 Joint torque window
violated
C191A8 Joint torque window
too large
C191A9 Reduced mode output
violation
C191A10 Safeguard stop output
violation
C191A11 Emergency stop
output violation
C191A12 Momentum limit
violation
C191A13 Robot moving output
violation
C191A14 Robot is not braking
in stop mode
C191A15 Robot is moving in
stop mode
C191A16 Robot did not stop in
time
C191A17 Received a null vector
for TCP orientation
User Manual
During the braking process,
the safety system monitors
if the robot brakes as
expected. If this is not the
case, this error is generated
When the robot is stopped
due to a safety violation or a
safeguard stop, the safety
system generates this error,
if the robot moves while in
this mode
Fault in config file, when no
GUI is used
129
Check TCP configuration,
payload and mounting
settings
a) Check if the robot is
physically pushed while
safeguard stopped
b) Check TCP
configuration, payload and
mounting settings
UR5