Universal Robots UR5 Service Manual page 124

C157A2 (elbow). Check
payload, center of
gravity and
acceleration
settings. Log screen
may contain
additional
information.
C157A3 (wrist 1). Check
payload, center of
gravity and
acceleration
settings. Log screen
may contain
additional
information.
C157A4 (wrist 2). Check
payload, center of
gravity and
acceleration
settings. Log screen
may contain
additional
information.
C157A5 (wrist 3). Check
payload, center of
gravity and
acceleration
settings. Log screen
may contain
additional
information.
C158A Protective Stop:
Collision detected by
joint
C158A0 (base). The user
specified payload is
0kg, please make
sure this is correct.
UR5
Specifying an incorrect
payload mass and/or center
of gravity may cause poor
robot performance and/or
protective stops.
118
7. Troubleshooting
Make sure no objects are in
the path of the robot and
resume the program.
Make sure no objects are in
the path of the robot and
resume the program.
Make sure no objects are in
the path of the robot and
resume the program.
Make sure no objects are in
the path of the robot and
resume the program.
Make sure the specified
payload mass and center of
gravity are correctly
specified.
Service Manual