Universal Robots UR5 Service Manual page 127

7. Troubleshooting
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
Service Manual
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.
121
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.
UR5