Universal Robots UR3 Service Manual page 122

C153A5 (wrist 3). Check
payload, center of
gravity and
acceleration
settings. Log screen
may contain
additional
information.
C154A Protective Stop:
Position in
singularity
C155A Protective Stop:
Robot cannot
maintain its position,
check if payload is
correct
C156A Protective Stop:
Wrong payload or
mounting detected,
or something is
pushing the robot
when entering
Freedrive mode
C157A Protective Stop:
Collision detected by
joint
C157A0 (base). Check
payload, center of
gravity and
acceleration
settings. Log screen
may contain
additional
information.
C157A1 (shoulder). Check
payload, center of
gravity and
acceleration
settings. Log screen
may contain
additional
information.
UR3
Robot cannot move linear
near a singularity
The robot may move
unexpected due to wrong
settings
116
7. Troubleshooting
Check payload, center of
gravity and acceleration
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.
Make sure no objects are in
the path of the robot and
resume the program.
Service Manual