Universal Robots UR3 Service Manual page 125

7. Troubleshooting
C159A3 (wrist 1). The user
specified payload is
0kg, please make
sure this is correct.
C159A4 (wrist 2). The user
specified payload is
0kg, please make
sure this is correct.
C159A5 (wrist 3). The user
specified payload is
0kg, please make
sure this is correct.
C160A Protective stop: The
robot was powered
off last time due to a
joint position
disagreement
Service Manual
Specifying an incorrect
payload mass and/or center
of gravity may cause poor
robot performance and/or
protective stops.
Specifying an incorrect
payload mass and/or center
of gravity may cause poor
robot performance and/or
protective stops.
Specifying an incorrect
payload mass and/or center
of gravity may cause poor
robot performance and/or
protective stops.
119
Make sure the specified
payload mass and center of
gravity are correctly
specified.
Make sure the specified
payload mass and center of
gravity are correctly
specified.
Make sure the specified
payload mass and center of
gravity are correctly
specified.
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
UR3