Universal Robots UR3 Service Manual page 127

7. Troubleshooting
C171A6 Overlapping Blends
in a MoveJ, a
waypoint was
skipped
C171A7 Overlapping Blends
in a MoveJ, a
waypoint was
skipped
C171A9 A MoveP-waypoint
were skipped due to
a blend.
C171A10 Blend radius too
small error in a
MoveP
C171A11 Overlapping Blends
in a MoveL, a
waypoint was
skipped
C171A12 Overlapping Blends
in a MoveL, a
waypoint was
skipped
C171A13 Overlapping Blends
in a MoveL, a
waypoint was
skipped
C171A14 Overlapping Blends
in a MoveL, a
waypoint was
skipped
C172A Illegal control mode
C173A0 Robot motion
causes too high joint
torques on Base.
C173A1 Robot motion
causes too high joint
torques on Shoulder.
Service Manual
The value for the blend
radius is too large
compared to the distance
between the waypoints.
121
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.
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.
Decrease the blend radius or
choose waypoints that are
further apart.
Review your accelerations,
blends and if there are
collisions or excessive
torques in the joint, adjust
accordingly.
Same as C173A0
UR3