Universal Robots UR3 Service Manual page 129

7. Troubleshooting
C174A0 Robot motion
causes too high
jump in joint torques
on Base.
C174A1 Robot motion
causes too high
jump in joint torques
on Shoulder.
C174A2 Robot motion
causes too high
jump in joint torques
on Elbow.
C174A3 Robot motion
causes too high
jump in joint torques
on Wrist 1.
C174A4 Robot motion
causes too high
jump in joint torques
on Wrist 2.
C174A5 Robot motion
causes too high
jump in joint torques
on Wrist 3.
C174A6 Base. Problem
identified when
executing program
on a specified line.
C174A7 Shoulder. Problem
identified when
executing program
on a specified line.
C174A8 Elbow. Problem
identified when
executing program
on a specified line.
C174A9 Wrist 1. Problem
identified when
executing program
on a specified line.
Service Manual 123 UR3