Universal Robots UR3 Service Manual page 131

7. Troubleshooting
C191A11 Emergency stop
output violation
C191A12 Momentum limit
violation
C191A13 Robot moving output
violation
C191A14 Robot is not braking
in stop mode
C191A15 Robot is moving in
stop mode
C191A16 Robot did not stop in
time
C191A17 Received a null
vector for TCP
orientation
C191A18 Robot not stopping
output violation
C191A19 Invalid safety IO
configuration
C191A20 Configuration
information or limit
sets not received
C191A21 The other safety
processor detected
a violation
C191A22 Received unknown
command from
Controller
C191A23 Invalid setup of
safety limits
Service Manual
During the braking process,
the safety system monitors
if the robot brakes as
expected. If this is not the
case, this error is generated
When the robot is stopped
due to a safety violation or a
safeguard stop, the safety
system generates this error,
if the robot moves while in
this mode
125
Check TCP configuration,
payload and mounting
settings
a) Check if the robot is
physically pushed while
safeguard stopped.
b) Check TCP configuration,
payload and mounting
settings
a) Check Firmware/update
firmware.
b) Do a Complete rebooting
sequence
UR3