Universal Robots UR3 Service Manual page 147

7. Troubleshooting
C216A3 Elbow
C216A4 Wrist 1
C216A5 Wrist 2
C216A6 Wrist 3
C217A Blank space
detected at the
beginning of a string
C218A A thread used a lot
of time
C218A0 Main Robot Program
used a lot of time
C218A1 A thread used a lot
of time
C219 Change in offset is
too high
C219A1 Close to joint speed
safety limit
C219A2 Close to tool speed
safety limit
C219A3 Close to momentum
safety limit
Service Manual
Leading blank spaces in
strings are ignored in this
version
There may be an infinite
loop or other command that
does not move the robot,
this can cause program
overload
Following the specified
offsets would result in the
robot exceeding safety
limits
141
The joint has been zeroed by
the user. Perform a
kinematic calibration to
improve kinematics if
needed.
The joint has been zeroed by
the user. Perform a
kinematic calibration to
improve kinematics if
needed.
The joint has been zeroed by
the user. Perform a
kinematic calibration to
improve kinematics if
needed.
The joint has been zeroed by
the user. Perform a
kinematic calibration to
improve kinematics if
needed.
Make sure that these leading
blank spaces are intentional
otherwise remove them
Add a Wait command or sync
() script to split long program
sequences and have
sequenced processing time
Use a wait command or sync
() script
Use a wait command or sync
() script
Review program speed and
acceleration
Review program speed and
acceleration
Review program speed and
acceleration
UR3