Universal Robots UR3 Service Manual page 199

7. Troubleshooting
C334A Protective Stop:
Position deviation
while in Locked Axis
feature
C336A1 Hardware
configuration
manager
C337A0 Control parameters
C337A1 Control parameters
C337A2 Control parameters
C400A Protective Stop:
Elbow position close
to safety plane
limits
C401A Protective Stop:
Exceeding user
safety settings for
stopping time
C402A Protective Stop:
Exceeding user
safety settings for
stopping distance
C403A Protective Stop:
Danger of clamping
between the Robot's
lower arm and tool
C404A Unexpected behavior
C404A0 Runtime sends data
too often
Service Manual
Robot deviated from
constrained axes while in
Constrained Freedrive. The
maximum range was
reached.
An illegal write request to a
memory area
Critical error
A selected set of control
parameters was not allowed
in this application
A selected set of control
parameters was not known
or was incorrectly applied
Robot joint 2 – Elbow has
reached the Safety Plane
limits
You have exceeded the
safety settings, watch out
for high values not allowed
in the robot
Protective Stop activated by
the stopping distance set in
the safety settings. The
value was higher so the
robot stopped preventing
higher distance of stop
Robot has entered
Protective Stop due to reach
maximum point to prevent a
clamp situation between
joint and robot itself
Communication overload
193
a) Unlock constrained axis
b) Move robot back to
reachable postions
Move robot Elbow joint away
from the safety plane
a) Check speeds and
accelerations in the program
b) Check usage of TCP,
payload and CoG correctly
c) Check external equipment
activation if correctly set
Same as C401A
Same as C401A
a) Check external equipment
communication frequency
b) Check if wait command or
sync() script code are used
in the program
UR3