Universal Robots 2014350001, Service Manual, Page: 124 / 238

C157A2 (elbow). Check
payload, center of
gravity and
acceleration
settings. Log screen
may contain
additional
information. Make sure no objects are in
the path of the robot and
resume the program.
C157A3 (wrist 1). Check
payload, center of
gravity and
acceleration
settings. Log screen
may contain
additional
information. Make sure no objects are in
the path of the robot and
resume the program.
C157A4 (wrist 2). Check
payload, center of
gravity and
acceleration
settings. Log screen
may contain
additional
information. Make sure no objects are in
the path of the robot and
resume the program.
C157A5 (wrist 3). Check
payload, center of
gravity and
acceleration
settings. Log screen
may contain
additional
information. Make sure no objects are in
the path of the robot and
resume the program.
C158A Protective Stop:
Collision detected by
joint
C158A0 (base). The user
specified payload is
0kg, please make
sure this is correct. Specifying an incorrect
payload mass and/or center
of gravity may cause poor
robot performance and/or
protective stops. Make sure the specified
payload mass and center of
gravity are correctly
specified.
UR5 118 Service Manual
7. Troubleshooting
C
o
p
yr
ig
h
t
©
2
0
0
9
–
2
0
2
1
b
y
U
n
iv
e
rs
a
l
R
o
b
o
ts
A
/S
.
A
ll
ri
g
h
ts
re
s
e
rv
e
d
.