Universal Robots 2014350001, Service Manual, Page: 128 / 238

C171A6 Overlapping Blends
in a MoveJ, a
waypoint was
skipped Decrease the blend radius or
choose waypoints that are
further apart.
C171A7 Overlapping Blends
in a MoveJ, a
waypoint was
skipped Decrease the blend radius or
choose waypoints that are
further apart.
C171A9 A MoveP-waypoint
were skipped due to
a blend. The value for the blend
radius is too large
compared to the distance
between the waypoints. Decrease the blend radius or
choose waypoints that are
further apart.
C171A10 Blend radius too
small error in a
MoveP
C171A11 Overlapping Blends
in a MoveL, a
waypoint was
skipped Decrease the blend radius or
choose waypoints that are
further apart.
C171A12 Overlapping Blends
in a MoveL, a
waypoint was
skipped Decrease the blend radius or
choose waypoints that are
further apart.
C171A13 Overlapping Blends
in a MoveL, a
waypoint was
skipped Decrease the blend radius or
choose waypoints that are
further apart.
C171A14 Overlapping Blends
in a MoveL, a
waypoint was
skipped Decrease the blend radius or
choose waypoints that are
further apart.
C172A Illegal control mode
C173A0 Robot motion
causes too high joint
torques on Base. Review your accelerations,
blends and if there are
collisions or excessive
torques in the joint, adjust
accordingly.
C173A1 Robot motion
causes too high joint
torques on Shoulder. Same as C173A0
UR5 122 Service Manual
7. Troubleshooting
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