Universal Robots 2014350001, Service Manual, Page: 189 / 238

C304A4 Either the encoder
was inappropriately
mounted, or the
gearbox is loose or
broken. Difference
between the
encoders is present Mechanical problem in gear
related to encoder
mounting. a) Reduce acceleration in the
user program.
b) Check TCP/Payload and
Cog
c) Do a Complete rebooting
sequence
d) Update software
e) Contact your local
Universal Robots service
provider for assistance or
Replace Joint if necessary.
C304A6 Motor phase
resistance is too
high. The lead/connector is
broken, or the Motor phase
lead has become
disconnected or loose. a) Do a Complete rebooting
sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance
C305A Robot Power Control
C305A0 Critical error A critical error in power
control module a) Do a Complete rebooting
sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C305A1 Power supply
voltage too low Robot voltage is lower than
40V. a) Check for loose
connections
b) Do a Complete rebooting
sequence
c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
Service Manual 183 UR5
7. Troubleshooting
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