Universal Robots 2014350001, Service Manual, Page: 192 / 238

C306A1 Not stopping fast
enough Joint was unable to come to
a full stop fast enough. a) Either an incorrect payload
is mounted, or an external
force is pushing the robot
b) Do a Complete rebooting
sequence
c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
C306A2 Joint Velocity failed to pass
sanity check
C306A3 Joint Acceleration failed to pass
sanity check
C306A4 Joint Joint does not have a stored
id
C306A5 Joint Joint ID could not be stored
C306A6 Joint control-package sequence number mismatched with
expected sequence number
C306A7 Joint Several instances of mismatched control-package
sequence numbers within last second
C306A8 Joint Sanity check of control-package sequence numbers
recovered after detecting bad sequence numbers
C306A9 Joint moved more
than allowable limit Potential mechanical failure
of the joints brakes b) Do a Complete rebooting
sequence
c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
C306A10 Joint Current detected in motor
exceeded limits, check
current
C306A11 Joint Check PWM duty cycle for
motor phase A
C306A12 Joint Check PWM duty cycle for
motor phase B
C306A13 Joint Check PWM duty cycle for
motor phase C
C307A Data B
C308A Data A
C309 Keep-Alive System
UR5 186 Service Manual
7. Troubleshooting
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