Universal Robots 2014350001, Service Manual, Page: 200 / 238

C334A Protective Stop:
Position deviation
while in Locked Axis
feature Robot deviated from
constrained axes while in
Constrained Freedrive. The
maximum range was
reached. a) Unlock constrained axis
b) Move robot back to
reachable postions
C336A1 Hardware
configuration
manager An illegal write request to a
memory area
C337A0 Control parameters Critical error
C337A1 Control parameters A selected set of control
parameters was not allowed
in this application
C337A2 Control parameters A selected set of control
parameters was not known
or was incorrectly applied
C400A Protective Stop:
Elbow position close
to safety plane
limits Robot joint 2 – Elbow has
reached the Safety Plane
limits Move robot Elbow joint away
from the safety plane
C401A Protective Stop:
Exceeding user
safety settings for
stopping time You have exceeded the
safety settings, watch out
for high values not allowed
in the robot 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
C402A Protective Stop:
Exceeding user
safety settings for
stopping distance 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 Same as C401A
C403A Protective Stop:
Danger of clamping
between the Robot’s
lower arm and tool Robot has entered
Protective Stop due to reach
maximum point to prevent a
clamp situation between
joint and robot itself Same as C401A
C404A Unexpected behavior
C404A0 Runtime sends data
too often Communication overload a) Check external equipment
communication frequency
b) Check if wait command or
sync() script code are used
in the program
UR5 194 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
.