Universal Robots 2014350001, Руководство по обслуживанию, Страница: 123 / 238

C153A5 (wrist 3). Check
payload, center of
gravity and
acceleration
settings. Log screen
may contain
additional
information. Check payload, center of
gravity and acceleration
settings.
C154A Protective Stop:
Position in
singularity Robot cannot move linear
near a singularity Use MoveJ or change the
motion
C155A Protective Stop:
Robot cannot
maintain its position,
check if payload is
correct
C156A Protective Stop:
Wrong payload or
mounting detected,
or something is
pushing the robot
when entering
Freedrive mode The robot may move
unexpected due to wrong
settings Verify that the TCP
configuration and mounting
in the used installation is
correct
C157A Protective Stop:
Collision detected by
joint
C157A0 (base). 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.
C157A1 (shoulder). 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.
Service Manual 117 UR5
7. Troubleshooting
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