Universal Robots 2014350001, Руководство по обслуживанию, Страница: 127 / 238

C161A Protective stop:
Large movement of
the robot detected
while it was powered
off. The joints were
moved while it was
powered off, or the
encoders do not
function a) Verify that the robot
position in the 3D graphics
matches the real robot, to
ensure that the encoders
function before releasing the
brakes. Stand back and
monitor the robot performing
its first program cycle as
expected.
b) If the position is not
correct, the robot must be
repaired. In this case, click
Power Off Robot.
c) If the position is correct,
please tick the check box
below the 3D graphics and
click Robot Position Verified
C162A The protective stop
was likely caused by
incorrectly specified
payload mass and/or
center of gravity. Specifying an incorrect
payload mass and/or center
of gravity may cause poor
robot performance and/or
protective stops. Make sure the specified
payload mass and center of
gravity are correct.
C171A Issue with blends
C171A0 A MoveC-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.
C171A1 Blend radius too
small in a MoveC Increase blend in MoveC
C171A3 A ServoC-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.
C171A4 Overlapping Blends
in a MoveJ, a
waypoint was
skipped Decrease the blend radius or
choose waypoints that are
further apart.
C171A5 Overlapping Blends
in a MoveJ, a
waypoint was
skipped Decrease the blend radius or
choose waypoints that are
further apart.
Service Manual 121 UR5
7. Troubleshooting
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