Universal Robots CB3 Error Code C219A2: Change in offset is too high to meet tool speed safety limit

Universal Robots Robot Critical Safety

Model: CB3 (UR3/UR5/UR10) | Code: C219A2

Applicable Systems
UR3 UR5 UR10 UR3e UR5e UR10e UR16e UR20 UR30

Symptoms

Following the specified offsets would result in the robot exceeding safety limits

Possible Causes

  • Following the specified offsets would result in the robot exceeding safety limits

Troubleshooting Steps

  1. Step 1: Reduce the change in offset between steps and/or apply more offset filtering using path_offset_set_alpha_filter()
    Check if the issue is resolved after this step

How to Reset

Power cycle the robot controller and perform a complete reboot sequence. If the error persists, update the software to the latest version.

Related Universal Robots Fault Codes

Source: Universal Robots Official Error Codes Directory (https://www.universal-robots.com/manuals/EN/PDF/Shared/ErrorCodes/ErrorCodes.pdf)

Category: Robot