Universal Robots e-Series Error Code C283A26: Force limitation: A joint exceeded the torque window by {float}Nm

Universal Robots Robot Minor Motion

Model: e-Series (UR3e/UR5e/UR10e/UR16e/UR20/UR30) | Code: C283A26

Applicable Systems
UR3 UR5 UR10 UR3e UR5e UR10e UR16e UR20 UR30

Symptoms

If the target trajectory is very jerky, e.g. in case of sensor based control with path_offset() or servoj(), the target joint torques can exceed safety system limits

Possible Causes

  • If the target trajectory is very jerky, e.g. in case of sensor based control with path_offset() or servoj(), the target joint torques can exceed safety system limits

Troubleshooting Steps

  1. Step 1: Check that the target trajectory is smooth. Noisy sensors or communication jitter in external control can cause jerky trajectories
    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