Universal Robots e-Series Error Code C304A4: Either the encoder was inappropriately mounted, or the gearbox is loose or

Universal Robots Robot Minor Motion

Model: e-Series (UR3e/UR5e/UR10e/UR16e/UR20/UR30) | Code: C304A4

Applicable Systems
UR3 UR5 UR10 UR3e UR5e UR10e UR16e UR20 UR30

Symptoms

broken. Difference between the encoders is ? [rad]. Mechanical problem in gear related to encoder mounting.

Possible Causes

  • broken. Difference between the encoders is ? [rad]. Mechanical problem in gear related to encoder mounting.

Troubleshooting Steps

  1. Step 1: Reduce acceleration in the user program,
    Check if the issue is resolved after this step
  2. Step 2: Check TCP,Payload, and Cog,
    Check if the issue is resolved after this step
  3. Step 3: Conduct a complete rebooting sequence,
    Check if the issue is resolved after this step
  4. Step 4: Update software,
    Check if the issue is resolved after this step
  5. Step 5: Replace Joint if necessary,
    Check if the issue is resolved after this step
  6. Step 6: Contact your local Universal Robots service provider for assistance
    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

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

Category: Robot

Published: 2026-10-01