Universal Robots e-Series Error Code C743A2: Freedrive is incompatible with external axis motion

Universal Robots Robot Minor System

Model: e-Series (UR3e/UR5e/UR10e/UR16e/UR20/UR30) | Code: C743A2

Applicable Systems
UR3 UR5 UR10 UR3e UR5e UR10e UR16e UR20 UR30

Symptoms

External axes cannot be moving while the controller is in Freedrive.

Possible Causes

  • External axes cannot be moving while the controller is in Freedrive.

Troubleshooting Steps

  1. Step 1: Verify that external axes are completely stopped before entering Freedrive and ensure no axis motion is commanded when already in Freedrive mode.
    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