Applicable Systems
UR3
UR5
UR10
UR3e
UR5e
UR10e
UR16e
UR20
UR30
Symptoms
The position that the axis needs to complete its trajectory at the same time is close to its lower joint limit.
Possible Causes
- The position that the axis needs to complete its trajectory at the same time is close to its lower joint limit.
Troubleshooting Steps
- Step 1: Change the direction of target velocity of the axis so that it is going to move back into the safe zone in next step.
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.
Source: Universal Robots Official Error Codes Directory (https://www.universal-robots.com/manuals/EN/PDF/Shared/ErrorCodes/ErrorCodes.pdf)
Category: Robot