C283 Safety system

C283A0 Critical error

A critical error occurred in the safety system

Try the following actions to see if it resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software

C283A1 Robot is not braking when in Stop Mode

C283A2 Robot is moving when in Stop Mode

C283A3 Power not removed from the motors while in Emergency Stop

C283A4 Failed to power on the Robot Arm

C283A5 Invalid pin-configuration received: {hex}

C283A6 Trying to reassign pin configuration with configuration {hex}

C283A7 {unsigned} joint exceeded the speed limit of the safety settings

Try each of the following actions (in order) to see if it resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings

C283A8 The System Emergency Stop Output is not active

Failed to activate the System Emergency Stop Output. The output is active when voltage is low

Make sure output is not short circuited to a power supply

C283A9 System Emergency Stop Output disagreement within the safety system

The input signals are not switching simultaneously, or are incorrectly connected.

Try the following actions to see if it resolves the issue: (A) Ensure both inputs are properly connected

C283A10 Robot Emergency Stop Input disagreement within the safety system

The input signals are not switching simultaneously, or are incorrectly connected.

Try the following actions to see if it resolves the issue: (A) Ensure both inputs are properly connected

C283A11 System Emergency Stop Input disagreement within the safety system

The input signals are not switching simultaneously, or are incorrectly connected.

Try the following actions to see if it resolves the issue: (A) Ensure both inputs are properly connected

C283A12 Safeguard Stop Input disagreement within the safety system

The input signals are not switching simultaneously, or are incorrectly connected.

Try the following actions to see if it resolves the issue: (A) Ensure both inputs are properly connected

C283A13 Safeguard Reset Input disagreement within the safety system

The input signals are not switching simultaneously, or are incorrectly connected.

Try the following actions to see if it resolves the issue: (A) Ensure both inputs are properly connected

C283A14 Operation Mode input disagreement within the safety system.

The input signals are not switching simultaneously, or are incorrectly connected.

Try the following actions to see if it resolves the issue: (A) Ensure both inputs are properly connected

C283A15 Three-Positional Enabling Device Input disagreement within the safety system

The input signals are not switching simultaneously, or are incorrectly connected.

Try the following actions to see if it resolves the issue: (A) Ensure both inputs are properly connected

C283A16 Operation Mode Switch is defined and no Three-Positional Device is defined.

Operation mode switch can only be enabled if a Three-Positional Device is present

Try the following actions to see which resolves the issue: (A) Ensure that a Three-Positional Device is enabled in the Safety Configuration (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance

C283A17 Lost {unsigned} Teach Pendant safety packages in a row

Try the following actions to see if it resolves the issue: (A) Check that the teach pendant is properly connected, (B) Conduct a complete rebooting sequence, (C) Update software

C283A18 Lost too many Joint safety packages in a row. Diagnostic data: {unsigned}

Try the following actions to see if it resolves the issue: (A) Check that the teach pendant is properly connected, (B) Conduct a complete rebooting sequence, (C) Update software

C283A19 Incorrect gravity vector sent from the controller

C283A20 Wrong payload mass sent from the controller

C283A21 Wrong payload center of gravity sent from the controller

C283A22 Teach Pendant is connected while it is disabled in robot configuration

If the Teach Pendant is enabled, it is connected. If it is disabled, it is not connected.

Try the following actions to see if it resolves the issue: (A) Disconnect the Teach Pendant or enable it in the configuration.

C283A23 Lost {unsigned} safety packages in a row from other safety processor

C283A24 Got {unsigned} safety packages too early in a row from other safety processor

C283A25 Got a ready message from an unexpected source: {hex}

C283A26 Force limitation: A joint exceeded the torque window by {float}Nm

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. Noisy sensors or communication jitter in external control can cause jerky trajectories

Try the following actions to see if it resolves the issue: (A) Check that the target trajectory is smooth, (B) Conduct a complete rebooting sequence, (C) Update software.

C283A27 Mismatch on Robot Configuration CRC between the safety system and PolyScope

Try the following actions to see if it resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software

C283A28 Mismatch on User Configuration CRC between the safety system and PolyScope

Try the following actions to see if it resolves the issue: (A) Conduct a complete rebooting sequence, (B) Make new installation, (C) Update software,

C283A29 Trying to reapply the {unsigned} part of the User Configuraton.

C283A30 Trying to reapply the {unsigned} part of the Robot Configuraton,

C283A31 Trying to reapply normal limits, part {unsigned}

C283A32 Trying to reapply reduced limits, part {unsigned}

C283A33 Trying to reapply safety CRC

C283A34 Error while trying to apply safety configuration

Try the following actions to see if it resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software

C283A35 Reduced Mode Output disagreement within the safety system

Try the following actions to see if it resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software

C283A36 Not Reduced Mode Output disagreement within the safety system

Try the following actions to see if it resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software

C283A37 Robot Moving Output disagreement within the safety system

Try the following actions to see if it resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software

C283A38 Robot Not Stopping Output disagreement within the safety system

Try the following actions to see if it resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software

C283A39 {unsigned} safety packages were received too late from the SCB processor

C283A40 Reduced Mode Input disagreement within the safety systems

The input signals are not switching simultaneously, or are incorrectly connected.

Try the following actions to see if it resolves the issue: (A) Ensure both inputs are correctly connected

C283A41 TCP Velocity violates limits of maximum stopping time

C283A42 TCP Velocity violates limits of maximum stopping distance

C283A43 {unsigned} joint moved too quickly toward a Joint position limit

C283A44 The tool moved too fast towards an orientation limit

C283A45 The Elbow moved too fast towards a safety plane

C283A46 The tool moved too fast towards a safety plane

C283A47 {unsigned} joint position limit exceeded

C283A48 Tool position limit exceeded

C283A49 Tool orientation limit exceeded

Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings

C283A50 Elbow position limit exceeded

C283A51 Robot moved with a speed of {float} mm/s at the tool. This exceeds the tool speed limit in the safety settings

C283A52 Robot moved with a speed of {float} mm/s at the elbow. This exceeds the elbow speed limit in the safety settings

C283A53 Maximum Tool Center Point Speed in Reduced Mode is invalid

Ensure the Reduced Mode Limit is less than or equal to the Normal Mode limit.

C283A54 Maximum Elbow Speed in Reduced Mode is invalid

Try the following actions to see if it resolves the issue: (A) Ensure the Reduced Mode limit is less than or equal to the Normal Mode Limit, (B) Update software.

C283A55 Maximum Joint Speed of joint {unsigned} in Reduced Mode is invalid

Ensure the Reduced Mode Limit is less than or equal to the Normal Mode Limit.

C283A56 Maximum Momentum in Reduced Mode is invalid

Try the following actions to see if it resolves the issue: (A) Ensure the Reduced Mode limit is less than or equal to the Normal Mode Limit, (B) Update software.

C283A57 Maximum stopping time in Reduced Mode is invalid

Try the following actions to see if it resolves the issue: (A) Ensure the Reduced Mode limit is less than or equal to the Normal Mode Limit, (B) Update software.

C283A58 Maximum stopping distance in Reduced Mode is invalid

Try the following actions to see if it resolves the issue: (A) Ensure the Reduced Mode limit is less than or equal to the Normal Mode Limit, (B) Update software.

C283A59 Reduced Mode Output is not active

Failed to activate the Reduced Mode Output. The output is active when voltage is low

Try the following actions to see if it resolves the issue: (A) Make sure output is not short circuited to a power supply, (B) Update software.

C283A60 Reduced Mode Output is not inactive

Failed to deactivate the Reduced Mode Output. The output is inactive when voltage is high

Try the following actions to see if it resolves the issue: (A) Make sure output is not short circuited to ground, (B) Update software.

C283A61 Not Reduced Mode Output is not active

Failed to activate the Not Reduced Mode Output. The output is active when voltage is low

Try the following actions to see if it resolves the issue: (A) Make sure output is not short circuited to a power supply, (B) Update software.

C283A62 Not Reduced Mode Output is not inactive

Failed to deactivate the Not Reduced Mode Output. The output is inactive when voltage is high

Try the following actions to see if it resolves the issue: (A) Make sure output is not short circuited to ground, (B) Update software.

C283A63 Robot is moving while Robot Moving Output is not active

Failed to activate the Robot Moving Output. The output is active when voltage is low

Try the following actions to see if it resolves the issue: (A) Make sure output is not short circuited to a power supply, (B) Update software.

C283A64 Tool Direction Vector Length for Normal Mode is {float}, not 1.0

Try the following actions to see if it resolves the issue: (A) Reconfigure Tool orientation, (B) Update software.

C283A65 Tool Direction Vector Length for Reduced Mode is {float}, not 1.0

Try the following actions to see if it resolves the issue: (A) Reconfigure Tool orientation, (B) Update software.

C283A66 Robot Momentum reached {float} kg * m/s, which exceeds the Momentum limit

C283A67 Robot Power reached {float} W, which exceeds the Power limit

C283A68 Error caused by the {unsigned} Joint

A critical safety error

Try the following actions to see if it resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software.

C283A69 Float value: {float}

C283A70 Unsigned value: {unsigned}

C283A71 Safety is disabled but the app type is not MAIN-NS (No Safety)

It's only allowed to have Safety disabled if the app type is MAIN-NS (No Safety) (0x07)

C283A72 The motor configuration sent by the Control Box is invalid

The motor configuration sent is unusable with this firmware revision.

Try the following actions to see if it resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software.

C283A73 Safe Home Position Output disagreement within the safety system

C283A74 The Safe Home Position Output is active while not allowed

The Safe Home Position Output is active while the robot is not in Safe Home Position

Try the following actions to see if it resolves the issue: (A) Make sure output is not short circuited to power supply or ground, (B) Update software.

C283A75 The user config versions received differ

C283A76 Controller reported a fault

The Controller has faulted and requested the safety system to fault

C283A77 The user config versions is higher than supported

C283A78 The user config versions is lower than supported

C283A79 Safe home position index: {unsigned} out of range

C283A80 Force limit calculation got an unsupported joint size {unsigned}

C283A81 The robot configuration specifies an unsupported joint size {signed}

The safety system is not certified to work with the specified joint size

Try the following actions to see if it resolves the issue: (A) Update software.

C283A82 The connected Teach Pendant type does not match the configuration

The connected Teach Pendant is not the same type as the one selected in the safety configuration

Try the following actions to see if it resolves the issue: (A) Check that the Teach Pendant is properly connected and matches the one in the safety configuration, (B) Conduct a complete rebooting sequence, (C) Update the software.

C283A83 The configured Teach Pendant has no Three-Positional Enabling Device

The safety configuration enables the Teach Pendant's Three-Positional Enabling Device, but the configured Teach Pendant does not have a Three-Positional Enabling Device

Try the following actions to see if it resolves the issue: (A) Check that the correct Teach Pendant is selected in the safety configuration, (B) Conduct a complete rebooting sequence, (C) Update the software.

C283A84 Received an invalid Teach Pendant type in the user configuration: {unsigned}

C283A85 Automatic Safeguard Stop Input disagreement within the safety system

The input signals are not switching simultaneously, or are incorrectly connected.

Try the following actions to see if it resolves the issue: (A) Ensure both inputs are properly connected

C283A86 Automatic Safeguard Reset Input disagreement within the safety system

The input signals are not switching simultaneously, or are incorrectly connected.

Try the following actions to see if it resolves the issue: (A) Ensure both inputs are properly connected.

C283A87 Injection-Molding-Machine-Interface is connected while it is disabled in the robot configuration

If the Injection-Molding-Machine-Interface is enabled, it must be connected. If it is disabled, it must be disconnected.

Try the following actions to see if it resolves the issue: (A) Disconnect the Injection-Molding-Machine-Interface or enable it in the configuration.

C283A88 Lost {unsigned} Injection-Molding-Machine-Interface safety packages in a row

Try the following actions to see if it resolves the issue: (A) Check that the Injection-Molding-Machine-Interface is properly connected, (B) Conduct a complete rebooting sequence, (C) Update software.

C283A89 The connected Injection-Molding-Machine-Interface type does not match the configuration

The connected Injection-Molding-Machine-Interface is not the same type as the one selected in the safety configuration

Try the following actions to see if it resolves the issue: (A) Check that the Injection-Molding-Machine-Interface is properly connected and matches the one in the safety configuration, (B) Conduct a complete rebooting sequence, (C) Update the software.

C283A90 Invalid Injection-Molding-Machine-Interface type in the user configuration: {unsigned}

The configuration provided by the user safety configuration is invalid

Try the following actions to see if it resolves the issue: (A) Ensure the correct IMMI type is selected in the Safety Configuration (B) Conduct a complete rebooting sequence, (C) Update software.

C283A91 The Injection-Molding-Machine-Interface System Emergency Stop Output is not active

Failed to activate the System Emergency Stop Output on the Injection-Molding-Machine-Interface. The output is active when voltage is high

Try the following actions to see if it resolves the issue: (A) Make sure output is not short circuited to ground (B) Conduct a complete rebooting sequence, (C) Update software.

C283A92 Target torque of {float} is outside the allowed range

The target torque received from the controller is outside the allowed range

Try the following actions to see if it resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software.

C283A93 Sanity check of target torque differs by {float}, which is outside the allowed range

The target torque received from the controller is outside the allowed range

Try the following actions to see if it resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software.

C283A94 Automatic Safeguard Stop input is configured but no Three-Position Enabling device is configured

Try the following actions to see if it resolves the issue: (A) Ensure that a Three-Positional Device is enabled in the Safety Configuration (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance

C283A95 IO Data has not been updated before latching it

C283A96 Received an invalid IMMI type in the user configuration: {unsigned}

C283A97 The payload inertia diagonal sent from the controller must be non-negative

C283A98 The payload inertia sent from the controller must be within valid range

C283A99 Received an invalid value {float} as part of the runtime safety configuration

Try the following actions to see if resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software.

C283A100 Multiple sources defined for controlling operational mode

Try the following actions to see if it resolve the issue: (A) Make sure there are not set multiple sources in the Safety Config controlling the operational mode, (B) Update Software.

C283A101 The PROFISafe System Emergency Stop Output is not active

Failed to activate the PROFISafe System Emergency Stop Output.

Try the following actions to see if it resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software.

C283A102 Profisafe Reduced Mode Output is not active

Failed to activate the PROFISafe Reduced Mode Output.

Try the following actions to see if it resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software

C283A103 Profisafe Reduced Mode Output is not inactive

Failed to deactivate the PROFISafe Reduced Mode Output.

Try the following actions to see if it resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software.

C283A104 Robot is moving while PROFISafe Robot Moving Output is not active

Failed to activate the PROFISafe Robot Moving Output.

Try the following actions to see if it resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software.

C283A105 The Profisafe Safe Home Position Output is active while not allowed

The PROFISafe Safe Home Position Output is active while the robot is not in Safe Home Position

Try the following actions to see if it resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software.

C283A106 The PROFISafe Safeguard Stop Output is active while not allowed

The PROFISafe Safeguard Stop Output is active while the robot is not in safeguard stop

Try the following actions to see if it resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software

C283A107 The PROFISafe Safeguard Stop Output is inactive while not allowed

The PROFISafe Safeguard Stop Output is inactive while the robot is in safeguard stop

Try the following actions to see if it resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software

C283A108 Unknown input disagreement, value is {unsigned}

C283A109 Unknown output disagreement, value is {unsigned}

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