C517 Limit Violation - Vibration Measurement

C517A0 Not all vibration samples received from joint

C517A1 Vibration amplitude (sqrt(PSD)) of the harmonic x202+/-6 exceed the allowed limit

C517A2 Vibration amplitude (sqrt(PSD)) of the harmonic x202+/-6 both exceed the limit and is an outlier

C517A3 Raw Transmission Error of the joint exceeded the allowed limit

The Raw Transmission Error is the peak-peak position-error measured over a full joint revolution, it contains the sum of all vibration sources.