C157 Collision detected by joint

C157A0 Base. Check payload, center of gravity and acceleration settings. Log screen may contain additional information.

Make sure no objects are in the path of the robot and resume the program.

C157A1 Shoulder. Check payload, center of gravity and acceleration settings. Log screen may contain additional information.

Make sure no objects are in the path of the robot and resume the program.

C157A2 Elbow. Check payload, center of gravity and acceleration settings. Log screen may contain additional information.

Make sure no objects are in the path of the robot and resume the program.

C157A3 Wrist 1. Check payload, center of gravity and acceleration settings. Log screen may contain additional information.

Make sure no objects are in the path of the robot and resume the program.

C157A4 Wrist 2. Check payload, center of gravity and acceleration settings. Log screen may contain additional information.

Make sure no objects are in the path of the robot and resume the program.

C157A5 Wrist 3. Check payload, center of gravity and acceleration settings. Log screen may contain additional information.

Make sure no objects are in the path of the robot and resume the program.

If you unable to resolve the issue, login to http://myUR.universal-robots.com and create a new case.