C174 Robot motion causes too high jump in joint torques

High jumps in joint torque ranges may damage robot hardware. This can be caused by sudden big changes in acceleration in the target trajectory

Use blends or reduce accelerations in the robot motions around where the error was discovered. You can use the script command "pause_on_error_code()" to make the robot stop when this warning occurs, to identify which motion causes the warning

C174A0 Base.

C174A1 Shoulder.

C174A2 Elbow.

C174A3 Wrist 1.

C174A4 Wrist 2.

C174A5 Wrist 3.

C174A6 Base. Problem identified when executing program line {unsigned}.

C174A7 Shoulder. Problem identified when executing program line {unsigned}.

C174A8 Elbow. Problem identified when executing program line {unsigned}.

C174A9 Wrist 1. Problem identified when executing program line {unsigned}.

C174A10 Wrist 2. Problem identified when executing program line {unsigned}.

C174A11 Wrist 3. Problem identified when executing program line {unsigned}.

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