C191 Safety system violation

C191A1 Joint position limit violated

C191A2 Joint speed limit violated

C191A3 TCP speed limit violated

C191A4 TCP position limit violated

C191A5 TCP orientation limit violated

C191A6 Power limit violated

C191A7 Joint torque window violated

C191A8 Joint torque window too large

C191A9 Reduced mode output violation

C191A10 Safeguard stop output violation

C191A11 Emergency stop output violation

C191A12 Momentum limit violation

C191A13 Robot moving output violation

C191A14 Robot is not braking in stop mode

During the braking process, the safety system monitors if the robot brakes as expected. If this is not the case, this error is generated

Check TCP configuration, payload, and mounting settings

C191A15 Robot is moving in stop mode

When the robot is stopped due to a safety violation or a safeguard stop, the safety system generates this error, if the robot moves while in this mode

(A) Check if the robot is physically pushed while safeguard stopped, (B) Check TCP configuration, payload, and mounting settings

C191A16 Robot did not stop in time

C191A17 Received a null vector for TCP orientation

C191A18 Robot not stopping output violation

C191A19 Invalid safety IO configuration

C191A20 Configuration information or limit sets not received

C191A21 The other safety processor detected a violation

C191A22 Received unknown command from Controller

C191A23 Invalid setup of safety limits

Try the following actions to see which resolves the issue: (A) Check Firmware/update firmware, (B) Conduct a complete rebooting sequence

C191A24 Reduced Mode Output set, while it should not be

Try the following actions to see which resolves the issue: (A) Check Firmware/update firmware, (B) Conduct a complete rebooting sequence

C191A25 Reduced Mode Output not set, while it should be

Try the following actions to see which resolves the issue: (A) Check Firmware/update firmware, (B) Conduct a complete rebooting sequence

C191A26 Not Reduced Mode Output set, while it should not be

Try the following actions to see which resolves the issue: (A) Check Firmware/update firmware, (B) Conduct a complete rebooting sequence

C191A27 Not Reduced Mode Output not set, while it should be

Try the following actions to see which resolves the issue: (A) Check Firmware/update firmware, (B) Conduct a complete rebooting sequence

C191A28 Robot Emergency Stop exceeded maximum stop time

Too high payload

Try the following actions to see which resolves the issue: (A) Check that max payload of the robot has not been exceeded, (B) Check TCP configuration, payload, and mounting settings

C191A29 System Emergency Stop exceeded maximum stop time

Too high payload

Try the following actions to see which resolves the issue: (A)Check that max payload of the robot has not been exceeded, (B) Check TCP configuration, payload, and mounting settings

C191A30 Safeguard Stop exceeded maximum stop time

Too high payload

Try the following actions to see which resolves the issue: (A)Check that max payload of the robot has not been exceeded, (B) Check TCP configuration, payload, and mounting settings

C191A31 Operation mode switch is present while the three position switch is missing

C191A32 Joint speed limit violated - Base

C191A33 Joint speed limit violated - Shoulder

C191A34 Joint speed limit violated - Elbow

C191A35 Joint speed limit violated - Wrist 1

C191A36 Joint speed limit violated - Wrist 2

C191A37 Joint speed limit violated - Wrist 3

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