C304 Self monitoring

C304A0 Critical error

A critical error occurred in physical, logical, and temporal monitoring (PLATM)

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

C304A1 Temperature sensor failure (diff: {float} degC)

C304A2 Phase current sensor failure (diff: {float_5_3} A)

C304A3 Close to the gearbox shear limit. Encoders disagree {float} [rad] on the Joint position

The Joint acceleration or deceleration is too high, or there is a mechanical problem in the gear related to encoder mounting.

Try the following actions to see which resolves the issue: (A) Reduce acceleration in the user program, (B) Conduct a complete rebooting sequence, (C) Update software, (D) Replace Joint if necessary

C304A4 Either the encoder was inappropriately mounted, or the gearbox is loose or broken. Difference between the encoders is {float} [rad].

Mechanical problem in gear related to encoder mounting.

Try the following actions to see which resolves the issue: (A) Reduce acceleration in the user program, (B) Check TCP,Payload, and Cog, (C) Conduct a complete rebooting sequence, (D) Update software, (E) Replace Joint if necessary

C304A5 Disagreement on cross-monitored data

C304A6 Motor phase {unsigned}'s resistance is too high.

The lead/connector is broken, or the Motor phase lead has become disconnected or loose.

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

If you are unable to resolve the issue, login or create an account at http://myUR.universal-robots.com and post a new ticket