C70 Close to gearbox shear limit

Acceleration / deceleration to high. Mechanical problem in gear related to encoder mounting

Try the following actions to see which resolves the issue: (A) Reduce acceleration in user program, (B) Conduct a complete rebooting sequence, (C) If this happens several times in a row, replace joint

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