C304 Self monitoring

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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, (C) Contact your local Universal Robots service provider for assistance

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, (E) Contact your local Universal Robots service provider for assistance

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, (F) Contact your local Universal Robots service provider for assistance

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, (C) Contact your local Universal Robots service provider for assistance