C306 Joint

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How to perform a complete reboot
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If you unable to resolve the issue, log in to http://myUR.universal-robots.com and create a new case.

C306A0 Critical error

A critical error occurred in a Joint

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

C306A1 Not stopping fast enough

Joint was unable to come to a full stop fast enough.

Try the following actions to see which resolves the issue: (A) Either an incorrect payload is mounted, or an external force is pushing the robot, (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance

C306A2 Velocity failed to pass sanity check

The received Joint velocity target is invalid.

Try the following actions to see which resolves the issue: (A) Adjust the robot program to reduce peak acceleration and torques, (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance

C306A3 Acceleration failed to pass sanity check

The received Joint acceleration target is invalid.

C306A9 Joint moved more than allowable limit

Potential mechanical failure of the joint's brakes

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

C306A15 Joint moved too far while it should be stationary

The robot moved more than allowed during parking.

Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance

C306A16 A timeout occured while in violation parking

The joint reached the timeout limit while in violation parking.

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

C306A17 The joint parking procedure violated max allowed execution time of {float}[ms].

The joint reached the timeout limit while in parking.

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

C306A19 Illegal state transition, the joint entered parking while motorcontrol was disabled.

The parking procedure cannot execute without motorcontrol enabled.

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

C306A20 Trying to power off from violation while motor control is enabled.

Tried to skip parking procedure while motor control was enabled.

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

C306A21 Unexpected joint type ({hex})

The joint has identified its type incorrectly

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

C306A22 Trying to enter idle brake failure while motor control is enabled.

The joint should not enter idle brake failure with motor control enabled.

Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance

C306A24 Motor unsupported by the Critical Fault brake handler

The joint cannot be allowed to brake release, as it has no defined Critical Fault braking profile for its motor type

Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance