C153A0:6 Protective stop

Hello guys, We are receiving this error code - C153A0:6 Protective stop so often recently.

The robot is being used for CNC Machine Tending / Dual grippers

There is something we dont understand is that the error code pops up after few cycles.

But it always happens at the specific waypoint.

If the TCP, Payload, COG are wrong, why does the error code pop up after few cycles?

It might be hardware failure (wrist or f/t sensor or something).

Maybe post the portion of your program that’s generating the error. Could be Payload, COG, a bad blend radius, running too close to the joint limits etc.