Universal Robots+

C204A3 error at Circle Move in Fixed Mode

Hello,

whenever i try to use a tight Circle Move (Arc is about 5cm in Diameter, turning about 180°) i randomly get a Protective Stop Error:
C204A3 Protective Stop: Invalid setpoints: Sudden Stop.

how can i solve this? i tried changing the blend radius and reducing the speed to 8 mm/s but still getting this error :frowning:

Try to delete the blend radius or set it to r=0.

i tried both but it didn’t work :confused:

Report error to your tech supporter.
It’s great help to have error report that is generated together with events like this. Export function was introduced in version 3.5.2 and provides compressed file with details about state of robot before, and shortly after incident.