Universal Robots Forum

Differences between Fault and Violation

Hello everybody,

I have been through the user manual several times and I still do not get when a Fault or Violation is triggered. Could someone give a clarification, that is, what causes a Fault or Violation?

Of course, I know that these kind of errors are not usually expected during normal functioning of the robot.

Eventually, correct me on this if I am missing something (getting this from the client interface excel):

  • SAFETY_STATUS_ROBOT_EMERGENCY_STOP: when the emergency button on the teach pendan is pressed

  • SAFETY_STATUS_SYSTEM_EMERGENCY_STOP. when an alternative emergency button (or signal) configured on inputs is pressed

Thanks in advance,

Kind regards!!

Violation is if the robot exceeds the limits in the safety system. I.e. moving too fast, or moving beyond limits of a safety plane.
Fault is an error condition discovered by the safety system, i.e. that a redundant safety signal is not agreeing (both lines are not either high/low) or eg. that a component is not responding fast enough/package loss.

You are correct with respect to the Emergency Stop signals.