# Differences between Fault and Violation

**URL:** <https://forum.universal-robots.com/t/differences-between-fault-and-violation/5448>\
**Category:** Technical Questions\
**Tags:** safety-system\
**Created:** [October 29, 2019, 11:11am UTC](https://forum.universal-robots.com/t/differences-between-fault-and-violation/5448 "2019-10-29T11:11:10Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![anon4739170](https://avatars.discourse-cdn.com/v4/letter/a/e274bd/32.png) [@anon4739170](https://forum.universal-robots.com/u/anon4739170)\
**Post date:** [October 29, 2019, 11:11am UTC](https://forum.universal-robots.com/t/differences-between-fault-and-violation/5448/1 "2019-10-29T11:11:10Z")

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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!!

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**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\
**Post date:** [November 1, 2019, 7:44am UTC](https://forum.universal-robots.com/t/differences-between-fault-and-violation/5448/2 "2019-11-01T07:44:25Z")

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**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.

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**Author:** ![Savoia](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/savoia/32/4844_2.png) [@Savoia](https://forum.universal-robots.com/u/Savoia)\
**Post date:** [January 27, 2021, 2:42am UTC](https://forum.universal-robots.com/t/differences-between-fault-and-violation/5448/3 "2021-01-27T02:42:33Z")

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