Universal Robots Forum

Startup stuck in Violation C191A1 - how to get into recovery mode

Hi there,

I’m having a problem that the Ur5 won’t enter recovery mode after starting in violation (C191A1: Safety system violation: joint position limit violated)

But when I start our UR5 and click “On” on the polyscope, I get a whirring sound in the arm and it shows a dialog of the safety violation immediately and no recovery mode. (I can then restart but it is exactly the same again)

The logs also show this:

C4A93 - Packet counter disagreement in packet from processor A to joints

Any tips? Is there a way of manually putting it in Recovery mode?

Software is version 3.10


Try creating new installation, and choose to reset all safety settings.
This however looks like hardaware issue.