# UR5 - Joint Security Stop

**URL:** <https://forum.universal-robots.com/t/ur5-joint-security-stop/35484>\
**Category:** Technical Questions\
**Created:** [July 30, 2024, 1:47pm UTC](https://forum.universal-robots.com/t/ur5-joint-security-stop/35484 "2024-07-30T13:47:51Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![dipendra](https://avatars.discourse-cdn.com/v4/letter/d/bbce88/32.png) [@dipendra](https://forum.universal-robots.com/u/dipendra)\
**Post date:** [July 30, 2024, 1:47pm UTC](https://forum.universal-robots.com/t/ur5-joint-security-stop/35484/1 "2024-07-30T13:47:51Z")

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When I try to jog my UR5 robot, the shoulder joint could not track the target position and the robot goes to Joint Security Stop mode. When I give a slight push I can hear some backlash in the shoulder joint. Any suggestions on how I can fix this?

 ![IMG_20240730_151015(1)](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/8/83d7cd63530bd65a346ef6f1f9202ad06b47a77f.jpeg)

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**Author:** ![pho](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/pho/32/2275_2.png) [@pho](https://forum.universal-robots.com/u/pho)\
**Post date:** [July 30, 2024, 3:40pm UTC](https://forum.universal-robots.com/t/ur5-joint-security-stop/35484/2 "2024-07-30T15:40:39Z")

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Contact UR Service - [Call center service - Universal Robots](https://www.universal-robots.com/products/service-offerings/24-7-support/)

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**Author:** ![brian.leininger](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/brian.leininger/32/5139_2.png) [@brian.leininger](https://forum.universal-robots.com/u/brian.leininger)\
**Post date:** [July 31, 2024, 1:34pm UTC](https://forum.universal-robots.com/t/ur5-joint-security-stop/35484/3 "2024-07-31T13:34:16Z")

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replace the shoulder joint.