What causes the robot to stop

Technical Questions
,
1

I am creating a logsystem to automatically registrate everytime the UR stops, because of a program change, emergency brake or a protective stop.
So to categorize the different stop I need a list of all the most common stop reasons there is with a Protective stop:

  • Human interaction
  • Robot hitting obstical (crash)

Any further suggestion would be welcome.

2
  • wrong payload could also cause a protective stop
  • wrongly stopping a motion with blend radius
3

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