What the C191A1 alarm means

A configured safety joint position limit was exceeded; this is a safety-system stop, stronger than a normal protective stop. This is one of the faults our repair team handles on Universal Robots CB3 / e-Series (UR5/UR10/UR16/UR20) systems — the cause is usually identifiable within the first on-site inspection.

Most common causes

  • Program moving outside the configured safety joint limits
  • Safety limits set before a tool/process change
  • Jogging past the limit in reduced mode
  • Safety file corrupted
Field note: the first item on this list is what we find most often on real machines. Check it before you go deeper.

Step-by-step field fix

  1. Jog back inside the limit in joint mode
  2. Review Installation > Safety joint limits against the real program envelope
  3. Reload a known-good safety configuration if the file is suspect
  4. Verify with the safety engineer before widening any limit
  5. Power-cycle and retest at low speed
Safety first: never bypass safety circuits or force contactors closed. If the alarm involves E-stop chains, brakes or drive power, and you are not a trained robot technician, contact a professional — wrong moves here can cost you a robot or an injury.

Still stuck? Get an engineer on the phone — right now

Tell us the alarm code, the robot model and what was happening when the alarm came up. Our engineers run these diagnostics every day, and remote diagnosis by phone or video call is free.

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Hotline: +86-20-39029800 · WhatsApp: +86-188-1886-2860

Related Safety Chain & E-Stop alarms

C152 — Protective Stop — Position Close to Safety Plane Limits C191A2 — Safety Violation — Joint Speed Limit Violated
Other brands: we also keep field-fix libraries for Kawasaki · Staubli · Epson and more — see the complete alarm code hub.

Frequently asked questions

QWhat does the Universal Robots C191A1 alarm mean?

A configured safety joint position limit was exceeded; this is a safety-system stop, stronger than a normal protective stop. In field practice it belongs to the safety chain & e-stop family of faults.

QCan I clear a Universal Robots C191A1 alarm myself?

Sometimes. Work through the step-by-step checks on this page — the first listed cause is what we find most often in the field. If the alarm returns after two attempts, or the fault involves power, brakes or safety circuits, stop and call a qualified robot service engineer.

QHow fast can a Henghuan engineer help?

On-site response in the Pearl River Delta within 30 minutes to 3 hours, across mainland China in 1-3 business days, and worldwide within 2-5 business days. Remote diagnosis by phone/WhatsApp/video is available immediately.

Written by the Henghuan Robotics repair team from field service experience. Alarm descriptions are our own summary for troubleshooting reference and may vary by controller and software version — when in doubt, check your Universal Robots documentation or contact us. Henghuan is an independent service provider, not affiliated with or endorsed by Universal Robots.