Universal Robots UR e Series Service Manual

All rights reserved 107 Service Manual e-Series (EN) 1.1.8
C192A10
TCP position disagreement
a) Check TCP configuration, payload and mounting settings.
b) Check that safety settings respected
C192A11
TCP orientation disagreement
a) Check TCP configuration, payload and mounting settings.
b) Check that safety settings respected
C192A12
Power disagreement
Power calculation: uP-A and uP-B
disagreement
C192A13
Joint torque window disagreement
C192A14
Reduced mode input disagreement
Safety I/O uP-A and uP-B disagreement
Check safety devices and cables/connections to these devices
C192A15
Reduced mode output disagreement
Safety I/O uP-A and uP-B disagreement
Check safety devices and cables/connections to these devices
C192A16
Safety output failed
The safety output did not reach the correct
value in the expected time
Check for short circuit on I/O or for wrong connection to output.
C192A17
Safeguard stop output disagreement
Safety I/O uP-A and uP-B disagreement
Check safety devices and cables/connections to these devices
C192A18
The other safety processor is in fault
C192A19
Emergency stop output disagreement
Safety I/O uP-A and uP-B disagreement
Check safety devices and cables/connections to these devices
C192A20
SPI output error detected
Power supply for the I/O is not detected
Check if the connection to the internal power supply is correct. If an
external power supply is being used, check if it is powered on and at
the correct voltage.
C192A21
Momentum disagreement
C192A22
Robot moving output disagreement
Check safety devices and cables/connections to these devices
C192A23
Wrong processor ID
C192A24
Wrong processor revision
C192A25
Potential brownout detected
Voltage drop on Control Board or defect Safety
Control Board
C192A26
Emergency stop output disagreement
Check safety devices and cables/connections to these devices
C192A27
Safeguard stop output disagreement
Check safety devices and cables/connections to these devices
C192A28
Robot not stopping output disagreement
Check safety devices and cables/connections to these devices
C192A29
Safeguard reset input disagreement
Check safety devices and cables/connections to these devices
C192A30
Safety processor booted up in fault mode
C192A31
Reduced Mode Output disagreement
Check safety devices and cables/connections to these devices
C192A32
Not Reduced Mode Output disagreement
Check safety devices and cables/connections to these devices

Universal Robots UR e Series Specifications

General

Brand	Universal Robots
Model	UR e Series
Category	Robotics
Language	English