Universal Robots UR10 - Page 80

All rights reserved 80 Servicemanual_UR10_en_3.1.3
C71A8
Phase 2 not working
The motor wires are damaged,
bad connection in screw
terminals or defect PCB
Replace joint (Replace PCB)
C71A9
Phase 1 not working
The motor wires are damaged,
bad connection in screw
terminals or defect PCB
Replace joint (Replace PCB)
C71A10
Invalid motor test result
C71A11
ADC calibration failed
Only in joint
C71A12
Phase 3 not working in joint
failed
The wire is (1) damaged or (2)
has been disconnected from
the PCB (not likely) or (3)
defect PCB
Replace the joint
C71A50
Current sensor test failed
Sensor reported wrong current
when probed
Replace the joint. Defect
Printed circuit board
C71A51
Current sensor test failed
Sensor reported wrong current
when probed
Replace the joint. Defect
Printed circuit board
C71A52
Current sensor test failed
Sensors reported different
currents when probed
Replace the joint. Defect
Printed circuit board
C72
Power Supply Unit failure
48 V Power problem
C72A1
0 PSUs are active
PSU was not able to deliver
48V (In UR10: No 48V)
Check power connection
between power supply and
Safety Control Board
C72A2
1 PSU active, but we expect 2
(UR10)
PSU was not able to deliver
48V or UR10 flash card in UR5
robot
Check power connection
between power supply and
Safety Control Board and
check that the flash card
and robot match
C72A3
2 PSUs active, but we expect 1
(UR5)
UR5 flash card in UR10 robot
Check that the flash card
and robot match
C73
Brake test failed during
selftest, check brakepin
C74
Joint encoder warning
Magnetic encoder error
(Absolut encoder)
C74A1
Invalid decode: Readhead
misalignment, ring damaged
or external magnetic field
present.
Warning: The argument is the
sum of C74 errors
C74A2
Speed reading is not valid
Warning: The argument is the
sum of C74 errors
C74A4
System error=malfunction or
inconsistent calibration
detected
Warning: The argument is the
sum of C74 errors
C74A8
Supply voltage is out of range
Warning: The argument is the
sum of C74 errors
C74A16
Temperature is out of range
Warning: The argument is the
sum of C74 errors
C74A64
Signal low =Too far from
magnetic ring
Warning: The argument is the
sum of C74 errors
C74A128
Signal saturation =Too close to
magnetic ring
Warning: The argument is the
sum of C74 errors