Universal Robots UR10 - Page 82

All rights reserved 82 Servicemanual_UR10_en_3.1.3
C102
Real Robot not connected –
Simulating Robot
C103
UR Ethernet Error
Comm. Prob. Between Mother
Board and Safety Control
Board
Check cable
C103A1
Connection to Safety Control
Board lost
PC did not receive 3 packets in
a row
Check that the Ethernet
cable between PC board
and Safety Control Board is
connected and restart
system
C103A2
Package lost from Safety
Control Board
C104
Error=Empty command sent to
robot
C111
Something is pulling the robot
Check Payload setting
C115
Unknown robot type
The robot type specified in the
configuration is unknown
C116
Realtime part warning
Possible CPU-overload due to
structure of user program
Restructure user program
C117
Restart SCB failed
The Safety Control Board
couldn’t be rebooted from the
controller.
Reboot the robot
C150
Protective Stop: Position close
to joint limits
C151
Protective Stop: Tool
orientation close to limits
C152
Protective Stop: Position close
to safety plane limits
C153
Protective Stop: Position
deviates from path
C154
Protective Stop: Position in
singularity
Robot cannot move linear in a
singularity
Use jointspace movement
or change the motion
C155
Protective Stop: Robot cannot
maintain its position, check if
payload is correct
C156
Protective Stop: Wrong
payload or mounting detected,
or something is pushing the
robot when entering Freedrive
mode
The robot may move
unexpected due to wrong
settings
Verify that the TCP
configuration and mounting
in the used installation is
correct
C160
Protective stop: The robot was
powered off last time due to a
joint position disagreement
1. Verify that the robot
position in the 3D graphics
matches the real robot, to
ensure that the encoders
function before releasing the
brakes. Stand back and
monitor the robot performing
its first program cycle as
expected.
2. If the position is not correct,
the robot must be repaired. In