Universal Robots UR10 - Page 84

All rights reserved 84 Servicemanual_UR10_en_3.1.3
C171A10
Blend radius too small error in
a MoveP
C171A11
Overlapping Blends in a
MoveL, a waypoint was
skipped
Decrease the blend radius
or choose waypoints that
are further apart.
C171A12
Overlapping Blends in a
MoveL, a waypoint was
skipped
Decrease the blend radius
or choose waypoints that
are further apart.
C171A13
Overlapping Blends in a
MoveL, a waypoint was
skipped
Decrease the blend radius
or choose waypoints that
are further apart.
C171A14
Overlapping Blends in a
MoveL, a waypoint was
skipped
Decrease the blend radius
or choose waypoints that
are further apart.
C172
Illegal control mode
C184
Joint self test not received by
controller
C185A1
START_NORMAL_OPERATION
is not allowed on selftest
firmware
C185A2
GOTO_BACKDRIVE_COMMAN
D is not allowed on selftest
firmware
C186A1
joint_mode ==
JOINT_RUNNING_MODE is not
allowed on selftest firmware
C191
Safety system violation
C191A1
Joint position limit violated
C191A2
Joint speed limit violated
Reduce acceleration or
speed for joint
C191A3
TCP speed limit violated
Reduce acceleration or
speed for joint
C191A4
TCP position limit violated
C191A5
TCP orientation limit violated
C191A6
Power limit violated
Reduce acceleration or
speed for joint
C191A7
Joint torque window violated
C191A8
Joint torque window too large
C191A9
Reduced mode output
violation
C191A10
Safeguard stop output
violation
C191A11
Emergency stop output
violation
C191A12
Momentum limit violation
C191A13
Robot moving output violation
C191A14
Robot is not braking in stop
mode
During the braking process,
the safety system monitors if
the robot brakes as expected.
If this is not the case, this error
is generated
Check payload settings and
mounting