Universal Robots UR10 - Page 85

All rights reserved 85 Servicemanual_UR10_en_3.1.3
C191A15
Robot is moving in stop mode
When the robot is stopped
due to a safety violation or a
safeguard stop, the safety
system generates this error, if
the robot moves while in this
mode
Is the robot physically
pushed while safeguard
stopped?
C191A16
Robot did not stop in time
C191A17
Received a null vector for TCP
orientation
Fault in config file, when no
GUI is used
C191A18
Robot not stopping output
violation
C191A19
Invalid safety IO configuration
Fault in config file, when no
GUI is used
C191A20
Configuration information or
limit sets not received
C191A21
The other safety processor
detected a violation
C191A22
Received unknown command
from Controller
Check Firmware
C191A23
Invalid setup of safety limits
Check Firmware
C191A24
Reduced Mode Output set,
while it should not be
Check Firmware
C191A25
Reduced Mode Output not set,
while it should be
Check Firmware
C191A26
Not Reduced Mode Output
set, while it should not be
Check Firmware
C191A27
Not Reduced Mode Output not
set, while it should be
Check Firmware
C191A28
Robot Emergency Stop
exceeded maximum stop time
Too high payload
C191A29
System Emergency Stop
exceeded maximum stop time
Too high payload
C191A30
Safeguard Stop exceeded
maximum stop time
Too high payload
C191A31
Operation mode switch is
present while the three
position switch is missing
C192
Safety system fault
C192A1
Robot still powered in
emergency stop
When emergency stop is
active, the robot arm powers
off. The controller is
responsible for sending the
power off command. This
error is generated, if the safety
system detects that the robot
arm still has power.
C192A2
Robot emergency stop
disagreement
E-stop in teach pendant or in
Robot E-stop circuit problem
Check cables or replace
Safety Control Board (SCB)
C192A3
System emergency stop
disagreement
System E-stop circuit problem
Check cables or replace
Safety Control Board (SCB)