Universal Robots UR10 - Page 86

All rights reserved 86 Servicemanual_UR10_en_3.1.3
C192A4
Safeguard stop disagreement
Safeguard circuit problem
Check cables or replace
Safety Control Board (SCB)
C192A5
Euromap safeguard stop
disagreement
Euromap circuit problem
Check cables from Safety
Control Board to Euromap
to external machine
C192A6
Joint position disagreement
Reduce payload, check for
encoder problems
C192A7
Joint speed disagreement
Reduce payload, check for
encoder problems
C192A8
Joint torque disagreement
Reduce payload, check for
encoder problems
C192A9
TCP speed disagreement
Reduce payload, check for
encoder problems
C192A10
TCP position disagreement
Reduce payload, check for
encoder problems
C192A11
TCP orientation disagreement
Reduce payload, check for
encoder problems
C192A12
Power disagreement
Power calculation: uP-A and
uP-B disagreement
Joint error: Check previous
error codes from the same
joint and evaluate
C192A13
Joint torque window
disagreement
C192A14
Reduced mode input
disagreement
Safety I/O uP-A and uP-B
disagreement
Check cables
C192A15
Reduced mode output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
C192A16
Safety output failed
C192A17
Safeguard stop output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
C192A18
The other safety processor is
in fault
C192A19
Emergency stop output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
C192A20
SPI output error detected
Safety Control Board
Check 24 V supply
C192A21
Momentum disagreement
C192A22
Robot moving output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
C192A23
Wrong processor ID
C192A24
Wrong processor revision
C192A25
Potential brownout detected
Voltage drop on Safety Control
Board(SCB) or defect SCB
C192A26
Emergency stop output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
C192A27
Safeguard stop output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
C192A28
Robot not stopping output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
C192A29
Safeguard reset input
disagreement
Safety I/O uP-A and uP-B
disagreement
Check cables
C192A30
Safety processor booted up in
fault mode