Universal Robots ur3 - Page 73

All rights reserved 73 Servicemanual_UR3_en_rev3.1.2
CODE_57
Brake release failure
Check Brake, solonoide,
Payload, TCP and Mount
CODE_57A1
Joint did not move or motor
encoder is not functioning
Check Brake, solonoide,
Payload, TCP and Mount
CODE_57A2
Large movement detected
during brake release
Check Brake, solonoide,
Payload, TCP and Mount
CODE_57A3
Robot was not able to brake
release, see log for details
Check Brake, solonoide,
Payload, TCP and Mount
CODE_58
Motor encoder not calibrated
Callibrate joint
CODE_59
Overcurrent shutdown
Overcurrent in joint. Argument
= Current in Amps.
Check for short circuit.
Check program for
singularity issues. Replace
joint if necessary
CODE_62
Joint temperature
CODE_62A1
High (80 C)
Warning
CODE_62A3
Static load too high warning
Warning
CODE_62A11
Shut down (85 C)
Stop
CODE_62A13
Static load too high
Stop
Check Payload
CODE_63
Selftest failed
CODE_68
SPI error
Joint: Absolut encoder on joint
communication error
Replace joint
CODE_70
Close to gearbox shear limit
Acceleration / deceleration to
high. Mechanical problem in
gear related to encoder
mounting
Reduce acceleration in user
program. Replace joint if
necessary
CODE_71
Startup check error
Fault: Firmware in joint
CODE_71A1
Hardware is size1, software is
not
Fault: Firmware in joint
CODE_71A2
Hardware is size2, software is
not
Fault: Firmware in joint
CODE_71A3
Hardware is size3, software is
not
Fault: Firmware in joint
CODE_71A4
Hardware is size4, software is
not
Fault: Firmware in joint
CODE_71A5
Invalid hardware size read
CODE_71A6
Motor indication signal not
working
CODE_71A7
Phase 1 and phase 2 not
working
The motor wires are damaged,
bad connection in screw
terminals or defect PCB
Replace joint (Replace PCB)
CODE_71A8
Phase 2 not working
The motor wires are damaged,
bad connection in screw
terminals or defect PCB
Replace joint (Replace PCB)
CODE_71A9
Phase 1 not working
The motor wires are damaged,
bad connection in screw
terminals or defect PCB
Replace joint (Replace PCB)
CODE_71A10
Invalid motor test result
CODE_71A11
ADC calibration failed
Only in joint
CODE_71A50
Current sensor test failed
Sensor reported wrong current
when probed
Replace the joint. Defect
Printed circuit board
CODE_71A51
Current sensor test failed
Sensor reported wrong current
when probed
Replace the joint. Defect
Printed circuit board