Universal Robots ur3 - Page 74

All rights reserved 74 Servicemanual_UR3_en_rev3.1.2
CODE_71A52
Current sensor test failed
Sensors reported different
currents when probed
Replace the joint. Defect
Printed circuit board
CODE_72
Power Supply Unit failure
48 V Power problem
CODE_72A1
0 PSUs are active
PSU was not able to deliver
48V (In UR10: No 48V)
Check power connection
between power supply and
Safety Control Board
CODE_72A2
1 PSU active, but we expect 2
(UR10)
PSU was not able to deliver
48V or UR10 flash card in UR5
robot
Check power connection
between power supply and
Safety Control Board and
check that the flash card
and robot match
CODE_72A3
2 PSUs active, but we expect 1
(UR5)
UR5 flash card in UR10 robot
Check that the flash card
and robot match
CODE_73
Brake test failed during
selftest, check brakepin
CODE_74
Joint encoder warning
Magnetic encoder error
(Absolut encoder)
CODE_74A1
Invalid decode: Readhead
misalignment, ring damaged
or external magnetic field
present.
Warning: The argument is the
sum of C74 errors
CODE_74A2
Speed reading is not valid
Warning: The argument is the
sum of C74 errors
CODE_74A4
System error=malfunction or
inconsistent calibration
detected
Warning: The argument is the
sum of C74 errors
CODE_74A8
Supply voltage is out of range
Warning: The argument is the
sum of C74 errors
CODE_74A16
Temperature is out of range
Warning: The argument is the
sum of C74 errors
CODE_74A64
Signal low =Too far from
magnetic ring
Warning: The argument is the
sum of C74 errors
CODE_74A128
Signal saturation =Too close to
magnetic ring
Warning: The argument is the
sum of C74 errors
CODE_74A207
Joint encoder error
Example: Argument 207 is the
sum of 128,64,8,4,2,1 which
means that all the errors in
connection to argument 1, 2,
4, 8, 64 and 128 have been
reported.
Example.
CODE_75
Joint encoder error
Magnetic encoder error
(Absolut encoder)
CODE_75A1
Invalid decode: Readhead
misalignment, ring damaged
or external magnetic field
present.
Error: The argument is the sum
of C75 errors
Replace joint
CODE_75A2
Speed reading is not valid
Error: The argument is the sum
of C75 errors
Replace joint
CODE_75A4
System error=malfunction or
inconsistent calibration
detected
Error: The argument is the sum
of C75 errors
Replace joint