Universal Robots ur3 - Page 76

All rights reserved 76 Servicemanual_UR3_en_rev3.1.2
CODE_104
Error=Empty command sent to
robot
CODE_111
Something is pulling the robot
Check Payload setting
CODE_115
Unknown robot type
The robot type specified in the
configuration is unknown
CODE_116
Realtime part warning
Possible CPU-overload due to
structure of user program
Restructure user program
CODE_117
Restart SCB failed
The Safety Control Board
couldn't be rebooted from the
controller.
Reboot the robot
CODE_150
Protective Stop: Position close
to joint limits
CODE_151
Protective Stop: Tool
orientation close to limits
CODE_152
Protective Stop: Position close
to safety plane limits
CODE_153
Protective Stop: Position
deviates from path
CODE_154
Protective Stop: Position in
singularity
Robot cannot move linear in a
singularity
Use jointspace movement
or change the motion
CODE_155
Protective Stop: Robot cannot
maintain its position, check if
payload is correct
CODE_156
Protective Stop: Wrong
payload or mounting detected,
or something is pushing the
robot when entering Freedrive
mode
The robot may move
unexpected due to wrong
settings
Verify that the TCP
configuration and mounting
in the used installation is
correct
CODE_160
Protective stop: The robot was
powered off last time due to a
joint position disagreement
1. Verify that the robot
position in the 3D graphics
matches the real robot, to
ensure that the encoders
function before releasing the
brakes. Stand back and
monitor the robot performing
its first program cycle as
expected.
2. If the position is not correct,
the robot must be repaired. In
this case, click “Power Off
Robot”.
3. If the position is correct,
please tick the check box
below the 3D graphics and
click “Robot Position Verified”