Universal Robots ur3 - Page 78

All rights reserved 78 Servicemanual_UR3_en_rev3.1.2
CODE_171A13
Overlapping Blends in a
MoveL, a waypoint was
skipped
Decrease the blend radius
or choose waypoints that
are further apart.
CODE_171A14
Overlapping Blends in a
MoveL, a waypoint was
skipped
Decrease the blend radius
or choose waypoints that
are further apart.
CODE_172
Illegal control mode
CODE_184
Joint self test not received by
controller
CODE_185A1
START_NORMAL_OPERATION
is not allowed on selftest
firmware
CODE_185A2
GOTO_BACKDRIVE_COMMAN
D is not allowed on selftest
firmware
CODE_186A1
joint_mode ==
JOINT_RUNNING_MODE is not
allowed on selftest firmware
CODE_191
Safety system violation
CODE_191A1
Joint position limit violated
CODE_191A2
Joint speed limit violated
Reduce acceleration or
speed for joint
CODE_191A3
TCP speed limit violated
Reduce acceleration or
speed for joint
CODE_191A4
TCP position limit violated
CODE_191A5
TCP orientation limit violated
CODE_191A6
Power limit violated
Reduce acceleration or
speed for joint
CODE_191A7
Joint torque window violated
CODE_191A8
Joint torque window too large
CODE_191A9
Reduced mode output
violation
CODE_191A10
Safeguard stop output
violation
CODE_191A11
Emergency stop output
violation
CODE_191A12
Momentum limit violation
CODE_191A13
Robot moving output violation
CODE_191A14
Robot is not braking in stop
mode
During the braking process,
the safety system monitors if
the robots brakes as expected.
If this is not the case, this error
is generated
Check payload settings and
mounting
CODE_191A15
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?
CODE_191A16
Robot did not stop in time
CODE_191A17
Received a null vector for TCP
orientation
Fault in config file, when no
GUI is used