All rights reserved 79 Servicemanual_UR3_en_rev3.1.2
Robot not stopping output
violation
Invalid safety IO configuration
Fault in config file, when no
GUI is used
Configuration information or
limit sets not received
The other safety processor
detected a violation
Received unknown command
from Controller
Invalid setup of safety limits
Reduced Mode Output set,
while it should not be
Reduced Mode Output not set,
while it should be
Not Reduced Mode Output
set, while it should not be
Not Reduced Mode Output not
set, while it should be
Robot Emergency Stop
exceeded maximum stop time
System Emergency Stop
exceeded maximum stop time
Safeguard Stop exceeded
maximum stop time
Operation mode switch is
present while the three
position switch is missing
Robot still powered in
emergency stop
When emergency stop is
active, the robot arm powers
off. The controller is
responsible for sending the
power off command. This
error is generated, if the safety
system detects that the robot
arm still has power.
Robot emergency stop
disagreement
E-stop in teach pendant or in
Robot E-stop circuit problem
Check cables or replace
Safety Control Board (SCB)
System emergency stop
disagreement
System E-stop circuit problem
Check cables or replace
Safety Control Board (SCB)
Safeguard stop disagreement
Safeguard circuit problem
Check cables or replace
Safety Control Board (SCB)
Euromap safeguard stop
disagreement
Check cables from Safety
Control Board to Euromap
to external machine
Joint position disagreement
Reduce payload, check for
encoder problems
Reduce payload, check for
encoder problems
Joint torque disagreement
Reduce payload, check for
encoder problems
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