Universal Robots ur3 - Page 80

All rights reserved 80 Servicemanual_UR3_en_rev3.1.2
CODE_192A9
TCP speed disagreement
Reduce payload, check for
encoder problems
CODE_192A10
TCP position disagreement
Reduce payload, check for
encoder problems
CODE_192A11
TCP orientation disagreement
Reduce payload, check for
encoder problems
CODE_192A12
Power disagreement
Power calculation: uP-A and
uP-B disagreement
Joint error: Check previous
error codes from the same
joint and evaluate
CODE_192A13
Joint torque window
disagreement
CODE_192A14
Reduced mode input
disagreement
Safety I/O uP-A and uP-B
disagreement
Check cables
CODE_192A15
Reduced mode output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
CODE_192A16
Safety output failed
CODE_192A17
Safeguard stop output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
CODE_192A18
The other safety processor is
in fault
CODE_192A19
Emergency stop output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
CODE_192A20
SPI output error detected
Safety Control Board
Check 24 V supply
CODE_192A21
Momentum disagreement
CODE_192A22
Robot moving output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
CODE_192A23
Wrong processor ID
CODE_192A24
Wrong processor revision
CODE_192A25
Potential brownout detected
Voltage drop on Safety Control
Board(SCB) or defect SCB
CODE_192A26
Emergency stop output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
CODE_192A27
Safeguard stop output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
CODE_192A28
Robot not stopping output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
CODE_192A29
Safeguard reset input
disagreement
Safety I/O uP-A and uP-B
disagreement
Check cables
CODE_192A30
Safety processor booted up in
fault mode
CODE_192A31
Reduced Mode Output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
CODE_192A32
Not Reduced Mode Output
disagreement
Safety I/O uP-A and uP-B
disagreement
Check Cables and Software
error on motherboard
CODE_192A33
Checksum disagreement
between uA and uB
CODE_192A34
User safety config checksum
disagreement between uA and
GUI
CODE_192A35
Robot config checksum
disagreement between uA and
GUI