Universal Robots UR10 Service Manual page 79

C55A112 Robot current sensors
readings differ
C55A120 Robot current is too high while
emergency stopped
C55A121 Robot current is too high while
safeguard stopped
C56 Overvoltage shutdown
C57 Brake release failure
C57A1 Joint did not move or motor
encoder is not functioning
C57A2 Large movement detected
during brake release
C57A3 Robot was not able to brake
release, see log for details
C58 Motor encoder not calibrated
C59 Overcurrent shutdown
C62 Joint temperature
C62A1 High (80 C)
C62A3 Static load too high warning
C62A11 Shut down (85 C)
C62A13 Static load too high
C63 Selftest failed
C68 SPI error
C70 Close to gearbox shear limit
C71 Startup check error
C71A1 Hardware is size1, software is
not
C71A2 Hardware is size2, software is
not
C71A3 Hardware is size3, software is
not
C71A4 Hardware is size4, software is
not
C71A5 Invalid hardware size read
C71A6 Motor indication signal not
working
C71A7 Phase 1 and phase 2 not
working
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Voltage exceeded 55V
Overcurrent in joint. Argument
= Current in Amps.
Warning
Warning
Stop
Stop
Joint: Absolut encoder on joint
communication error
Acceleration / deceleration to
high. Mechanical problem in
gear related to encoder
mounting
Fault: Firmware in joint
Fault: Firmware in joint
Fault: Firmware in joint
Fault: Firmware in joint
Fault: Firmware in joint
The motor wires are damaged,
bad connection in screw
terminals or defect PCB
79
Check Energy Eater. Cable
to Energy eater, Replace
Energy Eater
Check Brake, solenoid,
Payload, TCP and Mount
Check Brake, solenoid,
Payload, TCP and Mount
Check Brake, solenoid,
Payload, TCP and Mount
Check Brake, solenoid,
Payload, TCP and Mount
Calibrate joint
Check for short circuit.
Check program for
singularity issues. Replace
joint if necessary
Check Payload
Replace joint
Reduce acceleration in user
program. Replace joint if
necessary
Replace joint (Replace PCB)
Servicemanual_UR10_en_3.1.3