Universal Robots UR10 Service Manual page 80

C71A8 Phase 2 not working
C71A9 Phase 1 not working
C71A10 Invalid motor test result
C71A11 ADC calibration failed
C71A12 Phase 3 not working in joint
failed
C71A50 Current sensor test failed
C71A51 Current sensor test failed
C71A52 Current sensor test failed
C72 Power Supply Unit failure
C72A1 0 PSUs are active
C72A2 1 PSU active, but we expect 2
(UR10)
C72A3 2 PSUs active, but we expect 1
(UR5)
C73 Brake test failed during
selftest, check brakepin
C74 Joint encoder warning
C74A1 Invalid decode: Readhead
misalignment, ring damaged
or external magnetic field
present.
C74A2 Speed reading is not valid
C74A4 System error=malfunction or
inconsistent calibration
detected
C74A8 Supply voltage is out of range
C74A16 Temperature is out of range
C74A64 Signal low =Too far from
magnetic ring
C74A128 Signal saturation =Too close to
magnetic ring
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The motor wires are damaged,
bad connection in screw
terminals or defect PCB
The motor wires are damaged,
bad connection in screw
terminals or defect PCB
Only in joint
The wire is (1) damaged or (2)
has been disconnected from
the PCB (not likely) or (3)
defect PCB
Sensor reported wrong current
when probed
Sensor reported wrong current
when probed
Sensors reported different
currents when probed
48 V Power problem
PSU was not able to deliver
48V (In UR10: No 48V)
PSU was not able to deliver
48V or UR10 flash card in UR5
robot
UR5 flash card in UR10 robot
Magnetic encoder error
(Absolut encoder)
Warning: The argument is the
sum of C74 errors
Warning: The argument is the
sum of C74 errors
Warning: The argument is the
sum of C74 errors
Warning: The argument is the
sum of C74 errors
Warning: The argument is the
sum of C74 errors
Warning: The argument is the
sum of C74 errors
Warning: The argument is the
sum of C74 errors
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Replace joint (Replace PCB)
Replace joint (Replace PCB)
Replace the joint
Replace the joint. Defect
Printed circuit board
Replace the joint. Defect
Printed circuit board
Replace the joint. Defect
Printed circuit board
Check power connection
between power supply and
Safety Control Board
Check power connection
between power supply and
Safety Control Board and
check that the flash card
and robot match
Check that the flash card
and robot match
Servicemanual_UR10_en_3.1.3