Universal Robots UR10 Service Manual page 81

C74A207 Joint encoder error
C75 Joint encoder error
C75A1 Invalid decode: Readhead
misalignment, ring damaged
or external magnetic field
present.
C75A2 Speed reading is not valid
C75A4 System error=malfunction or
inconsistent calibration
detected
C75A8 Supply voltage is out of range
C75A16 Temperature is out of range
C75A32 Signal lost =Misaligned
readhead or damaged ring
C75A64 Signal low =Too far from
magnetic ring
C75A128 Signal saturation =Too close to
magnetic ring
C75A207 Joint encoder error
C76 Joint encoder communication
CRC error
C77 Sudden position change
detected on the joint-encoder
C78 Large sudden position change
detected on the joint-encoder
C78A255 Large sudden position change
detected on the joint-encoder
C80A51 Window watchdog reset
C100 Robot changed mode
C101 Real Robot Connected
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Example: Argument 207 is the
sum of 128,64,8,4,2,1 which
means that all the errors in
connection to argument 1, 2,
4, 8, 64 and 128 have been
reported.
Magnetic encoder error
(Absolut encoder)
Error: The argument is the sum
of C75 errors
Error: The argument is the sum
of C75 errors
Error: The argument is the sum
of C75 errors
Error: The argument is the sum
of C75 errors
Error: The argument is the sum
of C75 errors
Error: The argument is the sum
of C75 errors
Error: The argument is the sum
of C75 errors
Error: The argument is the sum
of C75 errors
Example: Argument 207 is the
sum of 128,64,8,4,2,1 which
means that all the errors in
connection to argument 1, 2,
4, 8, 64 and 128 have been
reported.
Error between sensor and joint
circuit
The position reading from the
encoder was different than
expected
The position reading from the
encoder was severely different
than expected, the latest
measurement was discarded
The argument 255 is a number
that relates to the size of the
position change. In other
words this can be treated as a
C78 error.
Status warning, general modus
change
81
Example.
Replace joint
Replace joint
Replace joint
Check previous error
Check previous error
Replace joint
Replace joint
Replace joint
Example
Check connections or very
heavy electrical noise
Contact your local service
provider for assistance
Example.
Check preceding errors in
log history
Servicemanual_UR10_en_3.1.3