Universal Robots UR10 Service Manual page 82

C102 Real Robot not connected –
Simulating Robot
C103 UR Ethernet Error
C103A1 Connection to Safety Control
Board lost
C103A2 Package lost from Safety
Control Board
C104 Error=Empty command sent to
robot
C111 Something is pulling the robot
C115 Unknown robot type
C116 Realtime part warning
C117 Restart SCB failed
C150 Protective Stop: Position close
to joint limits
C151 Protective Stop: Tool
orientation close to limits
C152 Protective Stop: Position close
to safety plane limits
C153 Protective Stop: Position
deviates from path
C154 Protective Stop: Position in
singularity
C155 Protective Stop: Robot cannot
maintain its position, check if
payload is correct
C156 Protective Stop: Wrong
payload or mounting detected,
or something is pushing the
robot when entering Freedrive
mode
C160 Protective stop: The robot was
powered off last time due to a
joint position disagreement
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Comm. Prob. Between Mother
Board and Safety Control
Board
PC did not receive 3 packets in
a row
The robot type specified in the
configuration is unknown
Possible CPU-overload due to
structure of user program
The Safety Control Board
couldn't be rebooted from the
controller.
Robot cannot move linear in a
singularity
The robot may move
unexpected due to wrong
settings
1. Verify that the robot
position in the 3D graphics
matches the real robot, to
ensure that the encoders
function before releasing the
brakes. Stand back and
monitor the robot performing
its first program cycle as
expected.
2. If the position is not correct,
the robot must be repaired. In
82
Check cable
Check that the Ethernet
cable between PC board
and Safety Control Board is
connected and restart
system
Check Payload setting
Restructure user program
Reboot the robot
Use jointspace movement
or change the motion
Verify that the TCP
configuration and mounting
in the used installation is
correct
Servicemanual_UR10_en_3.1.3