Universal Robots UR10 Service Manual page 84

C171A10 Blend radius too small error in
a MoveP
C171A11 Overlapping Blends in a
MoveL, a waypoint was
skipped
C171A12 Overlapping Blends in a
MoveL, a waypoint was
skipped
C171A13 Overlapping Blends in a
MoveL, a waypoint was
skipped
C171A14 Overlapping Blends in a
MoveL, a waypoint was
skipped
C172 Illegal control mode
C184 Joint self test not received by
controller
C185A1 START_NORMAL_OPERATION
is not allowed on selftest
firmware
C185A2 GOTO_BACKDRIVE_COMMAN
D is not allowed on selftest
firmware
C186A1 joint_mode ==
JOINT_RUNNING_MODE is not
allowed on selftest firmware
C191 Safety system violation
C191A1 Joint position limit violated
C191A2 Joint speed limit violated
C191A3 TCP speed limit violated
C191A4 TCP position limit violated
C191A5 TCP orientation limit violated
C191A6 Power limit violated
C191A7 Joint torque window violated
C191A8 Joint torque window too large
C191A9 Reduced mode output
violation
C191A10 Safeguard stop output
violation
C191A11 Emergency stop output
violation
C191A12 Momentum limit violation
C191A13 Robot moving output violation
C191A14 Robot is not braking in stop
mode
All rights reserved
During the braking process,
the safety system monitors if
the robot brakes as expected.
If this is not the case, this error
is generated
84
Decrease the blend radius
or choose waypoints that
are further apart.
Decrease the blend radius
or choose waypoints that
are further apart.
Decrease the blend radius
or choose waypoints that
are further apart.
Decrease the blend radius
or choose waypoints that
are further apart.
Reduce acceleration or
speed for joint
Reduce acceleration or
speed for joint
Reduce acceleration or
speed for joint
Check payload settings and
mounting
Servicemanual_UR10_en_3.1.3