Universal Robots UR10 Service Manual page 85

C191A15 Robot is moving in stop mode
C191A16 Robot did not stop in time
C191A17 Received a null vector for TCP
orientation
C191A18 Robot not stopping output
violation
C191A19 Invalid safety IO configuration
C191A20 Configuration information or
limit sets not received
C191A21 The other safety processor
detected a violation
C191A22 Received unknown command
from Controller
C191A23 Invalid setup of safety limits
C191A24 Reduced Mode Output set,
while it should not be
C191A25 Reduced Mode Output not set,
while it should be
C191A26 Not Reduced Mode Output
set, while it should not be
C191A27 Not Reduced Mode Output not
set, while it should be
C191A28 Robot Emergency Stop
exceeded maximum stop time
C191A29 System Emergency Stop
exceeded maximum stop time
C191A30 Safeguard Stop exceeded
maximum stop time
C191A31 Operation mode switch is
present while the three
position switch is missing
C192 Safety system fault
C192A1 Robot still powered in
emergency stop
C192A2 Robot emergency stop
disagreement
C192A3 System emergency stop
disagreement
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When the robot is stopped
due to a safety violation or a
safeguard stop, the safety
system generates this error, if
the robot moves while in this
mode
Fault in config file, when no
GUI is used
Fault in config file, when no
GUI is used
Too high payload
Too high payload
Too high payload
When emergency stop is
active, the robot arm powers
off. The controller is
responsible for sending the
power off command. This
error is generated, if the safety
system detects that the robot
arm still has power.
E-stop in teach pendant or in
Robot E-stop circuit problem
System E-stop circuit problem
85
Is the robot physically
pushed while safeguard
stopped?
Check Firmware
Check Firmware
Check Firmware
Check Firmware
Check Firmware
Check Firmware
Check cables or replace
Safety Control Board (SCB)
Check cables or replace
Safety Control Board (SCB)
Servicemanual_UR10_en_3.1.3