Universal Robots UR10 Service Manual page 86

C192A4 Safeguard stop disagreement
C192A5 Euromap safeguard stop
disagreement
C192A6 Joint position disagreement
C192A7 Joint speed disagreement
C192A8 Joint torque disagreement
C192A9 TCP speed disagreement
C192A10 TCP position disagreement
C192A11 TCP orientation disagreement
C192A12 Power disagreement
C192A13 Joint torque window
disagreement
C192A14 Reduced mode input
disagreement
C192A15 Reduced mode output
disagreement
C192A16 Safety output failed
C192A17 Safeguard stop output
disagreement
C192A18 The other safety processor is
in fault
C192A19 Emergency stop output
disagreement
C192A20 SPI output error detected
C192A21 Momentum disagreement
C192A22 Robot moving output
disagreement
C192A23 Wrong processor ID
C192A24 Wrong processor revision
C192A25 Potential brownout detected
C192A26 Emergency stop output
disagreement
C192A27 Safeguard stop output
disagreement
C192A28 Robot not stopping output
disagreement
C192A29 Safeguard reset input
disagreement
C192A30 Safety processor booted up in
fault mode
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Safeguard circuit problem
Euromap circuit problem
Power calculation: uP-A and
uP-B disagreement
Safety I/O uP-A and uP-B
disagreement
Safety I/O uP-A and uP-B
disagreement
Safety I/O uP-A and uP-B
disagreement
Safety I/O uP-A and uP-B
disagreement
Safety Control Board
Safety I/O uP-A and uP-B
disagreement
Voltage drop on Safety Control
Board(SCB) or defect SCB
Safety I/O uP-A and uP-B
disagreement
Safety I/O uP-A and uP-B
disagreement
Safety I/O uP-A and uP-B
disagreement
Safety I/O uP-A and uP-B
disagreement
86
Check cables or replace
Safety Control Board (SCB)
Check cables from Safety
Control Board to Euromap
to external machine
Reduce payload, check for
encoder problems
Reduce payload, check for
encoder problems
Reduce payload, check for
encoder problems
Reduce payload, check for
encoder problems
Reduce payload, check for
encoder problems
Reduce payload, check for
encoder problems
Joint error: Check previous
error codes from the same
joint and evaluate
Check cables
Check Cables and Software
error on motherboard
Check Cables and Software
error on motherboard
Check Cables and Software
error on motherboard
Check 24 V supply
Check Cables and Software
error on motherboard
Check Cables and Software
error on motherboard
Check Cables and Software
error on motherboard
Check Cables and Software
error on motherboard
Check cables
Servicemanual_UR10_en_3.1.3