Universal Robots UR10 Service Manual page 90

C200A16 24V IO short circuited
C200A17 PC current is too high
C200A18 Robot voltage is too low
C200A19 Robot voltage is too high
C200A20 24V IO voltage is too low
C200A21 12V voltage is too high
C200A22 12V voltage is too low
C200A23 It took too long to stabilize
24V
C200A24 It took too long to stabilize
24V IO
C200A25 24V voltage is too high
C200A26 24V IO voltage is too high
C201 Setup of safety board failed
C202 SCE configuration was illegal,
after applying tolerances
C203A0 PolyScope detected a
mismatch between the shown
and (to be) applied safety
parameters
C204A0 Protective Stop: Invalid
setpoint
C204A1 Sudden change in target
position
C204A2 Inconsistency between target
position and speed
C204A3 Sudden stop
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Too high current
Motherboard takes too high
current
Safety Control Board
error(SCB)
Safety Control Board
error(SCB)
Safety Control Board
error(SCB)
Invalid safety parameters have
been received
The PolyScope continuously
verifies that the shown safety
parameters are equal to the
running parameters
The program contains motions
that are not ramped correctly
down
90
Disconnect external
connections
Check: Short circuit in robot
arm, 48 V power supply,
current distributer energy
eater or replace SCB
Check: 48 V power supply,
current distributer energy
eater or replace SCB
Disconnect I/O or replace
SCB
Check 12 V power supply,
cables or replace SCB
Check 12 V power supply,
cables or replace SCB
External 24 V problem or
replace SCB
External 24 V problem or
replace SCB
Replace Safety Control
Board (SCB)
Disconnect I/O or replace
SCB
Verify that the setup of the
Safety Configuration is
valid. Check the Ethernet
connection between
Motherboard and Safety
Control Board.
Check that the software
version is the same or
newer than the firmware
on the safety control board.
Reload the installation and
re boot the robot
To abort a motion, use
"stopj(a)" or "stopl(a)"
script commands to
generate a smooth
deceleration."
Servicemanual_UR10_en_3.1.3