Universal Robots UR5 Service Manual page 112

Package lost from Safety Control
C103A2
Board
Ethernet connection initialization
C103A3
with Safety Control Board failed
C104 Error=Empty command sent to robot
C111 Something is pulling the robot
Unknown robot type
C115
Realtime part warning
C116
Restart Safety Control Board failed
C117
Protective Stop: Position close to
C150
joint limits
Protective Stop: Tool orientation
C151
close to limits
Protective Stop: Position close to
C152
safety plane limits
Protective Stop: Position deviates
C153
from path
Protective Stop: Position in
C154
singularity
Protective Stop: Robot cannot
C155 maintain its position, check if payload
is correct
Protective Stop: Wrong payload or
mounting detected, or something is
C156
pushing the robot when entering
Freedrive mode
Protective Stop: Collision detected by
C157
joint
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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 near a
singularity
The robot may move unexpected due to
wrong settings
112
Check TCP configuration, payload and mounting settings
Restructure user program
Do a Complete rebooting sequence as per section 5.3.7
Check TCP configuration, payload and mounting settings
Use MoveJ or change the motion
Verify that the TCP configuration and mounting in the used
installation is correct
Make sure no objects are in the path of the robot and resume
the program
Servicemanual_UR5_en_3.2.0