Universal Robots UR5 Service Manual page 114

Overlapping Blends in a MoveL, a
C171A12
waypoint was skipped
Overlapping Blends in a MoveL, a
C171A13
waypoint was skipped
Overlapping Blends in a MoveL, a
C171A14
waypoint was skipped
C172 Illegal control mode
Joint self test not received by
C184
controller
START_NORMAL_OPERATION is not
C185A1
allowed on selftest firmware
GOTO_BACKDRIVE_COMMAND is not
C185A2
allowed on selftest firmware
joint_mode ==
C186A1 JOINT_RUNNING_MODE is not
allowed on selftest firmware
C190 Joint failed during selftest
C190A0 Motor encoder index mark not found
C190A1 Phases not mounted correctly
Motor encoder counting the wrong
C190A2
way
Joint encoder counting the wrong
C190A3
way
No movement detected while trying
C190A4
to move the motor
Temperature alignment did not
C190A11 warm up to 45 degrees C within 30
minutes
Temperature alignment did not cool
C190A12 down to 45 degrees C within 60
minutes
C191 Safety system violation
C191A1 Joint position limit violated
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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.
114 Servicemanual_UR5_en_3.2.0