Universal Robots E Series Service Manual page 105

C191A5 TCP orientation limit violated
C191A6 Power limit violated
C191A7 Joint torque window violated
C191A8 Joint torque window too large
C191A9 Reduced mode output violation
C191A10 Safeguard stop output violation
C191A11 Emergency stop output violation
C191A12 Momentum limit violation
C191A13 Robot moving output violation
C191A14 Robot is not braking in stop mode
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
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During the braking process, the safety system
monitors if the robot brakes as expected. If
this is not the case, this error is generated
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
105
Check TCP configuration, payload and mounting settings
a) Check if the robot is physically pushed while safeguard stopped.
b) Check TCP configuration, payload and mounting settings
a) Check Firmware/update firmware.
b) Do a Complete rebooting sequence
a) Check Firmware/update firmware.
b) Do a Complete rebooting sequence
a) Check Firmware/update firmware.
b) Do a Complete rebooting sequence
a) Check Firmware/update firmware.
b) Do a Complete rebooting sequence
a) Check Firmware/update firmware.
b) Do a Complete rebooting sequence
Service Manual e-Series (EN) 1.1.8