Universal Robots E Series Service Manual page 98

C71A51 Current sensor test failed
C71A52 Current sensor test failed
C71A101 Wrong firmware on RLS encoder
C72A Power Supply Unit failure
C72A1 0 PSUs are active
C72A2 1 PSU active, but we expect 2 (UR10)
C72A3 2 PSUs active, but we expect 1 (UR5)
C73A Brake test failed during selftest, check
brakepin
C74A Joint encoder warning
C74A1 Invalid decode: Readhead misalignment, ring
damaged or external magnetic field present.
C74A2 Speed reading is not valid
C74A4 System error=malfunction or inconsistent
calibration detected
C74A8 Supply voltage is out of range
C74A16 Temperature is out of range
C74A32 Signal lost =Misaligned readhead or damaged
ring
C74A64 Signal low =Too far from magnetic ring
C74A128 Signal saturation =Too close to magnetic ring
C75A Joint encoder error
C75A1 Invalid decode: Readhead misalignment, ring
damaged or external magnetic field present.
C75A2 Speed reading is not valid
C75A4 System error=malfunction or inconsistent
calibration detected
C75A8 Supply voltage is out of range
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Sensor reported wrong current when probed
Sensors reported different currents when
probed
Power Supply was not able to deliver 48V
Power Supply was not able to deliver 48V or
UR10 flash card in UR5 robot
UR5 flash card in UR10 robot
Magnetic encoder error (absolute encoder).
Argument = sum of C74 errors
Magnetic encoder error (absolute encoder).
Argument = sum of C75 errors
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a) Check joint for damaged or loose connections.
b) Replace the joint
a) Check joint for damaged or loose connections.
b) Replace the joint
Check power connection between power supply and Control Board
Check power connection between power supply and Control Board
and check that the flash card and robot match
Check that the flash card and robot match
Check grounding and shielding for EMC problems
a) Do a Complete rebooting sequence.
b) Check grounding and shielding for EMC problems.
c) If this happens more than two times in a row, replace joint
a) Do a Complete rebooting sequence.
b) If this happens more than two times in a row, replace joint
a) Do a Complete rebooting sequence.
b) If this happens more than two times in a row, replace joint
Service Manual e-Series (EN) 1.1.8