Universal Robots UR5 Service Manual page 128

C71A12 Phase 3 or multiple
phases is
unconnected or not
working
C71A50 Current sensor test
failed
C71A51 Current sensor test
failed
C71A52 Current sensor test
failed
C72 Power Supply Unit
failure
C72A1 0 Power supplies are
active
C72A2 1 Power supply
active, but we expect
2 (UR10)
C72A3 2 Power supplys
active, but we expect
1 (UR5)
C73 Brake test failed
during selftest, check
brakepin
C74 Joint encoder warning Magnetic encoder error
C74A1 Invalid decode:
Readhead
misalignment, ring
damaged or external
magnetic field
present.
C74A2 Speed reading is not
valid
UR5
The wire is (1) damaged or
(2) has been disconnected
from the PCB (not likely) or
(3) defect PCB
Sensor reported wrong
current when probed
Sensor reported wrong
current when probed
Sensors reported different
currents when probed
48 V Power problem
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
(Absolut encoder)
122
7. Troubleshooting
a) Check joint for damaged
or loose connections
b) Replace the joint
a) Check joint for damaged
or loose connections
b) Replace the joint
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
Safety Control Board
Check power connection
between Power supply and
Safety Control Board and
check that the
flashcard/USB and robot
match
Check that the
flashcard/USB and robot
match
Check grounding and
shielding for EMC
problems
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