Universal Robots UR5 Service Manual page 130

C75A16 Temperature is out of
range
C75A32 Signal lost
=Misaligned readhead
or damaged ring
C75A64 Signal low =Too far
from magnetic ring
C75A128 Signal saturation
=Too close to
magnetic ring
C75A207 Joint encoder error
C76 Joint encoder
communication CRC
error
C77 Sudden position
change detected on
the joint-encoder
C78 Large sudden position
change detected on
the joint-encoder
C78A255 Large sudden position
change detected on
the joint-encoder
C80A51 Window watchdog
reset
C100 Robot changed mode
C101 Real Robot Connected
UR5
Example: Argument 207 is the sum of 128,64,8,4,2,1 which
means that all the errors in connection to argument 1, 2, 4,
8, 64 and 128 have been reported.
Error between sensor and
joint circuit
The position reading from
the encoder was different
than expected.
The position reading from
the encoder was severely
different than expected, the
latest measurement was
discarded
Example: The argument 255 is a number that relates to the
size of the position change. In other words, this can be
treated as a C78 error.
Status warning, general
modus change
124
7. Troubleshooting
Check previous error
a) Do a Complete rebooting
sequence as per section
5.3.7
b) If this happens more
than two times in a row,
replace joint
a) Do a Complete rebooting
sequence as per section
5.3.7
b) If this happens more
than two times in a row,
replace joint
a) Do a Complete rebooting
sequence as per section
5.3.7
b) If this happens more
than two times in a row,
replace joint
Check connections or very
heavy electrical noise
Check preceding errors in
log history
User Manual