Universal Robots UR5 Service Manual page 138

C192A1 Robot still powered in
emergency stop
C192A2 Robot emergency
stop disagreement
C192A3 System emergency
stop disagreement
C192A4 Safeguard stop
disagreement
C192A5 Euromap safeguard
stop disagreement
C192A6 Joint position
disagreement
C192A7 Joint speed
disagreement
C192A8 Joint torque
disagreement
C192A9 TCP speed
disagreement
UR5
When emergency stop is
active, the robot arm powers
off. The controller is
responsible for sending the
power off command. This
error is generated, if the
safety system detects that
the robot arm still has
power.
E-stop in teach pendant or in
Robot E-stop circuit problem
System E-stop circuit
problem
Safeguard circuit problem
Euromap circuit problem
132
7. Troubleshooting
Check safety devices and
cables/connections to
these devices.
Check safety devices and
cables/connections to
these devices.
Check safety devices and
cables/connections to
these devices.
Check cables from Safety
Control Board to Euromap
and to external machine
a) Check TCP
configuration, payload and
mounting settings
b) Check that safety
settings respected.
a) Check TCP
configuration, payload and
mounting settings
b) Check that safety
settings respected.
a) Check TCP
configuration, payload and
mounting settings
b) Check that safety
settings respected.
a) Check TCP
configuration, payload and
mounting settings
b) Check that safety
settings respected.
User Manual