Universal Robots UR5 Service Manual page 139

7. Troubleshooting
C192A10 TCP position
disagreement
C192A11 TCP orientation
disagreement
C192A12 Power disagreement
C192A13 Joint torque window
disagreement
C192A14 Reduced mode input
disagreement
C192A15 Reduced mode output
disagreement
C192A16 Safety output failed
C192A17 Safeguard stop output
disagreement
C192A18 The other safety
processor is in fault
C192A19 Emergency stop
output disagreement
C192A20 SPI output error
detected
C192A21 Momentum
disagreement
User Manual
Power calculation: uP-A and
uP-B disagreement
Safety I/O uP-A and uP-B
disagreement
Safety I/O uP-A and uP-B
disagreement
The safety output did not
reach the correct value in the
expected time
Safety I/O uP-A and uP-B
disagreement
Safety I/O uP-A and uP-B
disagreement
Power supply for the I/O is
not detected
133
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.
Joint error: Check previous
error codes from the same
joint and evaluate
Check safety devices and
cables/connections to
these devices.
Check safety devices and
cables/connections to
these devices.
Check for short circuit on
I/O or for wrong connection
to output.
Check safety devices and
cables/connections to
these devices.
Check safety devices and
cables/connections to
these devices.
Check if the connection to
the internal Power supply
is correct. If an external
power supply is being used,
check if it is powered on
and correct voltage.
UR5