Universal Robots UR5 Service Manual page 118

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)
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
UR5
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
112
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
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
Service Manual