Universal Robots UR5 Service Manual page 134

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C191A34
Joint speed limit
violated – Elbow
C191A35
Joint speed limit
violated – Wrist 1
C191A36
Joint speed limit
violated – Wrist 2
C191A37
Joint speed limit
violated – Wrist 3
C192A
Safety system fault
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
UR5
When the 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
128
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 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
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