Universal Robots UR5 Service Manual page 135

7. Troubleshooting
C192A8 Joint torque
disagreement
C192A9 TCP speed
disagreement
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
Service 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
129
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
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
UR5