Universal Robots UR5 Service Manual page 136

C192A20 SPI output error
detected
C192A21 Momentum
disagreement
C192A22 Robot moving output
disagreement
C192A23 Wrong processor ID
C192A24 Wrong processor
revision
C192A25 Potential brownout
detected
C192A26 Emergency stop
output disagreement
C192A27 Safeguard stop
output disagreement
C192A28 Robot not stopping
output disagreement
C192A29 Safeguard reset
input disagreement
C192A30 Safety processor
booted up in fault
mode
C192A31 Reduced Mode
Output disagreement
C192A32 Not Reduced Mode
Output disagreement
C192A33 A timing issue
occurred during
startup. Please
restart to proceed
UR5
Power supply for the I/O is
not detected
Voltage drop on Control
Board or defect Safety
Control Board
Checksum disagreement
between safety processors
uA and uB
130
7. Troubleshooting
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 at the
correct voltage.
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 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 safety devices and
cables/connections to these
devices
Service Manual