Universal Robots UR5 Service Manual page 192

C306A1 Not stopping fast
enough
C306A2 Joint
C306A3 Joint
C306A4 Joint
C306A5 Joint
C306A6 Joint
C306A7 Joint
C306A8 Joint
C306A9 Joint moved more
than allowable limit
C306A10 Joint
C306A11 Joint
C306A12 Joint
C306A13 Joint
C307A Data B
C308A Data A
C309 Keep-Alive System
UR5
Joint was unable to come to
a full stop fast enough.
Velocity failed to pass
sanity check
Acceleration failed to pass
sanity check
Joint does not have a stored
id
Joint ID could not be stored
control-package sequence number mismatched with
expected sequence number
Several instances of mismatched control-package
sequence numbers within last second
Sanity check of control-package sequence numbers
recovered after detecting bad sequence numbers
Potential mechanical failure
of the joints brakes
Current detected in motor
exceeded limits, check
current
Check PWM duty cycle for
motor phase A
Check PWM duty cycle for
motor phase B
Check PWM duty cycle for
motor phase C
186
7. Troubleshooting
a) Either an incorrect payload
is mounted, or an external
force is pushing the robot
b) Do a Complete rebooting
sequence
c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
b) Do a Complete rebooting
sequence
c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
Service Manual