Universal Robots UR3 Service Manual page 133

7. Troubleshooting
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
Service Manual
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
127
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
UR3