Universal Robots UR10 Service Manual page 66

readings differ
CODE_55A120 Robot current is too high while
emergency stopped
CODE_55A121 Robot current is too high while
safeguard stopped
CODE_56 Overvoltage shutdown
CODE_57 Brake release failure
CODE_57A1 Joint did not move or motor
encoder is not functioning
CODE_57A2 Large movement detected
during brake release
CODE_57A3 Robot was not able to brake
release, see log for details
CODE_58 Motor encoder not calibrated
CODE_59 Overcurrent shutdown
CODE_62 Joint temperature
CODE_62A1 High (80 C)
CODE_62A3 Static load too high warning
CODE_62A11 Shut down (85 C)
CODE_62A13 Static load too high
CODE_63 Selftest failed
CODE_68 SPI error
CODE_70 Close to gearbox shear limit
CODE_71 Startup check error
CODE_71A1 Hardware is size1, software is
not
CODE_71A2 Hardware is size2, software is
not
CODE_71A3 Hardware is size3, software is
not
CODE_71A4 Hardware is size4, software is
not
CODE_71A5 Invalid hardware size read
CODE_71A6 Motor indication signal not
working
CODE_71A7 Phase 1 and phase 2 not
working
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Voltage exceeded 55V
Overcurrent in joint. Argument
= Current in Amps.
Warning
Warning
Stop
Stop
Joint: Absolut encoder on joint
communication error
Acceleration / deceleration to
high. Mechanical problem in
gear related to encoder
mounting
Fault: Firmware in joint
Fault: Firmware in joint
Fault: Firmware in joint
Fault: Firmware in joint
Fault: Firmware in joint
The motor wires are damaged
or bad connection in
screwterminals
66
Check Energy Eater. Cable
to Energy eater, Replace
Energy Eater
Check Brake, solonoide,
Payload, TCP and Mount
Check Brake, solonoide,
Payload, TCP and Mount
Check Brake, solonoide,
Payload, TCP and Mount
Check Brake, solonoide,
Payload, TCP and Mount
Callibrate joint
Check for short circuit.
Check program for
singularity issues. Replace
joint if necessary
Check Payload
Replace joint
Reduce acceleration in user
program. Replace joint if
necessary
Servicemanual_UR10_en_3.1.1