Universal Robots UR10 Service Manual page 68

CODE_102 Real Robot not connected -
Simulating Robot
CODE_103 UR Ethernet Error
CODE_103A1 3 packages in a row lost from
Safety Control Board
CODE_104 Error=Empty command sent to
robot
CODE_111 Something is pulling the robot
CODE_116 Realtime part warning
CODE_117 Restart SCB failed
CODE_150 Protective Stop: Position close
to joint limits
CODE_151 Protective Stop: Tool
orientation close to limits
CODE_152 Protective Stop: Position close
to safety plane limits
CODE_153 Protective Stop: Position
deviates from path
CODE_154 Protective Stop: Position in
singularity
CODE_155 Protective Stop: Robot cannot
maintain its position, check if
payload is correct
CODE_156 Protective Stop: Wrong
payload or mounting
detected, or something is
pushing the robot when
entering Teach mode
CODE_172 Illegal control mode
CODE_184 Joint self test not completed
CODE_191 Safety system violation
CODE_191A1 Joint position limit violated
CODE_191A2 Joint speed limit violated
CODE_191A3 TCP speed limit violated
CODE_191A4 TCP position limit violated
CODE_191A5 TCP orientation limit violated
CODE_191A6 Power limit violated
CODE_191A7 Joint torque window violated
CODE_191A8 Joint torque window too large
CODE_191A9 Reduced mode output
violation
CODE_191A10 Safeguard stop output
violation
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Comm. Prob. between Mother
Board and Safety Control Board
Possible CPU-overload due to
structure of user program
The Safety Control Board
couldn't be rebooted from the
controller.
Robot can not move linear in a
singularity
The robot may move
unexpected due to wrong
settings
Software problem
Software problem
Software problem
Software problem
68
Check cable
Check Payload setting
Restructure user program
Reboot the robot
Use jointspace movement
or change the motion
Verify that the TCP
configuration and
mounting in the used
installation is correct
Reduce acceleration or
speed for joint
Reduce acceleration or
speed for joint
Reduce acceleration or
speed for joint
Servicemanual_UR10_en_3.1.1