Universal Robots UR5 Service Manual page 74

CODE_75A4 System error=malfunction or inconsistent
calibration detected
CODE_75A32 Signal lost =Misaligned readhead or
damaged ring
CODE_76 Joint encoder communication CRC error
CODE_100 Robot changed mode
CODE_101 Real Robot Connected
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
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Status warning,
general modus
change
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
74 Servicemanual_UR5_en_rev3.0.2
Check preceding errors
in log history
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