Universal Robots UR5 Service Manual page 75

CODE_191A9 Reduced mode output violation
CODE_191A10 Safeguard stop output violation
CODE_191A11 Emergency stop output violation
CODE_191A12 Momentum limit violation
CODE_191A13 Robot moving output violation
CODE_191A14 Robot is not braking in stop mode
CODE_191A15 Robot is moving in stop mode
CODE_191A16 Robot did not stop in time
CODE_191A17 Received a null vector for TCP orientation
CODE_191A18 Robot not stopping output violation
CODE_191A19 Invalid safety IO configuration
CODE_191A20 Configuration information or limit sets not
received
CODE_191A21 The other safety processor detected a
violation
CODE_191A22 Received unknown command from PC
CODE_191A23 Invalid setup of safety limits
CODE_191A24 Reduced Mode Output set, while it should
not be
CODE_191A25 Reduced Mode Output not set, while it
should be
CODE_191A26 Not Reduced Mode Output set, while it
should not be
CODE_191A27 Not Reduced Mode Output not set, while it
should be
CODE_191A28 Robot Emergency Stop exceeded maximum
stop time
CODE_191A29 System Emergency Stop exceeded maximum
stop time
CODE_191A30 Safeguard Stop exceeded maximum stop
time
CODE_192 Safety system fault
CODE_192A1 Robot still powered in emergency stop
CODE_192A2 Robot emergency stop disagreement
CODE_192A3 System emergency stop disagreement
CODE_192A4 Safeguard stop disagreement
CODE_192A5 Euromap safeguard stop disagreement
CODE_192A6 Joint position disagreement
CODE_192A7 Joint speed disagreement
CODE_192A8 Joint torque disagreement
CODE_192A9 TCP speed disagreement
CODE_192A10 TCP position disagreement
CODE_192A11 TCP orientation disagreement
CODE_192A12 Power disagreement
CODE_192A13 Joint torque window disagreement
CODE_192A14 Reduced mode input disagreement
CODE_192A15 Reduced mode output disagreement
CODE_192A16 Safety output failed
All rights reserved 75 Servicemanual_UR5_en_rev3.0.2