Universal Robots 2014350001, Service Manual, Page: 135 / 238

C192A8 Joint torque
disagreement a) Check TCP configuration,
payload and mounting
settings.
b) Check that safety settings
respected
C192A9 TCP speed
disagreement a) Check TCP configuration,
payload and mounting
settings.
b) Check that safety settings
respected
C192A10 TCP position
disagreement a) Check TCP configuration,
payload and mounting
settings.
b) Check that safety settings
respected
C192A11 TCP orientation
disagreement a) Check TCP configuration,
payload and mounting
settings.
b) Check that safety settings
respected
C192A12 Power disagreement Power calculation: uP-A and
uP-B disagreement
C192A13 Joint torque window
disagreement
C192A14 Reduced mode input
disagreement Safety I/O uP-A and uP-B
disagreement Check safety devices and
cables/connections to these
devices
C192A15 Reduced mode
output disagreement Safety I/O uP-A and uP-B
disagreement Check safety devices and
cables/connections to these
devices
C192A16 Safety output failed The safety output did not
reach the correct value in
the expected time Check for short circuit on I/O
or for wrong connection to
output.
C192A17 Safeguard stop
output disagreement Safety I/O uP-A and uP-B
disagreement Check safety devices and
cables/connections to these
devices
C192A18 The other safety
processor is in fault
C192A19 Emergency stop
output disagreement Safety I/O uP-A and uP-B
disagreement Check safety devices and
cables/connections to these
devices
Service Manual 129 UR5
7. Troubleshooting
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