Universal Robots ur3, Original Instructions Manual

Page: 74 / 116

All rights reserved 74 Servicemanual_UR3_en_rev3.1.2
CODE_71A52 Current sensor test failed Sensors reported different
currents when probed Replace the joint. Defect
Printed circuit board
CODE_72 Power Supply Unit failure 48 V Power problem
CODE_72A1 0 PSUs are active PSU was not able to deliver
48V (In UR10: No 48V) Check power connection
between power supply and
Safety Control Board
CODE_72A2 1 PSU active, but we expect 2
(UR10) PSU was not able to deliver
48V or UR10 flash card in UR5
robot Check power connection
between power supply and
Safety Control Board and
check that the flash card
and robot match
CODE_72A3 2 PSUs active, but we expect 1
(UR5) UR5 flash card in UR10 robot Check that the flash card
and robot match
CODE_73 Brake test failed during
selftest, check brakepin
CODE_74 Joint encoder warning Magnetic encoder error
(Absolut encoder)
CODE_74A1 Invalid decode: Readhead
misalignment, ring damaged
or external magnetic field
present. Warning: The argument is the
sum of C74 errors
CODE_74A2 Speed reading is not valid Warning: The argument is the
sum of C74 errors
CODE_74A4 System error=malfunction or
inconsistent calibration
detected Warning: The argument is the
sum of C74 errors
CODE_74A8 Supply voltage is out of range Warning: The argument is the
sum of C74 errors
CODE_74A16 Temperature is out of range Warning: The argument is the
sum of C74 errors
CODE_74A64 Signal low =Too far from
magnetic ring Warning: The argument is the
sum of C74 errors
CODE_74A128 Signal saturation =Too close to
magnetic ring Warning: The argument is the
sum of C74 errors
CODE_74A207 Joint encoder error Example: Argument 207 is the
sum of 128,64,8,4,2,1 which
means that all the errors in
connection to argument 1, 2,
4, 8, 64 and 128 have been
reported. Example.
CODE_75 Joint encoder error Magnetic encoder error
(Absolut encoder)
CODE_75A1 Invalid decode: Readhead
misalignment, ring damaged
or external magnetic field
present. Error: The argument is the sum
of C75 errors Replace joint
CODE_75A2 Speed reading is not valid Error: The argument is the sum
of C75 errors Replace joint
CODE_75A4 System error=malfunction or
inconsistent calibration
detected Error: The argument is the sum
of C75 errors Replace joint