Universal Robots 2014350001, Руководство по обслуживанию, Страница: 119 / 238

C74A32 Signal lost
=Misaligned
readhead or
damaged ring
C74A64 Signal low =Too far
from magnetic ring
C74A128 Signal saturation
=Too close to
magnetic ring
C75A Joint encoder error Magnetic encoder error
(absolute encoder).
Argument = sum of C75
errors Check encoder connections
C75A1 Invalid decode:
Readhead
misalignment, ring
damaged or external
magnetic field
present. a) Do a Complete rebooting
sequence.
b) Check grounding and
shielding for EMC problems.
c) If this happens more than
two times in a row, replace
joint
C75A2 Speed reading is not
valid a) Do a Complete rebooting
sequence.
b) If this happens more than
two times in a row, replace
joint
C75A4 System
error=malfunction or
inconsistent
calibration detected a) Do a Complete rebooting
sequence.
b) If this happens more than
two times in a row, replace
joint
C75A8 Supply voltage is out
of range
C75A16 Temperature is out
of range
C75A32 Signal lost
=Misaligned
readhead or
damaged ring a) Do a Complete rebooting
sequence.
b) Check grounding and
shielding for EMC problems.
c) If this happens more than
two times in a row, replace
joint
Service Manual 113 UR5
7. Troubleshooting
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