Universal Robots 2014350001, Руководство по обслуживанию, Страница: 134 / 238

C191A34 Joint speed limit
violated – Elbow
C191A35 Joint speed limit
violated – Wrist 1
C191A36 Joint speed limit
violated – Wrist 2
C191A37 Joint speed limit
violated – Wrist 3
C192A Safety system fault
C192A1 Robot still powered
in emergency stop When the emergency stop
is active, the robot arm
powers off. The controller is
responsible for sending the
power off command. This
error is generated if the
safety system detects that
the robot arm still has
power
C192A2 Robot emergency
stop disagreement E-stop in teach pendant or
in robot E-stop circuit
problem Check safety devices and
cables/connections to these
devices.
C192A3 System emergency
stop disagreement System E-stop circuit
problem Check safety devices and
cables/connections to these
devices.
C192A4 Safeguard stop
disagreement Safeguard circuit problem Check safety devices and
cables/connections to these
devices.
C192A5 Euromap safeguard
stop disagreement Euromap circuit problem Check cables from Control
Board to Euromap and to
external machine
C192A6 Joint position
disagreement a) Check TCP configuration,
payload and mounting
settings.
b) Check that safety settings
respected
C192A7 Joint speed
disagreement a) Check TCP configuration,
payload and mounting
settings.
b) Check that safety settings
respected
UR5 128 Service Manual
7. Troubleshooting
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