{ "version": "40.121.0", "codes": [ { "code": 0, "text": "No error" }, { "code": 1, "arg": 1, "text": "Outbuffer overflow: Buffer of stored warnings overflowed" }, { "code": 1, "arg": 2, "text": "Outbuffer overflow: Outbuffer to RS485 overflowed (problem with Controller message)" }, { "code": 2, "text": "Inbuffer overflow" }, { "code": 3, "text": "Processor overloaded" }, { "code": 4, "arg": 1, "text": "Communication issue: Lost communication with Controller", "suggestion": "Try the following actions to see which resolves the issue: (A) Check Ethernet cable between Safety Control Board and Motherboard, check that a script or UR+ software is not overloading the communication between the Safety Control Board and Motherboard, (B) Conduct a complete rebooting sequence, (C) Update the software", "explanation": "Communication was lost between the Safety Control Board and the Motherboard" }, { "code": 4, "arg": 2, "text": "Communication issue: Lost communication with Safety Control Board A uP", "suggestion": "Try the following actions to see which resolves the issue: (A) Check TCP/IP connection between Motherboard and Safety Control Board, (B) Conduct a complete rebooting sequence, (C) Exchange Safety Control Board" }, { "code": 4, "arg": 3, "text": "Communication issue: Communication with Safety Control Board B uP lost", "suggestion": "Try the following actions to see which resolves the issue: (A) Check TCP/IP connection between Motherboard and Safety Control Board, (B) Conduct a complete rebooting sequence, (C) Exchange Safety Control Board" }, { "code": 4, "arg": 4, "text": "Communication issue: Communication with primary Teach Pendant uP lost", "suggestion": "Try the following actions to see which resolves the issue: (A) Check RS485-12V connection between Motherboard and Teach Pendant, (B) Conduct a complete rebooting sequence, (C) Exchange Teach Pendant" }, { "code": 4, "arg": 5, "text": "Communication issue: Communication with secondary Teach Pendant uP lost", "suggestion": "Try the following actions to see which resolves the issue: (A) Check RS485-12V connection between Motherboard and Teach Pendant, (B) Conduct a complete rebooting sequence, (C) Exchange Teach Pendant" }, { "code": 4, "arg": 6, "text": "Communication issue: Communication with primary EUROMAP67 uP lost", "suggestion": "Try the following actions to see which resolves the issue: (A)Check Euromap67 connection between Motherboard and Teach Pendant, (B) Conduct a complete rebooting sequence, (C) Exchange Teach Pendant" }, { "code": 4, "arg": 7, "text": "Communication issue: Communication with secondary EUROMAP67 uP lost", "suggestion": "Try the following actions to see which resolves the issue: (A)Check Euromap67 connection between Motherboard and Teach Pendant, (B) Conduct a complete rebooting sequence, (C) Exchange Teach Pendant" }, { "code": 4, "arg": 8, "text": "Communication issue: Primary EUROMAP67 uP present, but euromap67 is disabled", "suggestion": "Try the following actions to see which resolves the issue: (A) Update the miscellaneous settings in the Safety Configuration, (B) Conduct a complete rebooting sequence", "explanation": "Incorrect safety configuration" }, { "code": 4, "arg": 9, "text": "Communication issue: Secondary EUROMAP67 uP present, but euromap67 is disabled", "suggestion": "Try the following actions to see which resolves the issue: (A) Update the miscellaneous settings in the Safety Configuration, (B) Conduct a complete rebooting sequence", "explanation": "Incorrect safety configuration" }, { "code": 4, "arg": 10, "text": "Communication issue: Primary Teach Pendant present, but Teach Pendant safety is disabled", "suggestion": "Try the following actions to see which resolves the issue: (A)Update the miscellaneous settings in the Safety Configuration, (B) Conduct a complete rebooting sequence", "explanation": "Incorrect safety configuration" }, { "code": 4, "arg": 11, "text": "Communication issue: Secondary Teach Pendant uP present, Teach Pendant safety is disabled", "suggestion": "Try the following actions to see which resolves the issue: (A) Update the miscellaneous settings in the Safety Configuration,(B) Conduct a complete rebooting sequence", "explanation": "Incorrect safety configuration" }, { "code": 4, "arg": 12, "text": "Communication issue: Communication with joint 0 lost", "suggestion": "Try the following actions to see which resolves the issue: (A)Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "More than 1 package lost" }, { "code": 4, "arg": 13, "text": "Communication issue: Communication with joint 1 lost", "suggestion": "Try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "More than 1 package lost" }, { "code": 4, "arg": 14, "text": "Communication issue: Communication with joint 2 lost", "suggestion": "Try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "More than 1 package lost" }, { "code": 4, "arg": 15, "text": "Communication issue: Communication with joint 3 lost", "suggestion": "Try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "More than 1 package lost" }, { "code": 4, "arg": 16, "text": "Communication issue: Communication with joint 4 lost", "suggestion": "Try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly (B) Conduct a complete rebooting sequence", "explanation": "More than 1 package lost" }, { "code": 4, "arg": 17, "text": "Communication issue: Communication with joint 5 lost", "suggestion": "Try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "More than 1 package lost" }, { "code": 4, "arg": 18, "text": "Communication issue: Communication with tool lost", "suggestion": "Try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly (B) Conduct a complete rebooting sequence", "explanation": "More than 1 package lost" }, { "code": 4, "arg": 65, "text": "Communication issue: Lost package from Primary Teach Pendant", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "1 package lost" }, { "code": 4, "arg": 66, "text": "Communication issue: Lost package from Secondary Teach Pendant", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "1 package lost" }, { "code": 4, "arg": 67, "text": "Communication issue: Lost package from Primary Euromap67", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "1 package lost" }, { "code": 4, "arg": 68, "text": "Communication issue: Lost package from Secondary Euromap67", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "1 package lost" }, { "code": 4, "arg": 69, "text": "Communication issue: Lost package from Secondary Masterboard", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A)Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "1 package lost" }, { "code": 4, "arg": 70, "text": "Communication issue: Lost package from joint 0", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "Serial communication problem with one or more joints" }, { "code": 4, "arg": 71, "text": "Communication issue: Lost package from joint 1", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A)Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "Serial communication problem with one or more joints" }, { "code": 4, "arg": 72, "text": "Communication issue: Lost package from joint 2", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "Serial communication problem with one or more joints" }, { "code": 4, "arg": 73, "text": "Communication issue: Lost package from joint 3", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "Serial communication problem with one or more joints" }, { "code": 4, "arg": 74, "text": "Communication issue: Lost package from joint 4", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "Serial communication problem with one or more joints" }, { "code": 4, "arg": 75, "text": "Communication issue: Lost package from joint 5", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "Serial communication problem with one or more joints" }, { "code": 4, "arg": 76, "text": "Communication issue: Lost package from tool", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "Serial communication problem with one or more joints" }, { "code": 4, "arg": 77, "text": "Communication issue: Lost package from uPA to joints", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "1 package lost" }, { "code": 4, "arg": 78, "text": "Communication issue: Lost package from uPA to teach pendant", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "1 package lost" }, { "code": 4, "arg": 79, "text": "Communication issue: Lost package from uPA to uPB", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "1 package lost" }, { "code": 4, "arg": 80, "text": "Communication issue: Lost package from uPB", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "1 package lost" }, { "code": 4, "arg": 81, "text": "Communication issue: Packet counter disagreement in packet from Primary Screen", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "Safety processor 1 in Teach Pendant has a packet disagreement" }, { "code": 4, "arg": 82, "text": "Communication issue: Packet counter disagreement in packet from Secondary Screen", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence", "explanation": "Safety processor 2 in Teach Pendant has a packet disagreement" }, { "code": 4, "arg": 83, "text": "Communication issue: Packet counter disagreement in packet from Primary Euromap67", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence" }, { "code": 4, "arg": 84, "text": "Communication issue: Packet counter disagreement in packet from Secondary Euromap67", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence" }, { "code": 4, "arg": 85, "text": "Communication issue: Packet counter disagreement in packet from Safety Control Board B", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence" }, { "code": 4, "arg": 86, "text": "Communication issue: Packet counter disagreement in packet from joint 0", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence" }, { "code": 4, "arg": 87, "text": "Communication issue: Packet counter disagreement in packet from joint 1", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence" }, { "code": 4, "arg": 88, "text": "Communication issue: Packet counter disagreement in packet from joint 2", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence" }, { "code": 4, "arg": 89, "text": "Communication issue: Packet counter disagreement in packet from joint 3", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence" }, { "code": 4, "arg": 90, "text": "Communication issue: Packet counter disagreement in packet from joint 4", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence" }, { "code": 4, "arg": 91, "text": "Communication issue: Packet counter disagreement in packet from joint 5", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence" }, { "code": 4, "arg": 92, "text": "Communication issue: Packet counter disagreement in packet from tool", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence" }, { "code": 4, "arg": 93, "text": "Communication issue: Packet counter disagreement in packet from processor A to joints", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence" }, { "code": 4, "arg": 94, "text": "Communication issue: Packet counter disagreement in packet from processor A to B", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence" }, { "code": 4, "arg": 95, "text": "Communication issue: Packet counter disagreement in packet from processor A to Teach Pendant and EUROMAP", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence" }, { "code": 4, "arg": 100, "text": "Communication issue: Communication lost due to Packet counter disagreements", "suggestion": "If this happens often, try the following actions to see which resolves the issue: (A) Verify the communication cables are connected properly, (B) Conduct a complete rebooting sequence" }, { "code": 5, "text": "Heavy processor load warning" }, { "code": 10, "arg": 1, "text": "Controller communication issue: Lost packet from Controller" }, { "code": 10, "arg": 101, "text": "Controller communication issue: Controller packet received too early" }, { "code": 10, "arg": 102, "text": "Controller communication issue: Packet counter does not match" }, { "code": 10, "arg": 103, "text": "Controller communication issue: Controller is sending packets too often" }, { "code": 11, "text": "Bad CRC", "suggestion": "Check black 2-wire connectors and wires in joints", "explanation": "Serial communication problem with joint" }, { "code": 12, "text": "Unknown message error" }, { "code": 14, "arg": 1, "text": "Debug message: {float}" }, { "code": 14, "arg": 2, "text": "Debug message: {signed}" }, { "code": 14, "arg": 3, "text": "Debug message: {unsigned}" }, { "code": 17, "text": "Communication error between Safety Control Board and Motherboard", "suggestion": "Try the following actions to see which resolves the issue: (A) Check Ethernet connection between circuit boards, (B) Conduct a complete rebooting sequence, (C) Update the software" }, { "code": 25, "text": "Motor Encoder index missing", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice, replace joint", "explanation": "Joint mechanical problem" }, { "code": 26, "text": "Motor Encoder index drift detected", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice, replace joint", "explanation": "Joint mechanical problem" }, { "code": 27, "text": "Calibration data is invalid or does not exist, selftest is needed!", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice, replace joint" }, { "code": 29, "text": "Online Calibration data checksum failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice, replace joint" }, { "code": 30, "text": "Master received data from too many joints" }, { "code": 31, "text": "Caught wrong message (not from master)", "suggestion": "Check black 2-wire connectors and wires on joints", "explanation": "Serial communication problem with joint" }, { "code": 32, "text": "Flash write verify failed" }, { "code": 33, "text": "Calibration flash checksum failed" }, { "code": 34, "arg": 0, "text": "Program flash checksum failed: Program flash checksum failed during bootloading" }, { "code": 34, "arg": 1, "text": "Program flash checksum failed: Program flash checksum failed at runtime" }, { "code": 35, "text": "Joint ID is undefined" }, { "code": 36, "text": "Illegal bootloader command" }, { "code": 37, "text": "Inbuffer parse error", "suggestion": "Check black 2-wire connectors and wires on joints", "explanation": "Serial communication problem with joint" }, { "code": 38, "arg": 1, "text": "Online RAM test failed: Data-bus test failed" }, { "code": 38, "arg": 2, "text": "Online RAM test failed: Address-bus stuck-high test failed" }, { "code": 38, "arg": 3, "text": "Online RAM test failed: Address-bus stuck-low test failed" }, { "code": 38, "arg": 4, "text": "Online RAM test failed: Address-bus shorted test failed" }, { "code": 38, "arg": 5, "text": "Online RAM test failed: Memory-cell test failed" }, { "code": 39, "arg": 1, "text": "Logic and Temporal Monitoring Fault: Max current deviation failure", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice, replace joint" }, { "code": 39, "arg": 2, "text": "Logic and Temporal Monitoring Fault: Max joint-encoder speed exceeded", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice, replace joint" }, { "code": 39, "arg": 3, "text": "Logic and Temporal Monitoring Fault: Max motor-encoder speed exceeded", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice, replace joint" }, { "code": 39, "arg": 4, "text": "Logic and Temporal Monitoring Fault: Illegal state change in joint detected" }, { "code": 39, "arg": 5, "text": "Logic and Temporal Monitoring Fault: A timing issue occurred during startup.", "suggestion": "Conduct a complete rebooting sequence", "explanation": "Too fast state change in joint detected" }, { "code": 39, "arg": 6, "text": "Logic and Temporal Monitoring Fault: 5V regulator voltage too low", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice, replace joint" }, { "code": 39, "arg": 7, "text": "Logic and Temporal Monitoring Fault: 5V regulator voltage too high", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice, replace joint" }, { "code": 39, "arg": 100, "text": "Logic and Temporal Monitoring Fault: Watchpoint fault: ADC task timeout" }, { "code": 39, "arg": 101, "text": "Logic and Temporal Monitoring Fault: Watchpoint fault: Motor-Control task timeout" }, { "code": 39, "arg": 102, "text": "Logic and Temporal Monitoring Fault: Watchpoint fault: Motor-encoder task timeout" }, { "code": 39, "arg": 103, "text": "Logic and Temporal Monitoring Fault: Watchpoint fault: Joint-encoder task timeout" }, { "code": 39, "arg": 104, "text": "Logic and Temporal Monitoring Fault: Watchpoint fault: Communication task timeout" }, { "code": 39, "arg": 105, "text": "Logic and Temporal Monitoring Fault: Watchpoint fault: RAM-test task timeout" }, { "code": 39, "arg": 106, "text": "Logic and Temporal Monitoring Fault: Watchpoint fault: CalVal-test task timeout" }, { "code": 39, "arg": 107, "text": "Logic and Temporal Monitoring Fault: Watchpoint fault: ROM-test task timeout" }, { "code": 40, "text": "AD-Converter hit high limit joint", "suggestion": "Check grounding and shielding for EMC problems", "explanation": "EMC issue external or electronics internal" }, { "code": 41, "text": "RC Oscillator Trim register hit high limit" }, { "code": 42, "text": "RC Oscillator Trim register hit low limit" }, { "code": 43, "arg": 1, "text": "Change in invariant memory detected: Current sensor gain" }, { "code": 44, "arg": 0, "text": "CRC check failure on primary bus: Base" }, { "code": 44, "arg": 1, "text": "CRC check failure on primary bus: Shoulder" }, { "code": 44, "arg": 2, "text": "CRC check failure on primary bus: Elbow" }, { "code": 44, "arg": 3, "text": "CRC check failure on primary bus: Wrist 1" }, { "code": 44, "arg": 4, "text": "CRC check failure on primary bus: Wrist 2" }, { "code": 44, "arg": 5, "text": "CRC check failure on primary bus: Wrist 3" }, { "code": 44, "arg": 6, "text": "CRC check failure on primary bus: Tool" }, { "code": 44, "arg": 80, "text": "CRC check failure on primary bus: CRC Check failure on primary bus.", "explanation": "Most likely an interference on the communication bus." }, { "code": 45, "text": "AD-Converter error" }, { "code": 46, "text": "Loose gearbox or bad encoder mounting", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice, replace joint", "explanation": "Mechanical problem in gear related to encoder mounting" }, { "code": 47, "text": "AD-Converter hit low limit", "suggestion": "Check grounding and shielding for EMC problems", "explanation": "EMC issue external or electronics internal" }, { "code": 49, "arg": 200, "text": "RS485 receive warning: Secondary RS485 bus is down", "suggestion": "Check TCP/IP-12V cable to Teach Pendant", "explanation": "Bus for: Teach Pendant, Processor A and Processor B on SCB" }, { "code": 50, "arg": 1, "text": "Robot powerup issue: Voltage detected at 24V rail before startup" }, { "code": 50, "arg": 2, "text": "Robot powerup issue: Voltage present at unpowered robot" }, { "code": 50, "arg": 5, "text": "Robot powerup issue: Powersupply voltage too low", "suggestion": "Check 48 V cable between power supply and SCB" }, { "code": 50, "arg": 6, "text": "Robot powerup issue: Powersupply voltage too high" }, { "code": 50, "arg": 11, "text": "Robot powerup issue: Voltage not detected at 24V rail after startup" }, { "code": 50, "arg": 15, "text": "Robot powerup issue: Warning, waiting for SafetySYS2" }, { "code": 50, "arg": 16, "text": "Robot powerup issue: The Teach Pendant does not respond", "suggestion": "Try the following actions to see which resolves the issue: (A) Check the Teach Pendant cable and connections, (B) Check the settings in the miscellaneous tab in the Safety menu", "explanation": "Loose wire or incorrect safety configuration" }, { "code": 50, "arg": 17, "text": "Robot powerup issue: The Euromap67 interface does not respond", "suggestion": "Try the following actions to see which resolves the issue: (A)Check the Euromap67 cable and connections, (B) Check the settings in the miscellaneous tab in the Safety menu", "explanation": "Loose wire or incorrect safety configuration" }, { "code": 50, "arg": 18, "text": "Robot powerup issue: Warning, waiting for SafetySYS1", "explanation": "SafetySYS1 = Processor A on Safety Control Board" }, { "code": 50, "arg": 19, "text": "Robot powerup issue: Warning, Waiting for a valid \"euromap67 activated\" status bit from secondary Safety Control Board" }, { "code": 50, "arg": 20, "text": "Robot powerup issue: 5V, 3V3 or ADC error (5V too high)" }, { "code": 50, "arg": 21, "text": "Robot powerup issue: 5V, 3V3 or ADC error (5V too low)" }, { "code": 50, "arg": 22, "text": "Robot powerup issue: Robot current sensor reading too high" }, { "code": 50, "arg": 23, "text": "Robot powerup issue: Robot current sensor reading too low" }, { "code": 50, "arg": 24, "text": "Robot powerup issue: 48V not present (Check internal connection)" }, { "code": 50, "arg": 25, "text": "Robot powerup issue: Robot voltage present at 48V PSU powereup" }, { "code": 50, "arg": 26, "text": "Robot powerup issue: Voltage present on unpowered 48V power supply" }, { "code": 50, "arg": 27, "text": "Robot powerup issue: 12V, 3V3 or ADC error (12V too high)" }, { "code": 50, "arg": 28, "text": "Robot powerup issue: 12V, 3V3 or ADC error (12V too low)" }, { "code": 50, "arg": 29, "text": "Robot powerup issue: Analog I/O error (-12V too high)" }, { "code": 50, "arg": 30, "text": "Robot powerup issue: Analog I/O error (-12V too low)" }, { "code": 50, "arg": 31, "text": "Robot powerup issue: The other safetySYS do not initialize" }, { "code": 50, "arg": 40, "text": "Robot powerup issue: Wrong voltage from PSU1" }, { "code": 50, "arg": 41, "text": "Robot powerup issue: Wrong voltage from PSU2" }, { "code": 50, "arg": 42, "text": "Robot powerup issue: Voltage will not disappear from PSU" }, { "code": 50, "arg": 43, "text": "Robot powerup issue: Warning, waiting for CB2 type answer from primary processor" }, { "code": 50, "arg": 50, "text": "Robot powerup issue: Processor A 3.3V supply voltage out of bounds" }, { "code": 50, "arg": 51, "text": "Robot powerup issue: Robot voltage below threshold" }, { "code": 50, "arg": 52, "text": "Robot powerup issue: Robot voltage above threshold" }, { "code": 50, "arg": 53, "text": "Robot powerup issue: 58V generator deviation error" }, { "code": 50, "arg": 54, "text": "Robot powerup issue: 5V regulator too low" }, { "code": 50, "arg": 55, "text": "Robot powerup issue: 5V regulator too high" }, { "code": 50, "arg": 56, "text": "Robot powerup issue: -4V generator too low" }, { "code": 50, "arg": 57, "text": "Robot powerup issue: -4V generator too high" }, { "code": 50, "arg": 80, "text": "Robot powerup issue: Last CPU reset caused by Low-Power-Reset" }, { "code": 50, "arg": 81, "text": "Robot powerup issue: Last CPU reset caused by Window-Watchdog-Reset" }, { "code": 50, "arg": 82, "text": "Robot powerup issue: Last CPU reset caused by Independent-Watchdog-Reset" }, { "code": 50, "arg": 83, "text": "Robot powerup issue: Last CPU reset caused by Software-Reset", "suggestion": "", "explanation": "The safety control board was reset on explicit request." }, { "code": 50, "arg": 84, "text": "Robot powerup issue: Last CPU reset caused by External-Pin-Reset" }, { "code": 50, "arg": 85, "text": "Robot powerup issue: Last CPU reset caused by Brown-Out-Reset" }, { "code": 50, "arg": 99, "text": "Robot powerup issue: Wrong software on PCB" }, { "code": 50, "arg": 100, "text": "Robot powerup issue: Cable not connected", "suggestion": "Check cable and connections between robot and Control Box" }, { "code": 50, "arg": 101, "text": "Robot powerup issue: Short circuit in robot detected or wrong robot connected to Control Box", "suggestion": "Check robot type. Look for short circuit in cable and in Robot Arm" }, { "code": 50, "arg": 102, "text": "Robot powerup issue: Voltage rising too slowly" }, { "code": 50, "arg": 103, "text": "Robot powerup issue: Voltage failed to reach acceptable level" }, { "code": 50, "arg": 104, "text": "Robot powerup issue: The IMMI module does not respond", "suggestion": "Try the following actions to see which resolves the issue: (A) Check the IMMI module and connections, (B) Check the settings in the Hardware tab in the Safety section of the installation", "explanation": "Missing IMMI module, hardware failure or incorrect safety configuration" }, { "code": 51, "arg": 0, "text": "CRC check failure on secondary bus: Processor B" }, { "code": 51, "arg": 1, "text": "CRC check failure on secondary bus: Primary screen processor", "explanation": "CRC check failure on safety processor 1 in Teach Pendant" }, { "code": 51, "arg": 2, "text": "CRC check failure on secondary bus: Secondary screen processor", "explanation": "CRC check failure on safety processor 2 in Teach Pendant" }, { "code": 51, "arg": 3, "text": "CRC check failure on secondary bus: Primary E67" }, { "code": 51, "arg": 4, "text": "CRC check failure on secondary bus: Secondary E67" }, { "code": 53, "arg": 1, "text": "IO overcurrent detected: , max is 800mA" }, { "code": 53, "arg": 2, "text": "IO overcurrent detected: , max is 600mA" }, { "code": 55, "arg": 23, "text": "Safety system error: Safety relay error (minus connection)", "suggestion": "Try the following actions to see which resolves the issue: (A) Check cable from Safety Control Board to Current distributor or 48V Power supply and Current distributor for issues, (B) Conduct a complete rebooting sequence", "explanation": "Current distributor error" }, { "code": 55, "arg": 24, "text": "Safety system error: Safety relay error (plus connection)", "suggestion": "Try the following actions to see which resolves the issue: (A) Check cable from Safety Control Board to Current distributor or 48V Power supply and Current distributor for issues, (B) Conduct a complete rebooting sequence", "explanation": "Current distributor error" }, { "code": 55, "arg": 33, "text": "Safety system error: Safety relay error (a relay is stuck)", "suggestion": "Try the following actions to see which resolves the issue: (A) Check cable from Safety Control Board to Current distributor or 48V Power supply and Current distributor for issues (B) Conduct a complete rebooting sequence", "explanation": "Current distributor error" }, { "code": 55, "arg": 34, "text": "Safety system error: Safety relay error (relays are not on)", "suggestion": "Try the following actions to see which resolves the issue: (A) Check cable from Safety Control Board to Current distributor or 48V Power supply and Current distributor for issues (B) Conduct a complete rebooting sequence", "explanation": "Current distributor error" }, { "code": 55, "arg": 50, "text": "Safety system error: Voltage present at unpowered robot", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Bord hardware fault" }, { "code": 55, "arg": 51, "text": "Safety system error: Voltage will not disappear from robot", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Bord hardware fault" }, { "code": 55, "arg": 52, "text": "Safety system error: 5V, 3V3 or ADC error (5V too low)", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Bord hardware fault" }, { "code": 55, "arg": 53, "text": "Safety system error: 5V, 3V3 or ADC error (5V too high)", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Bord hardware fault" }, { "code": 55, "arg": 90, "text": "Safety system error: Bootloader error, robot voltage too low or current too high" }, { "code": 55, "arg": 91, "text": "Safety system error: Bootloader error, robot voltage too high" }, { "code": 55, "arg": 100, "text": "Safety system error: Safety violation" }, { "code": 55, "arg": 101, "text": "Safety system error: Safety Channel Error In Safety Control Board" }, { "code": 55, "arg": 102, "text": "Safety system error: Safety Channel Error In Screen" }, { "code": 55, "arg": 103, "text": "Safety system error: Safety Channel Error In Euromap67 Interface" }, { "code": 55, "arg": 109, "text": "Safety system error: Received fault message from Controller" }, { "code": 55, "arg": 110, "text": "Safety system error: Safety State is changing too often" }, { "code": 55, "arg": 111, "text": "Safety system error: On/Off State is changing too often" }, { "code": 55, "arg": 112, "text": "Safety system error: Robot current sensors readings differ" }, { "code": 55, "arg": 120, "text": "Safety system error: Robot current is too high while emergency stopped" }, { "code": 55, "arg": 121, "text": "Safety system error: Robot current is too high while safeguard stopped" }, { "code": 56, "text": "Overvoltage shutdown", "suggestion": "Try the following actions to see which resolves the issue:(A) Check Energy Eaters cable and connections,(B) Check Energy,(C) Replace Energy Eater", "explanation": "Voltage exceeded 55V" }, { "code": 57, "arg": 1, "text": "Brake release failure: Joint did not move or motor encoder is not functioning" }, { "code": 57, "arg": 2, "text": "Brake release failure: Large movement detected during brake release" }, { "code": 57, "arg": 3, "text": "Brake release failure: Robot was not able to brake release, see log for details" }, { "code": 58, "text": "Motor encoder not calibrated" }, { "code": 59, "text": "Overcurrent shutdown", "suggestion": "Try the following actions to see which resolves the issue: (A) Check for short circuit, (B) Conduct a complete rebooting sequence, (C) If this happens more than twice, replace joint", "explanation": "Overcurrent in joint. Argument = Current in Amps" }, { "code": 60, "text": "Energy surplus shutdown", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure supply is not delivering more than 48V, (B) Contact support", "explanation": "The power supply is sending energy to the energy eater" }, { "code": 61, "text": "Idle power consumption to high", "suggestion": "Try the following actions to see which resolves the issue: (A) Check Energy Eaters cable and connections, (B) Check Energy Eater, (C) Replace Energy Eater", "explanation": "The system is drawing more power than expected while idle" }, { "code": 62, "arg": 1, "text": "Thermal issue: Joint temperature: High (80(C)" }, { "code": 62, "arg": 3, "text": "Thermal issue: Warning: Static load too high" }, { "code": 62, "arg": 11, "text": "Thermal issue: Joint temperature: Shut down (85(C)" }, { "code": 62, "arg": 13, "text": "Thermal issue: Shutdown: Static load too high" }, { "code": 63, "text": "Motor test failed in step {unsigned}." }, { "code": 64 }, { "code": 65, "text": "PSU voltage to high", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure supply is not delivering more than 48V, (B) Contact support", "explanation": "The power supply output voltage is above 49V" }, { "code": 68, "text": "SPI error", "suggestion": "Try the following actions to see which resolves the issue: (A)Check for short circuit, (B) Conduct a complete rebooting sequence, (C) If this happens several times in a row, replace joint", "explanation": "Joint: Absolut encoder on joint communication error" }, { "code": 70, "text": "Close to gearbox shear limit", "suggestion": "Try the following actions to see which resolves the issue: (A) Reduce acceleration in user program, (B) Conduct a complete rebooting sequence, (C) If this happens several times in a row, replace joint", "explanation": "Acceleration / deceleration to high. Mechanical problem in gear related to encoder mounting" }, { "code": 71, "arg": 0, "text": "Startup check error: Hardware is size0, wrong firmware at the joint", "suggestion": "Update firmware" }, { "code": 71, "arg": 1, "text": "Startup check error: Hardware is size1, wrong firmware at the joint", "suggestion": "Update firmware" }, { "code": 71, "arg": 2, "text": "Startup check error: Hardware is size2, wrong firmware at the joint", "suggestion": "Update firmware" }, { "code": 71, "arg": 3, "text": "Startup check error: Hardware is size3, wrong firmware at the joint", "suggestion": "Update firmware" }, { "code": 71, "arg": 4, "text": "Startup check error: Hardware is size4, wrong firmware at the joint", "suggestion": "Update firmware" }, { "code": 71, "arg": 5, "text": "Startup check error: Invalid hardware revision" }, { "code": 71, "arg": 6, "text": "Startup check error: ADC calibration failed" }, { "code": 71, "arg": 7, "text": "Startup check error: Unknown error result", "suggestion": "Try the following actions to see which resolves the issue: (A) Check joint for damaged or loose connections, (B) Replace the joint", "explanation": "The motor wires are damaged, bad connection in screw terminals or defect PCB" }, { "code": 71, "arg": 8, "text": "Startup check error: Motor short circuit to ground or H-bridge problems", "suggestion": "Try the following actions to see which resolves the issue: (A) Check joint for damaged or loose connections, (B) Replace the joint", "explanation": "The motor wires are damaged, bad connection in screw terminals or defect PCB" }, { "code": 71, "arg": 9, "text": "Startup check error: Motor indication signal does not work", "suggestion": "Try the following actions to see which resolves the issue: (A) Check joint for damaged or loose connections, (B) Replace the joint", "explanation": "The motor wires are damaged, bad connection in screw terminals or defect PCB" }, { "code": 71, "arg": 10, "text": "Startup check error: Phase 1 is unconnected or not working", "suggestion": "Try the following actions to see which resolves the issue: (A) Check joint for damaged or loose connections, (B) Replace the joint", "explanation": "The motor wires are damaged, bad connection in screw terminals or defect PCB" }, { "code": 71, "arg": 11, "text": "Startup check error: Phase 2 is unconnected or not working", "suggestion": "Try the following actions to see which resolves the issue: (A) Check joint for damaged or loose connections, (B) Replace the joint", "explanation": "The motor wires are damaged, bad connection in screw terminals or defect PCB" }, { "code": 71, "arg": 12, "text": "Startup check error: Phase 3 or multiple phases is unconnected or not working", "suggestion": "Try the following actions to see which resolves the issue: (A) Check joint for damaged or loose connections, (B) Replace the joint", "explanation": "The wire is (1) damaged or (2) has been disconnected from the PCB (not likely) or (3) defect PCB" }, { "code": 71, "arg": 50, "text": "Startup check error: Current sensor test failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Check joint for damaged or loose connections, (B) Replace the joint", "explanation": "Sensor reported wrong current when probed" }, { "code": 71, "arg": 51, "text": "Startup check error: Current sensor test failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Check joint for damaged or loose connections, (B) Replace the joint", "explanation": "Sensor reported wrong current when probed" }, { "code": 71, "arg": 52, "text": "Startup check error: Current sensor test failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Check joint for damaged or loose connections, (B) Replace the joint", "explanation": "Sensors reported different currents when probed" }, { "code": 71, "arg": 101, "text": "Startup check error: Wrong firmware on motor encoder" }, { "code": 72, "arg": 1, "text": "Power Supply Unit failure: 0 PSUs are active", "suggestion": "Check power connection between power supply and Safety Control Board", "explanation": "PSU was not able to deliver 48V" }, { "code": 72, "arg": 2, "text": "Power Supply Unit failure: 1 PSU active, but we expect 2 (UR10)", "suggestion": "Check power connection between power supply and Safety Control Board and check that the flash card and robot match", "explanation": "PSU was not able to deliver 48V or UR10 flash card in UR5 robot" }, { "code": 72, "arg": 3, "text": "Power Supply Unit failure: 2 PSUs active, but we expect 1 (UR5)", "suggestion": "Check that the flash card and robot match", "explanation": "UR5 flash card in UR10 robot" }, { "code": 73, "text": "Brake test failed during selftest, check brakepin" }, { "code": 74, "arg": 1, "text": "Joint encoder warning: Invalid decode: Readhead misalignment, ring damaged or external magnetic field present.", "suggestion": "Check grounding and shielding for EMC problems" }, { "code": 74, "arg": 2, "text": "Joint encoder warning: Speed reading is not valid" }, { "code": 74, "arg": 4, "text": "Joint encoder warning: System error=malfunction or inconsistent calibration detected" }, { "code": 74, "arg": 8, "text": "Joint encoder warning: Supply voltage is out of range" }, { "code": 74, "arg": 16, "text": "Joint encoder warning: Temperature is out of range" }, { "code": 74, "arg": 32, "text": "Joint encoder warning: Signal lost =Misaligned readhead or damaged ring" }, { "code": 74, "arg": 64, "text": "Joint encoder warning: Signal low =Too far from magnetic ring" }, { "code": 74, "arg": 128, "text": "Joint encoder warning: Signal saturation =Too close to magnetic ring" }, { "code": 75, "arg": 1, "text": "Joint encoder error: Invalid decode: Readhead misalignment, ring damaged or external magnetic field present.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check grounding and shielding for EMC problems, (C) If this happens more than twice, replace joint" }, { "code": 75, "arg": 2, "text": "Joint encoder error: Speed reading is not valid", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice, replace joint" }, { "code": 75, "arg": 4, "text": "Joint encoder error: System error=malfunction or inconsistent calibration detected", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice, replace joint" }, { "code": 75, "arg": 8, "text": "Joint encoder error: Supply voltage is out of range" }, { "code": 75, "arg": 16, "text": "Joint encoder error: Temperature is out of range" }, { "code": 75, "arg": 32, "text": "Joint encoder error: Signal lost =Misaligned readhead or damaged ring", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check grounding and shielding for EMC problems, (C) If this happens more than twice, replace joint" }, { "code": 75, "arg": 64, "text": "Joint encoder error: Signal low =Too far from magnetic ring", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check grounding and shielding for EMC problems, (C) If this happens more than twice, replace joint" }, { "code": 75, "arg": 128, "text": "Joint encoder error: Signal saturation =Too close to magnetic ring", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check grounding and shielding for EMC problems, (C) If this happens more than twice, replace joint" }, { "code": 75, "arg": 200, "text": "Joint encoder error: Position from joint encoder does not change while motor is running" }, { "code": 76, "text": "Joint encoder communication CRC issue", "suggestion": "Check connections or very heavy electrical noise", "explanation": "Error between sensor and joint circuit" }, { "code": 77, "text": "Sudden position change detected on the joint-encoder", "explanation": "The position reading from the encoder was different than expected." }, { "code": 78, "text": "Large sudden position change detected on the joint-encoder", "explanation": "The position reading from the encoder was severely different than expected, the latest measurement was discarded. The argument relates to the size of the position change." }, { "code": 85, "arg": 200, "text": "Motor encoder error: Position from motor encoder does not change while motor is running" }, { "code": 100, "text": "Robot changed mode", "suggestion": "Check preceding errors in log history", "explanation": "Status warning, general modus change" }, { "code": 101, "text": "Real Robot Connected" }, { "code": 102, "text": "Real Robot not connected - Simulating Robot" }, { "code": 103, "arg": 1, "text": "Communication issue: Connection to Safety Control Board lost", "suggestion": "Try the following actions to see which resolves the issue: (A) Check that the Ethernet cable between Motherboard and Safety Control Board is connected, (B) Conduct a complete rebooting sequence", "explanation": "PC did not receive 3 packets in a row" }, { "code": 103, "arg": 2, "text": "Communication issue: Package lost from Safety Control Board" }, { "code": 103, "arg": 3, "text": "Communication issue: Ethernet connection initialization with Safety Control Board failed" }, { "code": 104, "text": "Error=Empty command sent to robot" }, { "code": 111, "text": "Something is pulling the robot", "suggestion": "Check TCP configuration, payload, and mounting settings" }, { "code": 115, "text": "Unknown robot type", "explanation": "The robot type specified in the configuration is unknown" }, { "code": 116, "text": "Realtime part warning", "suggestion": "Restructure user program", "explanation": "Possible CPU-overload due to structure of user program" }, { "code": 117, "text": "Restart SCB failed", "suggestion": "Conduct a complete rebooting sequence", "explanation": "The Safety Control Board couldn't be rebooted from the controller." }, { "code": 150, "text": "Position close to joint limits" }, { "code": 151, "text": "Tool orientation close to limits" }, { "code": 152, "text": "Position close to safety plane limits" }, { "code": 153, "arg": 0, "text": "Position deviates from path: Detected by the Base joint.", "suggestion": "Make sure no objects are in the path, check payload, center of gravity and acceleration settings.", "explanation": "Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause." }, { "code": 153, "arg": 1, "text": "Position deviates from path: Detected by the Shoulder joint.", "suggestion": "Make sure no objects are in the path, check payload, center of gravity and acceleration settings.", "explanation": "Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause." }, { "code": 153, "arg": 2, "text": "Position deviates from path: Detected by the Elbow joint.", "suggestion": "Make sure no objects are in the path, check payload, center of gravity and acceleration settings.", "explanation": "Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause." }, { "code": 153, "arg": 3, "text": "Position deviates from path: Detected by the Wrist 1 joint.", "suggestion": "Make sure no objects are in the path, check payload, center of gravity and acceleration settings.", "explanation": "Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause." }, { "code": 153, "arg": 4, "text": "Position deviates from path: Detected by the Wrist 2 joint.", "suggestion": "Make sure no objects are in the path, check payload, center of gravity and acceleration settings.", "explanation": "Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause." }, { "code": 153, "arg": 5, "text": "Position deviates from path: Detected by the Wrist 3 joint.", "suggestion": "Make sure no objects are in the path, check payload, center of gravity and acceleration settings.", "explanation": "Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause." }, { "code": 154, "text": "Position in singularity", "suggestion": "Use MoveJ or change the motion", "explanation": "Robot can not move linear near a singularity" }, { "code": 155, "text": "Robot cannot maintain its position, check if payload is correct" }, { "code": 156, "text": "Wrong payload or mounting detected, or something is pushing the robot when entering Freedrive mode", "suggestion": "Verify that the TCP configuration and mounting in the used installation is correct", "explanation": "The robot may move unexpected due to wrong settings" }, { "code": 157, "arg": 0, "text": "Collision detected by joint: Detected by the Base joint.", "suggestion": "Make sure no objects are in the path, check payload, center of gravity and acceleration settings.", "explanation": "Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause." }, { "code": 157, "arg": 1, "text": "Collision detected by joint: Detected by the Shoulder joint.", "suggestion": "Make sure no objects are in the path, check payload, center of gravity and acceleration settings.", "explanation": "Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause." }, { "code": 157, "arg": 2, "text": "Collision detected by joint: Detected by the Elbow joint.", "suggestion": "Make sure no objects are in the path, check payload, center of gravity and acceleration settings.", "explanation": "Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause." }, { "code": 157, "arg": 3, "text": "Collision detected by joint: Detected by the Wrist 1 joint.", "suggestion": "Make sure no objects are in the path, check payload, center of gravity and acceleration settings.", "explanation": "Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause." }, { "code": 157, "arg": 4, "text": "Collision detected by joint: Detected by the Wrist 2 joint.", "suggestion": "Make sure no objects are in the path, check payload, center of gravity and acceleration settings.", "explanation": "Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause." }, { "code": 157, "arg": 5, "text": "Collision detected by joint: Detected by the Wrist 3 joint.", "suggestion": "Make sure no objects are in the path, check payload, center of gravity and acceleration settings.", "explanation": "Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause." }, { "code": 158, "arg": 0, "text": "Collision detected by joint: Base. The user specified payload is 0kg, please make sure this is correct.", "suggestion": "Make sure the payload mass and center of gravity are correctly specified.", "explanation": "Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops." }, { "code": 158, "arg": 1, "text": "Collision detected by joint: Shoulder. The user specified payload is 0kg, please make sure this is correct.", "suggestion": "Make sure the payload mass and center of gravity are correctly specified.", "explanation": "Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops." }, { "code": 158, "arg": 2, "text": "Collision detected by joint: Elbow. The user specified payload is 0kg, please make sure this is correct.", "suggestion": "Make sure the payload mass and center of gravity are correctly specified.", "explanation": "Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops." }, { "code": 158, "arg": 3, "text": "Collision detected by joint: Wrist 1. The user specified payload is 0kg, please make sure this is correct.", "suggestion": "Make sure the payload mass and center of gravity are correctly specified.", "explanation": "Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops." }, { "code": 158, "arg": 4, "text": "Collision detected by joint: Wrist 2. The user specified payload is 0kg, please make sure this is correct.", "suggestion": "Make sure the payload mass and center of gravity are correctly specified.", "explanation": "Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops." }, { "code": 158, "arg": 5, "text": "Collision detected by joint: Wrist 3. The user specified payload is 0kg, please make sure this is correct.", "suggestion": "Make sure the payload mass and center of gravity are correctly specified.", "explanation": "Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops." }, { "code": 159, "arg": 0, "text": "Position deviates from path: Base. The user specified payload is 0kg, please make sure this is correct.", "suggestion": "Make sure the payload mass and center of gravity are correctly specified.", "explanation": "Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops." }, { "code": 159, "arg": 1, "text": "Position deviates from path: Shoulder. The user specified payload is 0kg, please make sure this is correct.", "suggestion": "Make sure the payload mass and center of gravity are correctly specified.", "explanation": "Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops." }, { "code": 159, "arg": 2, "text": "Position deviates from path: Elbow. The user specified payload is 0kg, please make sure this is correct.", "suggestion": "Make sure the payload mass and center of gravity are correctly specified.", "explanation": "Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops." }, { "code": 159, "arg": 3, "text": "Position deviates from path: Wrist 1. The user specified payload is 0kg, please make sure this is correct.", "suggestion": "Make sure the payload mass and center of gravity are correctly specified.", "explanation": "Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops." }, { "code": 159, "arg": 4, "text": "Position deviates from path: Wrist 2. The user specified payload is 0kg, please make sure this is correct.", "suggestion": "Make sure the payload mass and center of gravity are correctly specified.", "explanation": "Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops." }, { "code": 159, "arg": 5, "text": "Position deviates from path: Wrist 3. The user specified payload is 0kg, please make sure this is correct.", "suggestion": "Make sure the payload mass and center of gravity are correctly specified.", "explanation": "Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops." }, { "code": 160, "text": "The robot was powered off last time due to a joint position disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Verify that the robot position in the 3D graphics matches the real robot to ensure the encoders function before releasing the brakes. Stand back and monitor the robot performing its first program cycle as expected, (B) If the position is not correct, the robot must be repaired. In this case, tap Power Off Robot, (C) If the position is correct, please tick the check box below the 3D graphics and click Robot Position Verified" }, { "code": 161, "text": "Large movement of the robot detected while it was powered off. The joints were moved while it was powered off, or the encoders do not function", "suggestion": "Try the following actions to see which resolves the issue: (A) Verify that the robot position in the 3D graphics matches the real robot to ensure the encoders function before releasing the brakes. Stand back and monitor the robot performing its first program cycle as expected, (B) If the position is not correct, the robot must be repaired. In this case, tap Power Off Robot, (C) If the position is correct, please tick the check box below the 3D graphics and click Robot Position Verified" }, { "code": 162, "text": "The protective stop was likely caused by incorrectly specified payload mass and/or center of gravity.", "suggestion": "Make sure the payload mass and center of gravity are correctly specified.", "explanation": "Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops." }, { "code": 163, "arg": 0, "text": "More than 50 Protective Stops are detected on the same joint within 8 hours of operation.: Base joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.", "suggestion": "Check that the motions of the robot do not cause collision, check payload, center of gravity and acceleration settings, if these settings are correct, the joint needs repair.", "explanation": "Frequent protective stops is an indication of either an error in the application, or a hardware failure in a joint." }, { "code": 163, "arg": 1, "text": "More than 50 Protective Stops are detected on the same joint within 8 hours of operation.: Shoulder joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.", "suggestion": "Check that the motions of the robot do not cause collision, check payload, center of gravity and acceleration settings, if these settings are correct, the joint needs repair.", "explanation": "Frequent protective stops is an indication of either an error in the application, or a hardware failure in a joint." }, { "code": 163, "arg": 2, "text": "More than 50 Protective Stops are detected on the same joint within 8 hours of operation.: Elbow joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.", "suggestion": "Check that the motions of the robot do not cause collision, check payload, center of gravity and acceleration settings, if these settings are correct, the joint needs repair.", "explanation": "Frequent protective stops is an indication of either an error in the application, or a hardware failure in a joint." }, { "code": 163, "arg": 3, "text": "More than 50 Protective Stops are detected on the same joint within 8 hours of operation.: Wrist 1 joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.", "suggestion": "Check that the motions of the robot do not cause collision, check payload, center of gravity and acceleration settings, if these settings are correct, the joint needs repair.", "explanation": "Frequent protective stops is an indication of either an error in the application, or a hardware failure in a joint." }, { "code": 163, "arg": 4, "text": "More than 50 Protective Stops are detected on the same joint within 8 hours of operation.: Wrist 2 joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.", "suggestion": "Check that the motions of the robot do not cause collision, check payload, center of gravity and acceleration settings, if these settings are correct, the joint needs repair.", "explanation": "Frequent protective stops is an indication of either an error in the application, or a hardware failure in a joint." }, { "code": 163, "arg": 5, "text": "More than 50 Protective Stops are detected on the same joint within 8 hours of operation.: Wrist 3 joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.", "suggestion": "Check that the motions of the robot do not cause collision, check payload, center of gravity and acceleration settings, if these settings are correct, the joint needs repair.", "explanation": "Frequent protective stops is an indication of either an error in the application, or a hardware failure in a joint." }, { "code": 164, "arg": 0, "text": "Wrist position close to safety plane limits: Wrist 1 is too close to safety plane" }, { "code": 164, "arg": 1, "text": "Wrist position close to safety plane limits: Wrist 2 is too close to safety plane" }, { "code": 164, "arg": 2, "text": "Wrist position close to safety plane limits: Wrist 3 is too close to safety plane" }, { "code": 171, "arg": 0, "text": "Issue with blends: A MoveC-Waypoint were skipped due to a blend.", "suggestion": "Decrease the blend radius or choose Waypoints that are further apart.", "explanation": "The value for the blend radius is too large compared to the distance between the Waypoints." }, { "code": 171, "arg": 1, "text": "Issue with blends: Blend radius too small in a MoveC", "suggestion": "Increase blend in MoveC" }, { "code": 171, "arg": 3, "text": "Issue with blends: A ServoC-Waypoint were skipped due to a blend.", "suggestion": "Decrease the blend radius or choose Waypoints that are further apart.", "explanation": "The value for the blend radius is too large compared to the distance between the Waypoints." }, { "code": 171, "arg": 4, "text": "Issue with blends: Overlapping Blends in a MoveJ, a Waypoint was skipped", "suggestion": "Decrease the blend radius or choose Waypoints that are further apart." }, { "code": 171, "arg": 5, "text": "Issue with blends: Overlapping Blends in a MoveJ, a Waypoint was skipped", "suggestion": "Decrease the blend radius or choose Waypoints that are further apart." }, { "code": 171, "arg": 6, "text": "Issue with blends: Overlapping Blends in a MoveJ, a Waypoint was skipped", "suggestion": "Decrease the blend radius or choose Waypoints that are further apart." }, { "code": 171, "arg": 7, "text": "Issue with blends: Overlapping Blends in a MoveJ, a Waypoint was skipped", "suggestion": "Decrease the blend radius or choose Waypoints that are further apart." }, { "code": 171, "arg": 9, "text": "Issue with blends: A MoveP-Waypoint were skipped due to a blend.", "suggestion": "Decrease the blend radius or choose Waypoints that are further apart.", "explanation": "The value for the blend radius is too large compared to the distance between the Waypoints." }, { "code": 171, "arg": 10, "text": "Issue with blends: Blend radius too small error in a MoveP" }, { "code": 171, "arg": 11, "text": "Issue with blends: Overlapping Blends in a MoveL, a Waypoint was skipped", "suggestion": "Decrease the blend radius or choose Waypoints that are further apart." }, { "code": 171, "arg": 12, "text": "Issue with blends: Overlapping Blends in a MoveL, a Waypoint was skipped", "suggestion": "Decrease the blend radius or choose Waypoints that are further apart." }, { "code": 171, "arg": 13, "text": "Issue with blends: Overlapping Blends in a MoveL, a Waypoint was skipped", "suggestion": "Decrease the blend radius or choose Waypoints that are further apart." }, { "code": 171, "arg": 14, "text": "Issue with blends: Overlapping Blends in a MoveL, a Waypoint was skipped", "suggestion": "Decrease the blend radius or choose Waypoints that are further apart." }, { "code": 172, "text": "Illegal control mode" }, { "code": 173, "arg": 0, "text": "Robot motion causes too high joint torques: Base." }, { "code": 173, "arg": 1, "text": "Robot motion causes too high joint torques: Shoulder." }, { "code": 173, "arg": 2, "text": "Robot motion causes too high joint torques: Elbow." }, { "code": 173, "arg": 3, "text": "Robot motion causes too high joint torques: Wrist 1." }, { "code": 173, "arg": 4, "text": "Robot motion causes too high joint torques: Wrist 2." }, { "code": 173, "arg": 5, "text": "Robot motion causes too high joint torques: Wrist 3." }, { "code": 173, "arg": 6, "text": "Robot motion causes too high joint torques: Base. Problem identified when executing program line {unsigned}." }, { "code": 173, "arg": 7, "text": "Robot motion causes too high joint torques: Shoulder. Problem identified when executing program line {unsigned}." }, { "code": 173, "arg": 8, "text": "Robot motion causes too high joint torques: Elbow. Problem identified when executing program line {unsigned}." }, { "code": 173, "arg": 9, "text": "Robot motion causes too high joint torques: Wrist 1. Problem identified when executing program line {unsigned}." }, { "code": 173, "arg": 10, "text": "Robot motion causes too high joint torques: Wrist 2. Problem identified when executing program line {unsigned}." }, { "code": 173, "arg": 11, "text": "Robot motion causes too high joint torques: Wrist 3. Problem identified when executing program line {unsigned}." }, { "code": 174, "arg": 0, "text": "Robot motion causes too high jump in joint torques: Base." }, { "code": 174, "arg": 1, "text": "Robot motion causes too high jump in joint torques: Shoulder." }, { "code": 174, "arg": 2, "text": "Robot motion causes too high jump in joint torques: Elbow." }, { "code": 174, "arg": 3, "text": "Robot motion causes too high jump in joint torques: Wrist 1." }, { "code": 174, "arg": 4, "text": "Robot motion causes too high jump in joint torques: Wrist 2." }, { "code": 174, "arg": 5, "text": "Robot motion causes too high jump in joint torques: Wrist 3." }, { "code": 174, "arg": 6, "text": "Robot motion causes too high jump in joint torques: Base. Problem identified when executing program line {unsigned}." }, { "code": 174, "arg": 7, "text": "Robot motion causes too high jump in joint torques: Shoulder. Problem identified when executing program line {unsigned}." }, { "code": 174, "arg": 8, "text": "Robot motion causes too high jump in joint torques: Elbow. Problem identified when executing program line {unsigned}." }, { "code": 174, "arg": 9, "text": "Robot motion causes too high jump in joint torques: Wrist 1. Problem identified when executing program line {unsigned}." }, { "code": 174, "arg": 10, "text": "Robot motion causes too high jump in joint torques: Wrist 2. Problem identified when executing program line {unsigned}." }, { "code": 174, "arg": 11, "text": "Robot motion causes too high jump in joint torques: Wrist 3. Problem identified when executing program line {unsigned}." }, { "code": 184, "text": "Joint self test not received by controller" }, { "code": 185, "arg": 1, "text": "START_NORMAL_OPERATION is not allowed on selftest firmware" }, { "code": 185, "arg": 2, "text": "GOTO_BACKDRIVE_COMMAND is not allowed on selftest firmware" }, { "code": 186, "arg": 1, "text": "joint_mode == JOINT_RUNNING_MODE is not allowed on selftest firmware" }, { "code": 187, "arg": 1, "text": "Temperature sensor test failed: Starting temperature were lower than expected" }, { "code": 187, "arg": 2, "text": "Temperature sensor test failed: Starting temperature were higher than expected" }, { "code": 187, "arg": 3, "text": "Temperature sensor test failed: Temperature increased less than expected during warm up" }, { "code": 187, "arg": 4, "text": "Temperature sensor test failed: Temperature increased more than expected during warm up" }, { "code": 190, "arg": 0, "text": "Joint failed during selftest: Motor encoder index mark not found" }, { "code": 190, "arg": 1, "text": "Joint failed during selftest: Phases not mounted correctly" }, { "code": 190, "arg": 2, "text": "Joint failed during selftest: Motor encoder counting the wrong way" }, { "code": 190, "arg": 3, "text": "Joint failed during selftest: Joint encoder counting the wrong way" }, { "code": 190, "arg": 4, "text": "Joint failed during selftest: No movement detected while trying to move the motor" }, { "code": 190, "arg": 11, "text": "Joint failed during selftest: Temperature alignment did not warm up to 45 degrees C within 30 minutes" }, { "code": 190, "arg": 12, "text": "Joint failed during selftest: Temperature alignment did not cool down to 45 degrees C within 60 minutes" }, { "code": 191, "arg": 1, "text": "Safety system violation: Joint position limit violated" }, { "code": 191, "arg": 2, "text": "Safety system violation: Joint speed limit violated" }, { "code": 191, "arg": 3, "text": "Safety system violation: TCP speed limit violated" }, { "code": 191, "arg": 4, "text": "Safety system violation: TCP position limit violated" }, { "code": 191, "arg": 5, "text": "Safety system violation: TCP orientation limit violated" }, { "code": 191, "arg": 6, "text": "Safety system violation: Power limit violated" }, { "code": 191, "arg": 7, "text": "Safety system violation: Joint torque window violated" }, { "code": 191, "arg": 8, "text": "Safety system violation: Joint torque window too large" }, { "code": 191, "arg": 9, "text": "Safety system violation: Reduced mode output violation" }, { "code": 191, "arg": 10, "text": "Safety system violation: Safeguard stop output violation" }, { "code": 191, "arg": 11, "text": "Safety system violation: Emergency stop output violation" }, { "code": 191, "arg": 12, "text": "Safety system violation: Momentum limit violation" }, { "code": 191, "arg": 13, "text": "Safety system violation: Robot moving output violation" }, { "code": 191, "arg": 14, "text": "Safety system violation: Robot is not braking in stop mode", "suggestion": "Check TCP configuration, payload, and mounting settings", "explanation": "During the braking process, the safety system monitors if the robot brakes as expected. If this is not the case, this error is generated" }, { "code": 191, "arg": 15, "text": "Safety system violation: Robot is moving in stop mode", "suggestion": "(A) Check if the robot is physically pushed while safeguard stopped, (B) Check TCP configuration, payload, and mounting settings", "explanation": "When the robot is stopped due to a safety violation or a safeguard stop, the safety system generates this error, if the robot moves while in this mode" }, { "code": 191, "arg": 16, "text": "Safety system violation: Robot did not stop in time" }, { "code": 191, "arg": 17, "text": "Safety system violation: Received a null vector for TCP orientation" }, { "code": 191, "arg": 18, "text": "Safety system violation: Robot not stopping output violation" }, { "code": 191, "arg": 19, "text": "Safety system violation: Invalid safety IO configuration" }, { "code": 191, "arg": 20, "text": "Safety system violation: Configuration information or limit sets not received" }, { "code": 191, "arg": 21, "text": "Safety system violation: The other safety processor detected a violation" }, { "code": 191, "arg": 22, "text": "Safety system violation: Received unknown command from Controller" }, { "code": 191, "arg": 23, "text": "Safety system violation: Invalid setup of safety limits", "suggestion": "Try the following actions to see which resolves the issue: (A) Check Firmware/update firmware, (B) Conduct a complete rebooting sequence" }, { "code": 191, "arg": 24, "text": "Safety system violation: Reduced Mode Output set, while it should not be", "suggestion": "Try the following actions to see which resolves the issue: (A) Check Firmware/update firmware, (B) Conduct a complete rebooting sequence" }, { "code": 191, "arg": 25, "text": "Safety system violation: Reduced Mode Output not set, while it should be", "suggestion": "Try the following actions to see which resolves the issue: (A) Check Firmware/update firmware, (B) Conduct a complete rebooting sequence" }, { "code": 191, "arg": 26, "text": "Safety system violation: Not Reduced Mode Output set, while it should not be", "suggestion": "Try the following actions to see which resolves the issue: (A) Check Firmware/update firmware, (B) Conduct a complete rebooting sequence" }, { "code": 191, "arg": 27, "text": "Safety system violation: Not Reduced Mode Output not set, while it should be", "suggestion": "Try the following actions to see which resolves the issue: (A) Check Firmware/update firmware, (B) Conduct a complete rebooting sequence" }, { "code": 191, "arg": 28, "text": "Safety system violation: Robot Emergency Stop exceeded maximum stop time", "suggestion": "Try the following actions to see which resolves the issue: (A) Check that max payload of the robot has not been exceeded, (B) Check TCP configuration, payload, and mounting settings", "explanation": "Too high payload" }, { "code": 191, "arg": 29, "text": "Safety system violation: System Emergency Stop exceeded maximum stop time", "suggestion": "Try the following actions to see which resolves the issue: (A)Check that max payload of the robot has not been exceeded, (B) Check TCP configuration, payload, and mounting settings", "explanation": "Too high payload" }, { "code": 191, "arg": 30, "text": "Safety system violation: Safeguard Stop exceeded maximum stop time", "suggestion": "Try the following actions to see which resolves the issue: (A)Check that max payload of the robot has not been exceeded, (B) Check TCP configuration, payload, and mounting settings", "explanation": "Too high payload" }, { "code": 191, "arg": 31, "text": "Safety system violation: Operation mode switch is present while the three position switch is missing" }, { "code": 191, "arg": 32, "text": "Safety system violation: Joint speed limit violated - Base" }, { "code": 191, "arg": 33, "text": "Safety system violation: Joint speed limit violated - Shoulder" }, { "code": 191, "arg": 34, "text": "Safety system violation: Joint speed limit violated - Elbow" }, { "code": 191, "arg": 35, "text": "Safety system violation: Joint speed limit violated - Wrist 1" }, { "code": 191, "arg": 36, "text": "Safety system violation: Joint speed limit violated - Wrist 2" }, { "code": 191, "arg": 37, "text": "Safety system violation: Joint speed limit violated - Wrist 3" }, { "code": 192, "arg": 1, "text": "Safety system fault: Robot still powered in emergency stop", "explanation": "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" }, { "code": 192, "arg": 2, "text": "Safety system fault: Robot emergency stop disagreement", "suggestion": "Check safety devices and cables/connections to these devices.", "explanation": "E-stop in teach pendant or in robot E-stop circuit problem" }, { "code": 192, "arg": 3, "text": "Safety system fault: System emergency stop disagreement", "suggestion": "Check safety devices and cables/connections to these devices.", "explanation": "System E-stop circuit problem" }, { "code": 192, "arg": 4, "text": "Safety system fault: Safeguard stop disagreement", "suggestion": "Check safety devices and cables/connections to these devices.", "explanation": "Safeguard circuit problem" }, { "code": 192, "arg": 5, "text": "Safety system fault: Euromap safeguard stop disagreement", "suggestion": "Check cables from Safety Control Board to Euromap and to external machine", "explanation": "Euromap circuit problem" }, { "code": 192, "arg": 6, "text": "Safety system fault: Joint position disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A)Check TCP configuration, payload and mounting settings, (B) Check that safety settings respected" }, { "code": 192, "arg": 7, "text": "Safety system fault: Joint speed disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Check TCP configuration, payload and mounting settings, (B) Check that safety settings respected" }, { "code": 192, "arg": 8, "text": "Safety system fault: Joint torque disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Check TCP configuration, payload and mounting settings, (B) Check that safety settings respected" }, { "code": 192, "arg": 9, "text": "Safety system fault: TCP speed disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Check TCP configuration, payload and mounting settings, (B) Check that safety settings respected" }, { "code": 192, "arg": 10, "text": "Safety system fault: TCP position disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Check TCP configuration, payload and mounting settings, (B) Check that safety settings respected" }, { "code": 192, "arg": 11, "text": "Safety system fault: TCP orientation disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Check TCP configuration, payload and mounting settings, (B) Check that safety settings respected" }, { "code": 192, "arg": 12, "text": "Safety system fault: Power disagreement", "explanation": "Power calculation: uP-A and uP-B disagreement" }, { "code": 192, "arg": 13, "text": "Safety system fault: Joint torque window disagreement" }, { "code": 192, "arg": 14, "text": "Safety system fault: Reduced mode input disagreement", "suggestion": "Check safety devices and cables/connections to these devices", "explanation": "Safety I/O uP-A and uP-B disagreement" }, { "code": 192, "arg": 15, "text": "Safety system fault: Reduced mode output disagreement", "suggestion": "Check safety devices and cables/connections to these devices", "explanation": "Safety I/O uP-A and uP-B disagreement" }, { "code": 192, "arg": 16, "text": "Safety system fault: Safety output failed", "suggestion": "Check for short circuit on I/O or for wrong connection to output.", "explanation": "The safety output did not reach the correct value in the expected time" }, { "code": 192, "arg": 17, "text": "Safety system fault: Safeguard stop output disagreement", "suggestion": "Check safety devices and cables/connections to these devices", "explanation": "Safety I/O uP-A and uP-B disagreement" }, { "code": 192, "arg": 18, "text": "Safety system fault: The other safety processor is in fault" }, { "code": 192, "arg": 19, "text": "Safety system fault: Emergency stop output disagreement", "suggestion": "Check safety devices and cables/connections to these devices", "explanation": "Safety I/O uP-A and uP-B disagreement" }, { "code": 192, "arg": 20, "text": "Safety system fault: SPI output error detected", "suggestion": "Check if the connection to the internal power supply is correct. If an external power supply is being used, check if it is powered on and at the correct voltage.", "explanation": "Powersupply for the I/O is not detected" }, { "code": 192, "arg": 21, "text": "Safety system fault: Momentum disagreement" }, { "code": 192, "arg": 22, "text": "Safety system fault: Robot moving output disagreement", "suggestion": "Check safety devices and cables/connections to these devices" }, { "code": 192, "arg": 23, "text": "Safety system fault: Wrong processor ID" }, { "code": 192, "arg": 24, "text": "Safety system fault: Wrong processor revision" }, { "code": 192, "arg": 25, "text": "Safety system fault: Potential brownout detected", "explanation": "Voltage drop on Safety Control Board or defect Safety Control Board" }, { "code": 192, "arg": 26, "text": "Safety system fault: Emergency stop output disagreement", "suggestion": "Check safety devices and cables/connections to these devices" }, { "code": 192, "arg": 27, "text": "Safety system fault: Safeguard stop output disagreement", "suggestion": "Check safety devices and cables/connections to these devices" }, { "code": 192, "arg": 28, "text": "Safety system fault: Robot not stopping output disagreement", "suggestion": "Check safety devices and cables/connections to these devices" }, { "code": 192, "arg": 29, "text": "Safety system fault: Safeguard reset input disagreement", "suggestion": "Check safety devices and cables/connections to these devices" }, { "code": 192, "arg": 30, "text": "Safety system fault: Safety processor booted up in fault mode" }, { "code": 192, "arg": 31, "text": "Safety system fault: Reduced Mode Output disagreement", "suggestion": "Check safety devices and cables/connections to these devices" }, { "code": 192, "arg": 32, "text": "Safety system fault: Not Reduced Mode Output disagreement", "suggestion": "Check safety devices and cables/connections to these devices" }, { "code": 192, "arg": 33, "text": "Safety system fault: A timing issue occurred during startup. Please restart to proceed", "explanation": "Checksum disagreement between safety processors uA and uB" }, { "code": 192, "arg": 34, "text": "Safety system fault: User safety config checksum disagreement between uA and GUI" }, { "code": 192, "arg": 35, "text": "Safety system fault: Robot config checksum disagreement between uA and GUI" }, { "code": 192, "arg": 36, "text": "Safety system fault: Online RAM test failed" }, { "code": 192, "arg": 37, "text": "Safety system fault: Not all safety related functionalities are running" }, { "code": 192, "arg": 38, "text": "Safety system fault: Package too short for CRC calculation" }, { "code": 192, "arg": 39, "text": "Safety system fault: Three position switch input disagreement" }, { "code": 192, "arg": 40, "text": "Safety system fault: Operation mode switch input disagreement" }, { "code": 193, "arg": 0, "text": "One of the nodes is in fault mode: Base Joint", "suggestion": "Try the following actions to see which resolves the issue: (A) See previous error, (B) Update the firmware on the joint, (C) Conduct a complete rebooting sequence" }, { "code": 193, "arg": 1, "text": "One of the nodes is in fault mode: Shoulder Joint", "suggestion": "Try the following actions to see which resolves the issue: (A) See previous error, (B) Update the firmware on the joint, (C)Conduct a complete rebooting sequence" }, { "code": 193, "arg": 2, "text": "One of the nodes is in fault mode: Elbow Joint", "suggestion": "Try the following actions to see which resolves the issue: (A) See previous error, (B) Update the firmware on the joint, (C) Conduct a complete rebooting sequence" }, { "code": 193, "arg": 3, "text": "One of the nodes is in fault mode: Wrist 1 Joint", "suggestion": "Try the following actions to see which resolves the issue: (A) See previous error, (B) Update the firmware on the joint, (C) Conduct a complete rebooting sequence" }, { "code": 193, "arg": 4, "text": "One of the nodes is in fault mode: Wrist 2 Joint", "suggestion": "Try the following actions to see which resolves the issue: (A) See previous error, (B) Update the firmware on the joint, (C) Conduct a complete rebooting sequence" }, { "code": 193, "arg": 5, "text": "One of the nodes is in fault mode: Wrist 3 Joint", "suggestion": "Try the following actions to see which resolves the issue: (A) See previous error, (B) Update the firmware on the joint, (C) Conduct a complete rebooting sequence" }, { "code": 193, "arg": 6, "text": "One of the nodes is in fault mode: Tool", "suggestion": "Try the following actions to see which resolves the issue: (A) See previous error, (B) Conduct a complete rebooting sequence" }, { "code": 193, "arg": 7, "text": "One of the nodes is in fault mode: Screen 1", "suggestion": "Try the following actions to see which resolves the issue: (A) See previous error, (B) Conduct a complete rebooting sequence", "explanation": "Safety Control Board has detected an error on Safety processor 1 in Teach pendant" }, { "code": 193, "arg": 8, "text": "One of the nodes is in fault mode: Screen 2", "suggestion": "Try the following actions to see which resolves the issue: (A) See previous error, (B) Conduct a complete rebooting sequence", "explanation": "Safety Control Board has detected an error on Safety processor 2 in Teach pendant" }, { "code": 193, "arg": 9, "text": "One of the nodes is in fault mode: Euromap 1", "suggestion": "Try the following actions to see which resolves the issue: (A) See previous error, (B)Conduct a complete rebooting sequence" }, { "code": 193, "arg": 10, "text": "One of the nodes is in fault mode: Euromap 2", "suggestion": "Try the following actions to see which resolves the issue: (A) See previous error, (B) Conduct a complete rebooting sequence" }, { "code": 194, "arg": 0, "text": "One of the nodes is not booted or not present: Base Joint" }, { "code": 194, "arg": 1, "text": "One of the nodes is not booted or not present: Shoulder Joint" }, { "code": 194, "arg": 2, "text": "One of the nodes is not booted or not present: Elbow Joint" }, { "code": 194, "arg": 3, "text": "One of the nodes is not booted or not present: Wrist 1 Joint" }, { "code": 194, "arg": 4, "text": "One of the nodes is not booted or not present: Wrist 2 Joint" }, { "code": 194, "arg": 5, "text": "One of the nodes is not booted or not present: Wrist 3 Joint" }, { "code": 194, "arg": 6, "text": "One of the nodes is not booted or not present: Tool" }, { "code": 194, "arg": 7, "text": "One of the nodes is not booted or not present: Screen 1", "explanation": "Safety Control Board has detected an error on Safety processor 1 in Teach pendant" }, { "code": 194, "arg": 8, "text": "One of the nodes is not booted or not present: Screen 2", "explanation": "Safety Control Board has detected an error on Safety processor 2 in Teach pendant" }, { "code": 194, "arg": 9, "text": "One of the nodes is not booted or not present: Euromap 1" }, { "code": 194, "arg": 10, "text": "One of the nodes is not booted or not present: Euromap 2" }, { "code": 194, "arg": 128, "text": "One of the nodes is not booted or not present: Base not ready while brake release requested", "suggestion": "Check for loose communication cable", "explanation": "Must be at least in IDLE mode when the brake release is requested" }, { "code": 194, "arg": 129, "text": "One of the nodes is not booted or not present: Shoulder not ready while brake release requested", "suggestion": "Check for loose communication cable", "explanation": "Must be at least in IDLE mode when the brake release is requested" }, { "code": 194, "arg": 130, "text": "One of the nodes is not booted or not present: Elbow not ready while brake release requested", "suggestion": "Check for loose communication cable", "explanation": "Must be at least in IDLE mode when the brake release is requested" }, { "code": 194, "arg": 131, "text": "One of the nodes is not booted or not present: Wrist 1 not ready while brake release requested", "suggestion": "Check for loose communication cable", "explanation": "Must be at least in IDLE mode when the brake release is requested" }, { "code": 194, "arg": 132, "text": "One of the nodes is not booted or not present: Wrist 2 not ready while brake release requested", "suggestion": "Check for loose communication cable", "explanation": "Must be at least in IDLE mode when the brake release is requested" }, { "code": 194, "arg": 133, "text": "One of the nodes is not booted or not present: Wrist 3 not ready while brake release requested", "suggestion": "Check for loose communication cable", "explanation": "Must be at least in IDLE mode when the brake release is requested" }, { "code": 194, "arg": 134, "text": "One of the nodes is not booted or not present: Tool not ready while brake release requested", "suggestion": "Check for loose communication cable", "explanation": "Must be at least in IDLE mode when the brake release is requested" }, { "code": 195, "arg": 1, "text": "Conveyor speed too high: for joint speed safety limit" }, { "code": 195, "arg": 2, "text": "Conveyor speed too high: for TCP speed safety limit" }, { "code": 195, "arg": 3, "text": "Conveyor speed too high: for momentum safety limit" }, { "code": 196, "text": "MoveP speed too high", "suggestion": "Reduce speed or increase blend radius in user program", "explanation": "Too high speed in relation to blend radius" }, { "code": 197, "text": "Blend overlap warning" }, { "code": 200, "arg": 1, "text": "Safety Control Board hardware error: Hardware ID is wrong", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Board: uP-A has detected an error: Wrong Safety Control Board" }, { "code": 200, "arg": 2, "text": "Safety Control Board hardware error: MCU type is wrong", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Board: uP-A has detected an error" }, { "code": 200, "arg": 3, "text": "Safety Control Board hardware error: Part ID is wrong", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Board: uP-A has detected an error" }, { "code": 200, "arg": 4, "text": "Safety Control Board hardware error: RAM test failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Board: uP-A has detected an error" }, { "code": 200, "arg": 5, "text": "Safety Control Board hardware error: Register test failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Board: uP-A has detected an error" }, { "code": 200, "arg": 6, "text": "Safety Control Board hardware error: pRom Crc test failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Board: uP-A has detected an error: firmware error" }, { "code": 200, "arg": 7, "text": "Safety Control Board hardware error: Watchdog reset the processor", "explanation": "Safety Control Board: uP-A has detected an error" }, { "code": 200, "arg": 8, "text": "Safety Control Board hardware error: OVG signal test not passed", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B)If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Board: uP-A has detected an error: over voltage generator" }, { "code": 200, "arg": 9, "text": "Safety Control Board hardware error: 3V3A power good pin is low", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Board: uP-A has detected an error" }, { "code": 200, "arg": 10, "text": "Safety Control Board hardware error: 3V3B power good pin is low", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Board: uP-A has detected an error" }, { "code": 200, "arg": 11, "text": "Safety Control Board hardware error: 5V power good is low", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Board: uP-A has detected an error" }, { "code": 200, "arg": 12, "text": "Safety Control Board hardware error: 3V3 voltage too low", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Board: uP-A has detected an error" }, { "code": 200, "arg": 13, "text": "Safety Control Board hardware error: 3v3 voltage too high", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) If this happens more than twice in a row, replace Safety Control Board", "explanation": "Safety Control Board: uP-A has detected an error" }, { "code": 200, "arg": 14, "text": "Safety Control Board hardware error: 48V input is too low", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check 48 V Power supply, current distributer, energy eater and Safety Control Board for issues" }, { "code": 200, "arg": 15, "text": "Safety Control Board hardware error: 48V input is too high", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check 48 V Power supply, current distributer, energy eater and Safety Control Board for issues" }, { "code": 200, "arg": 16, "text": "Safety Control Board hardware error: 24V IO short circuited", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Disconnect external I/O connections and check external power supply if connected", "explanation": "Too high current" }, { "code": 200, "arg": 17, "text": "Safety Control Board hardware error: PC current is too high", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check cable between Safety Control Board and Motherboard and check all connections to Motherboard. Also check for short circuit", "explanation": "Motherboard takes too high current" }, { "code": 200, "arg": 18, "text": "Safety Control Board hardware error: Robot voltage is too low", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check for short circuit in Robot Arm, (C) Check 48 V Power supply, current distributer, energy eater and Safety Control Board for issues" }, { "code": 200, "arg": 19, "text": "Safety Control Board hardware error: Robot voltage is too high", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check 48 V Power supply, current distributer, energy eater and Safety Control Board for issues" }, { "code": 200, "arg": 20, "text": "Safety Control Board hardware error: 24V IO voltage is too low", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Disconnect I/O, check external power supply if connected and check Safety Control Board for issues" }, { "code": 200, "arg": 21, "text": "Safety Control Board hardware error: 12V voltage is too high", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check 12 V Power supply, cables and Safety Control Board for issues" }, { "code": 200, "arg": 22, "text": "Safety Control Board hardware error: 12V voltage is too low", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check 12 V Power supply, cables and Safety Control Board for issues" }, { "code": 200, "arg": 23, "text": "Safety Control Board hardware error: It took too long to stabilize 24V", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check 24 V and Safety Control Board for issues" }, { "code": 200, "arg": 24, "text": "Safety Control Board hardware error: It took too long to stabilize 24V IO", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check 24 V and Safety Control Board for issues" }, { "code": 200, "arg": 25, "text": "Safety Control Board hardware error: 24V voltage is too high", "suggestion": "Try the following actions to see which resolves the issue: (A) Check external 24 V and Safety Control Board for issues, (B) Conduct a complete rebooting sequence, (C) If this happens more than twice in a row, replace Safety Control Board." }, { "code": 200, "arg": 26, "text": "Safety Control Board hardware error: 24V IO voltage is too high", "suggestion": "Try the following actions to see which resolves the issue: (A) Disconnect I/O's, (B) Conduct a complete rebooting sequence, (C) Check external 24 V and Safety Control Board for issues" }, { "code": 201, "arg": 0, "text": "Setup of Safety Control Board failed: Setup of Safety Control Board failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check that the ethernet cable between Motherboard and Safety Control Board is connected and verify that the setup of the Safety Configuration is valid.", "explanation": "No data was received from the Safety Control Board at initialization or invalid safety parameters have been received" }, { "code": 201, "arg": 1, "text": "Setup of Safety Control Board failed: SCB uA is not responding", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check that the ethernet cable between Motherboard and Safety Control Board is connected and verify that the setup of the Safety Configuration is valid.", "explanation": "No data or invalid data was received from the Safety Control Board uA at initialization" }, { "code": 201, "arg": 2, "text": "Setup of Safety Control Board failed: SCB uB is not responding", "suggestion": "Conduct a complete rebooting sequence.", "explanation": "No data or invalid data was received from the Safety Control Board uB at initialization" }, { "code": 201, "arg": 3, "text": "Setup of Safety Control Board failed: SCB is not responding", "suggestion": "Conduct a complete rebooting sequence.", "explanation": "No data or invalid was received from Safety Control Board when requested for configuration parameters" }, { "code": 202, "text": "SCE configuration was illegal, after applying tolerances" }, { "code": 203, "text": "PolyScope detected a mismatch between the shown and (to be) applied safety parameters", "suggestion": "Try the following actions to see which resolves the issue: (A) Check that the software version is the same or newer than the firmware on the Safety Control Board, (B)Reload the installation, (C) Conduct a complete rebooting sequence", "explanation": "PolyScope continuously verifies that the shown safety parameters are equal to the running parameters" }, { "code": 204, "arg": 1, "text": "Path sanity check failed: Sudden change in target position" }, { "code": 204, "arg": 2, "text": "Path sanity check failed: Inconsistency between target position and speed" }, { "code": 204, "arg": 3, "text": "Path sanity check failed: Sudden stop", "suggestion": "To abort a motion, use \"stopj\" or \"stopl\" script commands to generate a smooth deceleration before using \"wait\". Avoid aborting motions between Waypoints with blend", "explanation": "The program contains motions that are not ramped correctly down" }, { "code": 204, "arg": 4, "text": "Path sanity check failed: Robot has not stopped in the allowed reaction and braking time" }, { "code": 204, "arg": 5, "text": "Path sanity check failed: Robot program resulted in invalid setpoint" }, { "code": 204, "arg": 6, "text": "Path sanity check failed: Blending failed and resulted in an invalid setpoint", "suggestion": "Try the following actions to see which resolves the issue: (A) Try changing the blend radius, (B) Contact your local Universal Robots technical support" }, { "code": 204, "arg": 7, "text": "Path sanity check failed: Robot approaching singularity - Acceleration threshold failed" }, { "code": 205, "arg": 0, "text": "Target speed does not match target position: Inconsistency between target position and speed" }, { "code": 206, "arg": 0, "text": "Sanity check failed: Target joint speed does not match target joint position change - Base" }, { "code": 206, "arg": 1, "text": "Sanity check failed: Target joint speed does not match target joint position change - Shoulder" }, { "code": 206, "arg": 2, "text": "Sanity check failed: Target joint speed does not match target joint position change - Elbow" }, { "code": 206, "arg": 3, "text": "Sanity check failed: Target joint speed does not match target joint position change - Wrist 1" }, { "code": 206, "arg": 4, "text": "Sanity check failed: Target joint speed does not match target joint position change - Wrist 2" }, { "code": 206, "arg": 5, "text": "Sanity check failed: Target joint speed does not match target joint position change - Wrist 3" }, { "code": 207, "text": "Fieldbus input disconnected", "suggestion": "Check fieldbus connections (RTDE, ModBus, EtherNet/IP and Profinet) or disable the fieldbus in the installation. Check RTDE watchdog feature. Check if a URCap is using this feature." }, { "code": 208, "text": "Debug Assertion failed", "explanation": "An assert were executed. Notice: The functionality is exclusively used for testing purposes." }, { "code": 209, "text": "A protective stop was triggered (for test purposes only)", "explanation": "A protective stop was triggered. Notice: The functionality is exclusively used for testing purposes." }, { "code": 210, "text": "Socket is read-only when the robot is in local (Teach pendant) control", "suggestion": "Set the robot in remote control in PolyScope to enable receiving scripts in the controller" }, { "code": 211, "arg": 0, "text": "Operational mode changed: Disabled" }, { "code": 211, "arg": 1, "text": "Operational mode changed: Automatic" }, { "code": 211, "arg": 2, "text": "Operational mode changed: Manual" }, { "code": 212, "arg": 1, "text": "Name conflict in loaded program: {unsigned} name conflict(s) occurred between feature names and program variables", "suggestion": "Rename the program variables.", "explanation": "Some feature names and program variables share the same name, which may cause confusion." }, { "code": 213, "text": "No Kinematic Calibration found (calibration.conf file is either corrupt or missing)" }, { "code": 214, "arg": 1, "text": "Kinematic Calibration for the robot does not match the joint(s): The Kinematic Calibration checksum does not match the Base checksum" }, { "code": 214, "arg": 2, "text": "Kinematic Calibration for the robot does not match the joint(s): The Kinematic Calibration checksum does not match the Shoulder checksum" }, { "code": 214, "arg": 3, "text": "Kinematic Calibration for the robot does not match the joint(s): The Kinematic Calibration checksum does not match the Elbow checksum" }, { "code": 214, "arg": 4, "text": "Kinematic Calibration for the robot does not match the joint(s): The Kinematic Calibration checksum does not match Wrist 1 checksum" }, { "code": 214, "arg": 5, "text": "Kinematic Calibration for the robot does not match the joint(s): The Kinematic Calibration checksum does not match for Wrist 2 checksum" }, { "code": 214, "arg": 6, "text": "Kinematic Calibration for the robot does not match the joint(s): The Kinematic Calibration checksum does not match for Wrist 3 checksum" }, { "code": 215, "text": "Kinematic Calibration does not match the robot", "suggestion": "Check if the serial number of the Robot Arm matches the Control Box", "explanation": "The calibration checksum stored in the calibration.conf does not match the values from the joints" }, { "code": 216, "arg": 1, "text": "The offset of the joint has changed: Base" }, { "code": 216, "arg": 2, "text": "The offset of the joint has changed: Shoulder" }, { "code": 216, "arg": 3, "text": "The offset of the joint has changed: Elbow" }, { "code": 216, "arg": 4, "text": "The offset of the joint has changed: Wrist 1" }, { "code": 216, "arg": 5, "text": "The offset of the joint has changed: Wrist 2" }, { "code": 216, "arg": 6, "text": "The offset of the joint has changed: Wrist 3" }, { "code": 217, "text": "White space detected at the beginning of a string token at line {unsigned}", "suggestion": "Make sure that these leading white spaces are intentional otherwise remove them", "explanation": "Leading white spaces in strings are ignored in this version but won't be ignored in future releases" }, { "code": 218, "arg": 0, "text": "A thread used a lot of time: Main Robot Program." }, { "code": 218, "arg": 1, "text": "A thread used a lot of time: Thread: {string}" }, { "code": 219, "arg": 1, "text": "Path Offset: Change in offset is too high to meet joint speed safety limit", "suggestion": "Reduce the change in offset between steps and/or apply more offset filtering using path_offset_set_alpha_filter()", "explanation": "Following the specified offsets would result in the robot exceeding safety limits" }, { "code": 219, "arg": 2, "text": "Path Offset: Change in offset is too high to meet tool speed safety limit", "suggestion": "Reduce the change in offset between steps and/or apply more offset filtering using path_offset_set_alpha_filter()", "explanation": "Following the specified offsets would result in the robot exceeding safety limits" }, { "code": 219, "arg": 3, "text": "Path Offset: Change in offset is too high to meet momentum safety limit", "suggestion": "Reduce the change in offset between steps and/or apply more offset filtering using path_offset_set_alpha_filter()", "explanation": "Following the specified offsets would result in the robot exceeding safety limits" }, { "code": 220, "arg": 1, "text": "Kinematic Calibration: Version {unsigned} on the robot arm is not supported", "suggestion": "(A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The kinematic calibration saved on the robot arm is an unsupported version." }, { "code": 220, "arg": 2, "text": "Kinematic Calibration: Kinematic Calibration file was replaced with file from the arm.", "explanation": "The calibration.conf file was overwritten with the version stored in the arm. This is likely because the arm connected to the control box was changed" }, { "code": 220, "arg": 3, "text": "Kinematic Calibration: Kinematic Calibration uploaded to the arm.", "explanation": "The calibration.conf file was changed and uploaded to the arm." }, { "code": 220, "arg": 4, "text": "Kinematic Calibration: Kinematic Calibration reuploaded to the arm.", "explanation": "The kinematic calibration was reuploaded to the arm as not all joints matching the calibration had it saved." }, { "code": 221, "arg": 0, "text": "GUI Communication: High load, messages dropped", "suggestion": "(A) Reduce the number of textmsg() and varmsg() being executed in one time-step (B) Insert wait() or sync() in the thread or main program", "explanation": "GUI Communication is under high load causing user messages to be dropped" }, { "code": 221, "arg": 1, "text": "GUI Communication: Overload", "suggestion": "(A) Reduce the number of textmsg() and varmsg() being executed in one time-step (B) Insert wait() or sync() in the thread or main program", "explanation": "GUI Communication is overloaded" }, { "code": 221, "arg": 2, "text": "GUI Communication: A variable is too large to be sent to polyscope.", "suggestion": "To use the list as an installation variable or in the variable tab, make sure to limit its size by dividing it into smaller lists.", "explanation": "The size of the variable is too big to be sent and cannot be shown in the variables tab or saved as an installation variable. This does not affect any other functionality." }, { "code": 222, "arg": 1, "text": "Frame Tracking: Change in offset is too high to meet joint speed safety limit", "suggestion": "Smooth or slow the tracked frame if possible. Additionally, avoid singular arm configurations.", "explanation": "Tracking the specified frame would result in the robot exceeding safety limits" }, { "code": 222, "arg": 2, "text": "Frame Tracking: Change in offset is too high to meet tool speed safety limit", "suggestion": "Smooth or slow the tracked frame if possible. Additionally, avoid singular arm configurations.", "explanation": "Tracking the specified frame would result in the robot exceeding safety limits" }, { "code": 222, "arg": 3, "text": "Frame Tracking: Change in offset is too high to meet momentum safety limit", "suggestion": "Smooth or slow the tracked frame if possible. Additionally, avoid singular arm configurations.", "explanation": "Tracking the specified frame would result in the robot exceeding safety limits" }, { "code": 222, "arg": 4, "text": "Frame Tracking: Change in offset is too high to meet joint speed safety limit", "suggestion": "Reduce the acceleration of the external axis if possible. Additionally, avoid singular arm configurations.", "explanation": "Tracking the moving external axis would result in the robot exceeding safety limits" }, { "code": 222, "arg": 5, "text": "Frame Tracking: Change in offset is too high to meet tool speed safety limit", "suggestion": "Reduce the acceleration of the external axis if possible. Additionally, avoid singular arm configurations.", "explanation": "Tracking the moving external axis would result in the robot exceeding safety limits" }, { "code": 222, "arg": 6, "text": "Frame Tracking: Change in offset is too high to meet momentum safety limit", "suggestion": "Reduce the acceleration of the external axis if possible. Additionally, avoid singular arm configurations.", "explanation": "Tracking the moving external axis would result in the robot exceeding safety limits" }, { "code": 223, "text": "Flexible EtherNet/IP Fieldbus input (custom instance) disconnected", "suggestion": "Check EtherNet/IP connection or disable it in the installation if not needed. Check network communication. Check EtherNet/IP watchdog configuration." }, { "code": 224, "text": "{string}" }, { "code": 225, "text": "Logic Program '{string}' is not in running state.", "suggestion": "Check Logic Program state. Make sure that the Logic Program is not stopped or paused." }, { "code": 226, "text": "A fault was triggered (for test purposes only)", "explanation": "A fault was triggered. Notice: The functionality is exclusively used for testing purposes." }, { "code": 259, "arg": 0, "text": "Filesystem-related issue: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Reimage SD card, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the filesystem" }, { "code": 259, "arg": 80, "text": "Filesystem-related issue", "suggestion": "Updating firmware needs to be done incrementally from such old persistent joint data. Re-deploy the previous firmware, and perform incremental upgrade up to SW 5.5 before deploying this version. IMPORTANT: Power on the robot arm between each update and validate it reaches IDLE state. Contact your local Universal Robots service provider for assistance", "explanation": "The data stored in joint is obsolete" }, { "code": 259, "arg": 89, "text": "Filesystem-related issue: Failed to create a file with ID {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The joint has failed to create a file in its internal filesystem" }, { "code": 260, "arg": 0, "text": "Brake Release - old procedure: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Ensure the mounted payload, TCP, and CoG matches your configuration, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred during Brake Release" }, { "code": 261, "arg": 0, "text": "Temperature Sensor: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence (B) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the temperature sensor" }, { "code": 261, "arg": 3, "text": "Temperature Sensor: Temperature changed more than allowed: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence (B) Update software (C) Contact your local Universal Robots service provider for assistance", "explanation": "The maximum allowed difference between two sequential temperature readings was exceeded" }, { "code": 261, "arg": 4, "text": "Temperature Sensor: Temperature is too high ({float} degrees Celsius)", "suggestion": "Try the following actions to see which resolves the issue: (A) Cool down the robot's environment and make sure the robot is operating within recommended limits, (B) Conduct a complete rebooting sequence, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Ambient temperature is too high or robot is overloaded" }, { "code": 261, "arg": 5, "text": "Temperature Sensor: Temperature is too low ({float} degrees Celsius)", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure the robot is operating within recommended limits, (B) Conduct a complete rebooting sequence, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Ambient temperature is too low" }, { "code": 261, "arg": 21, "text": "Temperature Sensor: Safety Control Board temperature is too high: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Reduce ambient temperature (B) Conduct a complete rebooting sequence, (C) Update software, (D) Replace the Safety Control Board (E) Contact your local Universal Robots service provider for assistance", "explanation": "The temperature of the Safety Control Board is too high." }, { "code": 261, "arg": 22, "text": "Temperature Sensor: Safety Control Board temperature is too low: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Increase ambient temperature (B) Conduct a complete rebooting sequence, (C) Update software, (D) Replace the Safety Control Board (E) Contact your local Universal Robots service provider for assistance", "explanation": "The temperature of the Safety Control Board is too low." }, { "code": 261, "arg": 23, "text": "Temperature Sensor: The Energy Removal power sensor temperature on the Power Board is too high: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Reduce excessive decelerations in the robot program, (B) Reduce ambient temperature (C) Conduct a complete rebooting sequence, (D) Update software, (E) Replace the Power Board (F) Contact your local Universal Robots service provider for assistance", "explanation": "The temperature of the Energy Removal power sensor on the Power Board is too high." }, { "code": 261, "arg": 24, "text": "Temperature Sensor: The Energy Removal power sensor temperature on the Power Board is too low: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Increase ambient temperature (B) Conduct a complete rebooting sequence, (C) Update software, (D) Replace the Power Board (E) Contact your local Universal Robots service provider for assistance", "explanation": "The temperature of the Energy Removal power sensor on the Power Board is too low." }, { "code": 261, "arg": 25, "text": "Temperature Sensor: The Robot power sensor temperature on the Power Board is too high: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Reduce excessive decelerations in the robot program, (B) Reduce ambient temperature (C) Conduct a complete rebooting sequence, (D) Update software, (E) Replace the Power Board (F) Contact your local Universal Robots service provider for assistance", "explanation": "The temperature of the Robot power sensor on the Power Board is too high." }, { "code": 261, "arg": 26, "text": "Temperature Sensor: The Robot power sensor temperature on the Power Board is too low: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Increase ambient temperature (B) Conduct a complete rebooting sequence, (C) Update software, (D) Replace the Power Board (E) Contact your local Universal Robots service provider for assistance", "explanation": "The temperature of the Robot power sensor on the Power Board is too low." }, { "code": 261, "arg": 29, "text": "Temperature Sensor: Unable to read the TOOL PCBA temperature for {float} ms.", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Replace the TOOL PCBA (C) Contact your local Universal Robots service provider for assistance", "explanation": "The TOOL node has been unable to read the PCBA temperature sensor." }, { "code": 261, "arg": 30, "text": "Temperature Sensor: Safety Control Board temperature changed more than allowed: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence (B) Update software (C) Contact your local Universal Robots service provider for assistance", "explanation": "The maximum allowed difference between two sequential temperature readings was exceeded" }, { "code": 261, "arg": 31, "text": "Temperature Sensor: Energy Removal power sensor temperature on the Power Board changed more than allowed: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence (B) Update software (C) Contact your local Universal Robots service provider for assistance", "explanation": "The maximum allowed difference between two sequential temperature readings was exceeded" }, { "code": 261, "arg": 32, "text": "Temperature Sensor: PSU 48V circuit temperature is too high: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Reduce ambient temperature (B) Conduct a complete rebooting sequence, (C) Update software, (D) Replace the Power Supply Unit (E) Contact your local Universal Robots service provider for assistance", "explanation": "The temperature of the 48V circuit in the Power Supply Unit is too high." }, { "code": 261, "arg": 33, "text": "Temperature Sensor: PSU 48V circuit temperature is too low: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Reduce ambient temperature (B) Conduct a complete rebooting sequence, (C) Update software, (D) Replace the Power Supply Unit (E) Contact your local Universal Robots service provider for assistance", "explanation": "The temperature of the 48V circuit in the Power Supply Unit is too low." }, { "code": 261, "arg": 34, "text": "Temperature Sensor: PSU 48V circuit temperature changed more than allowed: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence (B) Update software (C) Contact your local Universal Robots service provider for assistance", "explanation": "The maximum allowed difference between two sequential temperature readings was exceeded" }, { "code": 261, "arg": 35, "text": "Temperature Sensor: PSU 24V circuit temperature is too high: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Reduce ambient temperature (B) Conduct a complete rebooting sequence, (C) Update software, (D) Replace the Power Supply Unit (E) Contact your local Universal Robots service provider for assistance", "explanation": "The temperature of the 24V circuit in the Power Supply Unit is too high." }, { "code": 261, "arg": 36, "text": "Temperature Sensor: PSU 24V circuit temperature is too low: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Reduce ambient temperature (B) Conduct a complete rebooting sequence, (C) Update software, (D) Replace the Power Supply Unit (E) Contact your local Universal Robots service provider for assistance", "explanation": "The temperature of the 24V circuit in the Power Supply Unit is too low." }, { "code": 261, "arg": 37, "text": "Temperature Sensor: PSU 24V circuit temperature changed more than allowed: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence (B) Update software (C) Contact your local Universal Robots service provider for assistance", "explanation": "The maximum allowed difference between two sequential temperature readings was exceeded" }, { "code": 261, "arg": 38, "text": "Temperature Sensor: PSU PFC circuit temperature is too low: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Reduce ambient temperature (B) Conduct a complete rebooting sequence, (C) Update software, (D) Replace the Power Supply Unit (E) Contact your local Universal Robots service provider for assistance", "explanation": "The temperature of the PFC circuit in the Power Supply Unit is too high." }, { "code": 261, "arg": 39, "text": "Temperature Sensor: PSU PFC circuit temperature is too low: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Reduce ambient temperature (B) Conduct a complete rebooting sequence, (C) Update software, (D) Replace the Power Supply Unit (E) Contact your local Universal Robots service provider for assistance", "explanation": "The temperature of the PFC circuit in the Power Supply Unit is too low." }, { "code": 261, "arg": 40, "text": "Temperature Sensor: PSU PFC circuit temperature changed more than allowed: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence (B) Update software (C) Contact your local Universal Robots service provider for assistance", "explanation": "The maximum allowed difference between two sequential temperature readings was exceeded" }, { "code": 262, "arg": 0, "text": "Communication: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check for ESD noise, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the communication framework" }, { "code": 262, "arg": 17, "text": "Communication: Failed to communicate with {deviceName} Joint", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure the cable between Control Box and Robot Arm is correctly connected and it has no damage, (B) Check for loose connections, (C) Conduct a complete rebooting sequence, (D) Update software, (E) Contact your local Universal Robots service provider for assistance", "explanation": "Joint failed to start communicating as expected." }, { "code": 262, "arg": 18, "text": "Communication: Failed to communicate with TOOL", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Tool failed to start communicating as expected." }, { "code": 262, "arg": 25, "text": "Communication: Unexpected message version received: {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance.", "explanation": "The received message version is not supported." }, { "code": 262, "arg": 27, "text": "Communication: Failed to communicate with the Base Filter Board", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The Base Filter Board failed to start communicating as expected." }, { "code": 262, "arg": 28, "text": "Communication: Failed to properly instantiate a multi-subscriber message or special command", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The value use to store the element must be placed at the persistance RAM, i.e. not on the stack" }, { "code": 262, "arg": 29, "text": "Communication: Failed to communicate with the Cable Extender with ID: {hex}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The Cable Extender Board failed to start communicating as expected." }, { "code": 263, "arg": 0, "text": "Motor Encoder: Critical error", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "A critical error occurred in the Motor Encoder." }, { "code": 263, "arg": 1, "text": "Motor Encoder: Motor Encoder is unavailable", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The Motor Encoder's sense signal indicates a bad connection." }, { "code": 263, "arg": 2, "text": "Motor Encoder: Calibration has been invalidated and can lead to reduced performance.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "An error in the file handling caused the invalid calibration, which can alter joint performance." }, { "code": 263, "arg": 21, "text": "Motor Encoder: Validation of the detected Index Mark ({signed}) failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The absolute Motor Encoder position cannot be validated because the Motor position calculated by the Joint Encoder is invalid." }, { "code": 263, "arg": 26, "text": "Motor Encoder: Failure to log missing Index Mark, index out of range: {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Failed to log the missing index mark position because the index is out of range" }, { "code": 263, "arg": 27, "text": "Motor Encoder: Failure to log index drift, position out of range: {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Failed to log the index drift position because the position is out of range" }, { "code": 263, "arg": 38, "text": "Motor Encoder: Time sanity check failed, difference is too great: {float}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The time difference (in \u00b5s) since the last motor encoder read is too great" }, { "code": 263, "arg": 39, "text": "Motor Encoder: The motor encoder data CRC was invalid", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The CRC check of the motor encoder data failed" }, { "code": 263, "arg": 41, "text": "Motor Encoder: The rate of invalid samples is too high. Debt counter = {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check for possible EM noise or ESD sources, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "A high rate of invalid samples can indicate a faulty motor encoder, a bad connection, or an EMC/ESD issue." }, { "code": 264, "arg": 0, "text": "Task Manager: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the task manager" }, { "code": 264, "arg": 7, "text": "Task Manager: Start of Cycle pulse was required but did not occur after {unsigned}ms.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A Start of Cycle pulse did not happen within the required time. The issue may be due to a damaged internal communication cable to the node or a bad internal connection." }, { "code": 264, "arg": 8, "text": "Task Manager: Systick timer and Start of Cycle pulse was misaligned by {float}us.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The internal systick timer and the Start of Cycle pulse was not aligned as expected. The issue may be due to a damaged internal communication cable to the node or a bad internal connection." }, { "code": 264, "arg": 9, "text": "Task Manager: {signed} unexpected (+) or missing (-) Start of Cycle pulses was detected within a 1 second period.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The number of Start of Cycle pulses within a 1 second period was different than expected. The issue may be due to a damaged internal communication cable to the node or a bad internal connection." }, { "code": 264, "arg": 10, "text": "Task Manager: {unsigned} invalid Start of Cycle pulses was detected within a 1 second period.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Too many misaligned Start of Cycle pulses was detected within a 1 second period. The issue may be due to a damaged internal communication cable to the node or a bad internal connection." }, { "code": 264, "arg": 11, "text": "Task Manager: {unsigned} Start of Cycle pulses was lost in a row", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Too many Start of Cycle pulses was lost in a row. The issue may be due to a damaged internal communication cable to the node or a bad internal connection." }, { "code": 265, "arg": 0, "text": "Joint Encoder: Joint encoder position invalid. Detailed error: {hex}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check for ESD noise, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the Joint Encoder. The reported position is not valid." }, { "code": 265, "arg": 5, "text": "Joint Encoder: Near operation limits. Status: {hex}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check for ESD noise, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The joint encoder is close to operational limits. Reported positions have reduced precision." }, { "code": 265, "arg": 6, "text": "Joint Encoder: Not present. Status: {hex}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check for ESD noise, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The Joint Encoder is not responding to commands" }, { "code": 265, "arg": 41, "text": "Joint Encoder: The read head temperature is outside the allowed range.", "suggestion": "Cool down the environment and make sure the robot is operating within the recommended limits.", "explanation": "The encoder read head is too cold or hot, either the ambient temperature is too high or the robot is overloaded." }, { "code": 265, "arg": 42, "text": "Joint Encoder: Signal amplitude low.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The distance between the readhead and the ring is too large." }, { "code": 265, "arg": 43, "text": "Joint Encoder: Signal amplitude too high.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The readhead is too close to the ring." }, { "code": 265, "arg": 44, "text": "Joint Encoder: Signal decoding below confidence threshold - position decoding might be inaccurate or fail.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "At least one-out-of-two decoding algorithms, from the sensor image, falls below the confidence threshold. The read head might be tilted." }, { "code": 265, "arg": 45, "text": "Joint Encoder: Internal speed data is not valid.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The time delta between last two position requests exceeded the maximum time allowed" }, { "code": 265, "arg": 46, "text": "Joint Encoder: Encoder acceleration too high.", "suggestion": "Try the following actions to see which resolves the issue: (A) Remove any sources of magnetic fields external to the robot, and conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The position data changed unexpectedly. A stray magnetic field is present or metal particles are present between the read head and the ring." }, { "code": 265, "arg": 47, "text": "Joint Encoder: Magnetic pattern decoding error", "suggestion": "Try the following actions to see which resolves the issue: (A) Remove any sources of magnetic fields external to the robot, and conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A stray magnetic field is present or metal particles are present between the read head and the ring or radial positioning between the read head and the ring is out of tolerances." }, { "code": 265, "arg": 48, "text": "Joint Encoder: Signal lost.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Signal lost. The read head is out of alignment with the ring or the ring is damaged." }, { "code": 265, "arg": 49, "text": "Joint Encoder: Signal amplitude too high. External magnetic field is present", "suggestion": "Try the following actions to see which resolves the issue: (A) Remove any sources of magnetic fields external to the robot, and conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "External magnetic field disturbing the jointencoder position reading" }, { "code": 265, "arg": 50, "text": "Joint Encoder: System error. Malfunction inside the circuitry.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Malfunction inside the circuitry. To reset the System error bit try to cycle the power supply. The power-supply rise time should be shorter than 20 ms." }, { "code": 265, "arg": 51, "text": "Joint Encoder: Power supply voltage out of range.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Internal power supply error" }, { "code": 265, "arg": 52, "text": "Joint Encoder: System error. Inconsistent calibration data is detected.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Inconsistent calibration data is detected. To reset the System error bit try to cycle the power supply. The power-supply rise time should be shorter than 20 ms." }, { "code": 265, "arg": 53, "text": "Joint Encoder: Too many warnings in a row.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The joint encoder reporting too many warnings in row" }, { "code": 265, "arg": 58, "text": "Joint Encoder: Invalid sample rate too high.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The joint encoder produced too many invalid samples." }, { "code": 266, "arg": 0, "text": "Self-test: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the Joint Self-test" }, { "code": 267, "arg": 0, "text": "Bootloader error: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred during Firmware upgrade." }, { "code": 267, "arg": 11, "text": "Bootloader error: Hardware configuration issue", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "Hardware configuration mismatch" }, { "code": 267, "arg": 13, "text": "Bootloader error: Required firmware file is missing for device ID: {hex}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A firmware file for a device is missing and the device does not have the required information to boot" }, { "code": 267, "arg": 14, "text": "Bootloader error: Device not supported by the firmware file, device ID: {hex}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A firmware file does not support a device and the device does not have the required information to boot" }, { "code": 267, "arg": 15, "text": "Bootloader error: No firmware to boot from for device ID: {hex}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The device does not have the required information to boot" }, { "code": 268, "arg": 4, "text": "Special Command: Reboot command received but the device is not allowed to reboot", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "Device received a reboot request but the system is in a state where the device is not allowed to reboot" }, { "code": 269, "arg": 70, "text": "Transceiver - deprecated: Flash device is not supported, JEDEC data for device is: {hex}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The flash device's JEDEC ID does not match a supported flash device" }, { "code": 271, "arg": 1, "text": "Low level real-time thread: Runtime is too much behind.", "suggestion": "Consider using a Wait or sync() to split long program sequences that do not move the robot.", "explanation": "One of the threads might be using too much time (see log for more details)." }, { "code": 272, "arg": 0, "text": "Missing calibration: Critical error - the calibration is missing", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "Calibration could not be loaded" }, { "code": 273, "arg": 0, "text": "Cross monitoring: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement error occurred in the safety system" }, { "code": 273, "arg": 5, "text": "Cross monitoring: Disagreement on Safety Control Board State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system." }, { "code": 273, "arg": 6, "text": "Cross monitoring: Disagreement on Robot State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system." }, { "code": 273, "arg": 7, "text": "Cross monitoring: Disagreement on Safety State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 8, "text": "Cross monitoring: Disagreement on position", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 9, "text": "Cross monitoring: Disagreement on velocity", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 10, "text": "Cross monitoring: Disagreement on current", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 11, "text": "Cross monitoring: Disagreement on temperature", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 12, "text": "Cross monitoring: Disagreement on Teach Pendant State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 13, "text": "Cross monitoring: Disagreement on Teach Pendant Emergency Stop", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 14, "text": "Cross monitoring: One processor entered Fault State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 15, "text": "Cross monitoring: One processor entered Violation State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 16, "text": "Cross monitoring: Joint State disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 17, "text": "Cross monitoring: Joint Constant Data CRC disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 18, "text": "Cross monitoring: Joint target current disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 19, "text": "Cross monitoring: Torque Window disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 20, "text": "Cross monitoring: Torque Error disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreementoccurred within the safety system" }, { "code": 273, "arg": 21, "text": "Cross monitoring: Target Velocity disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 22, "text": "Cross monitoring: Target Acceleration disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 23, "text": "Cross monitoring: Recovery Mode CRC disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 24, "text": "Cross monitoring: Robot Configuration CRC disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 25, "text": "Cross monitoring: User Configuration CRC disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 26, "text": "Cross monitoring: Maximum stopping time disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 27, "text": "Cross monitoring: Stopping Time Torque Overload disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 28, "text": "Cross monitoring: Disagreement error on joint {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 29, "text": "Cross monitoring: Tool speed disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 30, "text": "Cross monitoring: Safety Mode Limit disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 31, "text": "Cross monitoring: Hand Protection Distance disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 32, "text": "Cross monitoring: Elbow Sphere speed disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 33, "text": "Cross monitoring: Momentum disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 34, "text": "Cross monitoring: Power disagreeement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 35, "text": "Cross monitoring: Elbow position disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 36, "text": "Cross monitoring: Workpiece Rotation disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 37, "text": "Cross monitoring: Disagreement on Workpiece Position", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 38, "text": "Cross monitoring: Disagreement on motor parameter (R_pp)", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 39, "text": "Cross monitoring: Disagreement on motor parameter (L_pp)", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 40, "text": "Cross monitoring: Disagreement on motor parameter (Kb)", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 41, "text": "Cross monitoring: Disagreement on motor parameter (Kt)", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 42, "text": "Cross monitoring: Disagreement on motor parameter (T)", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 43, "text": "Cross monitoring: Disagreement on the Teach Pendant's Three-Position Enabling Device", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 44, "text": "Cross monitoring: Disagreement on the active status of the Teach Pendant's Three-Position Enabling Device", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 47, "text": "Cross monitoring: Disagreement on state", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 48, "text": "Cross monitoring: Disagreement on Injection-Molding-Machine-Interface Emergency Stop input", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 49, "text": "Cross monitoring: Disagreement on Injection-Molding-Machine-Interface Emergency Stop output", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 50, "text": "Cross monitoring: Disagreement on Injection-Molding-Machine-Interface Safeguard input", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 51, "text": "Cross monitoring: Disagreement on Injection-Molding-Machine-Interface type", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 52, "text": "Cross monitoring: Disagreement on Torque Parameters CRC", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 53, "text": "Cross monitoring: Target Torque disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 54, "text": "Cross monitoring: Disagreement on hardware configuration CRC", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 55, "text": "Cross monitoring: Disagreement on compensation current", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 56, "text": "Cross monitoring: Disagreement on external torque target", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 57, "text": "Cross monitoring: Safety Target Torque disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 58, "text": "Cross monitoring: Disagreement on all motors off in arm", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system." }, { "code": 273, "arg": 61, "text": "Cross monitoring: Disagreement on joint gear temperature", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Safety system disagrees on the gear temperature" }, { "code": 273, "arg": 62, "text": "Cross monitoring: Disagreement on joint house temperature", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Safety system disagrees on the house temperature" }, { "code": 273, "arg": 63, "text": "Cross monitoring: Disagreement on the tool safety input", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 64, "text": "Cross monitoring: One processor entered Critical Fault State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 66, "text": "Cross monitoring: Disagreement on linear velocity", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local MiR service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 67, "text": "Cross monitoring: Disagreement on angular velocity", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local MiR service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 68, "text": "Cross monitoring: Disagreement on scanner monitoring case for scanner {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local MiR service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 69, "text": "Cross monitoring: Disagreement on raw current", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 70, "text": "Cross monitoring: Safety field configuration CRC disagreement", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local MiR service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 273, "arg": 71, "text": "Cross monitoring: Safety stop flags disagreement", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical disagreement occurred within the safety system" }, { "code": 274, "arg": 1, "text": "Control box fan error: Fan is not running", "suggestion": "Ensure the fan in the control box can rotate freely and the connector is attached. The control box fan is located between the air filter and the energy eater in the control box. See the Service Manual for details.", "explanation": "The control box fan must be running to prevent the control box from overheating" }, { "code": 274, "arg": 2, "text": "Control box fan error: Monitoring data timed out", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The monitoring signals for the fan speed was not received by the system in a timely manner" }, { "code": 275, "arg": 12, "text": "Brake Pin: Attempted to update brakepin state machine before it was initialized.", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Problem in joint firmware initialization sequence." }, { "code": 276, "arg": 0, "text": "Uart: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the UART driver" }, { "code": 277, "arg": 1, "text": "Memory: Failed to allocate memory", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Failed to allocate mamory." }, { "code": 278, "arg": 0, "text": "Servo: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the servo module" }, { "code": 278, "arg": 18, "text": "Servo: The version of the received control message is not supported. Version received: {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The servo module received a control message from the controller of a version that it does not support" }, { "code": 278, "arg": 20, "text": "Servo: The control-mode state {unsigned} in the received control message is not supported.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The servo module received a control message from the controller with a control-mode state that it does not support" }, { "code": 279, "arg": 0, "text": "Flash: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the flash driver" }, { "code": 279, "arg": 38, "text": "Flash: Timed out waiting for system voltage to reach {float}V", "suggestion": "Try the following actions to see which resolves the issue: (A) Investigate power supply to the robot, (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "System voltage is too low to ensure safe flash operations" }, { "code": 280, "arg": 0, "text": "Real-time error: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Check communication between joints, (D) Contact your local Universal Robots service provider for assistance", "explanation": "A critical real-time error occurred" }, { "code": 281, "arg": 0, "text": "Robot State Machine: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical State Machine error occurred" }, { "code": 281, "arg": 3, "text": "Robot State Machine: {deviceName} joint entered the Fault State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 281, "arg": 4, "text": "Robot State Machine: {deviceName} joint entered the Violation State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 281, "arg": 7, "text": "Robot State Machine: Teach Pendant entered the Fault State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 281, "arg": 8, "text": "Robot State Machine: Teach Pendant entered the Violation State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 281, "arg": 9, "text": "Robot State Machine: {deviceName} joint moved too far before robot entered RUNNING State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Ensure the mounted payload, TCP, and CoG matches your configuration, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "A Joint moved more than the permissible range during the Brake Release procedure." }, { "code": 281, "arg": 14, "text": "Robot State Machine: IMMI entered the Fault State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 281, "arg": 15, "text": "Robot State Machine: IMMI entered the Violation State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 281, "arg": 16, "text": "Robot State Machine: {deviceName} joint did not reach correct state before timeout was exceeded", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The robot is not in the expected state. An issue occured during the state transition." }, { "code": 281, "arg": 17, "text": "Robot State Machine: {deviceName} joint entered the Brake Failure State", "suggestion": "Keep the robot powered on and contact your local Universal Robots service provider for assistance", "explanation": "The joint brake system failed to engage while powering down the robot." }, { "code": 281, "arg": 18, "text": "Robot State Machine: Not all joints reached parking within the expected time of {unsigned} ms", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "One or more joints did not transition to parking within the time allowed from when the first joint began to park" }, { "code": 281, "arg": 20, "text": "Robot State Machine: {deviceName} joint entered the Critical Fault State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 281, "arg": 21, "text": "Robot State Machine: Tool entered the Fault State", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The tool has entered the Fault State" }, { "code": 283, "arg": 0, "text": "Safety system: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the safety system" }, { "code": 283, "arg": 1, "text": "Safety system: Robot is not braking when in Stop Mode" }, { "code": 283, "arg": 2, "text": "Safety system: Robot is moving when in Stop Mode" }, { "code": 283, "arg": 3, "text": "Safety system: Power not removed from the motors while in Emergency Stop" }, { "code": 283, "arg": 4, "text": "Safety system: Failed to power on the Robot Arm" }, { "code": 283, "arg": 5, "text": "Safety system: Invalid pin-configuration received: {hex}" }, { "code": 283, "arg": 6, "text": "Safety system: Trying to reassign pin configuration with configuration {hex}" }, { "code": 283, "arg": 7, "text": "Safety system: {deviceName} joint exceeded the speed limit of the safety settings", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings" }, { "code": 283, "arg": 8, "text": "Safety system: The System Emergency Stop Output is not active", "suggestion": "Make sure output is not short circuited to a power supply", "explanation": "Failed to activate the System Emergency Stop Output. The output is active when voltage is low" }, { "code": 283, "arg": 9, "text": "Safety system: System Emergency Stop Output disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure both inputs are properly connected, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The input signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 10, "text": "Safety system: Robot Emergency Stop Input disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure both inputs are properly connected, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The input signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 11, "text": "Safety system: System Emergency Stop Input disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure both inputs are properly connected, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The input signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 12, "text": "Safety system: Safeguard Stop Input disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure both inputs are properly connected, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The input signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 13, "text": "Safety system: Safeguard Reset Input disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure both inputs are properly connected, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The input signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 14, "text": "Safety system: Operation Mode input disagreement within the safety system.", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure both inputs are properly connected, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The input signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 15, "text": "Safety system: Three-Positional Enabling Device Input disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure both inputs are properly connected, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The input signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 16, "text": "Safety system: Operation Mode Switch is defined and no Three-Positional Device is defined.", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure that a Three-Positional Device is enabled in the Safety Configuration (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "Operation mode switch can only be enabled if a Three-Positional Device is present" }, { "code": 283, "arg": 17, "text": "Safety system: Lost {unsigned} Teach Pendant safety packages in a row", "suggestion": "Try the following actions to see which resolves the issue: (A) Check that the teach pendant is properly connected, (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 18, "text": "Safety system: Lost too many Joint safety packages in a row. Diagnostic data: {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Check that the teach pendant is properly connected, (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 19, "text": "Safety system: Invalid gravity vector received", "suggestion": "Make sure there are no script commands that set an invalid gravity vector.", "explanation": "The gravity vector is outside the allowed range." }, { "code": 283, "arg": 20, "text": "Safety system: Invalid payload mass received", "suggestion": "Make sure there are no script commands that set an illegal payload for the robot type", "explanation": "The payload mass is outside the allowed range" }, { "code": 283, "arg": 21, "text": "Safety system: invalid payload center of gravity received", "suggestion": "Make sure there are no script commands that set an invalid payload center of gravity.", "explanation": "The payload center of gravity is outside the allowed range" }, { "code": 283, "arg": 22, "text": "Safety system: Teach Pendant is connected while it is disabled in robot configuration", "suggestion": "Disconnect the Teach Pendant or enable it in the configuration.", "explanation": "If the Teach Pendant is enabled, it is connected. If it is disabled, it is not connected." }, { "code": 283, "arg": 26, "text": "Safety system: Force limitation: A joint exceeded the torque window by {float}Nm", "suggestion": "Check that the target trajectory is smooth. Noisy sensors or communication jitter in external control can cause jerky trajectories", "explanation": "If the target trajectory is very jerky, e.g. in case of sensor based control with path_offset() or servoj(), the target joint torques can exceed safety system limits" }, { "code": 283, "arg": 27, "text": "Safety system: Mismatch on Robot Configuration CRC between the safety system and PolyScope", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 28, "text": "Safety system: Mismatch on User Configuration CRC between the safety system and PolyScope", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Make new installation, (C) Update software, (D) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 34, "text": "Safety system: Error while trying to apply safety configuration", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 35, "text": "Safety system: Reduced Mode Output disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 36, "text": "Safety system: Not Reduced Mode Output disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 37, "text": "Safety system: Robot Moving Output disagreement within the safety system", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 38, "text": "Safety system: Robot Not Stopping Output disagreement within the safety system", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 40, "text": "Safety system: Reduced Mode Input disagreement within the safety systems", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure both inputs are correctly connected, (B) Contact your local Universal Robots service provider for assistance.", "explanation": "The input signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 41, "text": "Safety system: TCP Velocity violates limits of maximum stopping time", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings" }, { "code": 283, "arg": 42, "text": "Safety system: TCP Velocity violates limits of maximum stopping distance", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings" }, { "code": 283, "arg": 43, "text": "Safety system: {deviceName} joint moved too quickly toward a Joint position limit", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings" }, { "code": 283, "arg": 44, "text": "Safety system: The tool moved too fast towards an orientation limit", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings" }, { "code": 283, "arg": 45, "text": "Safety system: The Elbow moved too fast towards a safety plane", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings" }, { "code": 283, "arg": 46, "text": "Safety system: The tool moved too fast towards a safety plane", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings" }, { "code": 283, "arg": 47, "text": "Safety system: {deviceName} joint position limit exceeded", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings" }, { "code": 283, "arg": 48, "text": "Safety system: Tool position limit exceeded", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings" }, { "code": 283, "arg": 49, "text": "Safety system: Tool orientation limit exceeded", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings" }, { "code": 283, "arg": 50, "text": "Safety system: Elbow position limit exceeded", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings" }, { "code": 283, "arg": 51, "text": "Safety system: Robot moved with a speed of {float} mm/s at the tool. This exceeds the tool speed limit in the safety settings", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings" }, { "code": 283, "arg": 52, "text": "Safety system: Robot moved with a speed of {float} mm/s at the elbow. This exceeds the elbow speed limit in the safety settings", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings" }, { "code": 283, "arg": 53, "text": "Safety system: Maximum Tool Center Point Speed in Reduced Mode is invalid", "suggestion": "Ensure the Reduced Mode Limit is less than or equal to the Normal Mode limit." }, { "code": 283, "arg": 54, "text": "Safety system: Maximum Elbow Speed in Reduced Mode is invalid", "suggestion": "Ensure the Reduced Mode limit is less than or equal to the Normal Mode Limit." }, { "code": 283, "arg": 55, "text": "Safety system: Maximum Joint Speed of joint {unsigned} in Reduced Mode is invalid", "suggestion": "Ensure the Reduced Mode Limit is less than or equal to the Normal Mode Limit." }, { "code": 283, "arg": 56, "text": "Safety system: Maximum Momentum in Reduced Mode is invalid", "suggestion": "Ensure the Reduced Mode Limit is less than or equal to the Normal Mode Limit." }, { "code": 283, "arg": 57, "text": "Safety system: Maximum stopping time in Reduced Mode is invalid", "suggestion": "Ensure the Reduced Mode Limit is less than or equal to the Normal Mode Limit." }, { "code": 283, "arg": 58, "text": "Safety system: Maximum stopping distance in Reduced Mode is invalid", "suggestion": "Ensure the Reduced Mode Limit is less than or equal to the Normal Mode Limit." }, { "code": 283, "arg": 59, "text": "Safety system: Reduced Mode Output is not active", "suggestion": "Make sure output is not short circuited to a power supply", "explanation": "Failed to activate the Reduced Mode Output. The output is active when voltage is low" }, { "code": 283, "arg": 60, "text": "Safety system: Reduced Mode Output is not inactive", "suggestion": "Make sure output is not short circuited to ground", "explanation": "Failed to deactivate the Reduced Mode Output. The output is inactive when voltage is high" }, { "code": 283, "arg": 61, "text": "Safety system: Not Reduced Mode Output is not active", "suggestion": "Make sure output is not short circuited to a power supply", "explanation": "Failed to activate the Not Reduced Mode Output. The output is active when voltage is low" }, { "code": 283, "arg": 62, "text": "Safety system: Not Reduced Mode Output is not inactive", "suggestion": "Make sure output is not short circuited to ground", "explanation": "Failed to deactivate the Not Reduced Mode Output. The output is inactive when voltage is high" }, { "code": 283, "arg": 63, "text": "Safety system: Robot is moving while Robot Moving Output is not active", "suggestion": "Make sure output is not short circuited to a power supply", "explanation": "Failed to activate the Robot Moving Output. The output is active when voltage is low" }, { "code": 283, "arg": 64, "text": "Safety system: Tool Direction Vector Length for Normal Mode is {float}, not 1.0", "suggestion": "Reconfigure Tool orientation" }, { "code": 283, "arg": 65, "text": "Safety system: Tool Direction Vector Length for Reduced Mode is {float}, not 1.0", "suggestion": "Reconfigure Tool orientation" }, { "code": 283, "arg": 66, "text": "Safety system: Robot Momentum reached {float} kg * m/s, which exceeds the Momentum limit" }, { "code": 283, "arg": 67, "text": "Safety system: Robot Power reached {float} W, which exceeds the Power limit" }, { "code": 283, "arg": 68, "text": "Safety system: Error caused by {deviceName}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical safety error" }, { "code": 283, "arg": 72, "text": "Safety system: The motor configuration sent by the Control Box is invalid", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The motor configuration sent is unusable with this firmware revision." }, { "code": 283, "arg": 73, "text": "Safety system: Safe Home Position Output disagreement within the safety system" }, { "code": 283, "arg": 74, "text": "Safety system: The Safe Home Position Output is active while not allowed", "suggestion": "Make sure output is not short circuited to power supply or ground", "explanation": "The Safe Home Position Output is active while the robot is not in Safe Home Position" }, { "code": 283, "arg": 81, "text": "Safety system: The robot configuration specifies an unsupported joint size {signed}", "suggestion": "Upgrade to a newer software version", "explanation": "The safety system is not certified to work with the specified joint size" }, { "code": 283, "arg": 82, "text": "Safety system: The connected Teach Pendant type does not match the configuration", "suggestion": "Try the following actions to see which resolves the issue: (A) Check that the Teach Pendant is properly connected and matches the one in the safety configuration, (B) Conduct a complete rebooting sequence, (C) Update the software, (D) Contact your local Universal Robots technical support", "explanation": "The connected Teach Pendant is not the same type as the one selected in the safety configuration" }, { "code": 283, "arg": 83, "text": "Safety system: The configured Teach Pendant has no Three-Positional Enabling Device", "suggestion": "Try the following actions to see which resolves the issue: (A) Check that the correct Teach Pendant is selected in the safety configuration, (B) Conduct a complete rebooting sequence, (C) Update the software, (D) Contact your local Universal Robots technical support", "explanation": "The safety configuration enables the Teach Pendant's Three-Positional Enabling Device, but the configured Teach Pendant does not have a Three-Positional Enabling Device" }, { "code": 283, "arg": 85, "text": "Safety system: Automatic Safeguard Stop Input disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure both inputs are properly connected, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The input signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 86, "text": "Safety system: Automatic Safeguard Reset Input disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure both inputs are properly connected, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The input signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 87, "text": "Safety system: Injection-Molding-Machine-Interface is connected while it is disabled in the robot configuration", "suggestion": "Disconnect the Injection-Molding-Machine-Interface or enable it in the configuration.", "explanation": "If the Injection-Molding-Machine-Interface is enabled, it must be connected. If it is disabled, it must be disconnected." }, { "code": 283, "arg": 88, "text": "Safety system: Lost {unsigned} Injection-Molding-Machine-Interface safety packages in a row", "suggestion": "Try the following actions to see which resolves the issue: (A) Check that the Injection-Molding-Machine-Interface is properly connected, (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 89, "text": "Safety system: The connected Injection-Molding-Machine-Interface type does not match the configuration", "suggestion": "Try the following actions to see which resolves the issue: (A) Check that the Injection-Molding-Machine-Interface is properly connected and matches the one in the safety configuration, (B) Conduct a complete rebooting sequence, (C) Update the software, (D) Contact your local Universal Robots technical support", "explanation": "The connected Injection-Molding-Machine-Interface is not the same type as the one selected in the safety configuration" }, { "code": 283, "arg": 90, "text": "Safety system: Invalid Injection-Molding-Machine-Interface type in the user configuration: {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure the correct IMMI type is selected in the Safety Configuration (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The configuration provided by the user safety configuration is invalid" }, { "code": 283, "arg": 91, "text": "Safety system: The Injection-Molding-Machine-Interface System Emergency Stop Output is not active", "suggestion": "Make sure output is not short circuited to ground", "explanation": "Failed to activate the System Emergency Stop Output on the Injection-Molding-Machine-Interface. The output is active when voltage is high" }, { "code": 283, "arg": 94, "text": "Safety system: Automatic Safeguard Stop input is configured but no Three-Position Enabling device is configured", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure that a Three-Positional Device is enabled in the Safety Configuration (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 97, "text": "Safety system: The payload inertia matrix diagonal sent from the controller must be non-negative", "suggestion": "Make sure there are no script commands that set an invalid payload inertia matrix diagonal" }, { "code": 283, "arg": 98, "text": "Safety system: The payload inertia sent from the controller must be within valid range", "suggestion": "Make sure your inertia is within the valid range", "explanation": "The payload inertia must be within the valid range. Max inertia is defined as a 10 meter rod with a mass equal to the maximum rated robot payload" }, { "code": 283, "arg": 99, "text": "Safety system: Received an invalid value {float} as part of the runtime safety configuration", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 100, "text": "Safety system: Multiple sources defined for controlling operational mode", "suggestion": "Try the following actions to resolve the issue: (A) Make sure there are not set multiple sources in the Safety Config controlling the operational mode, (B) Update Software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 102, "text": "Safety system: The reduced mode state is inactive while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The reduced mode state sent to the safety system is inactive while the robot is in reduced mode" }, { "code": 283, "arg": 103, "text": "Safety system: The reduced mode state is active while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The reduced mode state sent to the safety system is active while the robot is not in reduced mode" }, { "code": 283, "arg": 104, "text": "Safety system: Robot is moving while the robot moving state is not active", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The robot is moving while the robot moving state sent to the safety system is inactive." }, { "code": 283, "arg": 105, "text": "Safety system: The safe home position state is active while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The safe home position state sent to the safety system is active while the robot is not in safe home position" }, { "code": 283, "arg": 106, "text": "Safety system: The safeguard stop state is active while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The safeguard stop state sent to the safety system is active while the robot is not in safeguard stop" }, { "code": 283, "arg": 107, "text": "Safety system: The safeguard stop state is inactive while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The safeguard stop state sent to the safety system is inactive while the robot is in safeguard stop" }, { "code": 283, "arg": 112, "text": "Safety system: The emergency stop by system state is active while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The emergency stop by system state sent to the safety system is active while the robot is not in system emergency stop" }, { "code": 283, "arg": 113, "text": "Safety system: The emergency stop by system state is inactive while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The emergency stop by system state sent to the safety system is inactive while the robot is in system emergency stop" }, { "code": 283, "arg": 114, "text": "Safety system: The emergency stop by robot state is active while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The emergency stop by robot state sent to the safety system is active while the robot is not in robot emergency stop" }, { "code": 283, "arg": 115, "text": "Safety system: The emergency stop by robot state is inactive while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The emergency stop by robot state sent to the safety system is inactive while the robot is in robot emergency stop" }, { "code": 283, "arg": 116, "text": "Safety system: The Fault state is inactive while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The fault state sent to the safety system is inactive while the robot is in fault" }, { "code": 283, "arg": 117, "text": "Safety system: The fault state is active while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The fault state sent to the safety system is active while the robot is not in Fault" }, { "code": 283, "arg": 118, "text": "Safety system: The violation state is inactive while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The violation state sent to the safety system is inactive while the robot is in violation" }, { "code": 283, "arg": 119, "text": "Safety system: The violation state is active while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The Violation state sent to the safety system is active while the robot is not in violation" }, { "code": 283, "arg": 120, "text": "Safety system: The category 1 stop state is inactive while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The category 1 stop state sent to the safety system is inactive while the robot is in a category 1 stop" }, { "code": 283, "arg": 121, "text": "Safety system: The category 1 stop state is active while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The category 1 stop state sent to the safety system is active while the robot is not in a category 1 stop" }, { "code": 283, "arg": 122, "text": "Safety system: The safeguard stop auto state is active while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The safeguard stop auto state sent to the safety system is active while the robot is not in safeguard stop auto" }, { "code": 283, "arg": 123, "text": "Safety system: The safeguard stop auto state is inactive while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The safeguard stop auto state sent to the safety system is inactive while the robot is in safeguard stop auto" }, { "code": 283, "arg": 124, "text": "Safety system: The 3PE stop state is inactive while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The 3PE stop state sent to the safety system is inactive while the robot is in 3PE stop" }, { "code": 283, "arg": 125, "text": "Safety system: The 3PE stop state is active while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The 3PE stop state sent to the safety system is active while the robot is not in 3PE stop" }, { "code": 283, "arg": 126, "text": "Safety system: The category 2 stop state is inactive while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The category 2 stop state sent to the safety system is inactive while the robot is in a category 2 stop" }, { "code": 283, "arg": 127, "text": "Safety system: The category 2 stop state is active while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The category 2 stop state sent to the safety system is active while the robot is not in a category 2 stop" }, { "code": 283, "arg": 128, "text": "Safety system: The category 0 stop state is inactive while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The category 0 stop state sent to the safety system is inactive while the robot is in a category 0 stop" }, { "code": 283, "arg": 129, "text": "Safety system: The category 0 stop state is active while not allowed", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The category 0 stop state sent to the safety system is active while the robot is not in a category 0 stop" }, { "code": 283, "arg": 130, "text": "Safety system: The safety mode limit is incorrect", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The safety mode limit sent to the safety system does not match the safety mode limit in the safety system" }, { "code": 283, "arg": 131, "text": "Safety system: The operational mode is incorrect", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The operational mode sent to the safety system does not match the operational mode in the safety system" }, { "code": 283, "arg": 134, "text": "Safety system: Teach pendants without 3PE not supported", "explanation": "The robot only supports teach pendants with a build in 3-Position Enabling Device, but the configured teach pendant doesn't have one" }, { "code": 283, "arg": 135, "text": "Safety system: Freedrive safety-input disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure both inputs are properly connected, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The input signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 136, "text": "Safety system: Brake monitoring not initialized correctly.", "suggestion": "Update to the latest software version.", "explanation": "Internal setup of brake monitor not setup correctly." }, { "code": 283, "arg": 137, "text": "Safety system: Invalid number of dynamic safety clients.", "suggestion": "Try the following actions to resolve the issue: (A) Remove unnecessary dynamic safety clients, (B) Conduct a complete rebooting sequence, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The amount of dynamic safety clients requested is higher than the amount of dynamic safety clients allowed." }, { "code": 283, "arg": 143, "text": "Safety system: Tool safety input is configured but the safety configuration version does not support it", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The safety configuration version does not support tool safety inputs" }, { "code": 283, "arg": 144, "text": "Safety system: Tool safety inputs are configured but the robot type does not support it", "suggestion": "Try the following actions to see which resolves the issue: (A) Disable tool safety input, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The robot type does not support tool safety inputs" }, { "code": 283, "arg": 145, "text": "Safety system: Tool safety inputs are configured but the joint hardware does not support it", "suggestion": "Try the following actions to see which resolves the issue: (A) Disable tool safety input, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The joint hardware does not support tool safety inputs" }, { "code": 283, "arg": 146, "text": "Safety system: Tool safety inputs are configured but the safety input type is not supported", "suggestion": "Try the following actions to see which resolves the issue: (A) Disable tool safety input, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The safety input type is not supported when using the tool safety input" }, { "code": 283, "arg": 147, "text": "Safety system: Tried to get the state of A IO {unsigned} which is not a valid IO", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The requested IO is not valid" }, { "code": 283, "arg": 148, "text": "Safety system: Tried to get the state of B IO {unsigned} which is not a valid IO", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The requested IO is not valid" }, { "code": 283, "arg": 149, "text": "Safety system: Tool safety inputs are configured, but the robot configuration does not contain a wrist3 joint", "suggestion": "Try the following actions to see which resolves the issue: (A) Disable tool safety input, (B) Make sure the robot configuration is correct, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The robot configuration does not contain a wrist3 joint, but tool safety inputs are configured" }, { "code": 283, "arg": 150, "text": "Safety system: Tool safety inputs are configured, but was outside the limits for too long", "suggestion": "Try the following actions to see which resolves the issue: (A) Disable tool safety input, (B) Make sure the robot configuration is correct, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "When the tool safety input are outisde the limits, it is neither ON or OFF making it unusable." }, { "code": 283, "arg": 152, "text": "Safety system: Safety plane is configured with IO, but no IO is configured", "suggestion": "Try the following actions to see which resolves the issue: (A) Configure the input or output, (B) Conduct a complete rebooting sequence, (C) Update Software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "When safety plane is configured with IO, at least one input or output must be configured" }, { "code": 283, "arg": 153, "text": "Safety system: Safety Plane with IO safety-input disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure both inputs are properly connected, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The input signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 154, "text": "Safety system: Safety Plane with IO safety-output disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure both outputs are properly connected, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The output signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 155, "text": "Safety system: The Safety Plane Output is not active", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The output signal of a safety plane is not active, when it is expected to be active" }, { "code": 283, "arg": 157, "text": "Safety system: The Safety Plane Output is not inactive", "suggestion": "Try the following actions to resolve the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The output signal of a safety plane is not inactive, when it is expected to be inactive" }, { "code": 283, "arg": 164, "text": "Safety system: Three position enabling stop output is in an incorrect state", "suggestion": "Make sure output is not short circuited to a power supply", "explanation": "Failure to activate the three position enabling stop output. The output is active when signal is low" }, { "code": 283, "arg": 165, "text": "Safety system: Three position enabling stop output is in an incorrect state", "suggestion": "Make sure output is not short circuited to ground", "explanation": "Failure to deactivate the Three position enabling stop output. The output is inactive when signal is high" }, { "code": 283, "arg": 166, "text": "Safety system: No three position enabling stop output is in an incorrect state", "suggestion": "Make sure output is not short circuited to a power supply", "explanation": "Failure to activate the not three position enabling stop output. The output is active when signal is low" }, { "code": 283, "arg": 167, "text": "Safety system: No three position enabling stop output is in an incorrect state", "suggestion": "Make sure output is not short circuited to ground", "explanation": "Failure to deactivate the not three position enabling stop output. The output is inactive when signal is high" }, { "code": 283, "arg": 168, "text": "Safety system: Lost {unsigned} Tool safety packages in a row", "suggestion": "Try the following actions to see which resolves the issue: (A) Check that the Injection-Molding-Machine-Interface is properly connected, (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 169, "text": "Safety system: Three position enabling stop output disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 170, "text": "Safety system: Not three position enabling stop output disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 283, "arg": 171, "text": "Safety system: Tool safety inputs are configured but not supported", "suggestion": "Try the following actions to see which resolves the issue: (A) Disable tool safety input, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The hardware does not support tool safety inputs" }, { "code": 283, "arg": 172, "text": "Safety system: Received an unexpected tool safety message", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The safety system received an unexpected tool safety message" }, { "code": 283, "arg": 173, "text": "Safety system: No tool is configured but tool safety inputs are configured", "suggestion": "Try the following actions to see which resolves the issue: (A) Disable tool safety input, (B) Configure a tool, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The safety system is configured to use tool safety inputs, but no tool is configured" }, { "code": 283, "arg": 175, "text": "Safety system: Tool type disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Disable tool safety input, (B) Configure a tool, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The tool types received by the safety system do not match" }, { "code": 283, "arg": 177, "text": "Safety system: Tool safety inputs are not supported in this software version", "suggestion": "Try the following actions to see which resolves the issue: (A) Disable tool safety input, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The current software version does not support tool safety inputs" }, { "code": 283, "arg": 178, "text": "Safety system: Parking did not begin within the expected time after emergency stop", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Parking did not begin within the expected time after emergency stop" }, { "code": 283, "arg": 179, "text": "Safety system: The PROFIsafe configuration is obsolete.", "suggestion": "Try the following actions to resolve the issue: (A) Re-apply the Safety Configuration, (B) Create a new installation, (C) Update the software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The safety configuration being applied assumes that the PROFIsafe signals from the robot are active high. This version of the software will use active low for PROFIsafe signals." }, { "code": 283, "arg": 180, "text": "Safety system: The maximum rotation distance in the movement monitor is too large. Max distance: {float} rad.", "suggestion": "Try the following actions to resolve the issue: (A) Perform a full reboot sequence, (B) Update the software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The calculated maximum rotation distance in the movement monitor exceeds acceptable limits." }, { "code": 283, "arg": 181, "text": "Safety system: Mismatch between tool A type and input state", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The tool type and input state received from Tool A do not match" }, { "code": 283, "arg": 182, "text": "Safety system: Mismatch between tool B type and input state", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The tool type and input state received from Tool B do not match" }, { "code": 283, "arg": 185, "text": "Safety system: The minimum payload limit must be zero or greater. Actual value is {float}kg", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A payload with a negative mass is not supported." }, { "code": 283, "arg": 186, "text": "Safety system: The maximum payload must be greater than or equal to the minimum payload", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The payload range is invalid and cannot be applied" }, { "code": 283, "arg": 189, "text": "Safety system: Center of gravity sphere radius must be zero or greater. Actual value is {float}m", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Radius represents a distance, distances cannot be negative." }, { "code": 283, "arg": 190, "text": "Safety system: A payload mass below the minimum payload limit was received. Actual value is {float}kg", "suggestion": "Make sure there are no script commands that set an invalid payload mass", "explanation": "The payload mass is below the minimum limit" }, { "code": 283, "arg": 191, "text": "Safety system: A payload mass above the maximum payload limit was received. Actual value is {float}kg", "suggestion": "Make sure there are no script commands that set an invalid payload mass", "explanation": "The payload mass is above the maximum limit" }, { "code": 283, "arg": 192, "text": "Safety system: A Payload center of gravity outside the allowed limits was received", "suggestion": "Make sure there are no script commands that set an invalid payload center of gravity", "explanation": "The payload center of gravity is outside the configured limits" }, { "code": 283, "arg": 200, "text": "Safety system: Manual mode high speed output disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The output signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 201, "text": "Safety system: The manual mode reduced speed configuration must be greater than zero. Actual value is {float}mm/s", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Negative speed is not supported." }, { "code": 283, "arg": 202, "text": "Safety system: The manual mode reduced speed configuration is above the limit. Actual value is {float}mm/s", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The manual mode reduced speed is too great." }, { "code": 283, "arg": 204, "text": "Safety system: Robot moved with a speed of {float}mm/s at the tool. This exceeds the manual mode reduced speed limit in the safety settings", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements, (C) Check safety settings", "explanation": "The tool speed is above the manual mode reduced speed limit." }, { "code": 283, "arg": 205, "text": "Safety system: Robot moved with a speed of {float}mm/s at the elbow. This exceeds the manual mode reduced speed limit in the safety settings", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements, (C) Check safety settings", "explanation": "The elbow speed is above the manual mode reduced speed limit." }, { "code": 283, "arg": 206, "text": "Safety system: Manual mode high speed output is in an incorrect state", "suggestion": "Make sure output is not short circuited to a power supply", "explanation": "Failure to activate the manual mode high speed output. The output is active when signal is low" }, { "code": 283, "arg": 207, "text": "Safety system: Manual mode high speed output is in an incorrect state", "suggestion": "Make sure output is not short circuited to ground", "explanation": "Failure to deactivate the manual mode high speed output. The output is inactive when signal is high" }, { "code": 283, "arg": 208, "text": "Safety system: Parking did not begin within the expected time after safety stop", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local MiR service provider for assistance", "explanation": "Parking did not begin within the expected time after safety stop" }, { "code": 283, "arg": 210, "text": "Safety system: Wrist position limit exceeded", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings" }, { "code": 283, "arg": 211, "text": "Safety system: Scanner Front Input disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure both inputs are properly connected, (B) Update scanner configuration, (C) Contact your local MiR service provider for assistance", "explanation": "The input signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 212, "text": "Safety system: Scanner Rear Input disagreement within the safety system", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure both inputs are properly connected, (B) Update scanner configuration, (C) Contact your local MiR service provider for assistance", "explanation": "The input signals are not switching simultaneously, or are incorrectly connected." }, { "code": 283, "arg": 213, "text": "Safety system: The freedrive speed configuration must be greater than zero. Actual value is {float}mm/s", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Negative speed is not supported." }, { "code": 283, "arg": 214, "text": "Safety system: Robot moved with a speed of {float}mm/s at the tool. This exceeds the freedrive speed limit in the safety settings", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements, (C) Check safety settings", "explanation": "The tool speed is above the freedrive speed limit." }, { "code": 283, "arg": 215, "text": "Safety system: Robot moved with a speed of {float}mm/s at the elbow. This exceeds the freedrive speed limit in the safety settings", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements, (C) Check safety settings", "explanation": "The elbow speed is above the freedrive speed limit." }, { "code": 283, "arg": 216, "text": "Safety system: The Wrist moved too fast towards a safety plane", "suggestion": "Try each of the following actions (in order) to see which resolves the issue: (A) Ensure the mounted payload and center of gravity matches your installation settings, (B) Slow down movements. You can exceed speed limits if you move the robot too fast in Freedrive, in that case, move the robot slower, (C) Check safety settings" }, { "code": 283, "arg": 220, "text": "Safety system: Invalid monitoring case {unsigned} was requested for the front scanner", "suggestion": "Try the following actions to see which resolves the issue: (A) Update scanner configuration, (B) Contact your local MiR service provider for assistance" }, { "code": 283, "arg": 221, "text": "Safety system: Invalid monitoring case {unsigned} was requested for the rear scanner", "suggestion": "Try the following actions to see which resolves the issue: (A) Update scanner configuration, (B) Contact your local MiR service provider for assistance" }, { "code": 283, "arg": 222, "text": "Safety system: The linear velocity of {float} m/s is outside the limits of the active scanner monitoring case", "suggestion": "Try the following actions to see which resolves the issue: (A) Update scanner configuration, (B) Contact your local MiR service provider for assistance" }, { "code": 283, "arg": 223, "text": "Safety system: The angular velocity of {float} rad/s is outside the limits of the active scanner monitoring case", "suggestion": "Try the following actions to see which resolves the issue: (A) Update scanner configuration, (B) Contact your local MiR service provider for assistance" }, { "code": 283, "arg": 230, "text": "Safety system: Mismatch on Safety Field Configuration CRC between the safety system and the configuration", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local MiR provider for assistance" }, { "code": 283, "arg": 231, "text": "Safety system: Audio/visual motion warning violation", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local MiR provider for assistance" }, { "code": 284, "arg": 0, "text": "Brake Release: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Ensure the mounted payload, TCP, and CoG matches your configuration, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred during Brake Release" }, { "code": 284, "arg": 21, "text": "Brake Release: Brake release count reached limit", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The max number of allowed brake releases is reached. The joint can no longer release the brakes." }, { "code": 284, "arg": 22, "text": "Brake Release: Brake release count is close to the limit, remaining brake releases: {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The joint is close to reaching the brake release limit, once reached the joint can no longer release the brakes." }, { "code": 285, "arg": 0, "text": "Joint Keep-Alive System: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the Joint Keep-Alive System" }, { "code": 285, "arg": 10, "text": "Joint Keep-Alive System: Lost {unsigned} Keep-Alive System message(s) in a row from Safety Control Board-uPA", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "An invalid amount of Keep-Alive System messages have been lost from the Safety Control Board Processor A" }, { "code": 285, "arg": 11, "text": "Joint Keep-Alive System: Lost {unsigned} Keep-Alive System message(s) in a row from Safety Control Board-uPB", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A invalid amount of Keep-Alive messages have been lost from the Safety Control Board Processor B" }, { "code": 286, "arg": 2, "text": "Motor Controller: PWM margin too small, ticks left: {signed}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Motor control failed to meet timing requirements" }, { "code": 286, "arg": 4, "text": "Motor Controller: PWM is not zero when in power off", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The motor PWM output is not set to zero when in power off." }, { "code": 287, "arg": 0, "text": "Saved files: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred during file loading/saving" }, { "code": 287, "arg": 1, "text": "Saved files: The file requested (id {unsigned}) is not saved or its loading failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A problem was encountered while trying to load a file in the file system of the joint" }, { "code": 289, "arg": 1, "text": "Tool Connector: Too high current detected on Digital Output: {unsigned} high side", "suggestion": "Check connections to make sure Tool Digital Output currents are within specified limits.", "explanation": "Tool Digital Output pin has been turned off as a too high source current was detected." }, { "code": 289, "arg": 2, "text": "Tool Connector: Too high sink current detected on Digital Output: {unsigned} low side", "suggestion": "Check connections to make sure Tool Digital Output sink currents are within specified limits.", "explanation": "Tool Digital Output pin has been turned off as a too high sink current was detected." }, { "code": 289, "arg": 4, "text": "Tool Connector: 10 second Average tool IO Current of {float} A is outside of the allowed range.", "suggestion": "Check connections to make sure tool Digital Output currents are within specified limits.", "explanation": "The average current sum of the Tool Connector Power and Digital Output pins is outside of the allowed range." }, { "code": 289, "arg": 5, "text": "Tool Connector: Unable to remove tool Digital Output fault.", "suggestion": "Check connections to make sure the Tool Digital Output currents are within specified limits.", "explanation": "Unable to remove the overload on tool Digital Output, therefore the robot powered down." }, { "code": 289, "arg": 6, "text": "Tool Connector: Current of {float} A on the tool connector supply pins is outside of the allowed range.", "suggestion": "Check connections to make sure the Tool Digital Output currents are within specified limits.", "explanation": "Too high current on tool connector supply pins" }, { "code": 289, "arg": 7, "text": "Tool Connector: Current of {float} A on the Digital Output pins is outside of the allowed range.", "suggestion": "Check connectionsto make sure the Tool Digital Output currents are within specified limits.", "explanation": "Too high current on tool connector Digital Output pins." }, { "code": 289, "arg": 8, "text": "Tool Connector: Current of {float} A on the ground pin is outside of the allowed range.", "suggestion": "Check connections to make sure the Tool Digital Output currents are within specified limits.", "explanation": "Too high current on tool ground pin" }, { "code": 289, "arg": 9, "text": "Tool Connector: Current of {float} A on the POWER pin is outside of the allowed range.", "suggestion": "Check connections to make sure the Tool Digital Output currents are within specified limits.", "explanation": "Too high current on tool power pin" }, { "code": 289, "arg": 10, "text": "Tool Connector: The M8 digital output sinking current of {float} A exceeded the allowed single pin limit.", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure you are not sinking too much current into the digital output pin, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The M8 digital output sinking current exceeded the allowed single pin limit." }, { "code": 289, "arg": 11, "text": "Tool Connector: The M8 digital output sinking current of {float} A exceeded the allowed dual pin limit.", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure you are not sinking too much current into the digital output pins, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The M8 digital output sinking current exceeded the allowed dual pin limit." }, { "code": 289, "arg": 12, "text": "Tool Connector: The M8 digital output 0 sourcing current of {float} A exceeded the allowed limit.", "explanation": "The M8 digital output 0 sourcing current exceeded the allowed limit." }, { "code": 289, "arg": 13, "text": "Tool Connector: The M8 digital output 1 sourcing current of {float} A exceeded the allowed limit.", "explanation": "The M8 digital output 1 sourcing current exceeded the allowed limit." }, { "code": 289, "arg": 14, "text": "Tool Connector: The zero current of the M8-power current sensor exceeds maximum allowed offset. The measured offset was {float}A", "explanation": "The zero current of the M8-power current sensor exceeds maximum allowed offset." }, { "code": 289, "arg": 15, "text": "Tool Connector: The momentary M8-power current of {float}A exceeded the allowed limit.", "explanation": "The momentary current drawn from the M8-power connector exceeded the allowed limit." }, { "code": 289, "arg": 16, "text": "Tool Connector: The M8-power current exceeded the the allowed limit of {float}A for more than 2 seconds during the last 10 seconds", "explanation": "The M8-power current exceeded the the allowed limit for more than 2 seconds during the last 10 seconds" }, { "code": 289, "arg": 17, "text": "Tool Connector: The zero current of the IO M8 power current sensor exceeds maximum allowed offset. The measured offset was {float}A", "explanation": "The zero current of the IO M8 power current sensor exceeds maximum allowed offset." }, { "code": 289, "arg": 18, "text": "Tool Connector: The zero current of the IO M8 digital output current sensor exceeds maximum allowed offset. The measured offset was {float}A", "explanation": "The zero current of the IO M8 digital output current sensor exceeds maximum allowed offset." }, { "code": 292, "arg": 0, "text": "Online RAM test: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred during RAM test" }, { "code": 294, "arg": 0, "text": "ADC: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the ADC driver" }, { "code": 294, "arg": 12, "text": "ADC: The single ended ADC calibration timed out", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The single ended ADC calibration timed out, thus the found calibration factor is not valid" }, { "code": 294, "arg": 16, "text": "ADC: The joint failed during recalibration of the ADC offset", "suggestion": "Make sure that the robot stands completely still and there is no external electrical noise sources. If the problem persists contact technical support", "explanation": "The joint failed during recalibration of the ADC offset, because there was to much noise on the measurements" }, { "code": 294, "arg": 19, "text": "ADC: The motor moves too much during ADC offset sampling, the motor position has a standard deviation of {float} [rad] during the sampling", "suggestion": "Make sure the robot is at complete standstill and it is not in a vibrating environment during startup", "explanation": "The motor moves too much during ADC offset sampling, and the ADC measurements are therefore not sane" }, { "code": 295, "arg": 0, "text": "PCB: Wrong PCB type ({hex})", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The printed circuit board is defective" }, { "code": 296, "arg": 0, "text": "Start up check: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred during startup" }, { "code": 296, "arg": 1, "text": "Start up check: SCB IO failed to power on", "suggestion": "Ensure the IO Power Connector on the Safety Control Board is connected to the 24VDC" }, { "code": 296, "arg": 2, "text": "Start up check: One or more Motor phases is short circuited to ground. Diagnostic data: {hex}", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "Bit 0 high indicates short circuit" }, { "code": 296, "arg": 3, "text": "Start up check: Motor Indication Signal does not work. Diagnostic data: {hex}", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "Bit 1 low indicates that the diagnostics feature is broken" }, { "code": 296, "arg": 4, "text": "Start up check: Phase 1 is not connected. Diagnostic data: {hex}", "suggestion": "Make sure all Motor phases are connected correctly. Contact your local Universal Robots service provider for assistance.", "explanation": "Bit pattern 0b0110 indicates that phase 1 is not connected" }, { "code": 296, "arg": 5, "text": "Start up check: Phase 2 is not connected. Diagnostic data: {hex}", "suggestion": "Make sure all Motor phases are connected correctly.Contact your local Universal Robots service provider for assistance.", "explanation": "Bit pattern 0b1010 indicates that phase 2 is not connected" }, { "code": 296, "arg": 6, "text": "Start up check: Phase 3 is not connected. Diagnostic data: {hex}", "suggestion": "Make sure all Motor phases are connected correctly. Contact your local Universal Robots service provider for assistance.", "explanation": "Bit pattern 0b0010 indicates that phase 3 is not connected" }, { "code": 296, "arg": 7, "text": "Start up check: Motor test results were invalid. Diagnostic data: {hex}", "suggestion": "Make sure all Motor phases are connected correctly. Contact your local Universal Robots service provider for assistance.", "explanation": "Bit0 high indicates short circuit. Bit1 is phase 3 test. Bit2 is phase 2 test. Bit3 is phase 1 test" }, { "code": 296, "arg": 9, "text": "Start up check: Robot Voltage was present during self-diagnostics", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "Robot Voltage rose above acceptable levels before both processors powered it on" }, { "code": 296, "arg": 10, "text": "Start up check: Time out during self-diagnostics", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "A processor timed out while waiting for the other processor to finish self-diagnotics" }, { "code": 296, "arg": 11, "text": "Start up check: Data was received while trying to disable communication", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "A validation that theof communication could be suppressioned failed to preventin preventing a message from passing through." }, { "code": 296, "arg": 12, "text": "Start up check: Sequence number did not match expected sequence", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "After communication was disabled and reenabled the sequence number did not match what was expected" }, { "code": 296, "arg": 15, "text": "Start up check: Interval between messages did not match expectations", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "After communication was disabled and reenabled the message interval did not match what expectations" }, { "code": 296, "arg": 23, "text": "Start up check: Cross-monitoring data was invalid for too long while booting", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "uB timed out while waiting for cross-monitoring data to agree before changing from Booting to Idle state" }, { "code": 296, "arg": 25, "text": "Start up check: Diagnostics module was initialized with a NULL pointer, for a required callback function", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "Diagnostics module was initialized with a null pointer, for rotate com buffer callback" }, { "code": 296, "arg": 33, "text": "Start up check: Timeout while waiting for system to be ready to go to idle", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "Requirements for going to idle state were not met within the expected time frame" }, { "code": 296, "arg": 36, "text": "Start up check: The device initialization has failed.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Contact your local Universal Robots service provider for assistance.", "explanation": "The device initialization has failed. this can be caused by hardware failure" }, { "code": 296, "arg": 37, "text": "Start up check: Robot Safe Torque Off Failed during self-diagnostics", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "Robot failed while performining Safe Torque Off self-diagnostics, which can be caused by a failure in the Safe Torque Off circuitry." }, { "code": 296, "arg": 44, "text": "Start up check: 24V voltage is not operating at an acceptable level, the actual value is {float}V", "suggestion": "Check the 24V power supply and connections, and contact your local Universal Robots service provider for assistance if the issue persists.", "explanation": "The 24V voltage is not within the acceptable operational range." }, { "code": 297, "arg": 0, "text": "Joint validation: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check that SD card and robot type match, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred during Joint validation" }, { "code": 297, "arg": 11, "text": "Joint validation: The Robot arm does not match the Control Box", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check that SD card and robot type match, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "One or more joints do not match stored Robot Configuration" }, { "code": 297, "arg": 13, "text": "Joint validation: Joint type recevied from joint {unsigned} is invalid", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A joint in the arm has reported unsupported joint type." }, { "code": 297, "arg": 14, "text": "Joint validation: Joint type received from joint {unsigned} is invalid.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance, (D) Change the joint to the correct joint type.", "explanation": "The safety system has detected a mismatch between the detected and the configured joint type." }, { "code": 297, "arg": 15, "text": "Joint validation: The type detected by the joint was {unsigned}.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance.", "explanation": "Joint type received from the joint." }, { "code": 297, "arg": 16, "text": "Joint validation: The expected joint type specified in the robot configuration was {unsigned}.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance.", "explanation": "Joint type configured, and thereby expected from the joint." }, { "code": 297, "arg": 17, "text": "Joint validation: The safety processors on joint {unsigned} disagree on the joint type.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance.", "explanation": "There is a mismatch between the joint size type detected by processor A and processor B." }, { "code": 297, "arg": 18, "text": "Joint validation: Joint type detected by processor A: {unsigned}.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance.", "explanation": "Processor A has detected the joint type during a type mismatch" }, { "code": 297, "arg": 19, "text": "Joint validation: Joint type detected by processor B: {unsigned}.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance.", "explanation": "Processor B has detected the joint type during a type mismatch." }, { "code": 298, "arg": 0, "text": "Hand protection: Tool is too close to the lower arm: {float_2_4} meter.", "suggestion": "Try the following actions to see which resolves the issue: (A) Check wrist position, (B) Verify mounting, (C) Conduct a complete rebooting sequence, (D) Update software, (E) Contact your local Universal Robots service provider for assistance", "explanation": "The tool is too close to the lower Robot arm" }, { "code": 299, "arg": 0, "text": "Tool communication: Communication error detected", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A problem with the Tool communication was detected." }, { "code": 299, "arg": 3, "text": "Tool communication: RX framing error", "suggestion": "Try the following actions to see which resolves the issue: (A) Check external equipment connection, (B) Verify the communication configuration matches the hardware, (C) Conduct a complete rebooting sequence, (D) Update software, (E) Contact your local Universal Robots service provider for assistance", "explanation": "Framing error detected on received data" }, { "code": 299, "arg": 4, "text": "Tool communication: RX Parity error", "suggestion": "Try the following actions to see which resolves the issue: (A) Check external equipment connection, (B) Verify the communication configuration matches the hardware, (C) Conduct a complete rebooting sequence, (D) Update software, (E) Contact your local Universal Robots service provider for assistance", "explanation": "Parity error detected on received data" }, { "code": 301, "arg": 0, "text": "Safety message monitor: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in safety message monitoring" }, { "code": 302, "arg": 1, "text": "Tool Configuration: Invalid Robot Type {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The tool received an invalid robot type" }, { "code": 303, "arg": 0, "text": "System status: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical system error occurred" }, { "code": 303, "arg": 6, "text": "System status: Reset caused by independent watchdog", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The FW has hit a deadlock and therefore reset by watchdog" }, { "code": 304, "arg": 0, "text": "Self monitoring: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in physical, logical, and temporal monitoring (PLATM)" }, { "code": 304, "arg": 3, "text": "Self monitoring: Close to the gearbox shear limit. Encoders disagree {float} [rad] on the Joint position", "suggestion": "Try the following actions to see which resolves the issue: (A) Reduce acceleration in the user program, (B) Conduct a complete rebooting sequence, (C) Update software, (D) Replace Joint if necessary, (E) Contact your local Universal Robots service provider for assistance", "explanation": "The Joint acceleration or deceleration is too high, or there is a mechanical problem in the gear related to encoder mounting." }, { "code": 304, "arg": 4, "text": "Self monitoring: Either the encoder was inappropriately mounted, or the gearbox is loose or broken. Difference between the encoders is {float} [rad].", "suggestion": "Try the following actions to see which resolves the issue: (A) Reduce acceleration in the user program, (B) Check TCP,Payload, and Cog, (C) Conduct a complete rebooting sequence, (D) Update software, (E) Replace Joint if necessary, (F) Contact your local Universal Robots service provider for assistance", "explanation": "Mechanical problem in gear related to encoder mounting." }, { "code": 304, "arg": 6, "text": "Self monitoring: Motor phase {unsigned}'s resistance is too high.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The lead/connector is broken, or the Motor phase lead has become disconnected or loose." }, { "code": 305, "arg": 0, "text": "Robot Power Control: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error in power control module" }, { "code": 305, "arg": 1, "text": "Robot Power Control: Power supply voltage too low", "suggestion": "Try the following actions to see which resolves the issue: (A) Check for loose connections, (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance" }, { "code": 305, "arg": 2, "text": "Robot Power Control: Robot cable not connected", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure the cable between Control Box and Robot Arm is correctly connected and it has no damage, (B) Check for loose connections, (C) Conduct a complete rebooting sequence, (D) Update software, (E) Contact your local Universal Robots service provider for assistance" }, { "code": 305, "arg": 3, "text": "Robot Power Control: Short circuit in Robot detected or the wrong Robot is connected to the Control Box.", "suggestion": "Try the following actions to see which resolves the issue: (A) Check for loose connections, (B) Make sure the cable between Control Box and Robot Arm is correctly connected and it has no damage, (C) Conduct a complete rebooting sequence, (D) Update software, (E) Contact your local Universal Robots service provider for assistance" }, { "code": 305, "arg": 4, "text": "Robot Power Control: Robot voltage rising slower than expected", "suggestion": "Try the following actions to see which resolves the issue: (A) Verify the power supply, (B) Verify Control Box and Robot Arm are correctly paired, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 305, "arg": 6, "text": "Robot Power Control: Power supply voltage too high: {float} V", "suggestion": "Try the following actions to see which resolves the issue: (A) Check for loose connections, (B) Make sure the cable between Control Box and Robot Arm is correctly connected and it has no damage, (C) Conduct a complete rebooting sequence, (D) Update software, (E) Contact your local Universal Robots service provider for assistance" }, { "code": 305, "arg": 8, "text": "Robot Power Control: The Robot Voltage is too high ({float})V when powering on the Robot", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 305, "arg": 9, "text": "Robot Power Control: The Power State was not OFF ({unsigned}) when trying to power on the Robot", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 305, "arg": 11, "text": "Robot Power Control: The power to the robot arm was not removed fast enough after violation" }, { "code": 305, "arg": 12, "text": "Robot Power Control: Unexpected energy eater type", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check the connection between the control board and the energy eater, (C) Check if the correct energy eater is installed (D) Update software, (E) Contact your local Universal Robots service provider for assistance", "explanation": "The detected energy eater type was different from the expected type. This may be due to a wrong energy eater type being installed in the control box, or that the connections to the energy eater are damaged." }, { "code": 306, "arg": 0, "text": "Joint: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in a Joint" }, { "code": 306, "arg": 1, "text": "Joint: Not stopping fast enough", "suggestion": "Try the following actions to see which resolves the issue: (A) Either an incorrect payload is mounted, or an external force is pushing the robot, (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "Joint was unable to come to a full stop fast enough." }, { "code": 306, "arg": 2, "text": "Joint: Velocity failed to pass sanity check", "suggestion": "Try the following actions to see which resolves the issue: (A) Adjust the robot program to reduce peak acceleration and torques, (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The received Joint velocity target is invalid." }, { "code": 306, "arg": 3, "text": "Joint: Acceleration failed to pass sanity check", "suggestion": "Try the following actions to see which resolves the issue: (A) Adjust the robot program to reduce peak acceleration and torques, (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The received Joint acceleration target is invalid." }, { "code": 306, "arg": 9, "text": "Joint: Joint moved more than allowable limit", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Potential mechanical failure of the joint's brakes" }, { "code": 306, "arg": 15, "text": "Joint: Joint moved too far while it should be stationary", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The robot moved more than allowed during parking." }, { "code": 306, "arg": 16, "text": "Joint: A timeout occured while in violation parking", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The joint reached the timeout limit while in violation parking." }, { "code": 306, "arg": 17, "text": "Joint: The joint parking procedure violated max allowed execution time of {float}[ms].", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The joint reached the timeout limit while in parking." }, { "code": 306, "arg": 19, "text": "Joint: Illegal state transition, the joint entered parking while motorcontrol was disabled.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The parking procedure cannot execute without motorcontrol enabled." }, { "code": 306, "arg": 20, "text": "Joint: Trying to power off from violation while motor control is enabled.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Tried to skip parking procedure while motor control was enabled." }, { "code": 306, "arg": 21, "text": "Joint: Unexpected joint type ({hex})", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The joint has identified its type incorrectly" }, { "code": 306, "arg": 22, "text": "Joint: Trying to enter idle brake failure while motor control is enabled.", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The joint should not enter idle brake failure with motor control enabled." }, { "code": 306, "arg": 24, "text": "Joint: Motor unsupported by the Critical Fault brake handler", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The joint cannot be allowed to brake release, as it has no defined Critical Fault braking profile for its motor type" }, { "code": 309, "arg": 0, "text": "Keep-Alive: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the Keep-Alive" }, { "code": 309, "arg": 1, "text": "Keep-Alive: Message with wrong sequence received from SCB-uPA.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The Keep-Alive message received from the Safety Control Board Processor A has an invalid sequence number" }, { "code": 309, "arg": 4, "text": "Keep-Alive: Message with wrong sequence received from SCB-uPB.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The Keep-Alive message received from the Safety Control Board Processor B has an invalid sequence number" }, { "code": 309, "arg": 10, "text": "Keep-Alive: Lost {unsigned} Keep-Alive message(s) in a row from Safety Control Board-uPA", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "An invalid amount of Keep-Alive messages have been lost from the Safety Control Board Processor A" }, { "code": 309, "arg": 11, "text": "Keep-Alive: Lost {unsigned} Keep-Alive message(s) in a row from Safety Control Board-uPB", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A invalid amount of Keep-Alive messages have been lost from the Safety Control Board Processor B" }, { "code": 309, "arg": 14, "text": "Keep-Alive: Invalid command received in Keep-Alive message from SCB-uPA.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The Keep-Alive message received from the Safety Control Board Processor A has an invalid alive command" }, { "code": 309, "arg": 15, "text": "Keep-Alive: Invalid command received in Keep-Alive message from SCB-uPB.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The Keep-Alive message received from the Safety Control Board Processor B has an invalid alive command" }, { "code": 310, "arg": 0, "text": "Joint Temperature Manager: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the joint temperature manager" }, { "code": 312, "arg": 0, "text": "Data validation: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check for ESD noise, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred during data validation" }, { "code": 314, "arg": 0, "text": "SPI IO: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check for IO connections, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred related to IO" }, { "code": 314, "arg": 5, "text": "SPI IO: Expected OSSD pulse were not detected on CO{unsigned}", "suggestion": "Try any of the following actions to resolve the issue: (A) Verify safety output is not connected to any power supply or another safety output, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The generated OSSD pulses on the safety output were not seen during readback" }, { "code": 314, "arg": 6, "text": "SPI IO: An unexpected OSSD pulse was detected on CO{unsigned}", "suggestion": "Try any of the following actions to resolve the issue: (A) Verify safety output is not connected to ground or another safety output, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "An OSSD pulse was detected on the safety output readback, but was not generated by the hardware" }, { "code": 314, "arg": 7, "text": "SPI IO: The IO voltage is missing or below threshold", "suggestion": "Ensure the IO Power Connector on the Safety Control Board is connected to the 24VDC and the fuse is in working condition", "explanation": "The IO voltage is missing or below the threshold, a fuse may be blown or removed" }, { "code": 314, "arg": 8, "text": "SPI IO: The configurable safety outputs were not low when expected", "suggestion": "Try any of the following actions to resolve the issue: (A) Verify safety output is not connected to any power supply or another safety output, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The configurable safety outputs were not low when expected" }, { "code": 314, "arg": 11, "text": "SPI IO: Configurable IO circuit asserted its alert signal", "suggestion": "Try any of the following actions to resolve the issue: (A) Verify safety output is not connected to any power supply or another safety output, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Read the alert status register for specific error information" }, { "code": 314, "arg": 12, "text": "SPI IO: Could not allocate RX and/or TX buffer", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The SPI DMA buffers are frequently rotated (freed and reallocated). The allocator returned a null pointer." }, { "code": 314, "arg": 13, "text": "SPI IO: Configurable IO circuit reports invalid CRC or clock count error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check for ESD noise or interference on the SPI bus, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "Transmitted frames must be exactly 32 bits in length and contain a valid 8-bit CRC" }, { "code": 314, "arg": 18, "text": "SPI IO: Timed out while waiting for conversion to complete", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A timeout occured while waiting for the \"ADC ready\" pin to assert" }, { "code": 314, "arg": 19, "text": "SPI IO: Timed out while waiting for a transaction to complete", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A timeout occured while waiting for an \"SPI transaction complete\" callback" }, { "code": 315, "arg": 0, "text": "Watchdog: Self-test failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The system watchdog is not working as expected" }, { "code": 315, "arg": 1, "text": "Watchdog: Verification found an error at index {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The watchdog timing and check-in counts are monitored, if these are outside the limits the system faults." }, { "code": 315, "arg": 2, "text": "Watchdog: Checked in at {float_1_3} ms which is outside the permitted window.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The watchdog check-in was outside the permitted window." }, { "code": 315, "arg": 5, "text": "Watchdog: Keeper module ran out of space.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The number of allowed checkpoints has exceeded the allowed limit." }, { "code": 315, "arg": 6, "text": "Watchdog: Trying to register checkpoint with uninitialized keeper.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Trying to register a checkpoint, before the watchdog keeper is initialized is not allowed." }, { "code": 315, "arg": 7, "text": "Watchdog: Keeper failed to initialize, as it was already initialized.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The watchdog keeper cannot be initialized multiple times." }, { "code": 315, "arg": 28, "text": "Watchdog: The watchdog configuration could not be applied", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The watchdog could not be configured as requested." }, { "code": 316, "arg": 0, "text": "MCU: Unknown ID", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The Microcontroller Identifier does not match an expected value" }, { "code": 316, "arg": 1, "text": "MCU: This version of the firmware is obsolete and needs to be updated", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The firmware in the robot is too old and needs to be updated" }, { "code": 316, "arg": 9, "text": "MCU: The device is not whitelisted", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The software is not allowed to run on this microcontroller" }, { "code": 328, "arg": 2, "text": "Transceiver miscellaneous: Flash device is not supported, JEDEC data for device is: {hex}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The flash device's JEDEC ID does not match a supported flash device" }, { "code": 329, "arg": 3, "text": "AXI STREAM: Channel {unsigned} not configured", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "Attempting to send data on an unconfigured interface." }, { "code": 329, "arg": 4, "text": "AXI STREAM: Write failed, {unsigned} messages dropped", "suggestion": "Contact your local Universal Robots service provider for assistance.", "explanation": "Tried to transmit more data than the Axi-Stream could consume, and messages where lost." }, { "code": 330, "arg": 1, "text": "IMMI IO: Injection-Molding-Machine-Interface E-Stop output readback does not match produced value: {hex}", "explanation": "First byte: produced value, second byte: read value" }, { "code": 330, "arg": 2, "text": "IMMI IO: Injection-Molding-Machine-Interface Moulding Area Free output readback does not match produced value: {hex}", "explanation": "First byte: produced value, second byte: read value" }, { "code": 330, "arg": 3, "text": "IMMI IO: Injection-Molding-Machine-Interface 24V IO voltage outside acceptable range", "suggestion": "Try the following actions to see which resolves the issue: (A) Check the fuses on the Injection-Molding-Machine-Interface. (B) Verify there are no short circuits on the 24V IO connectors. (C) Contact your local Universal Robots service provider for assistance.", "explanation": "The voltage measured on the 24V IO rail is lower than expected." }, { "code": 330, "arg": 4, "text": "IMMI IO: Injection-Molding-Machine-Interface 48V voltages outside acceptable range", "suggestion": "Try the following actions to see which resolves the issue: (A) Check the fuses on the Injection-Molding-Machine-Interface. (B) Verify there are no short circuits on the IO connectors. (C) Contact your local Universal Robots service provider for assistance.", "explanation": "The voltages measured on the 48V rails are lower than expected." }, { "code": 331, "arg": 0, "text": "Friction model: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the friction model module" }, { "code": 331, "arg": 1, "text": "Friction model: The velocity of the friction model is outside the limits,", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The velocity used for the friction model is outside the limits." }, { "code": 331, "arg": 2, "text": "Friction model: The current of the friction model is outside the limits", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The current used for the friction model is outside the limits." }, { "code": 331, "arg": 3, "text": "Friction model: The temperature of the friction model is outside the limits", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The temperature used for the friction model is outside the limits." }, { "code": 331, "arg": 4, "text": "Friction model: The element count of the friction model is wrong", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The element count used for the friction model is wrong." }, { "code": 331, "arg": 5, "text": "Friction model: The calibration file for the friction model validation was not found", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The calibration file used to validate the friction model was not found." }, { "code": 331, "arg": 6, "text": "Friction model: The limit data for the friction model was not found", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The limit data used for the friction model was not found." }, { "code": 332, "arg": 0, "text": "Servo configuration: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the servo configuration module" }, { "code": 333, "arg": 0, "text": "File message: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the file message module" }, { "code": 334, "text": "Robot deviated from constrained axes while in Constrained Freedrive.", "suggestion": "Check the settings on the Freedrive panel.", "explanation": "The robot moved in one or more axes that were not allowed." }, { "code": 337, "arg": 0, "text": "Control parameters: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred during setup of the control parameters" }, { "code": 338, "arg": 0, "text": "PROFIsafe: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occured in the PROFIsafe logic" }, { "code": 338, "arg": 6, "text": "PROFIsafe: A PROFIsafe message was received, but there is no valid configuration", "suggestion": "Try the following actions to see which resolves the issue: (A) Verify the PROFIsafe Host settings and review the robot safety configuration, see PROFIsafe (B) Do not start a PROFIsafe host before the robot is ready (C) Conduct a complete rebooting sequence (D) Contact your local Universal Robots service provider for assistance", "explanation": "A PROFIsafe message was received before a valid safety configuration" }, { "code": 338, "arg": 7, "text": "PROFIsafe: A PROFIsafe message was received and PROFIsafe was disabled.", "suggestion": "Try the following actions to see which resolves the issue: (A) Verify the PROFIsafe Host settings and review the robot safety configuration, see PROFIsafe (B) Do not start a PROFIsafe host before the robot is ready (C) Conduct a complete rebooting sequence (D) Contact your local Universal Robots service provider for assistance", "explanation": "A PROFIsafe message was received while PROFIsafe is disabled in the safety configuration" }, { "code": 338, "arg": 8, "text": "PROFIsafe: The robot rejected the PROFIsafe F-Parameter set", "suggestion": "Try the following actions to see which resolves the issue: (A) Check the diagnosis messages from the PLC and set a valid F-Parameter configuration, (B) Conduct a complete rebooting sequence (C) Contact your local Universal Robots service provider for assistance", "explanation": "A PROFIsafe F-Parameterset was received from the PLC but was not accepted" }, { "code": 338, "arg": 11, "text": "PROFIsafe: An iPar CRC mismatch has been detected", "suggestion": "Try the following actions to see which resolves the issue: (A) Check if the iPar CRC set in the PLC matches the Safety checksum, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The iPar CRC received from the PLC does not match the Safety checksum" }, { "code": 338, "arg": 12, "text": "PROFIsafe: An error occured during PROFIsafe communication", "suggestion": "Try the following actions to see which resolves the issue: (A) Check the connection and cable to the PLC, (B) Conduct a complete rebooting sequence, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The CRC over the cyclic telegram does not match the expected value" }, { "code": 338, "arg": 13, "text": "PROFIsafe: The PROFIsafe watchdog timed out", "suggestion": "Try the following actions to see which resolves the issue: (A) Check the connection and cable to the PLC, (B) Check and adjust the watchdog timeout, (C) Conduct a complete rebooting sequence (D) Contact your local Universal Robots service provider for assistance", "explanation": "The PROFIsafe communication timed out because no message has been received in the expected time" }, { "code": 338, "arg": 14, "text": "PROFIsafe: The PROFInet provider status is bad", "suggestion": "Try the following actions to see which resolves the issue: (A) Check the connection and cable to the PLC, (B) Conduct a complete rebooting sequence, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The PROFInet provider reports a failure or is not reachable" }, { "code": 338, "arg": 17, "text": "PROFIsafe: Destination address mismatch", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure that the destination address in the safety configuration matches the destination address configured on the PROFIsafe host, (B) Conduct a complete rebooting sequence, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The PROFIsafe destination address received from the PROFIsafe host does not match the destination address in the robot safety configuration" }, { "code": 338, "arg": 18, "text": "PROFIsafe: Destination address invalid", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure that the destination address configured on the PROFIsafe host is not set to 0 or 0xFFFF, (B) Conduct a complete rebooting sequence, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The PROFIsafe destination address received from the PROFIsafe host is not valid" }, { "code": 338, "arg": 19, "text": "PROFIsafe: Source address mismatch", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure that the source address in the safety configuration matches the source address configured on the PROFIsafe host, (B) Conduct a complete rebooting sequence, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The PROFIsafe source address received from the PROFIsafe host does not match the source address in the robot safety configuration" }, { "code": 338, "arg": 20, "text": "PROFIsafe: Source address invalid", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure that the source address configured on the PROFIsafe host is not set to 0 or 0xFFFF, (B) Conduct a complete rebooting sequence, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The PROFIsafe source address received from the PROFIsafe host is not valid" }, { "code": 338, "arg": 21, "text": "PROFIsafe: Wrong PROFIsafe submodule selected", "suggestion": "Try the following actions to see which resolves the issue: (A) Check the selected submodule in the PROFIsafe host and the control operational mode setting in the Polyscope PROFIsafe configuration, (B) Conduct a complete rebooting sequence, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The PROFIsafe submodule id received from the PROFIsafe host does not match the control operational mode setting in the Polyscope PROFIsafe configuration" }, { "code": 339, "arg": 0, "text": "Cross communication: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occured in the cross communication module" }, { "code": 340, "arg": 0, "text": "Energy Monitoring: Idle power consumption too high", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure supply is not delivering more than 48V, (B) Check Energy Eaters cable and connections, (C) Check Energy Eater, (D) Update software, (E) Contact your local Universal Robots service provider for assistance", "explanation": "The system is drawing more power than expected while idle" }, { "code": 340, "arg": 1, "text": "Energy Monitoring: Energy surplus shutdown", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure supply is not delivering more than 48V, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The power supply is sending energy to the energy eater" }, { "code": 340, "arg": 2, "text": "Energy Monitoring: Energy burst period exceeded, average power: {float}W", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure supply is not delivering more than 48V, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Energy has been sent to the energy eater longer than allowed" }, { "code": 340, "arg": 3, "text": "Energy Monitoring: The Energy Removal Device peak power exceeded", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure supply is not delivering more than 48V, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The absolute limit for the Energy Removal Device has been exceeded" }, { "code": 340, "arg": 4, "text": "Energy Monitoring: The Energy Removal Device drew too much power over a period", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure supply is not delivering more than 48V, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The power drawn by the Energy Removal Device over a period has exceeded the allowed limit" }, { "code": 341, "arg": 0, "text": "Motor encoder: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical communication error occurred" }, { "code": 341, "arg": 9, "text": "Motor encoder: The scheduled motor encoder SPI package transfer did not complete before the deadline.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A timing error occured in the robot firwmare." }, { "code": 341, "arg": 10, "text": "Motor encoder: CRC error in CH0 transfer, frame: {hex}", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure the application is not exceeding the capabilities of the robot (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "A SPI package from the motor encoder was corrupted during transfer." }, { "code": 341, "arg": 22, "text": "Motor encoder: Detailed status error: Signal clipping, strong external magnetic field is present.", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure the application is not exceeding the capabilities of the robot (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The presence of a strong external magnetic field, caused signal clipping on the motor encoders signal." }, { "code": 341, "arg": 23, "text": "Motor encoder: Detailed status warning: Signal amplitude too high. The read head is too close to the ring.", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure the application is not exceeding the capabilities of the robot (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The motor encoder read head is too close to the ring or an external magnetic field is present" }, { "code": 341, "arg": 24, "text": "Motor encoder: Detailed status error: ASIC was reset, external RFI glitch caused encoder to reset.", "suggestion": "Try the following actions to see which resolves the issue: (A) Try to remove any obvious sources of strong RFI (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "External RFI glitch caused encoder to reset." }, { "code": 341, "arg": 25, "text": "Motor encoder: Detailed status error: ASIC synchronization lost, external RFI glitch caused malfunction.", "suggestion": "Try the following actions to see which resolves the issue: (A) Try to remove any obvious sources of strong RFI (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "External RFI glitch caused encoder to loose synchronization." }, { "code": 341, "arg": 26, "text": "Motor encoder: Detailed status error: Encoder not configured properly.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Incorrect motor encoder configuration" }, { "code": 341, "arg": 27, "text": "Motor encoder: Detailed status warning: Signal amplitude low. The distance between the read head and the ring is too large.", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure the application is not exceeding the capabilities of the robot (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The distance between the read head and the ring is too large" }, { "code": 341, "arg": 28, "text": "Motor encoder: Detailed status error: Signal lost. The read head is out of alignment with the ring or the ring is damaged.", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure the application is not exceeding the capabilities of the robot (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The read head is out of alignment with the ring or the ring is damaged" }, { "code": 341, "arg": 30, "text": "Motor encoder: Detailed status error: Power supply error. The read head power supply voltage is out of specified range.", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure the application is not exceeding the capabilities of the robot (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The voltage supplied for the motor encoder is outside allowed specifications" }, { "code": 341, "arg": 31, "text": "Motor encoder: Detailed status error: System error. Malfunction inside the circuitry or inconsistent calibration data is detected.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A system error occured inside the motor encoder." }, { "code": 341, "arg": 32, "text": "Motor encoder: Detailed status error: Magnetic pattern error. A stray magnetic field is present or metal particles are present between the read head and the ring or radial positioning between the read head and the ring is out of tolerances.", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure the application is not exceeding the capabilities of the robot (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "Motor encoder was unable to correctly decode the position, possible causes could be (A) Stray magnetic fields (B) Metal particles between read head and ring (C) Installation tolerances is outside specification." }, { "code": 341, "arg": 33, "text": "Motor encoder: Detailed status error: Acceleration to high.", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure the application is not exceeding the capabilities of the robot (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "Motor encoder reported that the acceleration of the encoder disc was outside allowed specifications." }, { "code": 341, "arg": 65, "text": "Motor encoder: Latest parsed motor encoder position was too old.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The latest parsed SPI package had a timestamp that was too old, indicating either a timing glitch or corrupted data." }, { "code": 341, "arg": 86, "text": "Motor encoder: An error occured while reading the encoder firmware version.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "An error occured while reading the encoder firmware version." }, { "code": 341, "arg": 87, "text": "Motor encoder: The encoder firmware version is not valid.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The encoder firmware version is not valid." }, { "code": 341, "arg": 88, "text": "Motor encoder: A reading of the register {hex} was attempted which is not valid for the present encoder", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A read from a register that is invalid for the encoder was attempted" }, { "code": 341, "arg": 89, "text": "Motor encoder: A write of the register {hex} was attempted which is not valid for the present encoder", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A write to a register that is invalid for the encoder was attempted" }, { "code": 341, "arg": 90, "text": "Motor encoder: Tried to access register {hex}, which is not valid for the present encoder", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A register that is invalid for the encoder was accessed" }, { "code": 341, "arg": 92, "text": "Motor encoder: The encoder reported that it has not performed a self-calibration", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The encoder reported that it has not performed a self-calibration" }, { "code": 341, "arg": 95, "text": "Motor encoder: Detailed status error: System error. Malfunction inside the circuitry.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the motor-encoder PCBA - Contact your local Universal Robots service provider for assistance", "explanation": "A system error occured inside the motor encoder. To reset the System error bit try to cycle the power supply." }, { "code": 341, "arg": 96, "text": "Motor encoder: Detailed status error: System error. Inconsistent calibration data detected.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the motor-encoder PCBA - Contact your local Universal Robots service provider for assistance", "explanation": "A system error occured inside the motor encoder. To reset the System error bit try to cycle the power supply." }, { "code": 342, "arg": 0, "text": "Motor Parameters: Module initialization error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "An error occurred during initialiation of the Motor Parameters Module, a critical dependency could not be satisfied." }, { "code": 342, "arg": 1, "text": "Motor Parameters: Motor datasheet unavailable", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A missing or invalid motor datasheet, has caused the initialization of the motor parameters module to fail." }, { "code": 342, "arg": 2, "text": "Motor Parameters: Loading of the motor parameters file failed.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A missing or invalid motor parameters file, has caused the initialization of the motor parameters module to fail." }, { "code": 343, "arg": 0, "text": "Joint Configuration: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occured in the joint configuration module" }, { "code": 343, "arg": 1, "text": "Joint Configuration: Failed to access the joint general datasheet, as the datasheet has not been loaded", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The joint type may not be supported by the current firmware, possibly due to a firmware downgrade" }, { "code": 343, "arg": 2, "text": "Joint Configuration: Failed to access the joint gear datasheet, as the datasheet has not been loaded", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The gear type in this joint may not be supported by the current firmware, possibly due to a firmware downgrade" }, { "code": 343, "arg": 3, "text": "Joint Configuration: Failed to access the joint motor datasheet, as the datasheet has not been loaded", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The motor type in this joint may not be supported by the current firmware, possibly due to a firmware downgrade" }, { "code": 343, "arg": 4, "text": "Joint Configuration: Failed to access the joint PCBA datasheet, as the datasheet has not been loaded", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The PCBA in this joint may not be supported by the current firmware, possibly due to a firmware downgrade" }, { "code": 343, "arg": 5, "text": "Joint Configuration: Failed to load the joint general datasheet", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The joint type may not be supported by the current firmware, possibly due to a firmware downgrade" }, { "code": 343, "arg": 6, "text": "Joint Configuration: Failed to load the joint gear datasheet", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The gear type in this joint may not be supported by the current firmware, possibly due to a firmware downgrade" }, { "code": 343, "arg": 7, "text": "Joint Configuration: Failed to load the joint motor datasheet", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The motor type in this joint may not be supported by the current firmware, possibly due to a firmware downgrade" }, { "code": 343, "arg": 8, "text": "Joint Configuration: Failed to load the joint PCBA datasheet", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The PCBA in this joint may not be supported by the current firmware, possibly due to a firmware downgrade" }, { "code": 343, "arg": 24, "text": "Joint Configuration: Unsupported joint type", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The joint type in this joint is not supported by the current firmware, possibly due to a firmware downgrade" }, { "code": 343, "arg": 25, "text": "Joint Configuration: Unsupported motor type", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The motor type in this joint is not supported by the current firmware, possibly due to a firmware downgrade" }, { "code": 343, "arg": 33, "text": "Joint Configuration: The joint have the gear type {unsigned} installed, which is not allowed", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The gear installed in the joint is not an allowed type" }, { "code": 343, "arg": 34, "text": "Joint Configuration: The joint have the motor type {unsigned} installed, which is not allowed", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The motor installed in the joint is not an allowed type" }, { "code": 343, "arg": 41, "text": "Joint Configuration: The motor type could not be read from the hardware configuration", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Required motor hardware information could not be retrieved from the hardware configuration manager." }, { "code": 343, "arg": 42, "text": "Joint Configuration: Failed to access the joint type, as the joint type is still undetermined", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance" }, { "code": 343, "arg": 43, "text": "Joint Configuration: The gear type could not be read from the hardware configuration", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Required gear hardware information could not be retrieved from the hardware configuration manager." }, { "code": 343, "arg": 46, "text": "Joint Configuration: Failed to determine original joint type due to invalid PCB type {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The joint failed to determine the joint type it originally identified during calibration (selftest) due to an invalid PCB type. This may result in incorrect calibration being applied." }, { "code": 343, "arg": 47, "text": "Joint Configuration: Failed to determine original joint type due to missing motor type information", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The joint failed to determine the joint type it originally identified during calibration (selftest) due to missing motor type information. This may result in incorrect calibration being applied." }, { "code": 343, "arg": 48, "text": "Joint Configuration: Failed to determine joint type", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The hardware in this joint may not be supported by the current firmware, possibly due to a firmware downgrade" }, { "code": 343, "arg": 50, "text": "Joint Configuration: The loaded firmware is too old to work with the calibration data stored in the joint", "suggestion": "Update to a newer software release" }, { "code": 343, "arg": 51, "text": "Joint Configuration: The loaded firmware is too old to fully utilize the calibration data stored in the joint", "suggestion": "Update to a newer software release to get full joint performance", "explanation": "The joint works normally, but its calibration has improvements this firmware does not utilize." }, { "code": 347, "arg": 4, "text": "Network Map: More robot cable extenders detected than are supported.", "suggestion": "Try the following actions to see which resolves the issue: (A) Remove the extra robot cable extenders so only one is connected, (B) Update Software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "It is not supported to have multiple robot cable extenders" }, { "code": 347, "arg": 5, "text": "Network Map: The far end of the robot cable extender was not detected.", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure that the robot cable extender is properly connected and that the cable is not damaged, (B) Update Software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Only the near end of the robot cable extender was detected, while the far end is missing." }, { "code": 348, "arg": 1, "text": "External Axes Bus: Receive error", "suggestion": "Axis Group feature will be disabled until you conduct a complete rebooting sequence. If problem persists, contact your local Universal Robots service provider for assistance.", "explanation": "Failed to receive data on External Axes Bus" }, { "code": 348, "arg": 2, "text": "External Axes Bus: Send error", "suggestion": "Axis Group feature will be disabled until you conduct a complete rebooting sequence. If problem persists, contact your local Universal Robots service provider for assistance.", "explanation": "Failed to send data on External Axes Bus" }, { "code": 348, "arg": 3, "text": "External Axes Bus: Target joints calculation failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Restart UR program, (B) Check each external axis in program for invalid parameters, (C) Conduct a complete rebooting sequence, (D) Update software, (E) Contact your local Universal Robots service provider for assistance", "explanation": "Failed to calculate target joints for External Axes Bus" }, { "code": 348, "arg": 4, "text": "External Axes Bus: An enabled external axis at index {unsigned} is no longer receiving drive status updates", "suggestion": "Try the following actions to see which resolves the issue: (A) Ensure the MotionPlus Service is running, (B) Ensure the EtherCAT Master has been configured for the axis's drive, (C) Ensure the EtherCAT Master is running, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The EtherCAT Master is no longer sending the Controller status updates for the servo drive of an enabled external axis" }, { "code": 349, "arg": 0, "text": "Base light: Length check error, incorrect length detected for base light ring: {unsigned}", "suggestion": "There is an issue validating the base light. If problem persists, contact your local Universal Robots service provider for assistance.", "explanation": "The detected lenght of the base light ring is not what is expected." }, { "code": 349, "arg": 2, "text": "Base light: Current for the red color was {float} A, which is outside the allowed range", "suggestion": "Try the following actions to see which resolves the issue: (A) Perform a complete rebooting sequence, (B) Update software, (C) Check if the connection between the light ring and the PCB is correct, (D) Replace The light ring, (E) Contact your local Universal Robots service provider for assistance", "explanation": "The detected current of the red color in the base light is outside the allowed range." }, { "code": 349, "arg": 3, "text": "Base light: Current for the green color was {float} A, which is outside the allowed range", "suggestion": "Try the following actions to see which resolves the issue: (A) Perform a complete rebooting sequence, (B) Update software, (C) Check if the connection between the light ring and the PCB is correct, (D) Replace The light ring, (E) Contact your local Universal Robots service provider for assistance", "explanation": "The detected current of the green color in the base light is outside the allowed range." }, { "code": 349, "arg": 4, "text": "Base light: Current for the blue color was {float} A, which is outside the allowed range", "suggestion": "Try the following actions to see which resolves the issue: (A) Perform a complete rebooting sequence, (B) Update software, (C) Check if the connection between the light ring and the PCB is correct, (D) Replace The light ring, (E) Contact your local Universal Robots service provider for assistance", "explanation": "The detected current of the blue color in the base light is outside the allowed range." }, { "code": 349, "arg": 5, "text": "Base light: Current for the yellow color was {float} A, which is outside the allowed range", "suggestion": "Try the following actions to see which resolves the issue: (A) Perform a complete rebooting sequence, (B) Update software, (C) Check if the connection between the light ring and the PCB is correct, (D) Replace The light ring, (E) Contact your local Universal Robots service provider for assistance", "explanation": "The detected current of the yellow color in the base light is outside the allowed range." }, { "code": 350, "arg": 0, "text": "Failed brake system: Joint position drifted more than allowed", "suggestion": "Contact your local Universal Robots service provider for assistance", "explanation": "The joint position has drifted more than allowed while in the failed brake state" }, { "code": 350, "arg": 1, "text": "Failed brake system: State transition is not permitted with a failed brake system", "suggestion": "Contact your local Universal Robots service provider for assistance", "explanation": "The joint brake system has failed so the joint is not permitted to enter a state where it can be moved" }, { "code": 350, "arg": 3, "text": "Failed brake system: Failure detected in brake system", "explanation": "The brake system failed to engage" }, { "code": 351, "arg": 0, "text": "Robot configuration: Unexpected tool detected", "suggestion": "Update robot configuration to match attached hardware.", "explanation": "Tool was detected in the arm, but not in the robot configuration." }, { "code": 351, "arg": 1, "text": "Robot configuration: Unexpected {deviceName} joint detected", "suggestion": "Update robot configuration to match attached hardware.", "explanation": "Joint was detected in the arm, but not in the robot configuration." }, { "code": 351, "arg": 2, "text": "Robot configuration: Unexpected base light detected", "suggestion": "Update robot configuration to match attached hardware.", "explanation": "Base light was detected in the arm, but not in the robot configuration." }, { "code": 351, "arg": 3, "text": "Robot configuration: Robot cable extender detected, but not configured.", "suggestion": "Try the following actions to see which resolves the issue: (A) Configure the robot cable extender, (B) Remove robot cable extender if it was not connected intentionally, (C) Update Software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "A robot cable extender was detected, but has not been configured." }, { "code": 351, "arg": 4, "text": "Robot configuration: Robot cable extender detected, but configuration is corrupted.", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure that the robot cable extender is configured properly, (B) Update Software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A robot cable extender was detected, but the configuration is corrupted." }, { "code": 351, "arg": 5, "text": "Robot configuration: Robot cable extender configured, but not detected.", "suggestion": "Try the following actions to see which resolves the issue: (A) Unconfigure the robot cable extender, (B) Connect the robot cable extender if it was intended to be connected, (C) Update Software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "A robot cable extender was configured, but was not detected." }, { "code": 351, "arg": 6, "text": "Robot configuration: Unsupported cable type for robot cable extender configured.", "suggestion": "Try the following actions to see which resolves the issue: (A) Configure a supported robot cable extender type, (B) Remove robot cable extender if it was not connected intentionally, (C) Update Software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "An unsupported cable type for the robot cable extender was configured." }, { "code": 351, "arg": 7, "text": "Robot configuration: Detected cable type for robot cable extender is not supported.", "suggestion": "Try the following actions to see which resolves the issue: (A) Connect a supported cable type, (B) Update Software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The detected cable type for the robot cable extender is not supported." }, { "code": 351, "arg": 8, "text": "Robot configuration: Detected cable type for robot cable extender is incompatible with configured type.", "suggestion": "Try the following actions to see which resolves the issue: (A) Configure the robot cable extender with the correct cable type, (B) Connect the intended cable between the cable extenders (C) Update Software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The detected cable type for the robot cable extender is incompatible with the configured cable type." }, { "code": 351, "arg": 9, "text": "Robot configuration: Detected cable type for robot cable extender does not match configured type.", "suggestion": "Try the following actions to see which resolves the issue: (A) Configure the robot cable extender with the correct cable type, (B) Connect the intended cable between the cable extenders (C) Update Software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The detected cable type for the robot cable extender does not match the configured cable type." }, { "code": 351, "arg": 10, "text": "Robot configuration: Detected cable type is {unsigned}" }, { "code": 351, "arg": 11, "text": "Robot configuration: Configured cable type is {unsigned}" }, { "code": 351, "arg": 12, "text": "Robot configuration: Unsupported robot for robot cable extender.", "suggestion": "Try the following actions to see which resolves the issue: (A) Connect a supported cable type, (B) Verify correct robot configuration, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The cable extender does not support the configured robot." }, { "code": 352, "arg": 0, "text": "Backdrive: Parking timed out", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure the robot is not vibrating due to external sources, (B) Make sure to let go of the robot when exiting back-drive, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The backdrive parking procedure took to long." }, { "code": 352, "arg": 1, "text": "Backdrive: The joint moved more than allowed during the parking procedure", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure to let go of the robot when exiting backdrive, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "Either there is a problem with the brake system or the robot has been pushed hard enough that it moved through the friction brake." }, { "code": 352, "arg": 2, "text": "Backdrive: The joint moved more than allowed during the parking procedure", "suggestion": "The robot brake system is in need of repair, contact your local Universal Robots service provider for assistance", "explanation": "Either there is a problem with the brake system or the robot has been pushed hard enough that it moved through the friction brake." }, { "code": 352, "arg": 3, "text": "Backdrive: The brake solenoid was not engaged for the parking procedure. Solenoid voltage: {float}", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The brake solenoid must be engaged to perform the backdrive parking procedure." }, { "code": 353, "arg": 1, "text": "IMU: IMU B selected gyro resolution not supported: {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "Initialization of IMU B has failed during gyro configuration." }, { "code": 353, "arg": 2, "text": "IMU: IMU B gyro verification failed: {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "Initialization of IMU B has failed during verification of gyro configuration." }, { "code": 353, "arg": 3, "text": "IMU: IMU B selected acceleration resolution not supported: {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "Initialization of IMU B has failed during acceleration configuration." }, { "code": 353, "arg": 4, "text": "IMU: IMU B accelerometer verification failed: {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "Initialization of IMU B has failed during verification of accelerometer configuration." }, { "code": 353, "arg": 5, "text": "IMU: Timeout occurred while configuring IMU A", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance, (D) Replace the BFB PCB", "explanation": "A timeout occured while configuring inertial measurement unit A" }, { "code": 353, "arg": 6, "text": "IMU: Timeout occurred while configuring IMU B", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance, (D) Replace the BFB PCB", "explanation": "A timeout occurred while configuring inertial measurement unit B" }, { "code": 353, "arg": 7, "text": "IMU: Unable to detect IMU A type", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Replace Base Filter Board (C) Contact your local Universal Robots service provider for assistance", "explanation": "The IMU A type could not be detected" }, { "code": 353, "arg": 8, "text": "IMU: Unable to detect IMU B type", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Replace Base Filter Board (C) Contact your local Universal Robots service provider for assistance", "explanation": "The IMU B type could not be detected" }, { "code": 353, "arg": 9, "text": "IMU: The ISM330IS IMU data transfer failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The ISM330IS IMU data transfer failed" }, { "code": 353, "arg": 10, "text": "IMU: The ICM42688 IMU data transfer failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The ICM42688 IMU data transfer failed" }, { "code": 353, "arg": 11, "text": "IMU: The IMU data transfer failed for IMU A", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The IMU data transfer failed for IMU A" }, { "code": 353, "arg": 12, "text": "IMU: The IMU data transfer failed for IMU B", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The IMU data transfer failed for IMU B" }, { "code": 354, "arg": 1, "text": "Initialization Error: The SCB has entered the fault state", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The SCB faulted during the robot initialization" }, { "code": 354, "arg": 2, "text": "Initialization Error: The SCB has entered the violation state", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The SCB entered the violation state during the robot initialization" }, { "code": 354, "arg": 3, "text": "Initialization Error: The SCB did not reach the correct state", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The SCB did not reach the correct state during the robot initialization" }, { "code": 354, "arg": 4, "text": "Initialization Error: Failed to send the safety configuration", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "Unable to send the safety configuration during the robot initialization" }, { "code": 354, "arg": 5, "text": "Initialization Error: Error during boot status validation", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The device did not reach a responsive state after performing a reboot" }, { "code": 354, "arg": 6, "text": "Initialization Error: Powering down the robot arm took too long", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "It took too long to power down the robot arm which is required before a reboot" }, { "code": 354, "arg": 7, "text": "Initialization Error: Failed to close communication devices", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "Closing all communication devices is required before performing a reboot of the SCB FPGA" }, { "code": 354, "arg": 8, "text": "Initialization Error: Failed to open communication devices", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "Unable to re-establish connection with communication devices" }, { "code": 354, "arg": 9, "text": "Initialization Error: Failed to hotplug FPGA devices", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The FPGA devices must be hotplug removed before loading drivers" }, { "code": 354, "arg": 10, "text": "Initialization Error: Failed to unload FPGA drivers", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The FPGA devices must unload the drivers before new ones can be loaded" }, { "code": 354, "arg": 11, "text": "Initialization Error: Failed to load FPGA drivers", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The FPGA devices must load the new drivers before continuing the reboot process" }, { "code": 354, "arg": 12, "text": "Initialization Error: The Teach Pendant does not respond", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The Teach Pendant was rebooted but did not reach a responsive state" }, { "code": 354, "arg": 13, "text": "Initialization Error: The Injection-Molding-Machine-Interface does not respond", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The Injection-Molding-Machine-Interface was rebooted but did not reach a responsive state" }, { "code": 354, "arg": 14, "text": "Initialization Error: The Injection-Molding-Machine-Interface_FPGA does not respond", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The Injection-Molding-Machine-Interface_FPGA was rebooted but did not reach a responsive state" }, { "code": 354, "arg": 15, "text": "Initialization Error: The SCB does not respond", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The SCB was rebooted but did not reach a responsive state" }, { "code": 354, "arg": 16, "text": "Initialization Error: Failed to start Xillybus device scanning", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "Unable to scan for Xillybus devices which is required before loading the drivers" }, { "code": 354, "arg": 17, "text": "Initialization Error: Failed to read the safety configuration", "suggestion": "Try the following actions to see which resolves the issue: (A) Reload the installation, (B) Make new installation, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "Unable to read the safety configuration during the robot initialization" }, { "code": 354, "arg": 18, "text": "Initialization Error: Communication initialization failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "Failed to initialize communication to the SCB FPGA during the reboot process" }, { "code": 355, "arg": 1, "text": "Safety API: Unknown safety system message, id {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The safety API client message is unknown to the UR safety system." }, { "code": 355, "arg": 2, "text": "Safety API: Unknown safety system version, id {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The safety API client message version is unknown to the UR safety system." }, { "code": 355, "arg": 4, "text": "Safety API: Violation caused by safety API client", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Contact the provider of the safety API client", "explanation": "Safety API client violation request" }, { "code": 355, "arg": 5, "text": "Safety API: Safeguard reset time is out of range, received value {unsigned}ms", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Contact the provider of the safety API client", "explanation": "The supported range is 0ms to 10000ms (10s)" }, { "code": 355, "arg": 6, "text": "Safety API: Retransmission of configuration is not allowed", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Contact the provider of the safety API client", "explanation": "The safety system received more than one configuration message" }, { "code": 355, "arg": 7, "text": "Safety API: Provided an invalid configuration", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Contact the provider of the safety API client" }, { "code": 355, "arg": 8, "text": "Safety API: The execution time is greater than the period for supervisor with ID {unsigned}" }, { "code": 355, "arg": 9, "text": "Safety API: The superviser max execution time is {unsigned}ms" }, { "code": 355, "arg": 10, "text": "Safety API: The max superviser period is {unsigned}ms" }, { "code": 355, "arg": 11, "text": "Safety API: Restart period is outside allowed range for supervisor with ID {unsigned}" }, { "code": 355, "arg": 12, "text": "Safety API: The applied value is {unsigned}" }, { "code": 355, "arg": 13, "text": "Safety API: The upper limit is {unsigned}" }, { "code": 355, "arg": 14, "text": "Safety API: The lower limit is {unsigned}" }, { "code": 355, "arg": 15, "text": "Safety API: Supervisor period is outside allowed range for supervisor with ID {unsigned}" }, { "code": 355, "arg": 16, "text": "Safety API: Supervisor max execution time is outside allowed range for supervisor with ID {unsigned}" }, { "code": 355, "arg": 17, "text": "Safety API: Hashes are identical for supervisor with ID {unsigned}" }, { "code": 355, "arg": 18, "text": "Safety API: Seeds are identical for supervisor with ID {unsigned}" }, { "code": 355, "arg": 19, "text": "Safety API: Supervisor with ID {unsigned} is faster than the limitset supervisor" }, { "code": 355, "arg": 20, "text": "Safety API: The limitset supervisor period is {unsigned}ms" }, { "code": 355, "arg": 21, "text": "Safety API: The actual supervisor period is {unsigned}ms" }, { "code": 355, "arg": 22, "text": "Safety API: The limitset supervisor is not configured" }, { "code": 355, "arg": 23, "text": "Safety API: Timeout violation caused by supervisor with ID {unsigned}" }, { "code": 355, "arg": 24, "text": "Safety API: Time passed {unsigned}ms" }, { "code": 355, "arg": 25, "text": "Safety API: Validation of hash failed for supervisor with ID {unsigned}" }, { "code": 355, "arg": 26, "text": "Safety API: Actual seed {hex}" }, { "code": 355, "arg": 27, "text": "Safety API: Expected hash {hex}" }, { "code": 355, "arg": 28, "text": "Safety API: Actual hash {hex}" }, { "code": 355, "arg": 29, "text": "Safety API: Alternation of seed failed for supervisor with ID {unsigned}" }, { "code": 355, "arg": 30, "text": "Safety API: Incompatible Safety URCap", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact the provider of the safety API client", "explanation": "The Safety URCap is not compatible with this version of software" }, { "code": 355, "arg": 31, "text": "Safety API: Failed UUID seed validation", "suggestion": "Try the following actions to see which resolves the issue: (A) Uninstall software safety equipment, (B) Update software, (c) Contact the provider of the safety API client", "explanation": "The Safety URCap failed to send a valid seed for identification" }, { "code": 355, "arg": 32, "text": "Safety API: Invalid tool speed limit, value was {float}", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact the provider of the safety API client", "explanation": "The safety system only accepts rational numbers." }, { "code": 355, "arg": 33, "text": "Safety API: Invalid stopping distance limit, value was {float}", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact the provider of the safety API client", "explanation": "The safety system only accepts rational numbers." }, { "code": 355, "arg": 34, "text": "Safety API: The received hash does not match the hash from the installation", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Check that safety plugin installation node is configured correctly, (C) Contact the provider of the safety API client", "explanation": "The hash from the installation must match the received hash" }, { "code": 355, "arg": 35, "text": "Safety API: The identifier is incorrect", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact the provider of the safety API client", "explanation": "The identifier used by the client does not match with the expected identifier" }, { "code": 355, "arg": 36, "text": "Safety API: Validation of crc failed for message ID {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact the provider of the safety API client", "explanation": "The calculated checksum of the message does not match the received checksum" }, { "code": 357, "arg": 0, "text": "Too high static load on {deviceName}: Payload CoG is outside reach of robot", "suggestion": "The payload CoG is extended too far out horizontally from the base of the robot.", "explanation": "The robot is not able to lift this much payload in its current position" }, { "code": 357, "arg": 1, "text": "Too high static load on {deviceName}: Reorientation of tool causes load on joint to be too high", "suggestion": "The payload CoG causes too high load on the joints. Please re-orient the wrist to move the payload CoG closer to the rotation axes of the joints, e.g. horizontally downwards.", "explanation": "The robot is not able to lift this much payload in its current position" }, { "code": 359, "arg": 0, "text": "Report system: Missing violation handler", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "A violation was reported but no violation handler was registered" }, { "code": 359, "arg": 1, "text": "Report system: Missing critical fault handler", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "A critical fault was reported but no critical fault handler was registered" }, { "code": 361, "arg": 0, "text": "Gear torsion: Excessive gear torsion registered", "suggestion": "Contact your local Universal Robots service provider for assistance", "explanation": "The joint has previously measured an excessive gear torsion, thus the gear/encoders may be damaged" }, { "code": 361, "arg": 1, "text": "Gear torsion: State transition is not permitted following an excessive gear torsion", "suggestion": "Contact your local Universal Robots service provider for assistance", "explanation": "The joint has previously measured an excessive gear torsion, thus it cannot be safely brake released" }, { "code": 362, "arg": 1, "text": "State Machine: Unexpected state {unsigned} encountered", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The FSM is trying to enter unexpected state" }, { "code": 362, "arg": 2, "text": "State Machine: Registration of state {unsigned} have failed", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The FSM is trying to register a state, but failed" }, { "code": 363, "arg": 0, "text": "Tool Accelerometer: Unexpected identifier {hex} read from the accelerometer", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace Tool PCBA, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The identifier value read from the accelerometer was different from the expected value" }, { "code": 363, "arg": 1, "text": "Tool Accelerometer: The configuration that was read back from the accelerometer does not match the expected configuration", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace Tool PCBA, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The configuration that was read back from the accelerometer after initialization was not as expected" }, { "code": 363, "arg": 2, "text": "Tool Accelerometer: Failed to write to a configuration register with data {hex}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace Tool PCBA, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The accelerometer configuration register could not be written to" }, { "code": 364, "arg": 0, "text": "Robot validation: Robot type mismatch between configuration and arm", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Ensure that the robot arm match the control box configuration, (C) Update software, (D) Consult the Universal Robots service manual, (E) Contact your local Universal Robots service provider for assistance", "explanation": "The robot type specified in the configuration does not match the type stored in the robot arm" }, { "code": 364, "arg": 1, "text": "Robot validation: Robot type disagreement in the joints", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Consult service manual and reupload the robot type to all joints, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The robot type stored in the joints do not match. This can happen if a joint has been replaced with one from a different robot type" }, { "code": 364, "arg": 2, "text": "Robot validation: The robot type stored in the joints is {unsigned}" }, { "code": 364, "arg": 3, "text": "Robot validation: The robot type in the configuration is {unsigned}" }, { "code": 365, "arg": 0, "text": "Teach Pendant RS485 communication: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred in the TP RS485 driver" }, { "code": 366, "arg": 0, "text": "Tool panel interface: The panel interface output voltage of {float}V is too high while the voltage was not turned on", "explanation": "The panel interface output voltage is too high while it is supposed to be off" }, { "code": 366, "arg": 1, "text": "Tool panel interface: The panel interface output voltage of {float}V is lower than allowed", "explanation": "The panel interface output voltage is lower than allowed" }, { "code": 366, "arg": 2, "text": "Tool panel interface: The panel interface output voltage of {float}V is higher than allowed", "explanation": "The panel interface output voltage is higher than allowed" }, { "code": 366, "arg": 3, "text": "Tool panel interface: A fault event was detected on supply to the panel interface", "explanation": "A fault event can be caused by voltage, current or temperature issues on the supply to the panel interface" }, { "code": 366, "arg": 4, "text": "Tool panel interface: An over current fault event was detected on panel interface digital outputs", "explanation": "A fault event is caused by higher current being detected on one of the digital outputs than specified for the panel interface" }, { "code": 367, "arg": 0, "text": "Power Control Board: Failed to initialize the robot power sensor", "explanation": "The robot power sensor initialization failed" }, { "code": 367, "arg": 1, "text": "Power Control Board: Failed to initialize the ERD power sensor", "explanation": "The ERD power sensor initialization failed" }, { "code": 367, "arg": 2, "text": "Power Control Board: Failed to initialize the voltage monitor sensor", "explanation": "The voltage monitor sensor initialization failed" }, { "code": 367, "arg": 3, "text": "Power Control Board: Failed to read data from the robot power sensor", "explanation": "The robot power sensor read failed" }, { "code": 367, "arg": 4, "text": "Power Control Board: Failed to read data from the ERD power sensor", "explanation": "The ERD power sensor read failed" }, { "code": 367, "arg": 5, "text": "Power Control Board: Failed to read data from the voltage monitor sensor", "explanation": "The voltage monitor sensor read failed" }, { "code": 367, "arg": 6, "text": "Power Control Board: Power Control Board revision invalid", "explanation": "The Power Control Board revision is not valid" }, { "code": 367, "arg": 7, "text": "Power Control Board: Power Control Board revision {unsigned} is not supported", "explanation": "The Power Control Board revision is not supported" }, { "code": 367, "arg": 9, "text": "Power Control Board: The voltage monitor chip is not responding", "explanation": "The voltage monitor chip did not respond during initialization" }, { "code": 368, "arg": 0, "text": "Power Supply Unit: Failed to communicate with power supply unit", "explanation": "The I2C communication with the power supply unit timed out or returned an error" }, { "code": 368, "arg": 5, "text": "Power Supply Unit: Firmware version is invalid ({hex})", "explanation": "The Power Supply Unit firmware version is not supported" }, { "code": 368, "arg": 6, "text": "Power Supply Unit: Hardware version is invalid ({hex})", "explanation": "The Power Supply Unit hardware version is not supported" }, { "code": 368, "arg": 9, "text": "Power Supply Unit: General error (status: {hex})", "explanation": "One or more fault and/or protection bits were set in the Power Supply Units status register" }, { "code": 368, "arg": 10, "text": "Power Supply Unit: Thermal protection active", "explanation": "The thermal protection bit was asserted in the Power Supply Units status register" }, { "code": 368, "arg": 11, "text": "Power Supply Unit: 48V constant current trigger active", "explanation": "The 48V constant current bit was asserted in the Power Supply Units status register" }, { "code": 368, "arg": 12, "text": "Power Supply Unit: 24V protection active", "explanation": "The 24V protection bit was asserted in the Power Supply Units status register" }, { "code": 368, "arg": 13, "text": "Power Supply Unit: 48V protection active", "explanation": "The 48V protection bit was asserted in the Power Supply Units status register" }, { "code": 368, "arg": 14, "text": "Power Supply Unit: Input protection active", "explanation": "The input protection bit was asserted in the Power Supply Units status register" }, { "code": 368, "arg": 15, "text": "Power Supply Unit: 12V fault active", "explanation": "The 12V fault bit was asserted in the Power Supply Units status register" }, { "code": 368, "arg": 16, "text": "Power Supply Unit: Communication fault active", "explanation": "The communication fault bit was asserted in the Power Supply Units status register" }, { "code": 370, "arg": 0, "text": "Ethernet MDIO: When communicating with a an ethernet PHY, the command has timed out. command: {hex}", "explanation": "An issue has been detected communicating with an Ethernet PHY over the MDIO interface." }, { "code": 371, "arg": 0, "text": "End of Arm Ethernet: Unable to read status from the End of Arm Ethernet", "explanation": "The End of Arm Ethernet is not responding to status requests" }, { "code": 371, "arg": 3, "text": "End of Arm Ethernet: Unable to establish link to the Control Box", "explanation": "The End of Arm Ethernet never established a successful link to the Control Box" }, { "code": 371, "arg": 4, "text": "End of Arm Ethernet: Unable to establish link to the Tool", "explanation": "The End of Arm Ethernet never established a successful link to the Tool" }, { "code": 371, "arg": 5, "text": "End of Arm Ethernet: Validation of PHY device with ID: {hex} failed", "explanation": "Failed during validation of the connected ethernet PHY device" }, { "code": 373, "arg": 0, "text": "Power Interface Board: Failed to initialize the monitor sensors", "explanation": "The monitor sensors initialization failed" }, { "code": 373, "arg": 1, "text": "Power Interface Board: Failed to initialize the battery interface sensor", "explanation": "The battery interface sensor initialization failed" }, { "code": 373, "arg": 2, "text": "Power Interface Board: Failed to read data from the battery interface sensor", "explanation": "The battery interface sensor read failed" }, { "code": 373, "arg": 3, "text": "Power Interface Board: Failed to read data from the monitor sensors", "explanation": "The monitor sensors read failed" }, { "code": 373, "arg": 4, "text": "Power Interface Board: Power Interface Board revision invalid", "explanation": "The Power Interface Board revision is not valid" }, { "code": 373, "arg": 5, "text": "Power Interface Board: Power Interface Board revision {unsigned} is not supported", "explanation": "The Power Interface Board revision is not supported" }, { "code": 375, "arg": 0, "text": "Motor encoder: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local MiR service provider for assistance", "explanation": "A critical communication error occurred" }, { "code": 377, "arg": 0, "text": "Charging system: The motors are active while charging is enabled", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local MiR service provider for assistance", "explanation": "The motors are active while charging is enabled, which is not allowed" }, { "code": 400, "text": "Elbow position close to safety plane limits" }, { "code": 401, "text": "Exceeding user safety settings for stopping time" }, { "code": 402, "text": "Exceeding user safety settings for stopping distance" }, { "code": 403, "text": "Danger of clamping between the lower arm and tool flange of the robot", "suggestion": "Avoid motions where the tool flange has to move closer than 2.8 cm to the lower arm", "explanation": "This protective stop is triggered if the distance between the tool flange and the lower arm is less than 2.8 cm. This reduces the risk of persons getting their hand clamped when holding the robot" }, { "code": 404, "arg": 0, "text": "Unexpected behavior: Runtime sends data too often" }, { "code": 404, "arg": 1, "text": "Unexpected behavior: Runtime tries to receive data too often" }, { "code": 450, "arg": 0, "text": "Force-Torque sensor: Sensor data invalid", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check for loose connections, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "Force-Torque sensor is defective or not mounted correctly" }, { "code": 450, "arg": 1, "text": "Force-Torque sensor: Sensor can not be used, therefore it is disabled", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check for loose connections, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "Force-Torque sensor version is newer than the Robot software" }, { "code": 450, "arg": 4, "text": "Force-Torque sensor: Force-Torque sensor is expected, but it cannot be detected", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Check for loose connections, (C) Check for damages to the Tool/sensor, (D) Update software, (E) Contact your local Universal Robots service provider for assistance", "explanation": "Force-Torque sensor is expected, but no signals from the sensor can be detected." }, { "code": 450, "arg": 5, "text": "Force-Torque sensor: Force-Torque sensor is detected but not calibrated", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Contact your local Universal Robots service provider for assistance", "explanation": "Force-Torque sensor is installed, but no calibration was found." }, { "code": 451, "arg": 5, "text": "Tool Power Sensor: Failed to initialize the M8 GND sensor chip", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the tool PCB, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The tool M8 GND sensor chip is not responding correctly." }, { "code": 451, "arg": 6, "text": "Tool Power Sensor: Failed to initialize the M8 digital output low side sensor chip", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the tool PCB, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The tool M8 digital output low side sensor chip is not responding correctly." }, { "code": 451, "arg": 8, "text": "Tool Power Sensor: Too many failing M8 GND sensor readings in a row", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the tool PCB, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The tool M8 GND sensor chip is not responding correctly." }, { "code": 451, "arg": 9, "text": "Tool Power Sensor: Too many failing M8 digital output low side sensor readings in a row", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the tool PCB, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The tool M8 digital output low side sensor chip is not responding correctly." }, { "code": 451, "arg": 11, "text": "Tool Power Sensor: Failed to initialize the tool power sensor chip", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the tool PCB, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The tool power sensor chip is not responding correctly." }, { "code": 451, "arg": 13, "text": "Tool Power Sensor: Too many failing power sensor readings in a row", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the tool PCB, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The tool power sensor chip is not responding correctly." }, { "code": 453, "arg": 2, "text": "SCB IMU: Unable to validate the IMU type, received type {hex}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the Safety Control Board, (D) Contact your local MiR service provider for assistance", "explanation": "The IMU is not recognized." }, { "code": 453, "arg": 3, "text": "SCB IMU: Unable to initialize the IMU", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the Safety Control Board, (D) Contact your local MiR service provider for assistance", "explanation": "The IMU is not responding correctly" }, { "code": 453, "arg": 4, "text": "SCB IMU: Timeout while waiting for new IMU data", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the Safety Control Board, (D) Contact your local MiR service provider for assistance", "explanation": "The IMU has stopped providing new data" }, { "code": 453, "arg": 5, "text": "SCB IMU: Failed to start SPI transfer for the IMU", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local MiR service provider for assistance", "explanation": "The SPI transfer for the IMU did not start correctly" }, { "code": 500, "arg": 19, "text": "Self-test step: Awaiting acceptance started", "explanation": "The Self-test awaits acceptance using serial number." }, { "code": 526, "arg": 0, "text": "Node ID: Index/node id {unsigned} is not within the range for a joint.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The index/node id provided is not in the range for a valid joint." }, { "code": 526, "arg": 1, "text": "Node ID: Node {unsigned} is not a joint.", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The provided node is not a joint." }, { "code": 710, "arg": 0, "text": "ROM Test: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred during ROM validation" }, { "code": 720, "arg": 6, "text": "LVD (low voltage detection): The VCCINT voltage of {float} is too high", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the PCBA, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The internal VCCINT voltage is too high" }, { "code": 720, "arg": 7, "text": "LVD (low voltage detection): The VCCINT voltage of {float} is too low", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the PCBA, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The internal VCCINT voltage is too low" }, { "code": 720, "arg": 8, "text": "LVD (low voltage detection): The VCCAUX voltage of {float} is too high", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the PCBA, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The internal VCCAUX voltage is too high" }, { "code": 720, "arg": 9, "text": "LVD (low voltage detection): The VCCAUX voltage of {float} is too low", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the PCBA, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The internal VCCAUX voltage is too low" }, { "code": 720, "arg": 10, "text": "LVD (low voltage detection): The VCCBRAM voltage of {float} is too high", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the PCBA, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The internal VCCBRAM voltage is too high" }, { "code": 720, "arg": 11, "text": "LVD (low voltage detection): The VCCBRAM voltage of {float} is too low", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the PCBA, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The internal VCCBRAM voltage is too low" }, { "code": 740, "arg": 0, "text": "Hardware monitoring: Critical error", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical error occurred during hardware monitoring" }, { "code": 740, "arg": 10, "text": "Hardware monitoring: 24V IO voltage is outside of the allowed range: {float}V", "suggestion": "Try the following actions to see which resolves the issue: (A) Check for shorts on anything attached to the IOs, (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "An error occurred in the 24V supply" }, { "code": 740, "arg": 11, "text": "Hardware monitoring: 48V voltage is outside of the allowed range: {float}", "suggestion": "Try the following actions to see which resolves the issue: (A) Adjust the robot program to reduce peak acceleration and torques, (B) Ensure that there is no electrical short in the Control Box or robot, (C) Conduct a complete rebooting sequence (D) Update software, (E) Contact your local Universal Robots service provider for assistance", "explanation": "The 48V supply voltage is outside the allowed range. This may be due to the robot drawing too much current." }, { "code": 740, "arg": 15, "text": "Hardware monitoring: The {float}A current draw of the robot is outside the allowed range.", "suggestion": "Try the following actions to see which resolves the issue: (A) Adjust the robot program to reduce peak acceleration and torques, (B) Ensure that the robot power cable is not shorted during operation, (C) Conduct a complete rebooting sequence (D) Update software, (E) Contact your local Universal Robots service provider for assistance", "explanation": "The current draw of the robot is higher than what is supported by the power supply." }, { "code": 740, "arg": 20, "text": "Hardware monitoring: 24V IO voltage is outside of the allowed range: {float}V", "suggestion": "Try the following actions to see which resolves the issue: (A) Check the fuse in the control box, (B) Check supply to the IOs is attached, (C) Check for shorts on anything attached to the IOs, (D) Conduct a complete rebooting sequence, (E) Update software, (F) Contact your local Universal Robots service provider for assistance", "explanation": "An error occurred in the 24V IO supply" }, { "code": 740, "arg": 21, "text": "Hardware monitoring: 24V IO current is outside of the allowed range: {float}A", "suggestion": "Check 24V IO connections to make sure the IO current are within specified limits", "explanation": "Too high current draw on 24V IO supply" }, { "code": 740, "arg": 24, "text": "Hardware monitoring: The left Three-Position Enabling button is inconsistent", "suggestion": "Try the following actions to see which resolves the issue: (A) Do not press the button repeatedly, (B) Remove any pressure off the button, (C) Press the button with more pressure. Light pressing may not work, (D) Update software, (E) contact your local Universal Robots service provider for assistance." }, { "code": 740, "arg": 25, "text": "Hardware monitoring: The right Three-Position Enabling button is inconsistent", "suggestion": "Try the following actions to see which resolves the issue: (A) Do not press the button repeatedly, (B) Remove any pressure off the button, (C) Press the button with more pressure. Light pressing may not work, (D) Update software, (E) contact your local Universal Robots service provider for assistance." }, { "code": 740, "arg": 28, "text": "Hardware monitoring: uA's 3V3voltage ADC ref is outside of the allowed range: {float}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the PCBA, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The ADC reference voltage for uA's 3V3 supply is outside of the allowed range, which may cause inaccurate voltage measurements." }, { "code": 740, "arg": 29, "text": "Hardware monitoring: The solenoid driver curcuit encountered an error condition", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Replace the joint PCB.", "explanation": "The fault signal from the solenoid driver curcuit was asserted, indicating an issue with the joint electronics." }, { "code": 740, "arg": 30, "text": "Hardware monitoring: The brake solenoid could not be detected", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Verify that the brake solenoid cable is connected to the joint PCB, (C) Verify that the brake solenoid is not damaged.", "explanation": "The joint was unable to detect a connected brake solenoid" }, { "code": 740, "arg": 31, "text": "Hardware monitoring: The robot current offset limit check has failed", "suggestion": "Try the following actions to resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance.", "explanation": "The robot current offset value is outside of the allowed range" }, { "code": 740, "arg": 32, "text": "Hardware monitoring: The robot current offset integrity check has failed", "suggestion": "Try the following actions to resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance.", "explanation": "The robot current offset value can't be trusted as the integrity check has failed" }, { "code": 740, "arg": 33, "text": "Hardware monitoring: 48V voltage is below the minimum allowed limit: {float}", "suggestion": "Try the following actions to see which resolve the issue: (A) Make sure that the combination of robot arm and control box is supported, (B) Adjust the robot program to reduce peak acceleration and torques, (C) Ensure that there is no electrical short in the Control Box or robot, (D) Conduct a complete rebooting sequence (E) Update software, (F) Contact your local Universal Robots service provider for assistance", "explanation": "The 48V supply voltage is below the minimum allowed limit." }, { "code": 740, "arg": 34, "text": "Hardware monitoring: 48V voltage is above the maximum allowed limit: {float}", "suggestion": "Try the following actions to see which resolve the issue: (A) Make sure that the combination of robot arm and control box is supported, (B) Adjust the robot program to reduce peak decelerations and torques, (C) Ensure that there is no electrical short or loose connections in the Control Box or robot, (D) Conduct a complete rebooting sequence (E) Update software, (F) Contact your local Universal Robots service provider for assistance", "explanation": "The 48V supply voltage is above the maximum allowed limit." }, { "code": 740, "arg": 36, "text": "Hardware monitoring: The M8 IO current offset measurement of {float} A is outside of the allowed range.", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Replace the tool PCBA, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The M8 IO current offset measurement is outside of the allowed range." }, { "code": 740, "arg": 38, "text": "Hardware monitoring: 48V Safety Control Board voltage is below the minimum allowed limit: {float}", "suggestion": "Try the following actions to see which resolve the issue: (A) Adjust the robot program to reduce peak acceleration and torques, (B) Ensure that there is no electrical short or loose connections in the Control Box or robot, (C) Conduct a complete rebooting sequence (D) Update software, (E) Contact your local Universal Robots service provider for assistance", "explanation": "The 48V Safety Control Board supply voltage is below the minimum allowed limit." }, { "code": 740, "arg": 39, "text": "Hardware monitoring: 48V Safety Control Board voltage is above the maximum allowed limit: {float}", "suggestion": "Try the following actions to see which resolve the issue: (A) Adjust the robot program to reduce peak decelerations and torques, (B) Ensure that there is no electrical short or loose connections in the Control Box or robot, (C) Conduct a complete rebooting sequence (D) Update software, (E) Contact your local Universal Robots service provider for assistance", "explanation": "The Safety Control Board SCB supply voltage is above the maximum allowed limit." }, { "code": 740, "arg": 40, "text": "Hardware monitoring: 5V1 voltage is outside of the allowed range: {float}" }, { "code": 740, "arg": 41, "text": "Hardware monitoring: 12VA voltage on the Power Control Board is outside of the allowed range: {float}" }, { "code": 740, "arg": 42, "text": "Hardware monitoring: 5VA voltage on the Power Control Board is outside of the allowed range: {float}" }, { "code": 740, "arg": 43, "text": "Hardware monitoring: 3V3A voltage on the Power Control Board is outside of the allowed range: {float}" }, { "code": 740, "arg": 44, "text": "Hardware monitoring: 2V5 reference voltage on the Power Control Board is outside of the allowed range: {float}" }, { "code": 740, "arg": 45, "text": "Hardware monitoring: PSU 48V voltage is outside of the allowed range: {float} V", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The 48V voltage reported by the PSU is outside of the allowed range" }, { "code": 740, "arg": 46, "text": "Hardware monitoring: PSU 48V current is outside of the allowed range: {float} A", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The 48V current reported by the PSU is outside of the allowed range" }, { "code": 740, "arg": 47, "text": "Hardware monitoring: PSU 24V voltage is outside of the allowed range: {float} V", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The 24V voltage reported by the PSU is outside of the allowed range" }, { "code": 740, "arg": 48, "text": "Hardware monitoring: The 24V current reported by the PSU is outside of the allowed range: {float} A", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The 24V current reported by the PSU is outside of the allowed range" }, { "code": 740, "arg": 49, "text": "Hardware monitoring: PSU 12V voltage is outside of the allowed range: {float} V", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The 12V voltage reported by the PSU is outside of the allowed range" }, { "code": 740, "arg": 50, "text": "Hardware monitoring: PSU AC voltage is outside of the allowed range: {float} V", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The mains AC voltage reported by the PSU is outside of the allowed range" }, { "code": 740, "arg": 51, "text": "Hardware monitoring: PSU AC current is outside of the allowed range: {float} A", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The mains AC current reported by the PSU is outside of the allowed range" }, { "code": 740, "arg": 52, "text": "Hardware monitoring: PSU AC power is outside of the allowed range: {float} W", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The mains AC power reported by the PSU is outside of the allowed range" }, { "code": 740, "arg": 53, "text": "Hardware monitoring: PSU temperature is outside of the allowed range: {float} degrees C", "suggestion": "Try the following actions to see which resolve the issue: (A) Ensure that the fan on the control box is running and air flow is not obstructed, (B) Conduct a complete rebooting sequence (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The hot-spot temperature reported by the PSU is outside of the allowed range" }, { "code": 740, "arg": 54, "text": "Hardware monitoring: The PCB type: {unsigned} is unsupported by the SW Version.", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The hardware is not supported by this software version" }, { "code": 740, "arg": 55, "text": "Hardware monitoring: Vin on the Power Interface Board is outside of the allowed range: {float} V", "suggestion": "Try the following actions to see which resolves the issue: (A) Check the battery, (B) Ensure proper connections, (C) Replace the Power Interface Board, (D) Contact your local MiR service provider for assistance", "explanation": "The input voltage on the Power Interface Board is outside of the allowed range" }, { "code": 740, "arg": 56, "text": "Hardware monitoring: 5V on the Power Interface Board is outside of the allowed range: {float} V", "suggestion": "Try the following actions to see which resolves the issue: (A) Replace the Power Interface Board, (B) Contact your local MiR service provider for assistance", "explanation": "The 5V voltage on the Power Interface Board is outside of the allowed range" }, { "code": 740, "arg": 57, "text": "Hardware monitoring: 5VA on the Power Interface Board is outside of the allowed range: {float} V", "suggestion": "Try the following actions to see which resolves the issue: (A) Replace the Power Interface Board, (B) Contact your local MiR service provider for assistance", "explanation": "The 5VA voltage on the Power Interface Board is outside of the allowed range" }, { "code": 740, "arg": 58, "text": "Hardware monitoring: 3V3A on the Power Interface Board is outside of the allowed range: {float} V", "suggestion": "Try the following actions to see which resolves the issue: (A) Replace the Power Interface Board, (B) Contact your local MiR service provider for assistance", "explanation": "The 3V3A voltage on the Power Interface Board is outside of the allowed range" }, { "code": 740, "arg": 59, "text": "Hardware monitoring: 2V5 reference on the Power Interface Board is outside of the allowed range: {float} V", "suggestion": "Try the following actions to see which resolves the issue: (A) Replace the Power Interface Board, (B) Contact your local MiR service provider for assistance", "explanation": "The 2V5 reference voltage on the Power Interface Board is outside of the allowed range" }, { "code": 740, "arg": 60, "text": "Hardware monitoring: 2V5 ISO reference on the Power Interface Board is outside of the allowed range: {float} V", "suggestion": "Try the following actions to see which resolves the issue: (A) Replace the Power Interface Board, (B) Contact your local MiR service provider for assistance", "explanation": "The 2V5 ISO reference voltage on the Power Interface Board is outside of the allowed range" }, { "code": 740, "arg": 61, "text": "Hardware monitoring: 24V ISO on the Power Interface Board is outside of the allowed range: {float} V", "suggestion": "Try the following actions to see which resolves the issue: (A) Replace the Power Interface Board, (B) Contact your local MiR service provider for assistance", "explanation": "The 24V ISO voltage on the Power Interface Board is outside of the allowed range" }, { "code": 740, "arg": 62, "text": "Hardware monitoring: Battery interface voltage on the Power Interface Board is outside of the allowed range: {float} V", "suggestion": "Try the following actions to see which resolves the issue: (A) Check the battery, (B) Ensure proper connections, (C) Replace the Power Interface Board, (D) Contact your local MiR service provider for assistance", "explanation": "The battery interface voltage on the Power Interface Board is outside of the allowed range" }, { "code": 740, "arg": 63, "text": "Hardware monitoring: 12VB voltage on the Power Control Board is outside of the allowed range: {float}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The 12V supply voltage for uB on the Power Control Board is outside of the allowed range" }, { "code": 740, "arg": 64, "text": "Hardware monitoring: 5VB voltage on the Power Control Board is outside of the allowed range: {float}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The 5V supply voltage for uB on the Power Control Board is outside of the allowed range" }, { "code": 740, "arg": 65, "text": "Hardware monitoring: 3V3B voltage on the Power Control Board is outside of the allowed range: {float}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The 3.3V supply voltage for uB on the Power Control Board is outside of the allowed range" }, { "code": 740, "arg": 66, "text": "Hardware monitoring: 48V voltage on the Power Control Board is outside of the allowed range: {float}", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The 48V supply voltage on the Power Control Board is outside of the allowed range" }, { "code": 741, "arg": 2, "text": "Hardware general information: The hardware is not supported by this software version", "suggestion": "Try the following actions to see which resolves the issue: (A) Update software, (B) Contact your local Universal Robots service provider for assistance", "explanation": "The hardware is not supported by this software version" }, { "code": 742, "arg": 1, "text": "Control Box temperature: The temperature of {signed} \u00b0C is close to the limit", "suggestion": "Try the following actions to see which resolves the issue: (A) Reduce the ambient temperature, (B) Improve the ventilation around the Control Box, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The temperature in the Control Box is close to the limit" }, { "code": 742, "arg": 2, "text": "Control Box temperature: The temperature of {signed} \u00b0C is above the limit", "suggestion": "Try the following actions to see which resolves the issue: (A) Reduce the ambient temperature, (B) Improve the ventilation around the Control Box, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The temperature in the Control Box is too high" }, { "code": 743, "arg": 0, "text": "External Axes: Velocity limit for the external axis at index {unsigned} was exceeded", "suggestion": "Lower the required axis velocity by reducing the Polyscope speed scale slider or adjust the program to reduce the robot velocity.", "explanation": "The velocity that the axis needs to complete its trajectory at the same time as the robot exceeds its maximum limit." }, { "code": 743, "arg": 1, "text": "External Axes: The servo drive for the external axis at index {unsigned} has entered a fault state", "suggestion": "Check the external axis's servo drive fault indicators for vendor-specific diagnostics", "explanation": "An external axis has had a problem where the servo drive has entered a fault state" }, { "code": 743, "arg": 2, "text": "External Axes: Freedrive is incompatible with external axis motion", "suggestion": "Verify that external axes are completely stopped before entering Freedrive and ensure no axis motion is commanded when already in Freedrive mode.", "explanation": "External axes cannot be moving while the controller is in Freedrive." }, { "code": 743, "arg": 3, "text": "External Axes: The servo drive for the external axis at index {unsigned} has become disabled", "suggestion": "Try the following actions to see which resolves the issue: (A) Reset drive emergency stop, (B) Check whether drive has been configured properly", "explanation": "The servo drive of an enabled external axis is reporting itself as disabled" }, { "code": 743, "arg": 4, "text": "External Axes: External axis homing is incompatible with other motion", "suggestion": "Adjust the robot program to not perform other external axis or robot motions until the external axis servo drive homing operation has finished", "explanation": "Other external axis or Robot motion was detected during an external axis servo drive homing operation" }, { "code": 743, "arg": 5, "text": "External Axes: Only one external axis servo drive homing operation at a time", "suggestion": "Adjust the robot program to only perform one external axis servo drive homing operation at a time", "explanation": "Two or more external axis servo drive homing operations were detected at the same time" }, { "code": 743, "arg": 6, "text": "External Axes: Motion detected within multiple external axis groups", "suggestion": "Ensure all axes within an axis group are stopped before attempting to move axes within another group.", "explanation": "Only one external axis group may be moving at any given time." }, { "code": 743, "arg": 7, "text": "External Axes: The position of external axis at index {unsigned} is close to joint limit", "explanation": "The position that the axis needs to complete its trajectory at the same time is close to its joint limit." }, { "code": 743, "arg": 8, "text": "External Axes: The position of external axis at index {unsigned} is close to upper joint limit", "suggestion": "Change the direction of target velocity of the axis so that it is going to move back into the safe zone in next step.", "explanation": "The position that the axis needs to complete its trajectory at the same time is close to its upper joint limit." }, { "code": 743, "arg": 9, "text": "External Axes: The position of external axis at index {unsigned} is close to lower joint limit", "suggestion": "Change the direction of target velocity of the axis so that it is going to move back into the safe zone in next step.", "explanation": "The position that the axis needs to complete its trajectory at the same time is close to its lower joint limit." }, { "code": 743, "arg": 10, "text": "External Axes: The position of external axis at index {unsigned} was commanded to move without the axis enabled.", "suggestion": "Enable the axis and try again.", "explanation": "An axis must be enabled before it can be moved." }, { "code": 746, "arg": 0, "text": "Cable Extender: The house temperature is too low: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Increase the ambient temperature, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The house temperature is below the allowed limit" }, { "code": 746, "arg": 1, "text": "Cable Extender: The house temperature is too high: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Reduce the ambient temperature, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The house temperature is above the allowed limit" }, { "code": 746, "arg": 2, "text": "Cable Extender: The energy eater temperature is too low: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Increase the ambient temperature, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The energy eater temperature is below the allowed limit" }, { "code": 746, "arg": 3, "text": "Cable Extender: The energy eater temperature is too high: {float} Celsius", "suggestion": "Try the following actions to see which resolves the issue: (A) Decrease the robot accelerations and speeds, (B) Update software, (C) Reduce the ambient temperature, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The energy eater temperature is above the allowed limit" }, { "code": 746, "arg": 4, "text": "Cable Extender: Cable type mismatch between near and far cable extenders", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure that the robot cable extender is configured properly, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The cable extenders does not have the same cable type" }, { "code": 746, "arg": 5, "text": "Cable Extender: The energy eater regulation is inactive", "suggestion": "Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The energy eater regulation is not running at the expected frequency" }, { "code": 746, "arg": 7, "text": "Cable Extender: The connected cable was not recognized", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure the cable is connected properly, (B) Make sure that the cable ID resistor is connected properly to the extender board, (C) Update software, (D) Contact your local Universal Robots service provider for assistance", "explanation": "The connected cable did not have a recognized ID resistor" }, { "code": 748, "arg": 0, "text": "Security: Library error: {unsigned}", "suggestion": "Try the following actions to see which resolves the issue: (A) Make sure to use official software provided by UR, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The device has failed security checks" }, { "code": 748, "arg": 3, "text": "Security: Elevation aborted (bootloader is not capable)", "suggestion": "Make sure to program a compatible bootloader", "explanation": "The device cannot be provisioned, because the bootloader lackes the required features" }, { "code": 748, "arg": 4, "text": "Security: Elevation aborted (key revision {unsigned} is not valid)", "suggestion": "Make sure to send only valid key revisions in the provisioning command", "explanation": "The device cannot be provisioned with that key revision" }, { "code": 748, "arg": 5, "text": "Security: Elevation aborted (key revision {unsigned} is not supported with a non-red bootloader)", "suggestion": "The key revision used is not allowed with the existing color of the bootloader", "explanation": "The device cannot be provisioned with development bootloaders" }, { "code": 749, "arg": 1, "text": "Digital output: Excessive load", "suggestion": "Try the following actions: (A) Reduce the load current and let the system cool, (B) For load currents above 600mA, the inductive clamping energy must be limited to 0.3 Joule, (C) Contact your local Universal Robots service provider for assistance", "explanation": "The load current exceeded safe limits, or an inductive load issue was detected" }, { "code": 749, "arg": 8, "text": "Digital output: Internal hardware fault", "suggestion": "Try the following actions: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "A critical internal fault was detected on the digital output device" }, { "code": 749, "arg": 27, "text": "Digital output: Failed to start communication with digital output device {unsigned}", "suggestion": "Try the following actions: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "An internal communication failure occurred while initializing the device" }, { "code": 749, "arg": 28, "text": "Digital output: Unexpected response size from digital output device {unsigned}", "suggestion": "Try the following actions: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "An unexpected response was received while initializing the device" }, { "code": 749, "arg": 29, "text": "Digital output: Invalid CRC from digital output device {unsigned}", "suggestion": "Try the following actions: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the safety control board, (D) Contact your local Universal Robots service provider for assistance", "explanation": "A communication integrity check failed while initializing the digital output device" }, { "code": 749, "arg": 30, "text": "Digital output: Could not update digital output state", "suggestion": "Try the following actions: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "An internal communication conflict prevented the digital output state from being updated" }, { "code": 749, "arg": 31, "text": "Digital output: Failed to update digital output state", "suggestion": "Try the following actions: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "An internal communication failure prevented the digital output state from being updated" }, { "code": 749, "arg": 32, "text": "Digital output: Unexpected transfer size {unsigned} when updating digital output", "suggestion": "Try the following actions: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance", "explanation": "An internal communication issue occurred while updating the output state" } ] }