Error codes

What a robot’s error code means, from the maker’s own directory, with a link to the page where the maker says what to do about it.

Type the code from the teach pendant, or words from the message. Each directory is grouped the way the maker prints it: by robot generation, then by section.

4,739 codes · page 94 of 119

C75A32 · Signal lost =Misaligned readhead or damaged ring

Universal Robots · CB3 and Earlier Models

C75 Joint encoder error

C75A64 · Signal low =Too far from magnetic ring

Universal Robots · CB3 and Earlier Models

C75 Joint encoder error

C75A128 · Signal saturation =Too close to magnetic ring

Universal Robots · CB3 and Earlier Models

C75 Joint encoder error

C75A200 · Position from joint encoder does not change while motor is running

Universal Robots · CB3 and Earlier Models

C75 Joint encoder error

C85A200 · Position from motor encoder does not change while motor is running

Universal Robots · CB3 and Earlier Models

C85 Motor encoder error

C103A1 · Connection to Safety Control Board lost

Universal Robots · CB3 and Earlier Models

C103 Communication issueCause given

C103A2 · Package lost from Safety Control Board

Universal Robots · CB3 and Earlier Models

C103 Communication issue

C103A3 · Ethernet connection initialization with Safety Control Board failed

Universal Robots · CB3 and Earlier Models

C103 Communication issue

C153A0 · Detected by the Base joint.

Universal Robots · CB3 and Earlier Models

C153 Position deviates from pathCause given

C153A1 · Detected by the Shoulder joint.

Universal Robots · CB3 and Earlier Models

C153 Position deviates from pathCause given

C153A2 · Detected by the Elbow joint.

Universal Robots · CB3 and Earlier Models

C153 Position deviates from pathCause given

C153A3 · Detected by the Wrist 1 joint.

Universal Robots · CB3 and Earlier Models

C153 Position deviates from pathCause given

C153A4 · Detected by the Wrist 2 joint.

Universal Robots · CB3 and Earlier Models

C153 Position deviates from pathCause given

C153A5 · Detected by the Wrist 3 joint.

Universal Robots · CB3 and Earlier Models

C153 Position deviates from pathCause given

C157A0 · Detected by the Base joint.

Universal Robots · CB3 and Earlier Models

C157 Collision detected by jointCause given

C157A1 · Detected by the Shoulder joint.

Universal Robots · CB3 and Earlier Models

C157 Collision detected by jointCause given

C157A2 · Detected by the Elbow joint.

Universal Robots · CB3 and Earlier Models

C157 Collision detected by jointCause given

C157A3 · Detected by the Wrist 1 joint.

Universal Robots · CB3 and Earlier Models

C157 Collision detected by jointCause given

C157A4 · Detected by the Wrist 2 joint.

Universal Robots · CB3 and Earlier Models

C157 Collision detected by jointCause given

C157A5 · Detected by the Wrist 3 joint.

Universal Robots · CB3 and Earlier Models

C157 Collision detected by jointCause given

C158A0 · Base. The user specified payload is 0kg, please make sure this is correct.

Universal Robots · CB3 and Earlier Models

C158 Collision detected by jointCause given

C158A1 · Shoulder. The user specified payload is 0kg, please make sure this is correct.

Universal Robots · CB3 and Earlier Models

C158 Collision detected by jointCause given

C158A2 · Elbow. The user specified payload is 0kg, please make sure this is correct.

Universal Robots · CB3 and Earlier Models

C158 Collision detected by jointCause given

C158A3 · Wrist 1. The user specified payload is 0kg, please make sure this is correct.

Universal Robots · CB3 and Earlier Models

C158 Collision detected by jointCause given

C158A4 · Wrist 2. The user specified payload is 0kg, please make sure this is correct.

Universal Robots · CB3 and Earlier Models

C158 Collision detected by jointCause given

C158A5 · Wrist 3. The user specified payload is 0kg, please make sure this is correct.

Universal Robots · CB3 and Earlier Models

C158 Collision detected by jointCause given

C159A0 · Base. The user specified payload is 0kg, please make sure this is correct.

Universal Robots · CB3 and Earlier Models

C159 Position deviates from pathCause given

C159A1 · Shoulder. The user specified payload is 0kg, please make sure this is correct.

Universal Robots · CB3 and Earlier Models

C159 Position deviates from pathCause given

C159A2 · Elbow. The user specified payload is 0kg, please make sure this is correct.

Universal Robots · CB3 and Earlier Models

C159 Position deviates from pathCause given

C159A3 · Wrist 1. The user specified payload is 0kg, please make sure this is correct.

Universal Robots · CB3 and Earlier Models

C159 Position deviates from pathCause given

C159A4 · Wrist 2. The user specified payload is 0kg, please make sure this is correct.

Universal Robots · CB3 and Earlier Models

C159 Position deviates from path

C159A5 · Wrist 3. The user specified payload is 0kg, please make sure this is correct.

Universal Robots · CB3 and Earlier Models

C159 Position deviates from pathCause given

C163A0 · Base joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.

Universal Robots · CB3 and Earlier Models

C163 More than 50 Protective Stops are detected on the same joint within 8 hours of operation.Cause given

C163A1 · Shoulder joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.

Universal Robots · CB3 and Earlier Models

C163 More than 50 Protective Stops are detected on the same joint within 8 hours of operation.Cause given

C163A2 · Elbow joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.

Universal Robots · CB3 and Earlier Models

C163 More than 50 Protective Stops are detected on the same joint within 8 hours of operation.Cause given

C163A3 · Wrist 1 joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.

Universal Robots · CB3 and Earlier Models

C163 More than 50 Protective Stops are detected on the same joint within 8 hours of operation.Cause given

C163A4 · Wrist 2 joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.

Universal Robots · CB3 and Earlier Models

C163 More than 50 Protective Stops are detected on the same joint within 8 hours of operation.Cause given

C163A5 · Wrist 3 joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.

Universal Robots · CB3 and Earlier Models

C163 More than 50 Protective Stops are detected on the same joint within 8 hours of operation.Cause given

C164A0 · Wrist 1 is too close to safety plane

Universal Robots · CB3 and Earlier Models

C164 Wrist position close to safety plane limits

C164A1 · Wrist 2 is too close to safety plane

Universal Robots · CB3 and Earlier Models

C164 Wrist position close to safety plane limits

Universal Robots C75A32

Signal lost =Misaligned readhead or damaged ring

What to do: p. 32 of Universal Robots’s directory All Universal Robots codes

MakerUniversal Robots

Applies toCB3 and Earlier Models

SectionC75 Joint encoder error

Page32

The directory gives no cause for this code; the maker’s notes on it are on page 32.

From Universal Robots’s own error code directory. The steps to fix it are the maker’s and are on the page linked above, not copied here.