Universal Robots
Error codes
Every code from Universal Robots’s own error code directory (CB3 and Earlier Models; e-Series and Later Models): the code, its message and what it means. The steps to fix each one are in the maker’s document — every code links to the page it is on.
Browse Universal Robots’s codes by section, or every maker’s.
1,223 codes
C4A1
Lost communication with ControllerCommunication was lost between the Safety Control Board and the Motherboard
p. 12C4A10
Primary Teach Pendant present, but Teach Pendant safety is disabledIncorrect safety configuration
p. 13C4A11
Secondary Teach Pendant uP present, Teach Pendant safety is disabledIncorrect safety configuration
p. 13C4A81
Packet counter disagreement in packet from Primary ScreenSafety processor 1 in Teach Pendant has a packet disagreement
p. 17C4A82
Packet counter disagreement in packet from Secondary ScreenSafety processor 2 in Teach Pendant has a packet disagreement
p. 17C50A19
Warning, Waiting for a valid "euromap67 activated" status bit from secondary Safety Control Board
p. 23C50A83
Last CPU reset caused by Software-ResetThe safety control board was reset on explicit request.
p. 24C50A104
The IMMI module does not respondMissing IMMI module, hardware failure or incorrect safety configuration
p. 25C71A8
Motor short circuit to ground or H-bridge problemsThe motor wires are damaged, bad connection in screw terminals or defect PCB
p. 29C71A9
Motor indication signal does not workThe motor wires are damaged, bad connection in screw terminals or defect PCB
p. 29C71A10
Phase 1 is unconnected or not workingThe motor wires are damaged, bad connection in screw terminals or defect PCB
p. 29C71A11
Phase 2 is unconnected or not workingThe motor wires are damaged, bad connection in screw terminals or defect PCB
p. 29C71A12
Phase 3 or multiple phases is unconnected or not workingThe wire is (1) damaged or (2) has been disconnected from the PCB (not likely) or (3) defect PCBThe motor wires are damaged, bad connection in screw terminals or defect PCB
p. 29C72A2
1 PSU active, but we expect 2 (UR10)PSU was not able to deliver 48V or UR10 flash card in UR5 robot
p. 30C153A0
Detected by the Base joint.Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause.
p. 34C153A1
Detected by the Shoulder joint.Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause.
p. 34C153A2
Detected by the Elbow joint.Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause.
p. 34C153A3
Detected by the Wrist 1 joint.Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause.
p. 34C153A4
Detected by the Wrist 2 joint.Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause.
p. 34C153A5
Detected by the Wrist 3 joint.Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause.
p. 34C157A0
Detected by the Base joint.Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause.
p. 35C157A1
Detected by the Shoulder joint.Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause.
p. 35C157A2
Detected by the Elbow joint.Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause.
p. 35C157A3
Detected by the Wrist 1 joint.Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause.
p. 35C157A4
Detected by the Wrist 2 joint.Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause.
p. 36C157A5
Detected by the Wrist 3 joint.Robot could not follow the path, either there was a collison, or a setting was incorrect. If protective stops occur frequently, resolve the cause.
p. 36C158A0
Base. The user specified payload is 0kg, please make sure this is correct.Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops.
p. 36C158A1
Shoulder. The user specified payload is 0kg, please make sure this is correct.Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops.
p. 36C158A2
Elbow. The user specified payload is 0kg, please make sure this is correct.Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops.
p. 36C158A3
Wrist 1. The user specified payload is 0kg, please make sure this is correct.Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops.
p. 36C158A4
Wrist 2. The user specified payload is 0kg, please make sure this is correct.Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops.
p. 37C158A5
Wrist 3. The user specified payload is 0kg, please make sure this is correct.Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops.
p. 37C159A0
Base. The user specified payload is 0kg, please make sure this is correct.Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops.
p. 37C159A1
Shoulder. The user specified payload is 0kg, please make sure this is correct.Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops.
p. 37C159A2
Elbow. The user specified payload is 0kg, please make sure this is correct.Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops.
p. 37C159A3
Wrist 1. The user specified payload is 0kg, please make sure this is correct.Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops.
p. 37C159A5
Wrist 3. The user specified payload is 0kg, please make sure this is correct.Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops.
p. 38C163A0
Base joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.Frequent protective stops is an indication of either an error in the application, or a hardware failure in a joint.
p. 38C163A1
Shoulder joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.Frequent protective stops is an indication of either an error in the application, or a hardware failure in a joint.
p. 38C163A2
Elbow joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.Frequent protective stops is an indication of either an error in the application, or a hardware failure in a joint.Frequent protective stops is an indication of either an error in the application, or a hardware failure in a joint.
p. 39C163A3
Wrist 1 joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.The value for the blend radius is too large compared to the distance between the Waypoints.
p. 39C163A4
Wrist 2 joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.Frequent protective stops is an indication of either an error in the application, or a hardware failure in a joint.
p. 39C163A5
Wrist 3 joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.Frequent protective stops is an indication of either an error in the application, or a hardware failure in a joint.
p. 39C171A3
A ServoC-Waypoint were skipped due to a blend.The value for the blend radius is too large compared to the distance between the Waypoints.
p. 40C171A9
A MoveP-Waypoint were skipped due to a blend.The value for the blend radius is too large compared to the distance between the Waypoints.
p. 40C191A14
Robot is not braking in stop modeDuring the braking process, the safety system monitors if the robot brakes as expected. If this is not the case, this error is generated
p. 43C191A15
Robot is moving in stop modeWhen 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
p. 43C192A1
Robot still powered in emergency stopWhen 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
p. 45C192A2
Robot emergency stop disagreementE-stop in teach pendant or in robot E-stop circuit problem
p. 45C192A16
Safety output failedThe safety output did not reach the correct value in the expected time
p. 46C192A25
Potential brownout detectedVoltage drop on Safety Control Board or defect Safety Control Board
p. 47C192A33
A timing issue occurred during startup. Please restart to proceedChecksum disagreement between safety processors uA and uB
p. 47C193A7
Screen 1Safety Control Board has detected an error on Safety processor 1 in Teach pendant
p. 48C193A8
Screen 2Safety Control Board has detected an error on Safety processor 2 in Teach pendant
p. 49C194A7
Screen 1Safety Control Board has detected an error on Safety processor 1 in Teach pendant
p. 49C194A8
Screen 2Safety Control Board has detected an error on Safety processor 2 in Teach pendant
p. 49C194A128
Base not ready while brake release requestedMust be at least in IDLE mode when the brake release is requested
p. 49C194A129
Shoulder not ready while brake release requestedMust be at least in IDLE mode when the brake release is requested
p. 50C194A130
Elbow not ready while brake release requestedMust be at least in IDLE mode when the brake release is requested
p. 50C194A131
Wrist 1 not ready while brake release requestedMust be at least in IDLE mode when the brake release is requested
p. 50C194A132
Wrist 2 not ready while brake release requestedMust be at least in IDLE mode when the brake release is requested
p. 50C194A133
Wrist 3 not ready while brake release requestedMust be at least in IDLE mode when the brake release is requested
p. 50C194A134
Tool not ready while brake release requestedMust be at least in IDLE mode when the brake release is requested
p. 50C200A6
pRom Crc test failedSafety Control Board: uP-A has detected an error: Wrong Safety Control BoardSafety Control Board: uP-A has detected an error: firmware error
p. 51C200A8
OVG signal test not passedSafety Control Board: uP-A has detected an error: over voltage generator
p. 52C201A0
Setup of Safety Control Board failedNo data was received from the Safety Control Board at initialization or invalid safety parameters have been received
p. 54C201A1
SCB uA is not respondingNo data or invalid data was received from the Safety Control Board uA at initialization
p. 54C201A2
SCB uB is not respondingNo data or invalid data was received from the Safety Control Board uB at initialization
p. 54C201A3
SCB is not respondingNo data or invalid was received from Safety Control Board when requested for configuration parameters
p. 54C212A1
{unsigned} name conflict(s) occurred between feature names and program variablesSome feature names and program variables share the same name, which may cause confusion.
p. 56C219A1
Change in offset is too high to meet joint speed safety limitFollowing the specified offsets would result in the robot exceeding safety limits
p. 58C219A2
Change in offset is too high to meet tool speed safety limitFollowing the specified offsets would result in the robot exceeding safety limits
p. 58C219A3
Change in offset is too high to meet momentum safety limitFollowing the specified offsets would result in the robot exceeding safety limits
p. 58C220A1
Version {unsigned} on the robot arm is not supportedThe kinematic calibration saved on the robot arm is an unsupported version.
p. 58C220A2
Kinematic Calibration file was replaced with file from the arm.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
p. 58C220A3
Kinematic Calibration uploaded to the arm.The calibration.conf file was changed and uploaded to the arm.
p. 58C220A4
Kinematic Calibration reuploaded to the arm.The kinematic calibration was reuploaded to the arm as not all joints matching the calibration had it saved.
p. 59C221A0
High load, messages droppedGUI Communication is under high load causing user messages to be dropped
p. 59C221A2
A variable is too large to be sent to polyscope.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.
p. 59C222A1
Change in offset is too high to meet joint speed safety limitTracking the specified frame would result in the robot exceeding safety limits
p. 59C222A2
Change in offset is too high to meet tool speed safety limitTracking the specified frame would result in the robot exceeding safety limits
p. 59C222A4
Change in offset is too high to meet joint speed safety limitTracking the moving external axis would result in the robot exceeding safety limits
p. 60C222A5
Change in offset is too high to meet tool speed safety limitTracking the moving external axis would result in the robot exceeding safety limits
p. 60C222A6
Change in offset is too high to meet momentum safety limitTracking the moving external axis would result in the robot exceeding safety limits
p. 60C259A89
Failed to create a file with ID {unsigned}The joint has failed to create a file in its internal filesystem
p. 61C260A0
Critical errorA critical error occurred during Brake ReleaseA critical error occurred in the filesystem
p. 61C261A3
Temperature changed more than allowed: {float} CelsiusThe maximum allowed difference between two sequential temperature readings was exceeded
p. 62C261A4
Temperature is too high ({float} degrees Celsius)Ambient temperature is too high or robot is overloaded
p. 62C261A21
Safety Control Board temperature is too high: {float} CelsiusThe temperature of the Safety Control Board is too high.
p. 62C261A22
Safety Control Board temperature is too low: {float} CelsiusThe temperature of the Safety Control Board is too low.
p. 63C261A23
The Energy Removal power sensor temperature on the Power Board is too high: {float} CelsiusThe temperature of the Energy Removal power sensor on the Power Board is too high.
p. 63C261A24
The Energy Removal power sensor temperature on the Power Board is too low: {float} CelsiusThe temperature of the Energy Removal power sensor on the Power Board is too low.
p. 63C261A25
The Robot power sensor temperature on the Power Board is too high: {float} CelsiusThe temperature of the Robot power sensor on the Power Board is too high.
p. 63C261A26
The Robot power sensor temperature on the Power Board is too low: {float} CelsiusThe temperature of the Robot power sensor on the Power Board is too low.
p. 63C261A29
Unable to read the TOOL PCBA temperature for {float} ms.The TOOL node has been unable to read the PCBA temperature sensor.
p. 63C262A17
Failed to communicate with {deviceName} JointJoint failed to start communicating as expected.
p. 64C262A25
Unexpected message version received: {unsigned}The received message version is not supported.
p. 64C262A27
Failed to communicate with the Base Filter BoardThe Base Filter Board failed to start communicating as expected.
p. 64C262A28
Failed to properly instantiate a multi-subscriber message or special commandThe value use to store the element must be placed at the persistance RAM, i.e. not on the stack
p. 64C262A29
Failed to communicate with the Cable Extender with ID: {hex}The Cable Extender Board failed to start communicating as expected.
p. 65C263A2
Calibration has been invalidated and can lead to reduced performance.An error in the file handling caused the invalid calibration, which can alter joint performance.
p. 65C263A21
Validation of the detected Index Mark ({signed}) failedThe absolute Motor Encoder position cannot be validated because the Motor position calculated by the Joint Encoder is invalid.
p. 65C263A26
Failure to log missing Index Mark, index out of range: {unsigned}Failed to log the missing index mark position because the index is out of range
p. 65C263A27
Failure to log index drift, position out of range: {unsigned}Failed to log the index drift position because the position is out of range
p. 66C263A38
Time sanity check failed, difference is too great: {float}The time difference (in µs) since the last motor encoder read is too great
p. 66C263A41
The rate of invalid samples is too high. Debt counter = {unsigned}A high rate of invalid samples can indicate a faulty motor encoder, a bad connection, or an EMC/ESD issue.
p. 66C264A7
Start of Cycle pulse was required but did not occur after {unsigned}ms.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.
p. 66C264A8
Systick timer and Start of Cycle pulse was misaligned by {float}us.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.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.
p. 67C264A9
{signed} unexpected (+) or missing (-) Start of Cycle pulses was detected within a 1 second period.A critical error occurred in the Joint Encoder. The reported position is not valid.
p. 67C264A10
{unsigned} invalid Start of Cycle pulses was detected within a 1 second period.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.
p. 67C264A11
{unsigned} Start of Cycle pulses was lost in a rowToo 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.
p. 67C265A5
Near operation limits. Status: {hex}The joint encoder is close to operational limits. Reported positions have reduced precision.
p. 68C265A41
The read head temperature is outside the allowed range.The encoder read head is too cold or hot, either the ambient temperature is too high or the robot is overloaded.
p. 68C265A44
Signal decoding below confidence threshold - position decoding might be inaccurate or fail.At least one-out-of-two decoding algorithms, from the sensor image, falls below the confidence threshold. The read head might be tilted.
p. 68C265A45
Internal speed data is not valid.The time delta between last two position requests exceeded the maximum time allowed
p. 69C265A46
Encoder acceleration too high.The position data changed unexpectedly. A stray magnetic field is present or metal particles are present between the read head and the ring.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.
p. 69C265A48
Signal lost.Signal lost. The read head is out of alignment with the ring or the ring is damaged.
p. 69C265A49
Signal amplitude too high. External magnetic field is presentExternal magnetic field disturbing the jointencoder position reading
p. 69C265A50
System error. Malfunction inside the circuitry.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.
p. 69C265A52
System error. Inconsistent calibration data is detected.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.
p. 70C267A13
Required firmware file is missing for device ID: {hex}A firmware file for a device is missing and the device does not have the required information to boot
p. 71C267A15
No firmware to boot from for device ID: {hex}The device does not have the required information to boot
p. 71C268A4
Reboot command received but the device is not allowed to rebootDevice received a reboot request but the system is in a state where the device is not allowed to reboot
p. 71C269A70
Flash device is not supported, JEDEC data for device is: {hex}The flash device's JEDEC ID does not match a supported flash deviceA firmware file does not support a device and the device does not have the required information to boot
p. 71C271A1
Runtime is too much behind.One of the threads might be using too much time (see log for more details).
p. 72C273A5
Disagreement on Safety Control Board StateA critical disagreement occurred within the safety system.
p. 72C273A12
Disagreement on Teach Pendant StateA critical disagreement occurred within the safety system
p. 73C273A13
Disagreement on Teach Pendant Emergency StopA critical disagreement occurred within the safety system
p. 73C273A14
One processor entered Fault StateA critical disagreement occurred within the safety system
p. 74C273A15
One processor entered Violation StateA critical disagreement occurred within the safety system
p. 74C273A17
Joint Constant Data CRC disagreementA critical disagreement occurred within the safety system
p. 74C273A18
Joint target current disagreementA critical disagreement occurred within the safety system
p. 74C273A22
Target Acceleration disagreementA critical disagreement occurred within the safety system
p. 75C273A24
Robot Configuration CRC disagreementA critical disagreement occurred within the safety system
p. 75C273A25
User Configuration CRC disagreementA critical disagreement occurred within the safety system
p. 75C273A26
Maximum stopping time disagreementA critical disagreement occurred within the safety system
p. 75C273A27
Stopping Time Torque Overload disagreementA critical disagreement occurred within the safety system
p. 75C273A28
Disagreement error on joint {unsigned}A critical disagreement occurred within the safety system
p. 76C273A31
Hand Protection Distance disagreementA critical disagreement occurred within the safety system
p. 76C273A32
Elbow Sphere speed disagreementA critical disagreement occurred within the safety system
p. 76C273A36
Workpiece Rotation disagreementA critical disagreement occurred within the safety system
p. 77C273A37
Disagreement on Workpiece PositionA critical disagreement occurred within the safety system
p. 77C273A38
Disagreement on motor parameter (R_pp)A critical disagreement occurred within the safety system
p. 77C273A39
Disagreement on motor parameter (L_pp)A critical disagreement occurred within the safety system
p. 77C273A40
Disagreement on motor parameter (Kb)A critical disagreement occurred within the safety system
p. 77C273A41
Disagreement on motor parameter (Kt)A critical disagreement occurred within the safety system
p. 77C273A42
Disagreement on motor parameter (T)A critical disagreement occurred within the safety system
p. 78C273A43
Disagreement on the Teach Pendant's Three-Position Enabling DeviceA critical disagreement occurred within the safety system
p. 78C273A44
Disagreement on the active status of the Teach Pendant's Three-Position Enabling DeviceA critical disagreement occurred within the safety system
p. 78C273A48
Disagreement on Injection-Molding-Machine-Interface Emergency Stop inputA critical disagreement occurred within the safety system
p. 78C273A49
Disagreement on Injection-Molding-Machine-Interface Emergency Stop outputA critical disagreement occurred within the safety system
p. 78C273A50
Disagreement on Injection-Molding-Machine-Interface Safeguard inputA critical disagreement occurred within the safety system
p. 78C273A51
Disagreement on Injection-Molding-Machine-Interface typeA critical disagreement occurred within the safety system
p. 79C273A52
Disagreement on Torque Parameters CRCA critical disagreement occurred within the safety system
p. 79C273A54
Disagreement on hardware configuration CRCA critical disagreement occurred within the safety system
p. 79C273A55
Disagreement on compensation currentA critical disagreement occurred within the safety system
p. 79C273A56
Disagreement on external torque targetA critical disagreement occurred within the safety system
p. 79C273A57
Safety Target Torque disagreementA critical disagreement occurred within the safety system
p. 79C273A58
Disagreement on all motors off in armA critical disagreement occurred within the safety system.
p. 80C273A63
Disagreement on the tool safety inputA critical disagreement occurred within the safety system
p. 80C273A64
One processor entered Critical Fault StateA critical disagreement occurred within the safety system
p. 80C273A66
Disagreement on linear velocityA critical disagreement occurred within the safety system
p. 80C273A67
Disagreement on angular velocityA critical disagreement occurred within the safety system
p. 80C273A68
Disagreement on scanner monitoring case for scanner {unsigned}A critical disagreement occurred within the safety system
p. 81C274A1
Fan is not runningThe control box fan must be running to prevent the control box from overheating
p. 81C274A2
Monitoring data timed outThe monitoring signals for the fan speed was not received by the system in a timely manner
p. 81C275A12
Attempted to update brakepin state machine before it was initialized.Problem in joint firmware initialization sequence.
p. 81C278A18
The version of the received control message is not supported. Version received: {unsigned}The servo module received a control message from the controller of a version that it does not support
p. 83C278A20
The control-mode state {unsigned} in the received control message is not supported.The servo module received a control message from the controller with a control-mode state that it does not support
p. 83C279A38
Timed out waiting for system voltage to reach {float}VSystem voltage is too low to ensure safe flash operations
p. 83C281A9
{deviceName} joint moved too far before robot entered RUNNING StateA Joint moved more than the permissible range during the Brake Release procedure.
p. 84C281A16
{deviceName} joint did not reach correct state before timeout was exceededThe robot is not in the expected state. An issue occured during the state transition.The joint brake system failed to engage while powering down the robot.
p. 85C281A17
{deviceName} joint entered the Brake Failure StateA critical error occurred in the safety system
p. 85C281A18
Not all joints reached parking within the expected time of {unsigned} msOne or more joints did not transition to parking within the time allowed from when the first joint began to park
p. 85C283A8
The System Emergency Stop Output is not activeFailed to activate the System Emergency Stop Output. The output is active when voltage is low
p. 86C283A9
System Emergency Stop Output disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 86C283A10
Robot Emergency Stop Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 86C283A11
System Emergency Stop Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 86C283A12
Safeguard Stop Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 86C283A13
Safeguard Reset Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 87C283A14
Operation Mode input disagreement within the safety system.The input signals are not switching simultaneously, or are incorrectly connected.
p. 87C283A15
Three-Positional Enabling Device Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 87C283A16
Operation Mode Switch is defined and no Three-Positional Device is defined.Operation mode switch can only be enabled if a Three-Positional Device is present
p. 87C283A21
invalid payload center of gravity receivedThe payload center of gravity is outside the allowed range
p. 88C283A22
Teach Pendant is connected while it is disabled in robot configurationIf the Teach Pendant is enabled, it is connected. If it is disabled, it is not connected.
p. 88C283A26
Force limitation: A joint exceeded the torque window by {float}NmIf 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
p. 88C283A46
The tool moved too fast towards a safety planeThe input signals are not switching simultaneously, or are incorrectly connected.
p. 89C283A51
Robot moved with a speed of {float} mm/s at the tool. This exceeds the tool speed limit in the safety settings
p. 90C283A52
Robot moved with a speed of {float} mm/s at the elbow. This exceeds the elbow speed limit in the safety settings
p. 90C283A59
Reduced Mode Output is not activeFailed to activate the Reduced Mode Output. The output is active when voltage is low
p. 91C283A60
Reduced Mode Output is not inactiveFailed to deactivate the Reduced Mode Output. The output is inactive when voltage is high
p. 91C283A61
Not Reduced Mode Output is not activeFailed to activate the Not Reduced Mode Output. The output is active when voltage is low
p. 91C283A62
Not Reduced Mode Output is not inactiveFailed to deactivate the Not Reduced Mode Output. The output is inactive when voltage is high
p. 91C283A63
Robot is moving while Robot Moving Output is not activeFailed to activate the Robot Moving Output. The output is active when voltage is low
p. 91C283A72
The motor configuration sent by the Control Box is invalidThe motor configuration sent is unusable with this firmware revision.
p. 92C283A74
The Safe Home Position Output is active while not allowedThe Safe Home Position Output is active while the robot is not in Safe Home Position
p. 92C283A81
The robot configuration specifies an unsupported joint size {signed}The safety system is not certified to work with the specified joint size
p. 92C283A82
The connected Teach Pendant type does not match the configurationThe connected Teach Pendant is not the same type as the one selected in the safety configuration
p. 92C283A83
The configured Teach Pendant has no Three-Positional Enabling DeviceThe safety configuration enables the Teach Pendant's Three-Positional Enabling Device, but the configured Teach Pendant does not have a Three-Positional Enabling Device
p. 92C283A85
Automatic Safeguard Stop Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 92C283A86
Automatic Safeguard Reset Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 93C283A87
Injection-Molding-Machine-Interface is connected while it is disabled in the robot configuration
p. 93C283A89
The connected Injection-Molding-Machine-Interface type does not match the configurationThe connected Injection-Molding-Machine-Interface is not the same type as the one selected in the safety configuration
p. 93C283A90
Invalid Injection-Molding-Machine-Interface type in the user configuration: {unsigned}The configuration provided by the user safety configuration is invalid
p. 93C283A91
The Injection-Molding-Machine-Interface System Emergency Stop Output is not activeFailed to activate the System Emergency Stop Output on the Injection-Molding-Machine-Interface. The output is active when voltage is high
p. 93C283A94
Automatic Safeguard Stop input is configured but no Three-Position Enabling device is configured
p. 94C283A98
The payload inertia sent from the controller must be within valid rangeThe 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
p. 94C283A102
The reduced mode state is inactive while not allowedThe reduced mode state sent to the safety system is inactive while the robot is in reduced mode
p. 94C283A103
The reduced mode state is active while not allowedThe reduced mode state sent to the safety system is active while the robot is not in reduced mode
p. 94C283A104
Robot is moving while the robot moving state is not activeThe robot is moving while the robot moving state sent to the safety system is inactive.
p. 94C283A105
The safe home position state is active while not allowedThe safe home position state sent to the safety system is active while the robot is not in safe home position
p. 94C283A106
The safeguard stop state is active while not allowedThe safeguard stop state sent to the safety system is active while the robot is not in safeguard stop
p. 95C283A112
The emergency stop by system state is active while not allowedThe emergency stop by system state sent to the safety system is active while the robot is not in system emergency stop
p. 95C283A113
The emergency stop by system state is inactive while not allowedThe emergency stop by system state sent to the safety system is inactive while the robot is in system emergency stop
p. 95C283A114
The emergency stop by robot state is active while not allowedThe emergency stop by robot state sent to the safety system is active while the robot is not in robot emergency stop
p. 95C283A115
The emergency stop by robot state is inactive while not allowedThe emergency stop by robot state sent to the safety system is inactive while the robot is in robot emergency stop
p. 95C283A116
The Fault state is inactive while not allowedThe fault state sent to the safety system is inactive while the robot is in fault
p. 96C283A117
The fault state is active while not allowedThe fault state sent to the safety system is active while the robot is not in Fault
p. 96C283A118
The violation state is inactive while not allowedThe violation state sent to the safety system is inactive while the robot is in violation
p. 96C283A119
The violation state is active while not allowedThe Violation state sent to the safety system is active while the robot is not in violation
p. 96C283A120
The category 1 stop state is inactive while not allowedThe category 1 stop state sent to the safety system is inactive while the robot is in a category 1 stop
p. 96C283A121
The category 1 stop state is active while not allowedThe category 1 stop state sent to the safety system is active while the robot is not in a category 1 stop
p. 96C283A122
The safeguard stop auto state is active while not allowedThe safeguard stop auto state sent to the safety system is active while the robot is not in safeguard stop auto
p. 96C283A123
The safeguard stop auto state is inactive while not allowedThe safeguard stop auto state sent to the safety system is inactive while the robot is in safeguard stop auto
p. 96C283A124
The 3PE stop state is inactive while not allowedThe 3PE stop state sent to the safety system is inactive while the robot is in 3PE stop
p. 97C283A126
The category 2 stop state is inactive while not allowedThe category 2 stop state sent to the safety system is inactive while the robot is in a category 2 stop
p. 97C283A127
The category 2 stop state is active while not allowedThe category 2 stop state sent to the safety system is active while the robot is not in a category 2 stop
p. 97C283A128
The category 0 stop state is inactive while not allowedThe category 0 stop state sent to the safety system is inactive while the robot is in a category 0 stop
p. 97C283A129
The category 0 stop state is active while not allowedThe category 0 stop state sent to the safety system is active while the robot is not in a category 0 stop
p. 97C283A130
The safety mode limit is incorrectThe safety mode limit sent to the safety system does not match the safety mode limit in the safety systemThe 3PE stop state sent to the safety system is active while the robot is not in 3PE stop
p. 97C283A131
The operational mode is incorrectThe operational mode sent to the safety system does not match the operational mode in the safety system
p. 98C283A134
Teach pendants without 3PE not supportedThe robot only supports teach pendants with a build in 3-Position Enabling Device, but the configured teach pendant doesn't have one
p. 98C283A135
Freedrive safety-input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 98C283A136
Brake monitoring not initialized correctly.Internal setup of brake monitor not setup correctly.
p. 98C283A137
Invalid number of dynamic safety clients.The amount of dynamic safety clients requested is higher than the amount of dynamic safety clients allowed.
p. 98C283A143
Tool safety input is configured but the safety configuration version does not support itThe safety configuration version does not support tool safety inputs
p. 98C283A144
Tool safety inputs are configured but the robot type does not support itThe robot type does not support tool safety inputs
p. 98C283A145
Tool safety inputs are configured but the joint hardware does not support itThe joint hardware does not support tool safety inputs
p. 98C283A146
Tool safety inputs are configured but the safety input type is not supportedThe safety input type is not supported when using the tool safety input
p. 99C283A148
Tried to get the state of B IO {unsigned} which is not a valid IOThe requested IO is not valid
p. 99C283A149
Tool safety inputs are configured, but the robot configuration does not contain a wrist3 jointThe robot configuration does not contain a wrist3 joint, but tool safety inputs are configured
p. 99C283A150
Tool safety inputs are configured, but was outside the limits for too longWhen the tool safety input are outisde the limits, it is neither ON or OFF making it unusable.
p. 99C283A152
Safety plane is configured with IO, but no IO is configuredWhen safety plane is configured with IO, at least one input or output must be configured
p. 99C283A153
Safety Plane with IO safety-input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 100C283A154
Safety Plane with IO safety-output disagreement within the safety systemThe output signals are not switching simultaneously, or are incorrectly connected.
p. 100C283A155
The Safety Plane Output is not activeThe output signal of a safety plane is not active, when it is expected to be active
p. 100C283A157
The Safety Plane Output is not inactiveThe output signal of a safety plane is not inactive, when it is expected to be inactive
p. 100C283A164
Three position enabling stop output is in an incorrect stateFailure to activate the three position enabling stop output. The output is active when signal is low
p. 100C283A165
Three position enabling stop output is in an incorrect stateFailure to deactivate the Three position enabling stop output. The output is inactive when signal is high
p. 100C283A166
No three position enabling stop output is in an incorrect stateFailure to activate the not three position enabling stop output. The output is active when signal is low
p. 100C283A167
No three position enabling stop output is in an incorrect stateFailure to deactivate the not three position enabling stop output. The output is inactive when signal is high
p. 100C283A171
Tool safety inputs are configured but not supportedThe hardware does not support tool safety inputs
p. 101C283A172
Received an unexpected tool safety messageThe safety system received an unexpected tool safety message
p. 101C283A173
No tool is configured but tool safety inputs are configuredThe safety system is configured to use tool safety inputs, but no tool is configured
p. 101C283A175
Tool type disagreement within the safety systemThe tool types received by the safety system do not match
p. 101C283A177
Tool safety inputs are not supported in this software versionThe current software version does not support tool safety inputs
p. 101C283A178
Parking did not begin within the expected time after emergency stopParking did not begin within the expected time after emergency stop
p. 102C283A179
The PROFIsafe configuration is obsolete.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.
p. 102C283A180
The maximum rotation distance in the movement monitor is too large. Max distance: {float} rad.The calculated maximum rotation distance in the movement monitor exceeds acceptable limits.
p. 102C283A181
Mismatch between tool A type and input stateThe tool type and input state received from Tool A do not match
p. 102C283A182
Mismatch between tool B type and input stateThe tool type and input state received from Tool B do not match
p. 102C283A185
The minimum payload limit must be zero or greater. Actual value is {float}kgA payload with a negative mass is not supported.
p. 102C283A186
The maximum payload must be greater than or equal to the minimum payloadThe payload range is invalid and cannot be applied
p. 102C283A189
Center of gravity sphere radius must be zero or greater. Actual value is {float}mRadius represents a distance, distances cannot be negative.The payload mass is below the minimum limit
p. 103C283A190
A payload mass below the minimum payload limit was received. Actual value is {float}kgThe manual mode reduced speed is too great.
p. 103C283A191
A payload mass above the maximum payload limit was received. Actual value is {float}kgThe payload mass is above the maximum limit
p. 103C283A192
A Payload center of gravity outside the allowed limits was receivedThe payload center of gravity is outside the configured limits
p. 103C283A200
Manual mode high speed output disagreement within the safety systemThe output signals are not switching simultaneously, or are incorrectly connected.
p. 103C283A201
The manual mode reduced speed configuration must be greater than zero. Actual value is {float}mm/sNegative speed is not supported.
p. 103C283A202
The manual mode reduced speed configuration is above the limit. Actual value is {float}mm/s
p. 103C283A204
Robot moved with a speed of {float}mm/s at the tool. This exceeds the manual mode reduced speed limit in the safety settingsThe tool speed is above the manual mode reduced speed limit.
p. 104C283A205
Robot moved with a speed of {float}mm/s at the elbow. This exceeds the manual mode reduced speed limit in the safety settingsThe elbow speed is above the manual mode reduced speed limit.
p. 104C283A206
Manual mode high speed output is in an incorrect stateFailure to activate the manual mode high speed output. The output is active when signal is low
p. 104C283A207
Manual mode high speed output is in an incorrect stateFailure to deactivate the manual mode high speed output. The output is inactive when signal is high
p. 104C283A208
Parking did not begin within the expected time after safety stopParking did not begin within the expected time after safety stop
p. 104C284A21
Brake release count reached limitThe max number of allowed brake releases is reached. The joint can no longer release the brakes.
p. 105C284A22
Brake release count is close to the limit, remaining brake releases: {unsigned}The joint is close to reaching the brake release limit, once reached the joint can no longer release the brakes.
p. 105C285A10
Lost {unsigned} Keep-Alive System message(s) in a row from Safety Control Board-uPAAn invalid amount of Keep-Alive System messages have been lost from the Safety Control Board Processor A
p. 105C285A11
Lost {unsigned} Keep-Alive System message(s) in a row from Safety Control Board-uPBA invalid amount of Keep-Alive messages have been lost from the Safety Control Board Processor B
p. 106C286A2
PWM margin too small, ticks left: {signed}Motor control failed to meet timing requirements
p. 106C286A4
PWM is not zero when in power offThe motor PWM output is not set to zero when in power off.
p. 106C287A1
The file requested (id {unsigned}) is not saved or its loading failedA problem was encountered while trying to load a file in the file system of the joint
p. 106C289A1
Too high current detected on Digital Output: {unsigned} high sideTool Digital Output pin has been turned off as a too high source current was detected.Tool Digital Output pin has been turned off as a too high sink current was detected.
p. 107C289A4
10 second Average tool IO Current of {float} A is outside of the allowed range.The average current sum of the Tool Connector Power and Digital Output pins is outside of the allowed range.
p. 107C289A5
Unable to remove tool Digital Output fault.Unable to remove the overload on tool Digital Output, therefore the robot powered down.
p. 107C289A6
Current of {float} A on the tool connector supply pins is outside of the allowed range.Too high current on tool connector supply pins
p. 107C289A7
Current of {float} A on the Digital Output pins is outside of the allowed range.Too high current on tool connector Digital Output pins.
p. 107C289A8
Current of {float} A on the ground pin is outside of the allowed range.Too high current on tool ground pin
p. 107C289A9
Current of {float} A on the POWER pin is outside of the allowed range.Too high current on tool power pin
p. 108C289A10
The M8 digital output sinking current of {float} A exceeded the allowed single pin limit.The M8 digital output sinking current exceeded the allowed single pin limit.
p. 108C289A11
The M8 digital output sinking current of {float} A exceeded the allowed dual pin limit.The M8 digital output sinking current exceeded the allowed dual pin limit.
p. 108C289A12
The M8 digital output 0 sourcing current of {float} A exceeded the allowed limit.The M8 digital output 0 sourcing current exceeded the allowed limit.
p. 108C289A13
The M8 digital output 1 sourcing current of {float} A exceeded the allowed limit.The M8 digital output 1 sourcing current exceeded the allowed limit.
p. 108C289A14
The zero current of the M8-power current sensor exceeds maximum allowed offset. The measured offset was {float}AThe zero current of the M8-power current sensor exceeds maximum allowed offset.
p. 108C289A15
The momentary M8-power current of {float}A exceeded the allowed limit.The momentary current drawn from the M8-power connector exceeded the allowed limit.
p. 108C289A16
The M8-power current exceeded the the allowed limit of {float}A for more than 2 seconds during the last 10 secondsThe M8-power current exceeded the the allowed limit for more than 2 seconds during the last 10 seconds
p. 108C289A17
The zero current of the IO M8 power current sensor exceeds maximum allowed offset. The measured offset was {float}AThe zero current of the IO M8 power current sensor exceeds maximum allowed offset.
p. 108C289A18
The zero current of the IO M8 digital output current sensor exceeds maximum allowed offset. The measured offset was {float}AThe zero current of the IO M8 digital output current sensor exceeds maximum allowed offset.A critical error occurred during RAM test
p. 109C294A12
The single ended ADC calibration timed outThe single ended ADC calibration timed out, thus the found calibration factor is not valid
p. 109C294A16
The joint failed during recalibration of the ADC offsetThe joint failed during recalibration of the ADC offset, because there was to much noise on the measurements
p. 109C294A19
The motor moves too much during ADC offset sampling, the motor position has a standard deviation of {float} [rad] during the samplingThe motor moves too much during ADC offset sampling, and the ADC measurements are therefore not sane
p. 110C296A2
One or more Motor phases is short circuited to ground. Diagnostic data: {hex}Bit 0 high indicates short circuit
p. 110C296A3
Motor Indication Signal does not work. Diagnostic data: {hex}Bit 1 low indicates that the diagnostics feature is broken
p. 111C296A4
Phase 1 is not connected. Diagnostic data: {hex}Bit pattern 0b0110 indicates that phase 1 is not connected
p. 111C296A6
Phase 3 is not connected. Diagnostic data: {hex}Bit pattern 0b0010 indicates that phase 3 is not connected
p. 111C296A7
Motor test results were invalid. Diagnostic data: {hex}Bit0 high indicates short circuit. Bit1 is phase 3 test. Bit2 is phase 2 test. Bit3 is phase 1 test
p. 111C296A9
Robot Voltage was present during self-diagnosticsRobot Voltage rose above acceptable levels before both processors powered it on
p. 111C296A10
Time out during self-diagnosticsA processor timed out while waiting for the other processor to finish self-diagnotics
p. 111C296A11
Data was received while trying to disable communicationA validation that theof communication could be suppressioned failed to preventin preventing a message from passing through.Bit pattern 0b1010 indicates that phase 2 is not connected
p. 111C296A12
Sequence number did not match expected sequenceAfter communication was disabled and reenabled the sequence number did not match what was expected
p. 112C296A15
Interval between messages did not match expectationsAfter communication was disabled and reenabled the message interval did not match what expectations
p. 112C296A23
Cross-monitoring data was invalid for too long while bootinguB timed out while waiting for cross-monitoring data to agree before changing from Booting to Idle state
p. 112C296A25
Diagnostics module was initialized with a NULL pointer, for a required callback functionDiagnostics module was initialized with a null pointer, for rotate com buffer callback
p. 112C296A33
Timeout while waiting for system to be ready to go to idleRequirements for going to idle state were not met within the expected time frame
p. 112C296A36
The device initialization has failed.The device initialization has failed. this can be caused by hardware failure
p. 112C296A37
Robot Safe Torque Off Failed during self-diagnosticsRobot failed while performining Safe Torque Off self-diagnostics, which can be caused by a failure in the Safe Torque Off circuitry.
p. 112C296A44
24V voltage is not operating at an acceptable level, the actual value is {float}VThe 24V voltage is not within the acceptable operational range.
p. 112C297A11
The Robot arm does not match the Control BoxOne or more joints do not match stored Robot Configuration
p. 113C297A13
Joint type recevied from joint {unsigned} is invalidA joint in the arm has reported unsupported joint type.
p. 113C297A14
Joint type received from joint {unsigned} is invalid.The safety system has detected a mismatch between the detected and the configured joint type.
p. 113C297A16
The expected joint type specified in the robot configuration was {unsigned}.A critical error occurred during Joint validationJoint type configured, and thereby expected from the joint.
p. 113C297A17
The safety processors on joint {unsigned} disagree on the joint type.There is a mismatch between the joint size type detected by processor A and processor B.
p. 114C297A18
Joint type detected by processor A: {unsigned}.Processor A has detected the joint type during a type mismatch
p. 114C297A19
Joint type detected by processor B: {unsigned}.Processor B has detected the joint type during a type mismatch.
p. 114C298A0
Tool is too close to the lower arm: {float_2_4} meter.The tool is too close to the lower Robot arm
p. 114C299A3
RX framing errorFraming error detected on received dataParity error detected on received data
p. 115C303A6
Reset caused by independent watchdogThe FW has hit a deadlock and therefore reset by watchdog
p. 116C304A0
Critical errorA critical error occurred in physical, logical, and temporal monitoring (PLATM)
p. 116C304A3
Close to the gearbox shear limit. Encoders disagree {float} [rad] on the Joint positionThe Joint acceleration or deceleration is too high, or there is a mechanical problem in the gear related to encoder mounting.
p. 116C304A4
Either the encoder was inappropriately mounted, or the gearbox is loose or broken. Difference between the encoders is {float} [rad].Mechanical problem in gear related to encoder mounting.
p. 117C305A3
Short circuit in Robot detected or the wrong Robot is connected to the Control Box.The lead/connector is broken, or the Motor phase lead has become disconnected or loose.
p. 117C305A12
Unexpected energy eater typeThe 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.
p. 118C306A3
Acceleration failed to pass sanity checkThe received Joint acceleration target is invalid.
p. 119C306A15
Joint moved too far while it should be stationaryThe robot moved more than allowed during parking.
p. 119C306A16
A timeout occured while in violation parkingThe joint reached the timeout limit while in violation parking.
p. 119C306A17
The joint parking procedure violated max allowed execution time of {float} [ms].The received Joint velocity target is invalid.The joint reached the timeout limit while in parking.
p. 119C306A19
Illegal state transition, the joint entered parking while motorcontrol was disabled.The parking procedure cannot execute without motorcontrol enabled.
p. 120C306A20
Trying to power off from violation while motor control is enabled.Tried to skip parking procedure while motor control was enabled.
p. 120C306A22
Trying to enter idle brake failure while motor control is enabled.The joint should not enter idle brake failure with motor control enabled.
p. 120C306A24
Motor unsupported by the Critical Fault brake handlerThe joint cannot be allowed to brake release, as it has no defined Critical Fault braking profile for its motor type
p. 120C309A1
Message with wrong sequence received from SCB-uPA.The Keep-Alive message received from the Safety Control Board Processor A has an invalid sequence numberThe Keep-Alive message received from the Safety Control Board Processor B has an invalid sequence number
p. 121C309A10
Lost {unsigned} Keep-Alive message(s) in a row from Safety Control BoarduPAAn invalid amount of Keep-Alive messages have been lost from the Safety Control Board Processor A
p. 121C309A11
Lost {unsigned} Keep-Alive message(s) in a row from Safety Control BoarduPBA invalid amount of Keep-Alive messages have been lost from the Safety Control Board Processor B
p. 121C309A14
Invalid command received in Keep-Alive message from SCB-uPA.The Keep-Alive message received from the Safety Control Board Processor A has an invalid alive command
p. 121C309A15
Invalid command received in Keep-Alive message from SCB-uPB.The Keep-Alive message received from the Safety Control Board Processor B has an invalid alive command
p. 121C314A5
Expected OSSD pulse were not detected on CO{unsigned}The generated OSSD pulses on the safety output were not seen during readback
p. 122C314A6
An unexpected OSSD pulse was detected on CO{unsigned}An OSSD pulse was detected on the safety output readback, but was not generated by the hardwareThe IO voltage is missing or below the threshold, a fuse may be blown or removed
p. 123C314A8
The configurable safety outputs were not low when expectedThe configurable safety outputs were not low when expected
p. 123C315A1
Verification found an error at index {unsigned}The watchdog timing and check-in counts are monitored, if these are outside the limits the system faults.
p. 123C315A2
Checked in at {float_1_3} ms which is outside the permitted window.The watchdog check-in was outside the permitted window.
p. 124C315A5
Keeper module ran out of space.The number of allowed checkpoints has exceeded the allowed limit.
p. 124C315A6
Trying to register checkpoint with uninitialized keeper.Trying to register a checkpoint, before the watchdog keeper is initialized is not allowed.
p. 124C315A7
Keeper failed to initialize, as it was already initialized.The watchdog keeper cannot be initialized multiple times.
p. 124C315A28
The watchdog configuration could not be appliedThe watchdog could not be configured as requested.
p. 124C316A1
This version of the firmware is obsolete and needs to be updatedThe firmware in the robot is too old and needs to be updated
p. 125C328A2
Flash device is not supported, JEDEC data for device is: {hex}The flash device's JEDEC ID does not match a supported flash device
p. 125C329A4
Write failed, {unsigned} messages droppedTried to transmit more data than the Axi-Stream could consume, and messages where lost.
p. 125C330A1
Injection-Molding-Machine-Interface E-Stop output readback does not match produced value: {hex}First byte: produced value, second byte: read value
p. 126C330A2
Injection-Molding-Machine-Interface Moulding Area Free output readback does not match produced value: {hex}First byte: produced value, second byte: read value
p. 126C330A3
Injection-Molding-Machine-Interface 24V IO voltage outside acceptable rangeThe voltage measured on the 24V IO rail is lower than expected.
p. 126C330A4
Injection-Molding-Machine-Interface 48V voltages outside acceptable rangeThe voltages measured on the 48V rails are lower than expected.
p. 126C331A1
The velocity of the friction model is outside the limits,The velocity used for the friction model is outside the limits.
p. 126C331A2
The current of the friction model is outside the limitsThe current used for the friction model is outside the limits.
p. 127C331A3
The temperature of the friction model is outside the limitsThe temperature used for the friction model is outside the limits.
p. 127C331A4
The element count of the friction model is wrongThe element count used for the friction model is wrong.
p. 127C331A5
The calibration file for the friction model validation was not foundThe calibration file used to validate the friction model was not found.
p. 127C331A6
The limit data for the friction model was not foundThe limit data used for the friction model was not found.
p. 127C338A6
A PROFIsafe message was received, but there is no valid configurationA PROFIsafe message was received before a valid safety configurationA PROFIsafe message was received while PROFIsafe is disabled in the safety configuration
p. 129C338A8
The robot rejected the PROFIsafe F-Parameter setA PROFIsafe F-Parameterset was received from the PLC but was not accepted
p. 129C338A11
An iPar CRC mismatch has been detectedThe iPar CRC received from the PLC does not match the Safety checksum
p. 129C338A12
An error occured during PROFIsafe communicationThe CRC over the cyclic telegram does not match the expected value
p. 129C338A13
The PROFIsafe watchdog timed outThe PROFIsafe communication timed out because no message has been received in the expected time
p. 129C338A14
The PROFInet provider status is badThe PROFInet provider reports a failure or is not reachable
p. 130C338A17
Destination address mismatchThe PROFIsafe destination address received from the PROFIsafe host does not match the destination address in the robot safety configuration
p. 130C338A18
Destination address invalidThe PROFIsafe destination address received from the PROFIsafe host is not valid
p. 130C338A19
Source address mismatchThe PROFIsafe source address received from the PROFIsafe host does not match the source address in the robot safety configuration
p. 130C338A20
Source address invalidThe PROFIsafe source address received from the PROFIsafe host is not valid
p. 130C338A21
Wrong PROFIsafe submodule selectedThe PROFIsafe submodule id received from the PROFIsafe host does not match the control operational mode setting in the Polyscope PROFIsafe configuration
p. 130C340A0
Idle power consumption too highThe system is drawing more power than expected while idle
p. 131C340A2
Energy burst period exceeded, average power: {float}WEnergy has been sent to the energy eater longer than allowed
p. 131C340A3
The Energy Removal Device peak power exceededThe absolute limit for the Energy Removal Device has been exceededA critical error occured in the cross communication module
p. 131C340A4
The Energy Removal Device drew too much power over a periodThe power drawn by the Energy Removal Device over a period has exceeded the allowed limit
p. 132C341A9
The scheduled motor encoder SPI package transfer did not complete before the deadline.A timing error occured in the robot firwmare.
p. 132C341A10
CRC error in CH0 transfer, frame: {hex}A SPI package from the motor encoder was corrupted during transfer.
p. 132C341A22
Detailed status error: Signal clipping, strong external magnetic field is present.The presence of a strong external magnetic field, caused signal clipping on the motor encoders signal.
p. 132C341A23
Detailed status warning: Signal amplitude too high. The read head is too close to the ring.The motor encoder read head is too close to the ring or an external magnetic field is present
p. 133C341A24
Detailed status error: ASIC was reset, external RFI glitch caused encoder to reset.External RFI glitch caused encoder to reset.
p. 133C341A25
Detailed status error: ASIC synchronization lost, external RFI glitch caused malfunction.External RFI glitch caused encoder to loose synchronization.
p. 133C341A26
Detailed status error: Encoder not configured properly.Incorrect motor encoder configuration
p. 133C341A27
Detailed status warning: Signal amplitude low. The distance between the read head and the ring is too large.The distance between the read head and the ring is too large
p. 133C341A28
Detailed status error: Signal lost. The read head is out of alignment with the ring or the ring is damaged.The read head is out of alignment with the ring or the ring is damaged
p. 133C341A30
Detailed status error: Power supply error. The read head power supply voltage is out of specified range.The voltage supplied for the motor encoder is outside allowed specifications
p. 134C341A31
Detailed status error: System error. Malfunction inside the circuitry or inconsistent calibration data is detected.A system error occured inside the motor encoder.
p. 134C341A32
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 positioningMotor 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.
p. 134C341A33
Detailed status error: Acceleration to high.Motor encoder reported that the acceleration of the encoder disc was outside allowed specifications.
p. 134C341A65
Latest parsed motor encoder position was too old.The latest parsed SPI package had a timestamp that was too old, indicating either a timing glitch or corrupted data.
p. 134C341A86
An error occured while reading the encoder firmware version.An error occured while reading the encoder firmware version.
p. 134C341A88
A reading of the register {hex} was attempted which is not valid for the present encoder
p. 135C341A89
A write of the register {hex} was attempted which is not valid for the present encoderA write to a register that is invalid for the encoder was attempted
p. 135C341A90
Tried to access register {hex}, which is not valid for the present encoderA register that is invalid for the encoder was accessed
p. 135C341A92
The encoder reported that it has not performed a self-calibrationThe encoder reported that it has not performed a self-calibration
p. 135C341A95
Detailed status error: System error. Malfunction inside the circuitry.A system error occured inside the motor encoder. To reset the System error bit try to cycle the power supply.
p. 135C341A96
Detailed status error: System error. Inconsistent calibration data detected.A read from a register that is invalid for the encoder was attemptedA system error occured inside the motor encoder. To reset the System error bit try to cycle the power supply.
p. 135C342A0
Module initialization errorAn error occurred during initialiation of the Motor Parameters Module, a critical dependency could not be satisfied.
p. 136C342A1
Motor datasheet unavailableA missing or invalid motor datasheet, has caused the initialization of the motor parameters module to fail.
p. 136C342A2
Loading of the motor parameters file failed.A missing or invalid motor parameters file, has caused the initialization of the motor parameters module to fail.
p. 136C343A1
Failed to access the joint general datasheet, as the datasheet has not been loadedThe joint type may not be supported by the current firmware, possibly due to a firmware downgrade
p. 137C343A3
Failed to access the joint motor datasheet, as the datasheet has not been loadedThe motor type in this joint may not be supported by the current firmware, possibly due to a firmware downgrade
p. 137C343A4
Failed to access the joint PCBA datasheet, as the datasheet has not been loadedThe PCBA in this joint may not be supported by the current firmware, possibly due to a firmware downgrade
p. 137C343A5
Failed to load the joint general datasheetThe joint type may not be supported by the current firmware, possibly due to a firmware downgrade
p. 137C343A6
Failed to load the joint gear datasheetThe gear type in this joint may not be supported by the current firmware, possibly due to a firmware downgrade
p. 137C343A7
Failed to load the joint motor datasheetThe gear type in this joint may not be supported by the current firmware, possibly due to a firmware downgradeThe motor type in this joint may not be supported by the current firmware, possibly due to a firmware downgrade
p. 137C343A8
Failed to load the joint PCBA datasheetThe PCBA in this joint may not be supported by the current firmware, possibly due to a firmware downgrade
p. 138C343A24
Unsupported joint typeThe joint type in this joint is not supported by the current firmware, possibly due to a firmware downgrade
p. 138C343A25
Unsupported motor typeThe motor type in this joint is not supported by the current firmware, possibly due to a firmware downgrade
p. 138C343A33
The joint have the gear type {unsigned} installed, which is not allowedThe gear installed in the joint is not an allowed type
p. 138C343A34
The joint have the motor type {unsigned} installed, which is not allowedThe motor installed in the joint is not an allowed type
p. 138C343A41
The motor type could not be read from the hardware configurationRequired motor hardware information could not be retrieved from the hardware configuration manager.
p. 138C343A43
The gear type could not be read from the hardware configurationRequired gear hardware information could not be retrieved from the hardware configuration manager.
p. 139C343A47
Failed to determine original joint type due to missing motor type informationThe 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.
p. 139C343A48
Failed to determine joint typeThe hardware in this joint may not be supported by the current firmware, possibly due to a firmware downgrade
p. 139C343A51
The loaded firmware is too old to fully utilize the calibration data stored in the jointThe joint works normally, but its calibration has improvements this firmware does not utilize.
p. 139C347A4
More robot cable extenders detected than are supported.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.It is not supported to have multiple robot cable extenders
p. 139C347A5
The far end of the robot cable extender was not detected.Only the near end of the robot cable extender was detected, while the far end is missing.
p. 140C348A4
An enabled external axis at index {unsigned} is no longer receiving drive status updatesThe EtherCAT Master is no longer sending the Controller status updates for the servo drive of an enabled external axis
p. 140C349A0
Length check error, incorrect length detected for base light ring: {unsigned}The detected lenght of the base light ring is not what is expected.The detected current of the red color in the base light is outside the allowed range.
p. 141C349A3
Current for the green color was {float} A, which is outside the allowed rangeThe detected current of the green color in the base light is outside the allowed range.
p. 141C349A4
Current for the blue color was {float} A, which is outside the allowed rangeThe detected current of the blue color in the base light is outside the allowed range.
p. 141C349A5
Current for the yellow color was {float} A, which is outside the allowed rangeThe detected current of the yellow color in the base light is outside the allowed range.
p. 141C350A0
Joint position drifted more than allowedThe joint position has drifted more than allowed while in the failed brake state
p. 142C350A1
State transition is not permitted with a failed brake systemThe joint brake system has failed so the joint is not permitted to enter a state where it can be moved
p. 142C351A0
Unexpected tool detectedTool was detected in the arm, but not in the robot configuration.
p. 142C351A1
Unexpected {deviceName} joint detectedJoint was detected in the arm, but not in the robot configuration.
p. 142C351A2
Unexpected base light detectedBase light was detected in the arm, but not in the robot configuration.
p. 142C351A3
Robot cable extender detected, but not configured.A robot cable extender was detected, but has not been configured.
p. 142C351A4
Robot cable extender detected, but configuration is corrupted.A robot cable extender was detected, but the configuration is corrupted.
p. 143C351A5
Robot cable extender configured, but not detected.A robot cable extender was configured, but was not detected.An unsupported cable type for the robot cable extender was configured.
p. 143C351A7
Detected cable type for robot cable extender is not supported.The detected cable type for the robot cable extender is not supported.
p. 143C351A8
Detected cable type for robot cable extender is incompatible with configured type.The detected cable type for the robot cable extender is incompatible with the configured cable type.
p. 143C351A9
Detected cable type for robot cable extender does not match configured type.The detected cable type for the robot cable extender does not match the configured cable type.
p. 143C351A12
Unsupported robot for robot cable extender.The cable extender does not support the configured robot.
p. 144C352A1
The joint moved more than allowed during the parking procedureEither there is a problem with the brake system or the robot has been pushed hard enough that it moved through the friction brake.
p. 144C352A2
The joint moved more than allowed during the parking procedureEither there is a problem with the brake system or the robot has been pushed hard enough that it moved through the friction brake.
p. 144C352A3
The brake solenoid was not engaged for the parking procedure. Solenoid voltage: {float}The brake solenoid must be engaged to perform the backdrive parking procedure.
p. 144C353A1
IMU B selected gyro resolution not supported: {unsigned}Initialization of IMU B has failed during gyro configuration.
p. 145C353A2
IMU B gyro verification failed: {unsigned}Initialization of IMU B has failed during verification of gyro configuration.Initialization of IMU B has failed during acceleration configuration.
p. 145C353A4
IMU B accelerometer verification failed: {unsigned}Initialization of IMU B has failed during verification of accelerometer configuration.
p. 145C353A5
Timeout occurred while configuring IMU AA timeout occured while configuring inertial measurement unit A
p. 145C353A6
Timeout occurred while configuring IMU BA timeout occurred while configuring inertial measurement unit B
p. 145C354A2
The SCB has entered the violation stateThe SCB entered the violation state during the robot initialization
p. 146C354A3
The SCB did not reach the correct stateThe SCB did not reach the correct state during the robot initialization
p. 147C354A5
Error during boot status validationThe device did not reach a responsive state after performing a reboot
p. 147C354A6
Powering down the robot arm took too longIt took too long to power down the robot arm which is required before a reboot
p. 147C354A7
Failed to close communication devicesClosing all communication devices is required before performing a reboot of the SCB FPGA
p. 147C354A8
Failed to open communication devicesUnable to re-establish connection with communication devices
p. 147C354A9
Failed to hotplug FPGA devicesThe FPGA devices must be hotplug removed before loading driversUnable to send the safety configuration during the robot initialization
p. 147C354A10
Failed to unload FPGA driversThe FPGA devices must unload the drivers before new ones can be loaded
p. 148C354A11
Failed to load FPGA driversThe FPGA devices must load the new drivers before continuing the reboot process
p. 148C354A12
The Teach Pendant does not respondThe Teach Pendant was rebooted but did not reach a responsive state
p. 148C354A13
The Injection-Molding-Machine-Interface does not respondThe Injection-Molding-Machine-Interface was rebooted but did not reach a responsive state
p. 148C354A14
The Injection-Molding-Machine-Interface_FPGA does not respondThe Injection-Molding-Machine-Interface_FPGA was rebooted but did not reach a responsive state
p. 148C354A16
Failed to start Xillybus device scanningUnable to scan for Xillybus devices which is required before loading the drivers
p. 148C354A17
Failed to read the safety configurationUnable to read the safety configuration during the robot initialization
p. 149C354A18
Communication initialization failedFailed to initialize communication to the SCB FPGA during the reboot process
p. 149C355A1
Unknown safety system message, id {unsigned}The safety API client message is unknown to the UR safety system.
p. 149C355A2
Unknown safety system version, id {unsigned}The safety API client message version is unknown to the UR safety system.
p. 149C355A5
Safeguard reset time is out of range, received value {unsigned}msThe supported range is 0ms to 10000ms (10s)
p. 149C355A6
Retransmission of configuration is not allowedThe safety system received more than one configuration message
p. 150C355A16
Supervisor max execution time is outside allowed range for supervisor with ID {unsigned}
p. 150C355A30
Incompatible Safety URCapThe Safety URCap is not compatible with this version of software
p. 150C355A31
Failed UUID seed validationThe Safety URCap failed to send a valid seed for identification
p. 151C355A32
Invalid tool speed limit, value was {float}The safety system only accepts rational numbers.
p. 151C355A33
Invalid stopping distance limit, value was {float}The safety system only accepts rational numbers.
p. 151C355A34
The received hash does not match the hash from the installationThe hash from the installation must match the received hash
p. 151C355A35
The identifier is incorrectThe identifier used by the client does not match with the expected identifier
p. 151C355A36
Validation of crc failed for message ID {unsigned}The calculated checksum of the message does not match the received checksum
p. 151C357A1
Reorientation of tool causes load on joint to be too highThe robot is not able to lift this much payload in its current position
p. 152C359A0
Missing violation handlerA violation was reported but no violation handler was registered
p. 152C359A1
Missing critical fault handlerA critical fault was reported but no critical fault handler was registered
p. 152C361A0
Excessive gear torsion registeredThe joint has previously measured an excessive gear torsion, thus the gear/encoders may be damaged
p. 152C361A1
State transition is not permitted following an excessive gear torsionThe joint has previously measured an excessive gear torsion, thus it cannot be safely brake released
p. 152C362A2
Registration of state {unsigned} have failedThe FSM is trying to register a state, but failedThe identifier value read from the accelerometer was different from the expected value
p. 153C363A1
The configuration that was read back from the accelerometer does not match the expected configurationThe configuration that was read back from the accelerometer after initialization was not as expected
p. 153C363A2
Failed to write to a configuration register with data {hex}The accelerometer configuration register could not be written to
p. 153C364A0
Robot type mismatch between configuration and armThe robot type specified in the configuration does not match the type stored in the robot arm
p. 154C364A1
Robot type disagreement in the jointsThe 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
p. 154C366A0
The panel interface output voltage of {float}V is too high while the voltage was not turned onThe panel interface output voltage is too high while it is supposed to be off
p. 155C366A1
The panel interface output voltage of {float}V is lower than allowedThe panel interface output voltage is lower than allowed
p. 155C366A2
The panel interface output voltage of {float}V is higher than allowedThe panel interface output voltage is higher than allowedA fault event can be caused by voltage, current or temperature issues on the supply to the panel interface
p. 155C366A3
A fault event was detected on supply to the panel interfaceThe Power Control Board revision is not supported
p. 155C367A2
Failed to initialize the voltage monitor sensorThe voltage monitor sensor initialization failed
p. 155C367A5
Failed to read data from the voltage monitor sensorThe voltage monitor sensor read failed
p. 155C367A9
The voltage monitor chip is not respondingThe voltage monitor chip did not respond during initialization
p. 156C368A0
Failed to communicate with power supply unitThe I2C communication with the power supply unit timed out or returned an error
p. 156C370A0
When communicating with a an ethernet PHY, the command has timed out. command: {hex}An issue has been detected communicating with an Ethernet PHY over the MDIO interface.
p. 156C371A0
Unable to read status from the End of Arm EthernetThe End of Arm Ethernet is not responding to status requests
p. 156C371A3
Unable to establish link to the Control BoxThe End of Arm Ethernet never established a successful link to the Control Box
p. 156C371A4
Unable to establish link to the ToolThe End of Arm Ethernet never established a successful link to the Tool
p. 156C371A5
Validation of PHY device with ID: {hex} failedFailed during validation of the connected ethernet PHY device
p. 156C373A1
Failed to initialize the battery interface sensorThe battery interface sensor initialization failed
p. 156C373A2
Failed to read data from the battery interface sensorThe battery interface sensor read failed
p. 157C375A0
Critical errorA critical communication error occurredThe Power Interface Board revision is not supported
p. 157C450A1
Sensor can not be used, therefore it is disabledForce-Torque sensor version is newer than the Robot software
p. 158C450A4
Force-Torque sensor is expected, but it cannot be detectedForce-Torque sensor is expected, but no signals from the sensor can be detected.
p. 158C450A5
Force-Torque sensor is detected but not calibratedForce-Torque sensor is installed, but no calibration was found.
p. 158C451A5
Failed to initialize the M8 GND sensor chipThe tool M8 GND sensor chip is not responding correctly.
p. 159C451A6
Failed to initialize the M8 digital output low side sensor chipThe tool M8 digital output low side sensor chip is not responding correctly.The tool M8 GND sensor chip is not responding correctly.
p. 159C451A9
Too many failing M8 digital output low side sensor readings in a rowThe tool M8 digital output low side sensor chip is not responding correctly.
p. 159C453A5
Failed to start SPI transfer for the IMUThe SPI transfer for the IMU did not start correctly
p. 160C526A0
Index/node id {unsigned} is not within the range for a joint.The index/node id provided is not in the range for a valid joint.
p. 160C740A10
24V IO voltage is outside of the allowed range: {float}VAn error occurred in the 24V supply
p. 162C740A11
48V voltage is outside of the allowed range: {float}The 48V supply voltage is outside the allowed range. This may be due to the robot drawing too much current.
p. 162C740A15
The {float}A current draw of the robot is outside the allowed range.The current draw of the robot is higher than what is supported by the power supply.
p. 163C740A21
24V IO current is outside of the allowed range: {float}AToo high current draw on 24V IO supply
p. 163C740A28
uA's 3V3voltage ADC ref is outside of the allowed range: {float}The ADC reference voltage for uA's 3V3 supply is outside of the allowed range, which may cause inaccurate voltage measurements.
p. 163C740A29
The solenoid driver curcuit encountered an error conditionAn error occurred in the 24V IO supplyThe fault signal from the solenoid driver curcuit was asserted, indicating an issue with the joint electronics.
p. 163C740A30
The brake solenoid could not be detectedThe joint was unable to detect a connected brake solenoid
p. 164C740A31
The robot current offset limit check has failedThe robot current offset value is outside of the allowed range
p. 164C740A32
The robot current offset integrity check has failedThe robot current offset value can't be trusted as the integrity check has failed
p. 164C740A33
48V voltage is below the minimum allowed limit: {float}The 48V supply voltage is below the minimum allowed limit.
p. 164C740A34
48V voltage is above the maximum allowed limit: {float}The 48V supply voltage is above the maximum allowed limit.
p. 164C740A36
The M8 IO current offset measurement of {float} A is outside of the allowed range.The M8 IO current offset measurement is outside of the allowed range.
p. 164C740A38
48V Safety Control Board voltage is below the minimum allowed limit: {float}The 48V Safety Control Board supply voltage is below the minimum allowed limit.
p. 165C740A44
2V5 reference voltage on the Power Control Board is outside of the allowed range: {float}
p. 165C740A45
PSU 48V voltage is outside of the allowed range: {float} VThe 48V voltage reported by the PSU is outside of the allowed range
p. 165C740A46
PSU 48V current is outside of the allowed range: {float} AThe 48V current reported by the PSU is outside of the allowed range
p. 165C740A47
PSU 24V voltage is outside of the allowed range: {float} VThe 24V voltage reported by the PSU is outside of the allowed rangeThe Safety Control Board SCB supply voltage is above the maximum allowed limit.
p. 165C740A48
The 24V current reported by the PSU is outside of the allowed range: {float} AThe 24V current reported by the PSU is outside of the allowed range
p. 166C740A49
PSU 12V voltage is outside of the allowed range: {float} VThe 12V voltage reported by the PSU is outside of the allowed range
p. 166C740A50
PSU AC voltage is outside of the allowed range: {float} VThe mains AC voltage reported by the PSU is outside of the allowed range
p. 166C740A51
PSU AC current is outside of the allowed range: {float} AThe mains AC current reported by the PSU is outside of the allowed range
p. 166C740A52
PSU AC power is outside of the allowed range: {float} WThe mains AC power reported by the PSU is outside of the allowed range
p. 166C740A53
PSU temperature is outside of the allowed range: {float} degrees CThe hot-spot temperature reported by the PSU is outside of the allowed range
p. 166C740A54
The PCB type: {unsigned} is unsupported by the SW Version.The hardware is not supported by this software version
p. 166C740A55
Vin on the Power Interface Board is outside of the allowed range: {float} VThe input voltage on the Power Interface Board is outside of the allowed range
p. 167C740A57
5VA on the Power Interface Board is outside of the allowed range: {float} VThe 5VA voltage on the Power Interface Board is outside of the allowed range
p. 167C740A58
3V3A on the Power Interface Board is outside of the allowed range: {float} VThe 3V3A voltage on the Power Interface Board is outside of the allowed range
p. 167C740A59
2V5 reference on the Power Interface Board is outside of the allowed range: {float} VThe 2V5 reference voltage on the Power Interface Board is outside of the allowed range
p. 167C740A60
2V5 ISO reference on the Power Interface Board is outside of the allowed range: {float} VThe 2V5 ISO reference voltage on the Power Interface Board is outside of the allowed range
p. 167C740A61
24V ISO on the Power Interface Board is outside of the allowed range: {float} VThe 5V voltage on the Power Interface Board is outside of the allowed rangeThe 24V ISO voltage on the Power Interface Board is outside of the allowed range
p. 167C740A62
Battery interface voltage on the Power Interface Board is outside of the allowed range: {float} VThe battery interface voltage on the Power Interface Board is outside of the allowed range
p. 168C741A2
The hardware is not supported by this software versionThe hardware is not supported by this software version
p. 168C742A1
The temperature of {signed} °C is close to the limitThe temperature in the Control Box is close to the limit
p. 168C742A2
The temperature of {signed} °C is above the limitThe temperature in the Control Box is too high
p. 168C743A0
Velocity limit for the external axis at index {unsigned} was exceededThe velocity that the axis needs to complete its trajectory at the same time as the robot exceeds its maximum limit.
p. 168C743A1
The servo drive for the external axis at index {unsigned} has entered a fault stateAn external axis has had a problem where the servo drive has entered a fault state
p. 169C743A3
The servo drive for the external axis at index {unsigned} has become disabledThe servo drive of an enabled external axis is reporting itself as disabled
p. 169C743A4
External axis homing is incompatible with other motionOther external axis or Robot motion was detected during an external axis servo drive homing operation
p. 169C743A5
Only one external axis servo drive homing operation at a timeTwo or more external axis servo drive homing operations were detected at the same time
p. 169C743A6
Motion detected within multiple external axis groupsOnly one external axis group may be moving at any given time.
p. 169C743A7
The position of external axis at index {unsigned} is close to joint limitThe position that the axis needs to complete its trajectory at the same time is close to its joint limit.
p. 169C743A8
The position of external axis at index {unsigned} is close to upper joint limitExternal axes cannot be moving while the controller is in Freedrive.The position that the axis needs to complete its trajectory at the same time is close to its upper joint limit.
p. 169C743A9
The position of external axis at index {unsigned} is close to lower joint limitThe position that the axis needs to complete its trajectory at the same time is close to its lower joint limit.
p. 170C743A10
The position of external axis at index {unsigned} was commanded to move without the axis enabled.An axis must be enabled before it can be moved.
p. 170C746A0
The house temperature is too low: {float} CelsiusThe house temperature is below the allowed limit
p. 170C746A1
The house temperature is too high: {float} CelsiusThe house temperature is above the allowed limit
p. 170C746A2
The energy eater temperature is too low: {float} CelsiusThe energy eater temperature is below the allowed limit
p. 170C746A3
The energy eater temperature is too high: {float} CelsiusThe energy eater temperature is above the allowed limit
p. 170C746A4
Cable type mismatch between near and far cable extendersThe cable extenders does not have the same cable typeThe energy eater regulation is not running at the expected frequency
p. 171C746A7
The connected cable was not recognizedThe connected cable did not have a recognized ID resistor
p. 171C748A3
Elevation aborted (bootloader is not capable)The device cannot be provisioned, because the bootloader lackes the required features
p. 171C748A4
Elevation aborted (key revision {unsigned} is not valid)The device cannot be provisioned with that key revision
p. 171C748A5
Elevation aborted (key revision {unsigned} is not supported with a non-red bootloader)The device cannot be provisioned with development bootloaders
p. 172C749A8
Internal error on digital outputA fault has been detected on the digital output controller.
p. 172C749A27
Failed to start transfer during init of device {unsigned}The transfer did not start when trying to initialize the device.
p. 172C749A28
Unexpected transfer size during init of device {unsigned}The transfer size was different than expected when trying to initialize the device.'
p. 172C749A29
Invalid CRC during initialization of device {unsigned}The CRC check failed during the initialization of the device.
p. 172C749A30
Transfer was already in progress when updating the safety output stateA transfer was already in progress when trying to update the safety output state.
p. 172