Universal Robots
Error codes
Every code from Universal Robots’s own error code directory (PolyScope 5, all robots): 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.
1,261 codes
C4A1
Lost communication with ControllerCommunication was lost between the Safety Control Board and the Motherboard
p. 11C4A10
Primary Teach Pendant present, but Teach Pendant safety is disabledIncorrect safety configuration
p. 12C4A11
Secondary Teach Pendant uP present, Teach Pendant safety is disabledIncorrect safety configuration
p. 12C4A81
Packet counter disagreement in packet from Primary ScreenSafety processor 1 in Teach Pendant has a packet disagreement
p. 15C4A82
Packet counter disagreement in packet from Secondary ScreenSafety processor 2 in Teach Pendant has a packet disagreement
p. 16C50A19
Warning, Waiting for a valid "euromap67 activated" status bit from secondary Safety Control Board
p. 22C50A83
Last CPU reset caused by Software-ResetThe safety control board was reset on explicit request.
p. 23C50A104
The IMMI module does not respondMissing IMMI module, hardware failure or incorrect safety configuration
p. 23C71A6
ADC calibration failedThe motor wires are damaged, bad connection in screw terminals or defect PCB
p. 27C71A7
Unknown error resultThe wire is (1) damaged or (2) has been disconnected from the PCB (not likely) or (3) defect PCB
p. 27C71A8
Motor short circuit to ground or H-bridge problemsThe motor wires are damaged, bad connection in screw terminals or defect PCB
p. 27C71A9
Motor indication signal does not workThe motor wires are damaged, bad connection in screw terminals or defect PCB
p. 27C71A10
Phase 1 is unconnected or not workingThe motor wires are damaged, bad connection in screw terminals or defect PCB
p. 27C71A11
Phase 2 is unconnected or not workingThe motor wires are damaged, bad connection in screw terminals or defect PCB
p. 27C72A2
1 PSU active, but we expect 2 (UR10)PSU was not able to deliver 48V or UR10 flash card in UR5 robot
p. 28C153A0
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. 32C153A1
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. 32C153A2
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. 32C153A3
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. 32C153A4
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. 32C153A5
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. 32C157A0
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. 33C157A1
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. 33C157A2
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. 33C157A3
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. 33C157A4
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. 33C157A5
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. 34C158A0
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. 34C158A1
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. 34C158A2
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. 34C158A3
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. 34C158A4
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. 34C158A5
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. 34C159A0
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. 35C159A1
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.Specifying an incorrect payload mass and/or center of gravity may cause poor robot performance and/or protective stops.
p. 35C159A3
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. 35C159A4
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. 35C159A5
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. 35C163A0
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. 36C163A1
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. 36C163A2
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.
p. 36C163A3
Wrist 1 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. 36C163A4
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. 37C163A5
Wrist 3 joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty.
p. 37C171A0
A MoveC-Waypoint were skipped due to a blend.The value for the blend radius is too large compared to the distance between the Waypoints.
p. 37C171A3
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. 37C171A5
Overlapping Blends in a MoveJ, a Waypoint was skippedFrequent protective stops is an indication of either an error in the application, or a hardware failure in a joint.
p. 37C171A9
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. 38C191A14
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. 40C191A15
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. 41C192A1
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. 42C192A2
Robot emergency stop disagreementE-stop in teach pendant or in robot E-stop circuit problem
p. 42C192A16
Safety output failedThe safety output did not reach the correct value in the expected time
p. 43C192A25
Potential brownout detectedVoltage drop on Safety Control Board or defect Safety Control Board
p. 44C192A33
A timing issue occurred during startup. Please restart to proceedChecksum disagreement between safety processors uA and uB
p. 45C193A7
Screen 1Safety Control Board has detected an error on Safety processor 1 in Teach pendant
p. 46C193A8
Screen 2Safety Control Board has detected an error on Safety processor 2 in Teach pendant
p. 46C194A7
Screen 1Safety Control Board has detected an error on Safety processor 1 in Teach pendant
p. 46C194A8
Screen 2Safety Control Board has detected an error on Safety processor 2 in Teach pendant
p. 46C194A128
Base not ready while brake release requestedMust be at least in IDLE mode when the brake release is requested
p. 46C194A129
Shoulder not ready while brake release requestedMust be at least in IDLE mode when the brake release is requested
p. 47C194A130
Elbow not ready while brake release requestedMust be at least in IDLE mode when the brake release is requested
p. 47C194A131
Wrist 1 not ready while brake release requestedMust be at least in IDLE mode when the brake release is requested
p. 47C194A132
Wrist 2 not ready while brake release requestedMust be at least in IDLE mode when the brake release is requested
p. 47C194A133
Wrist 3 not ready while brake release requestedMust be at least in IDLE mode when the brake release is requested
p. 47C194A134
Tool not ready while brake release requestedMust be at least in IDLE mode when the brake release is requested
p. 47C200A1
Hardware ID is wrongSafety Control Board: uP-A has detected an error: Wrong Safety Control Board
p. 48C200A8
OVG signal test not passedSafety Control Board: uP-A has detected an error: over voltage generator
p. 49C200A26
24V IO voltage is too highNo data was received from the Safety Control Board at initialization or invalid safety parameters have been received
p. 51C201A1
SCB uA is not respondingNo data or invalid data was received from the Safety Control Board uA at initialization
p. 51C201A2
SCB uB is not respondingNo data or invalid data was received from the Safety Control Board uB at initialization
p. 51C201A3
SCB is not respondingNo data or invalid was received from Safety Control Board when requested for configuration parameters
p. 51C212A1
{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. 53C219A1
Change in offset is too high to meet joint speed safety limitFollowing the specified offsets would result in the robot exceeding safety limits
p. 55C219A2
Change in offset is too high to meet tool speed safety limitFollowing the specified offsets would result in the robot exceeding safety limits
p. 55C219A3
Change in offset is too high to meet momentum safety limitFollowing the specified offsets would result in the robot exceeding safety limits
p. 55C220A1
Version {unsigned} on the robot arm is not supportedThe kinematic calibration saved on the robot arm is an unsupported version.
p. 55C220A2
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. 55C220A3
Kinematic Calibration uploaded to the arm.The calibration.conf file was changed and uploaded to the arm.
p. 55C220A4
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. 55C221A0
High load, messages droppedGUI Communication is under high load causing user messages to be dropped
p. 55C221A2
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. 56C222A1
Change in offset is too high to meet joint speed safety limitTracking the specified frame would result in the robot exceeding safety limits
p. 56C222A2
Change in offset is too high to meet tool speed safety limitTracking the specified frame would result in the robot exceeding safety limits
p. 56C222A3
Change in offset is too high to meet momentum safety limitTracking the specified frame would result in the robot exceeding safety limits
p. 56C222A4
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. 56C222A5
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. 56C222A6
Change in offset is too high to meet momentum safety limitTracking the moving external axis would result in the robot exceeding safety limits
p. 56C259A89
Failed to create a file with ID {unsigned}The joint has failed to create a file in its internal filesystem
p. 58C261A0
Critical errorA critical error occurred in the temperature sensorThe maximum allowed difference between two sequential temperature readings was exceeded
p. 59C261A4
Temperature is too high ({float} degrees Celsius)Ambient temperature is too high or robot is overloaded
p. 59C261A21
Safety Control Board temperature is too high: {float} CelsiusThe temperature of the Safety Control Board is too high.
p. 59C261A22
Safety Control Board temperature is too low: {float} CelsiusThe temperature of the Safety Control Board is too low.
p. 59C261A23
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. 60C261A24
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. 60C261A25
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. 60C261A26
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. 60C261A29
Unable to read the TOOL PCBA temperature for {float} ms.The TOOL node has been unable to read the PCBA temperature sensor.
p. 60C261A30
Safety Control Board temperature changed more than allowed: {float} CelsiusThe maximum allowed difference between two sequential temperature readings was exceeded
p. 60C261A31
Energy Removal power sensor temperature on the Power Board changed more than allowed: {float} CelsiusThe maximum allowed difference between two sequential temperature readings was exceeded
p. 60C261A32
PSU 48V circuit temperature is too high: {float} CelsiusThe temperature of the 48V circuit in the Power Supply Unit is too high.
p. 61C261A34
PSU 48V circuit temperature changed more than allowed: {float} CelsiusThe maximum allowed difference between two sequential temperature readings was exceeded
p. 61C261A35
PSU 24V circuit temperature is too high: {float} CelsiusThe temperature of the 24V circuit in the Power Supply Unit is too high.
p. 61C261A36
PSU 24V circuit temperature is too low: {float} CelsiusThe temperature of the 24V circuit in the Power Supply Unit is too low.
p. 61C261A37
PSU 24V circuit temperature changed more than allowed: {float} CelsiusThe maximum allowed difference between two sequential temperature readings was exceeded
p. 61C261A38
PSU PFC circuit temperature is too low: {float} CelsiusThe temperature of the PFC circuit in the Power Supply Unit is too high.The temperature of the 48V circuit in the Power Supply Unit is too low.
p. 61C261A39
PSU PFC circuit temperature is too low: {float} CelsiusThe temperature of the PFC circuit in the Power Supply Unit is too low.
p. 62C261A40
PSU PFC circuit temperature changed more than allowed: {float} CelsiusThe maximum allowed difference between two sequential temperature readings was exceeded
p. 62C262A17
Failed to communicate with {deviceName} JointJoint failed to start communicating as expected.
p. 62C262A25
Unexpected message version received: {unsigned}The received message version is not supported.
p. 62C262A27
Failed to communicate with the Base Filter BoardThe Base Filter Board failed to start communicating as expected.
p. 63C262A28
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 stackThe Cable Extender Board failed to start communicating as expected.
p. 63C262A29
Failed to communicate with the Cable Extender with ID: {hex}The absolute Motor Encoder position cannot be validated because the Motor position calculated by the Joint Encoder is invalid.
p. 63C263A2
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. 63C263A26
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. 64C263A27
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. 64C263A38
Time sanity check failed, difference is too great: {float}The time difference (in µs) since the last motor encoder read is too great
p. 64C263A41
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. 64C264A7
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. 65C264A9
{signed} unexpected (+) or missing (-) Start of Cycle pulses was detected within a 1 second period.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. 65C264A10
{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. 65C264A11
{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. 65C265A0
Joint encoder position invalid. Detailed error: {hex}A critical error occurred in the Joint Encoder. The reported position is not valid.
p. 66C265A5
Near operation limits. Status: {hex}The joint encoder is close to operational limits. Reported positions have reduced precision.
p. 66C265A41
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. 66C265A44
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. 66C265A45
Internal speed data is not valid.The time delta between last two position requests exceeded the maximum time allowed
p. 67C265A47
Magnetic pattern decoding errorA 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. 67C265A48
Signal lost.Signal lost. The read head is out of alignment with the ring or the ring is damaged.
p. 67C265A49
Signal amplitude too high. External magnetic field is presentExternal magnetic field disturbing the jointencoder position reading
p. 67C265A50
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. 67C265A52
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. 68C267A13
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. 69C267A14
Device not supported by the firmware file, device ID: {hex}A firmware file does not support a device and the device does not have the required information to boot
p. 69C267A15
No firmware to boot from for device ID: {hex}The device does not have the required information to boot
p. 69C268A4
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. 69C271A1
Runtime is too much behind.One of the threads might be using too much time (see log for more details).
p. 70C273A5
Disagreement on Safety Control Board StateA critical disagreement occurred within the safety system.
p. 70C273A8
Disagreement on positionA critical disagreement occurred within the safety systemA critical disagreement occurred within the safety system
p. 71C273A12
Disagreement on Teach Pendant StateA critical disagreement occurred within the safety system
p. 71C273A13
Disagreement on Teach Pendant Emergency StopA critical disagreement occurred within the safety system
p. 71C273A15
One processor entered Violation StateA critical disagreement occurred within the safety system
p. 72C273A17
Joint Constant Data CRC disagreementA critical disagreement occurred within the safety system
p. 72C273A18
Joint target current disagreementA critical disagreement occurred within the safety system
p. 72C273A22
Target Acceleration disagreementA critical disagreement occurred within the safety system
p. 73C273A25
User Configuration CRC disagreementA critical disagreement occurred within the safety system
p. 73C273A26
Maximum stopping time disagreementA critical disagreement occurred within the safety system
p. 73C273A27
Stopping Time Torque Overload disagreementA critical disagreement occurred within the safety system
p. 73C273A28
Disagreement error on joint {unsigned}A critical disagreement occurred within the safety system
p. 73C273A29
Tool speed disagreementA critical disagreement occurred within the safety systemA critical disagreement occurred within the safety system
p. 73C273A31
Hand Protection Distance disagreementA critical disagreement occurred within the safety system
p. 74C273A32
Elbow Sphere speed disagreementA critical disagreement occurred within the safety system
p. 74C273A36
Workpiece Rotation disagreementA critical disagreement occurred within the safety system
p. 74C273A37
Disagreement on Workpiece PositionA critical disagreement occurred within the safety system
p. 74C273A38
Disagreement on motor parameter (R_pp)A critical disagreement occurred within the safety system
p. 75C273A40
Disagreement on motor parameter (Kb)A critical disagreement occurred within the safety system
p. 75C273A41
Disagreement on motor parameter (Kt)A critical disagreement occurred within the safety system
p. 75C273A42
Disagreement on motor parameter (T)A critical disagreement occurred within the safety system
p. 75C273A43
Disagreement on the Teach Pendant's Three-Position Enabling DeviceA critical disagreement occurred within the safety system
p. 75C273A44
Disagreement on the active status of the Teach Pendant's Three-Position Enabling DeviceA critical disagreement occurred within the safety systemA critical disagreement occurred within the safety system
p. 75C273A48
Disagreement on Injection-Molding-Machine-Interface Emergency Stop inputA critical disagreement occurred within the safety system
p. 76C273A49
Disagreement on Injection-Molding-Machine-Interface Emergency Stop outputA critical disagreement occurred within the safety system
p. 76C273A50
Disagreement on Injection-Molding-Machine-Interface Safeguard inputA critical disagreement occurred within the safety system
p. 76C273A51
Disagreement on Injection-Molding-Machine-Interface typeA critical disagreement occurred within the safety system
p. 76C273A52
Disagreement on Torque Parameters CRCA critical disagreement occurred within the safety system
p. 76C273A54
Disagreement on hardware configuration CRCA critical disagreement occurred within the safety system
p. 76C273A55
Disagreement on compensation currentA critical disagreement occurred within the safety system
p. 77C273A57
Safety Target Torque disagreementA critical disagreement occurred within the safety system
p. 77C273A58
Disagreement on all motors off in armA critical disagreement occurred within the safety system.
p. 77C273A63
Disagreement on the tool safety inputA critical disagreement occurred within the safety system
p. 77C273A64
One processor entered Critical Fault StateA critical disagreement occurred within the safety system
p. 78C273A66
Disagreement on linear velocityA critical disagreement occurred within the safety system
p. 78C273A67
Disagreement on angular velocityA critical disagreement occurred within the safety system
p. 78C273A68
Disagreement on scanner monitoring case for scanner {unsigned}A critical disagreement occurred within the safety system
p. 78C273A70
Safety field configuration CRC disagreementA critical disagreement occurred within the safety system
p. 78C274A1
Fan is not runningThe control box fan must be running to prevent the control box from overheating
p. 78C274A2
Monitoring data timed outThe monitoring signals for the fan speed was not received by the system in a timely manner
p. 79C278A18
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. 80C278A20
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. 80C279A38
Timed out waiting for system voltage to reach {float}VSystem voltage is too low to ensure safe flash operations
p. 80C281A16
{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.
p. 82C281A17
{deviceName} joint entered the Brake Failure StateThe joint brake system failed to engage while powering down the robot.
p. 82C281A18
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. 82C283A8
The System Emergency Stop Output is not activeFailed to activate the System Emergency Stop Output. The output is active when voltage is low
p. 83C283A9
System Emergency Stop Output disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 83C283A10
Robot Emergency Stop Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 83C283A11
System Emergency Stop Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 83C283A12
Safeguard Stop Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 84C283A13
Safeguard Reset Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 84C283A14
Operation Mode input disagreement within the safety system.The input signals are not switching simultaneously, or are incorrectly connected.
p. 84C283A15
Three-Positional Enabling Device Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 84C283A16
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. 84C283A21
invalid payload center of gravity receivedThe payload center of gravity is outside the allowed rangeIf the Teach Pendant is enabled, it is connected. If it is disabled, it is not connected.
p. 85C283A26
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. 85C283A40
Reduced Mode Input disagreement within the safety systemsThe input signals are not switching simultaneously, or are incorrectly connected.
p. 86C283A51
Robot moved with a speed of {float} mm/s at the tool. This exceeds the tool speed limit in the safety settings
p. 87C283A52
Robot moved with a speed of {float} mm/s at the elbow. This exceeds the elbow speed limit in the safety settings
p. 87C283A59
Reduced Mode Output is not activeFailed to activate the Reduced Mode Output. The output is active when voltage is low
p. 88C283A60
Reduced Mode Output is not inactiveFailed to deactivate the Reduced Mode Output. The output is inactive when voltage is high
p. 88C283A61
Not Reduced Mode Output is not activeFailed to activate the Not Reduced Mode Output. The output is active when voltage is low
p. 88C283A62
Not Reduced Mode Output is not inactiveFailed to deactivate the Not Reduced Mode Output. The output is inactive when voltage is high
p. 88C283A63
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. 88C283A72
The motor configuration sent by the Control Box is invalidThe motor configuration sent is unusable with this firmware revision.
p. 89C283A74
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. 89C283A81
The robot configuration specifies an unsupported joint size {signed}The safety system is not certified to work with the specified joint size
p. 89C283A82
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. 89C283A83
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. 89C283A85
Automatic Safeguard Stop Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 89C283A86
Automatic Safeguard Reset Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 89C283A87
Injection-Molding-Machine-Interface is connected while it is disabled in the robot configurationIf the Injection-Molding-Machine-Interface is enabled, it must be connected. If it is disabled, it must be disconnected.
p. 90C283A89
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. 90C283A90
Invalid Injection-Molding-Machine-Interface type in the user configuration: {unsigned}The configuration provided by the user safety configuration is invalid
p. 90C283A91
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. 90C283A94
Automatic Safeguard Stop input is configured but no Three-Position Enabling device is configured
p. 90C283A98
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. 90C283A100
Multiple sources defined for controlling operational modeThe reduced mode state sent to the safety system is inactive while the robot is in reduced mode
p. 91C283A103
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. 91C283A104
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. 91C283A105
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. 91C283A106
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. 91C283A107
The safeguard stop state is inactive while not allowedThe safeguard stop state sent to the safety system is inactive while the robot is in safeguard stop
p. 91C283A112
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. 92C283A113
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. 92C283A114
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. 92C283A115
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. 92C283A116
The Fault state is inactive while not allowedThe fault state sent to the safety system is inactive while the robot is in fault
p. 92C283A117
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. 92C283A118
The violation state is inactive while not allowedThe violation state sent to the safety system is inactive while the robot is in violation
p. 92C283A119
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. 92C283A120
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. 93C283A122
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. 93C283A123
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. 93C283A124
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. 93C283A125
The 3PE stop state is active while not allowedThe 3PE stop state sent to the safety system is active while the robot is not in 3PE stop
p. 93C283A126
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. 93C283A127
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. 94C283A128
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. 94C283A129
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. 94C283A130
The safety mode limit is incorrectThe safety mode limit sent to the safety system does not match the safety mode limit in the safety system
p. 94C283A131
The operational mode is incorrectThe operational mode sent to the safety system does not match the operational mode in the safety system
p. 94C283A134
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. 94C283A135
Freedrive safety-input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 94C283A136
Brake monitoring not initialized correctly.Internal setup of brake monitor not setup correctly.
p. 94C283A137
Invalid number of dynamic safety clients.The amount of dynamic safety clients requested is higher than the amount of dynamic safety clients allowed.
p. 94C283A143
Tool safety input is configured but the safety configuration version does not support itThe safety configuration version does not support tool safety inputs
p. 95C283A145
Tool safety inputs are configured but the joint hardware does not support itThe joint hardware does not support tool safety inputs
p. 95C283A146
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. 95C283A147
Tried to get the state of A IO {unsigned} which is not a valid IOThe requested IO is not valid
p. 95C283A148
Tried to get the state of B IO {unsigned} which is not a valid IOThe requested IO is not valid
p. 95C283A149
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 configuredThe robot type does not support tool safety inputs
p. 95C283A150
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. 96C283A152
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. 96C283A153
Safety Plane with IO safety-input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 96C283A154
Safety Plane with IO safety-output disagreement within the safety systemThe output signals are not switching simultaneously, or are incorrectly connected.
p. 96C283A155
The Safety Plane Output is not activeThe output signal of a safety plane is not active, when it is expected to be active
p. 96C283A157
The Safety Plane Output is not inactiveThe output signal of a safety plane is not inactive, when it is expected to be inactive
p. 96C283A164
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. 96C283A165
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. 96C283A166
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. 97C283A167
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. 97C283A171
Tool safety inputs are configured but not supportedThe hardware does not support tool safety inputs
p. 97C283A172
Received an unexpected tool safety messageThe safety system received an unexpected tool safety message
p. 97C283A173
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. 97C283A175
Tool type disagreement within the safety systemThe tool types received by the safety system do not match
p. 98C283A177
Tool safety inputs are not supported in this software versionThe current software version does not support tool safety inputs
p. 98C283A178
Parking did not begin within the expected time after emergency stopParking did not begin within the expected time after emergency stop
p. 98C283A179
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. 98C283A180
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. 98C283A181
Mismatch between tool A type and input stateThe tool type and input state received from Tool A do not match
p. 98C283A182
Mismatch between tool B type and input stateThe tool type and input state received from Tool B do not match
p. 98C283A185
The minimum payload limit must be zero or greater. Actual value is {float}kgA payload with a negative mass is not supported.
p. 98C283A186
The maximum payload must be greater than or equal to the minimum payloadThe payload range is invalid and cannot be applied
p. 99C283A190
A payload mass below the minimum payload limit was received. Actual value is {float}kgThe payload mass is below the minimum limit
p. 99C283A191
A payload mass above the maximum payload limit was received. Actual value is {float}kgThe payload mass is above the maximum limit
p. 99C283A192
A Payload center of gravity outside the allowed limits was receivedThe payload center of gravity is outside the configured limits
p. 99C283A200
Manual mode high speed output disagreement within the safety systemThe output signals are not switching simultaneously, or are incorrectly connected.
p. 99C283A201
The manual mode reduced speed configuration must be greater than zero. Actual value is {float}mm/sNegative speed is not supported.
p. 99C283A202
The manual mode reduced speed configuration is above the limit. Actual value is {float}mm/sThe manual mode reduced speed is too great.
p. 100C283A204
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. 100C283A205
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. 100C283A206
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. 100C283A207
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. 100C283A208
Parking did not begin within the expected time after safety stopParking did not begin within the expected time after safety stop
p. 100C283A211
Scanner Front Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 100C283A212
Scanner Rear Input disagreement within the safety systemThe input signals are not switching simultaneously, or are incorrectly connected.
p. 101C283A213
The freedrive speed configuration must be greater than zero. Actual value is {float}mm/sNegative speed is not supported.
p. 101C283A214
Robot moved with a speed of {float}mm/s at the tool. This exceeds the freedrive speed limit in the safety settingsThe tool speed is above the freedrive speed limit.
p. 101C283A215
Robot moved with a speed of {float}mm/s at the elbow. This exceeds the freedrive speed limit in the safety settingsThe elbow speed is above the freedrive speed limit.
p. 101C283A222
The linear velocity of {float} m/s is outside the limits of the active scanner monitoring case
p. 101C283A223
The angular velocity of {float} rad/s is outside the limits of the active scanner monitoring case
p. 102C283A230
Mismatch on Safety Field Configuration CRC between the safety system and the configuration
p. 102C284A21
Brake release count reached limitThe max number of allowed brake releases is reached. The joint can no longer release the brakes.
p. 102C284A22
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. 102C285A0
Critical errorA critical error occurred in the Joint Keep-Alive SystemAn invalid amount of Keep-Alive System messages have been lost from the Safety Control Board Processor A
p. 103C285A11
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. 103C286A2
PWM margin too small, ticks left: {signed}Motor control failed to meet timing requirements
p. 103C286A4
PWM is not zero when in power offThe motor PWM output is not set to zero when in power off.
p. 103C287A1
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. 104C289A1
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.
p. 104C289A2
Too high sink current detected on Digital Output: {unsigned} low sideTool Digital Output pin has been turned off as a too high sink current was detected.
p. 104C289A4
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. 104C289A5
Unable to remove tool Digital Output fault.Unable to remove the overload on tool Digital Output, therefore the robot powered down.
p. 104C289A6
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. 104C289A7
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. 105C289A8
Current of {float} A on the ground pin is outside of the allowed range.Too high current on tool ground pinToo high current on tool power pin
p. 105C289A9
Current of {float} A on the POWER pin is outside of the allowed range.The momentary current drawn from the M8-power connector exceeded the allowed limit.
p. 105C289A10
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. 105C289A11
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. 105C289A12
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. 105C289A13
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. 105C289A14
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. 105C289A16
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. 106C289A17
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. 106C289A18
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.
p. 106C294A12
The single ended ADC calibration timed outThe single ended ADC calibration timed out, thus the found calibration factor is not valid
p. 106C294A16
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. 107C294A19
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. 107C296A3
Motor Indication Signal does not work. Diagnostic data: {hex}Bit 1 low indicates that the diagnostics feature is broken
p. 108C296A4
Phase 1 is not connected. Diagnostic data: {hex}Bit pattern 0b0110 indicates that phase 1 is not connected
p. 108C296A5
Phase 2 is not connected. Diagnostic data: {hex}Bit pattern 0b1010 indicates that phase 2 is not connected
p. 108C296A6
Phase 3 is not connected. Diagnostic data: {hex}Bit pattern 0b0010 indicates that phase 3 is not connected
p. 108C296A7
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. 108C296A9
Robot Voltage was present during self-diagnosticsRobot Voltage rose above acceptable levels before both processors powered it on
p. 108C296A10
Time out during self-diagnosticsA processor timed out while waiting for the other processor to finish self-diagnotics
p. 108C296A11
Data was received while trying to disable communicationA validation that theof communication could be suppressioned failed to preventin preventing a message from passing through.
p. 108C296A12
Sequence number did not match expected sequenceAfter communication was disabled and reenabled the sequence number did not match what was expected
p. 109C296A15
Interval between messages did not match expectationsAfter communication was disabled and reenabled the message interval did not match what expectations
p. 109C296A23
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. 109C296A25
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. 109C296A33
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. 109C296A36
The device initialization has failed.The device initialization has failed. this can be caused by hardware failure
p. 109C296A37
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. 109C296A44
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. 109C297A11
The Robot arm does not match the Control BoxOne or more joints do not match stored Robot Configuration
p. 110C297A13
Joint type recevied from joint {unsigned} is invalidA joint in the arm has reported unsupported joint type.
p. 110C297A14
Joint type received from joint {unsigned} is invalid.The safety system has detected a mismatch between the detected and the configured joint type.
p. 110C297A16
The expected joint type specified in the robot configuration was {unsigned}.Joint type configured, and thereby expected from the joint.
p. 110C297A17
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. 110C297A18
Joint type detected by processor A: {unsigned}.Processor A has detected the joint type during a type mismatch
p. 111C298A0
Tool is too close to the lower arm: {float_2_4} meter.The tool is too close to the lower Robot arm
p. 111C299A3
RX framing errorProcessor B has detected the joint type during a type mismatch.Framing error detected on received data
p. 111C303A6
Reset caused by independent watchdogThe FW has hit a deadlock and therefore reset by watchdog
p. 113C304A0
Critical errorA critical error occurred in physical, logical, and temporal monitoring (PLATM)
p. 113C304A3
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. 113C304A4
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. 113C304A6
Motor phase {unsigned}'s resistance is too high.The lead/connector is broken, or the Motor phase lead has become disconnected or loose.
p. 113C305A12
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. 115C306A3
Acceleration failed to pass sanity checkThe received Joint acceleration target is invalid.
p. 115C306A15
Joint moved too far while it should be stationaryThe robot moved more than allowed during parking.
p. 116C306A16
A timeout occured while in violation parkingThe joint reached the timeout limit while in violation parking.
p. 116C306A17
The joint parking procedure violated max allowed execution time of {float} [ms].The joint reached the timeout limit while in parking.
p. 116C306A19
Illegal state transition, the joint entered parking while motorcontrol was disabled.The parking procedure cannot execute without motorcontrol enabled.
p. 116C306A20
Trying to power off from violation while motor control is enabled.Tried to skip parking procedure while motor control was enabled.
p. 116C306A22
Trying to enter idle brake failure while motor control is enabled.The joint should not enter idle brake failure with motor control enabled.
p. 116C306A24
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. 117C309A1
Message with wrong sequence received from SCB-uPA.The Keep-Alive message received from the Safety Control Board Processor A has an invalid sequence number
p. 117C309A4
Message with wrong sequence received from SCB-uPB.The Keep-Alive message received from the Safety Control Board Processor B has an invalid sequence number
p. 117C309A10
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. 117C309A11
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. 117C309A14
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. 118C309A15
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. 118C314A0
Critical errorA critical error occurred related to IOThe generated OSSD pulses on the safety output were not seen during readback
p. 119C314A6
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 hardware
p. 119C314A7
The IO voltage is missing or below thresholdThe IO voltage is missing or below the threshold, a fuse may be blown or removed
p. 119C314A8
The configurable safety outputs were not low when expectedThe configurable safety outputs were not low when expected
p. 119C314A11
Configurable IO circuit asserted its alert signalRead the alert status register for specific error information
p. 119C314A12
Could not allocate RX and/or TX bufferThe SPI DMA buffers are frequently rotated (freed and reallocated). The allocator returned a null pointer.
p. 119C314A13
Configurable IO circuit reports invalid CRC or clock count errorTransmitted frames must be exactly 32 bits in length and contain a valid 8-bit CRC
p. 120C314A18
Timed out while waiting for conversion to completeA timeout occured while waiting for the "ADC ready" pin to assert
p. 120C314A19
Timed out while waiting for a transaction to completeA timeout occured while waiting for an "SPI transaction complete" callback
p. 120C315A1
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. 120C315A2
Checked in at {float_1_3} ms which is outside the permitted window.The watchdog check-in was outside the permitted window.
p. 120C315A5
Keeper module ran out of space.The number of allowed checkpoints has exceeded the allowed limit.
p. 121C315A6
Trying to register checkpoint with uninitialized keeper.Trying to register a checkpoint, before the watchdog keeper is initialized is not allowed.The watchdog keeper cannot be initialized multiple times.
p. 121C315A28
The watchdog configuration could not be appliedThe watchdog could not be configured as requested.
p. 121C316A1
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. 121C328A2
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. 122C329A4
Write failed, {unsigned} messages droppedTried to transmit more data than the Axi-Stream could consume, and messages where lost.
p. 122C330A1
Injection-Molding-Machine-Interface E-Stop output readback does not match produced value: {hex}First byte: produced value, second byte: read value
p. 122C330A2
Injection-Molding-Machine-Interface Moulding Area Free output readback does not match produced value: {hex}First byte: produced value, second byte: read value
p. 122C330A3
Injection-Molding-Machine-Interface 24V IO voltage outside acceptable rangeThe voltage measured on the 24V IO rail is lower than expected.
p. 123C330A4
Injection-Molding-Machine-Interface 48V voltages outside acceptable rangeThe voltages measured on the 48V rails are lower than expected.
p. 123C331A1
The velocity of the friction model is outside the limits,The velocity used for the friction model is outside the limits.
p. 123C331A2
The current of the friction model is outside the limitsThe current used for the friction model is outside the limits.
p. 123C331A3
The temperature of the friction model is outside the limitsThe temperature used for the friction model is outside the limits.
p. 123C331A5
The calibration file for the friction model validation was not foundThe calibration file used to validate the friction model was not found.
p. 124C331A6
The limit data for the friction model was not foundThe limit data used for the friction model was not found.
p. 124C338A6
A PROFIsafe message was received, but there is no valid configurationA PROFIsafe message was received before a valid safety configuration
p. 125C338A7
A PROFIsafe message was received and PROFIsafe was disabled.A PROFIsafe message was received while PROFIsafe is disabled in the safety configuration
p. 125C338A8
The robot rejected the PROFIsafe F-Parameter setA PROFIsafe F-Parameterset was received from the PLC but was not accepted
p. 126C338A11
An iPar CRC mismatch has been detectedThe iPar CRC received from the PLC does not match the Safety checksum
p. 126C338A12
An error occured during PROFIsafe communicationThe CRC over the cyclic telegram does not match the expected value
p. 126C338A13
The PROFIsafe watchdog timed outThe PROFIsafe communication timed out because no message has been received in the expected time
p. 126C338A14
The PROFInet provider status is badThe PROFInet provider reports a failure or is not reachable
p. 126C338A17
Destination address mismatchThe PROFIsafe destination address received from the PROFIsafe host does not match the destination address in the robot safety configuration
p. 126C338A18
Destination address invalidThe PROFIsafe destination address received from the PROFIsafe host is not valid
p. 126C338A19
Source address mismatchThe PROFIsafe source address received from the PROFIsafe host does not match the source address in the robot safety configuration
p. 127C338A20
Source address invalidThe PROFIsafe source address received from the PROFIsafe host is not validThe PROFIsafe submodule id received from the PROFIsafe host does not match the control operational mode setting in the Polyscope PROFIsafe configuration
p. 127C340A0
Idle power consumption too highThe system is drawing more power than expected while idle
p. 127C340A2
Energy burst period exceeded, average power: {float}WEnergy has been sent to the energy eater longer than allowed
p. 128C340A3
The Energy Removal Device peak power exceededThe absolute limit for the Energy Removal Device has been exceeded
p. 128C340A4
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. 128C341A9
The scheduled motor encoder SPI package transfer did not complete before the deadline.A timing error occured in the robot firwmare.
p. 128C341A10
CRC error in CH0 transfer, frame: {hex}A SPI package from the motor encoder was corrupted during transfer.
p. 128C341A22
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.The motor encoder read head is too close to the ring or an external magnetic field is present
p. 129C341A23
Detailed status warning: Signal amplitude too high. The read head is too close to the ring.
p. 129C341A24
Detailed status error: ASIC was reset, external RFI glitch caused encoder to reset.External RFI glitch caused encoder to reset.
p. 129C341A25
Detailed status error: ASIC synchronization lost, external RFI glitch caused malfunction.External RFI glitch caused encoder to loose synchronization.
p. 129C341A26
Detailed status error: Encoder not configured properly.Incorrect motor encoder configuration
p. 129C341A27
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. 129C341A28
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. 130C341A30
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. 130C341A31
Detailed status error: System error. Malfunction inside the circuitry or inconsistent calibration data is detected.A system error occured inside the motor encoder.
p. 130C341A32
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. 130C341A33
Detailed status error: Acceleration to high.Motor encoder reported that the acceleration of the encoder disc was outside allowed specifications.
p. 130C341A65
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. 130C341A86
An error occured while reading the encoder firmware version.An error occured while reading the encoder firmware version.
p. 131C341A88
A reading of the register {hex} was attempted which is not valid for the present encoderA read from a register that is invalid for the encoder was attempted
p. 131C341A89
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. 131C341A90
Tried to access register {hex}, which is not valid for the present encoderA register that is invalid for the encoder was accessed
p. 131C341A92
The encoder reported that it has not performed a self-calibrationThe encoder reported that it has not performed a self-calibration
p. 131C341A95
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. 131C341A96
Detailed status error: System error. Inconsistent calibration data detected.A system error occured inside the motor encoder. To reset the System error bit try to cycle the power supply.
p. 132C342A0
Module initialization errorAn error occurred during initialiation of the Motor Parameters Module, a critical dependency could not be satisfied.
p. 132C342A1
Motor datasheet unavailableA missing or invalid motor datasheet, has caused the initialization of the motor parameters module to fail.
p. 132C342A2
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. 132C343A1
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. 133C343A2
Failed to access the joint gear datasheet, as the datasheet has not been loadedThe 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. 133C343A3
Failed to access the joint motor 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. 133C343A4
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. 133C343A5
Failed to load the joint general datasheetThe joint type may not be supported by the current firmware, possibly due to a firmware downgrade
p. 133C343A6
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. 133C343A7
Failed to load the joint motor datasheetThe motor type in this joint may not be supported by the current firmware, possibly due to a firmware downgrade
p. 133C343A24
Unsupported joint typeThe joint type in this joint is not supported by the current firmware, possibly due to a firmware downgrade
p. 134C343A25
Unsupported motor typeThe motor type in this joint is not supported by the current firmware, possibly due to a firmware downgrade
p. 134C343A33
The joint have the gear type {unsigned} installed, which is not allowedThe gear installed in the joint is not an allowed type
p. 134C343A34
The joint have the motor type {unsigned} installed, which is not allowedThe motor installed in the joint is not an allowed type
p. 134C343A41
The motor type could not be read from the hardware configurationRequired motor hardware information could not be retrieved from the hardware configuration manager.
p. 134C343A43
The gear type could not be read from the hardware configurationRequired gear hardware information could not be retrieved from the hardware configuration manager.
p. 134C343A46
Failed to determine original joint type due to invalid PCB type {unsigned}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.
p. 134C343A47
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. 135C343A51
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. 135C347A4
More robot cable extenders detected than are supported.It is not supported to have multiple robot cable extenders
p. 135C347A5
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. 135C348A4
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. 136C349A0
Length check error, incorrect length detected for base light ring: {unsigned}The detected lenght of the base light ring is not what is expected.
p. 136C349A2
Current for the red color was {float} A, which is outside the allowed rangeThe detected current of the red color in the base light is outside the allowed range.
p. 136C349A3
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. 137C349A5
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. 137C350A0
Joint position drifted more than allowedThe joint position has drifted more than allowed while in the failed brake state
p. 137C350A1
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. 137C350A3
Failure detected in brake systemThe brake system failed to engageThe detected current of the blue color in the base light is outside the allowed range.
p. 137C351A0
Unexpected tool detectedTool was detected in the arm, but not in the robot configuration.
p. 138C351A1
Unexpected {deviceName} joint detectedJoint was detected in the arm, but not in the robot configuration.
p. 138C351A2
Unexpected base light detectedBase light was detected in the arm, but not in the robot configuration.
p. 138C351A3
Robot cable extender detected, but not configured.A robot cable extender was detected, but has not been configured.
p. 138C351A4
Robot cable extender detected, but configuration is corrupted.A robot cable extender was detected, but the configuration is corrupted.
p. 138C351A5
Robot cable extender configured, but not detected.A robot cable extender was configured, but was not detected.
p. 138C351A6
Unsupported cable type for robot cable extender configured.An unsupported cable type for the robot cable extender was configured.
p. 138C351A7
Detected cable type for robot cable extender is not supported.The detected cable type for the robot cable extender is not supported.
p. 139C351A8
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.The detected cable type for the robot cable extender does not match the configured cable type.
p. 139C351A12
Unsupported robot for robot cable extender.The cable extender does not support the configured robot.
p. 139C352A1
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. 139C352A2
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. 140C352A3
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. 140C353A1
IMU B selected gyro resolution not supported: {unsigned}Initialization of IMU B has failed during gyro configuration.
p. 140C353A2
IMU B gyro verification failed: {unsigned}Initialization of IMU B has failed during verification of gyro configuration.
p. 140C353A3
IMU B selected acceleration resolution not supported: {unsigned}Initialization of IMU B has failed during acceleration configuration.
p. 140C353A4
IMU B accelerometer verification failed: {unsigned}Initialization of IMU B has failed during verification of accelerometer configuration.
p. 140C353A5
Timeout occurred while configuring IMU AA timeout occured while configuring inertial measurement unit A
p. 141C353A6
Timeout occurred while configuring IMU BA timeout occurred while configuring inertial measurement unit BThe IMU A type could not be detected
p. 141C354A2
The SCB has entered the violation stateThe SCB entered the violation state during the robot initialization
p. 142C354A3
The SCB did not reach the correct stateThe SCB did not reach the correct state during the robot initialization
p. 142C354A4
Failed to send the safety configurationUnable to send the safety configuration during the robot initialization
p. 142C354A5
Error during boot status validationThe device did not reach a responsive state after performing a reboot
p. 142C354A6
Powering down the robot arm took too longIt took too long to power down the robot arm which is required before a reboot
p. 142C354A7
Failed to close communication devicesClosing all communication devices is required before performing a reboot of the SCB FPGA
p. 142C354A8
Failed to open communication devicesUnable to re-establish connection with communication devices
p. 143C354A10
Failed to unload FPGA driversThe FPGA devices must unload the drivers before new ones can be loaded
p. 143C354A11
Failed to load FPGA driversThe FPGA devices must load the new drivers before continuing the reboot process
p. 143C354A12
The Teach Pendant does not respondThe Teach Pendant was rebooted but did not reach a responsive state
p. 143C354A13
The Injection-Molding-Machine-Interface does not respondThe Injection-Molding-Machine-Interface was rebooted but did not reach a responsive state
p. 143C354A14
The Injection-Molding-Machine-Interface_FPGA does not respondThe Injection-Molding-Machine-Interface_FPGA was rebooted but did not reach a responsive state
p. 143C354A16
Failed to start Xillybus device scanningUnable to scan for Xillybus devices which is required before loading the drivers
p. 144C354A17
Failed to read the safety configurationUnable to read the safety configuration during the robot initialization
p. 144C354A18
Communication initialization failedFailed to initialize communication to the SCB FPGA during the reboot process
p. 144C355A1
Unknown safety system message, id {unsigned}The safety API client message is unknown to the UR safety system.
p. 144C355A2
Unknown safety system version, id {unsigned}The safety API client message version is unknown to the UR safety system.
p. 144C355A5
Safeguard reset time is out of range, received value {unsigned}msThe supported range is 0ms to 10000ms (10s)
p. 145C355A6
Retransmission of configuration is not allowedThe safety system received more than one configuration message
p. 145C355A16
Supervisor max execution time is outside allowed range for supervisor with ID {unsigned}
p. 145C355A30
Incompatible Safety URCapThe Safety URCap is not compatible with this version of software
p. 146C355A31
Failed UUID seed validationThe Safety URCap failed to send a valid seed for identification
p. 146C355A32
Invalid tool speed limit, value was {float}The safety system only accepts rational numbers.
p. 146C355A33
Invalid stopping distance limit, value was {float}The safety system only accepts rational numbers.
p. 146C355A34
The received hash does not match the hash from the installationThe hash from the installation must match the received hash
p. 146C355A35
The identifier is incorrectThe identifier used by the client does not match with the expected identifier
p. 146C355A36
Validation of crc failed for message ID {unsigned}The calculated checksum of the message does not match the received checksum
p. 146C357A0
Payload CoG is outside reach of robotThe robot is not able to lift this much payload in its current position
p. 147C357A1
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. 147C359A0
Missing violation handlerA violation was reported but no violation handler was registered
p. 147C359A1
Missing critical fault handlerA critical fault was reported but no critical fault handler was registered
p. 147C361A0
Excessive gear torsion registeredThe joint has previously measured an excessive gear torsion, thus the gear/encoders may be damaged
p. 147C361A1
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. 147C362A2
Registration of state {unsigned} have failedThe FSM is trying to register a state, but failed
p. 148C363A0
Unexpected identifier {hex} read from the accelerometerThe identifier value read from the accelerometer was different from the expected value
p. 148C363A1
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. 148C363A2
Failed to write to a configuration register with data {hex}The accelerometer configuration register could not be written to
p. 148C364A0
Robot type mismatch between configuration and armThe robot type specified in the configuration does not match the type stored in the robot arm
p. 149C364A1
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. 149C366A0
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. 150C366A1
The panel interface output voltage of {float}V is lower than allowedThe panel interface output voltage is lower than allowed
p. 150C366A2
The panel interface output voltage of {float}V is higher than allowedThe panel interface output voltage is higher than allowed
p. 150C366A3
A fault event was detected on supply to the panel interfaceA fault event can be caused by voltage, current or temperature issues on the supply to the panel interface
p. 150C366A4
An over current fault event was detected on panel interface digital outputsA fault event is caused by higher current being detected on one of the digital outputs than specified for the panel interface
p. 150C367A2
Failed to initialize the voltage monitor sensorThe voltage monitor sensor initialization failed
p. 150C367A5
Failed to read data from the voltage monitor sensorThe voltage monitor sensor read failed
p. 150C367A7
Power Control Board revision {unsigned} is not supportedThe Power Control Board revision is not supported
p. 150C367A9
The voltage monitor chip is not respondingThe voltage monitor chip did not respond during initialization
p. 151C368A0
Failed to communicate with power supply unitThe I2C communication with the power supply unit timed out or returned an error
p. 151C370A0
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. 151C371A0
Unable to read status from the End of Arm EthernetThe End of Arm Ethernet is not responding to status requests
p. 151C371A3
Unable to establish link to the Control BoxThe End of Arm Ethernet never established a successful link to the Control Box
p. 151C371A4
Unable to establish link to the ToolThe End of Arm Ethernet never established a successful link to the Tool
p. 151C371A5
Validation of PHY device with ID: {hex} failedFailed during validation of the connected ethernet PHY device
p. 151C373A1
Failed to initialize the battery interface sensorThe battery interface sensor initialization failed
p. 151C373A2
Failed to read data from the battery interface sensorThe battery interface sensor read failed
p. 151C373A5
Power Interface Board revision {unsigned} is not supportedThe Power Interface Board revision is not supported
p. 152C377A0
The motors are active while charging is enabledThe motors are active while charging is enabled, which is not allowed
p. 152C450A1
Sensor can not be used, therefore it is disabledForce-Torque sensor version is newer than the Robot software
p. 153C450A4
Force-Torque sensor is expected, but it cannot be detectedForce-Torque sensor is expected, but no signals from the sensor can be detected.
p. 153C450A5
Force-Torque sensor is detected but not calibratedForce-Torque sensor is installed, but no calibration was found.
p. 153C451A5
Failed to initialize the M8 GND sensor chipThe tool M8 GND sensor chip is not responding correctly.
p. 154C451A6
Failed to initialize the M8 digital output low side sensor chipThe tool M8 digital output low side sensor chip is not responding correctly.
p. 154C451A8
Too many failing M8 GND sensor readings in a rowThe tool M8 GND sensor chip is not responding correctly.
p. 154C451A9
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. 154C451A11
Failed to initialize the tool power sensor chipThe tool power sensor chip is not responding correctly.
p. 154C451A13
Too many failing power sensor readings in a rowThe tool power sensor chip is not responding correctly.
p. 154C453A4
Timeout while waiting for new IMU dataThe IMU has stopped providing new dataThe SPI transfer for the IMU did not start correctly
p. 155C526A0
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. 155C740A10
24V IO voltage is outside of the allowed range: {float}VAn error occurred in the 24V supply
p. 157C740A11
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. 157C740A15
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. 157C740A20
24V IO voltage is outside of the allowed range: {float}VAn error occurred in the 24V IO supply
p. 157C740A21
24V IO current is outside of the allowed range: {float}AToo high current draw on 24V IO supply
p. 158C740A28
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. 158C740A29
The solenoid driver curcuit encountered an error conditionThe fault signal from the solenoid driver curcuit was asserted, indicating an issue with the joint electronics.
p. 158C740A30
The brake solenoid could not be detectedThe joint was unable to detect a connected brake solenoid
p. 158C740A31
The robot current offset limit check has failedThe robot current offset value is outside of the allowed range
p. 158C740A32
The robot current offset integrity check has failedThe robot current offset value can't be trusted as the integrity check has failed
p. 158C740A33
48V voltage is below the minimum allowed limit: {float}The 48V supply voltage is below the minimum allowed limit.
p. 159C740A36
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. 159C740A38
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. 159C740A39
48V Safety Control Board voltage is above the maximum allowed limit: {float}The Safety Control Board SCB supply voltage is above the maximum allowed limit.
p. 159C740A42
5VA voltage on the Power Control Board is outside of the allowed range: {float}The 48V supply voltage is above the maximum allowed limit.
p. 159C740A44
2V5 reference voltage on the Power Control Board is outside of the allowed range: {float}
p. 160C740A45
PSU 48V voltage is outside of the allowed range: {float} VThe 48V voltage reported by the PSU is outside of the allowed range
p. 160C740A46
PSU 48V current is outside of the allowed range: {float} AThe 48V current reported by the PSU is outside of the allowed range
p. 160C740A47
PSU 24V voltage is outside of the allowed range: {float} VThe 24V voltage reported by the PSU is outside of the allowed range
p. 160C740A48
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. 160C740A49
PSU 12V voltage is outside of the allowed range: {float} VThe 12V voltage reported by the PSU is outside of the allowed range
p. 160C740A50
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. 160C740A51
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. 160C740A52
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. 161C740A53
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. 161C740A55
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. 161C740A56
5V 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 range
p. 161C740A57
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. 161C740A58
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. 161C740A59
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 rangeThe hardware is not supported by this software version
p. 161C740A60
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. 162C740A61
24V ISO on the Power Interface Board is outside of the allowed range: {float} VThe 24V ISO voltage on the Power Interface Board is outside of the allowed range
p. 162C740A62
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. 162C740A63
12VB voltage on the Power Control Board is outside of the allowed range: {float}The 12V supply voltage for uB on the Power Control Board is outside of the allowed range
p. 162C740A64
5VB voltage on the Power Control Board is outside of the allowed range: {float}The 5V supply voltage for uB on the Power Control Board is outside of the allowed range
p. 162C740A65
3V3B voltage on the Power Control Board is outside of the allowed range: {float}The 3.3V supply voltage for uB on the Power Control Board is outside of the allowed range
p. 162C740A66
48V voltage on the Power Control Board is outside of the allowed range: {float}The 48V supply voltage on the Power Control Board is outside of the allowed range
p. 162C741A2
The hardware is not supported by this software versionThe hardware is not supported by this software version
p. 163C742A1
The temperature of {signed} °C is close to the limitThe temperature in the Control Box is close to the limit
p. 163C742A2
The temperature of {signed} °C is above the limitThe temperature in the Control Box is too high
p. 163C743A0
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. 163C743A1
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. 163C743A2
Freedrive is incompatible with external axis motionExternal axes cannot be moving while the controller is in Freedrive.
p. 164C743A3
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. 164C743A4
External axis homing is incompatible with other motionOther external axis or Robot motion was detected during an external axis servo drive homing operation
p. 164C743A5
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. 164C743A6
Motion detected within multiple external axis groupsOnly one external axis group may be moving at any given time.
p. 164C743A7
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. 164C743A8
The position of external axis at index {unsigned} is close to upper joint limitThe position that the axis needs to complete its trajectory at the same time is close to its upper joint limit.
p. 164C743A9
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. 164C743A10
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. 164C746A1
The house temperature is too high: {float} CelsiusThe house temperature is above the allowed limit
p. 165C746A2
The energy eater temperature is too low: {float} CelsiusThe energy eater temperature is below the allowed limit
p. 165C746A3
The energy eater temperature is too high: {float} CelsiusThe energy eater temperature is above the allowed limit
p. 165C746A4
Cable type mismatch between near and far cable extendersThe cable extenders does not have the same cable type
p. 165C746A5
The energy eater regulation is inactiveThe energy eater regulation is not running at the expected frequencyThe house temperature is below the allowed limit
p. 165C746A7
The connected cable was not recognizedThe connected cable did not have a recognized ID resistor
p. 166C748A3
Elevation aborted (bootloader is not capable)The device cannot be provisioned, because the bootloader lackes the required features
p. 166C748A4
Elevation aborted (key revision {unsigned} is not valid)The device cannot be provisioned with that key revision
p. 166C748A5
Elevation aborted (key revision {unsigned} is not supported with a non-red bootloader)The device cannot be provisioned with development bootloaders
p. 166C749A1
Excessive loadThe load current exceeded safe limits, or an inductive load issue was detected
p. 166C749A8
Internal hardware faultA critical internal fault was detected on the digital output device
p. 166C749A27
Failed to start communication with digital output device {unsigned}An internal communication failure occurred while initializing the device
p. 167C749A29
Invalid CRC from digital output device {unsigned}A communication integrity check failed while initializing the digital output device
p. 167C749A30
Could not update digital output stateAn internal communication conflict prevented the digital output state from being updated
p. 167C749A31
Failed to update digital output stateAn internal communication failure prevented the digital output state from being updated
p. 167C749A32
Unexpected transfer size {unsigned} when updating digital outputAn internal communication issue occurred while updating the output state
p. 167