Service Manual

Compatible robots: UR3e, UR5e, UR10e, UR16e

Control Box: e-Series Control box, OEM Control Box
Original instructions (en)
Contents
1. Introduction 1
1.1. About This Document 1
1.2. Company Details 1
1.3. Copyright and disclaimers 1
1.4. Safety Message Types 2
2. Handling ESD-Sensitive Parts 4
3. Recommended Inspection Activities 9
3.1. Robot Arm 9
3.1.1. Inspection Plan 9
3.1.2. Visual Inspection: Robot arm 9
3.1.3. Functional Inspection 10
3.1.4. Cleaning your robot 11

3.2. Control Box and Teach Pendant 11

3.2.1. Inspection Plan 11
3.2.2. Functional and Safety Inspection 12
3.2.3. Visual Inspection: Control Box 15
3.2.4. Cleaning 15

4. Service and Replacement of Parts 16

4.1. Pre-Use Assessment 16
4.1.1. Recommended Tools 16

4.2. Robot Arm 17

4.2.1. Movement Without Drive Power 18
4.2.2. General Guidance to Separate Joint from Counterpart 19
4.2.3. Joint Connection Types 20
4.2.4. Torque Values 21
4.2.5. Power and Communication Connector Types on the Joint 21
4.2.6. Connector Location on joints 22
4.2.7. Screw Connection 25
4.2.8. Bracket Connection 29
4.2.9. Tool Flange 33
4.2.10. Joint Verification 34
4.2.11. Zeroing of Joints 36
4.2.12. Dual Robot Calibration 39
4.2.13. Program Correction by Key Waypoints 39

4.3. Robot Cable 40

4.3.1. Replacing Robot Cable 40
 4.4. Control Box 41
4.4.1. Dismantling the Control Box 41
4.4.2. Dismantling the OEM AC and DC Control Box 46
4.4.3. Torque Values 51
4.4.4. Replacing the Teach Pendant: Standard TP 54
4.4.5. Replacing the Teach Pendant: 3PE TP 55

5. Software 58
5.1. Software Updates 58
5.1.1. Update Procedure 58
5.1.2. Update timeline 62
5.1.3. Downgrading vs. Restoring system backup 62

5.2. Using Support File 63

5.3. Using Magic Files 64
5.3.1. Using Magic Files 64

5.4. Backup of data 65

5.4.1. Hardware Requirements 65
5.4.2. Software Requirements 65
5.4.3. How to Access Linux Partition from Windows 65
5.4.4. Copy the data from SD card 66

6. Troubleshooting 67
6.1. Adding External Equipment for Troubleshooting Purpose 67
6.2. Support Log Reader (SLR) 67
6.3. Error codes 69
6.4. LED indicators and Fuse on Safety Control Board 159
6.4.1. LED Indicators on Safety Control Board 159
6.4.2. Fuse 160

6.5. Complete Rebooting Sequence 161

6.6. Protective stop 161
7. Electrical drawings 164
8. Spare Parts 165
8.1. Robot Arm 165
8.1.1. Sealing set for UR3e – 103703 167
8.1.2. Sealing set for UR5e – 103705 168
8.1.3. Sealing ring set UR10e/UR16e –103700 168
8.1.4. Lid set for UR3e – 103413 169
8.1.5. Lid set for UR5e – 103405 170
8.1.6. Lid set for UR10e/UR16e – 103410 171
8.1.7. Protective cap for tool connector - 131095 171
 8.1.8. Tool with Force/Torque sensor for UR3e – 124083 172
8.1.9. Tool with Force/Torque sensor for UR5e –124085 173
8.1.10. Tool mount with Force/Torque sensor for UR10e/UR16e – 124080 174
8.1.11. Joint Wrist 3 Size 0 for UR3e – 124002 175
8.1.12. Joint Wrist 3 Size 1 for UR5e – 102414 176
8.1.13. Joint Wrist 3 Size 2 for UR10e/UR16e – 102412 177
8.1.14. Joint Wrist 2 Size 0 for UR3e – 124110 178
8.1.15. Joint Wrist 2 Size 1 for UR5e –124111 179
8.1.16. Joint Wrist 2 Size 2 for UR10e/UR16e –124112 180
8.1.17. Joint Wrist 1 Size 0 for UR3e – 124001 181
8.1.18. Joint Wrist 1 Size 1 for UR5e –102413 182
8.1.19. Joint Wrist 1 Size 2 for UR10e/UR16e –102411 183
8.1.20. Lower arm assembly – N/A 184
8.1.21. Elbow joint Size 1 for UR3e– 124011 185
8.1.22. Elbow joint Size 3 for UR5e –124031 186
8.1.23. Elbow joint Size 3 for UR10e/UR16e –124031 187
8.1.24. Upper arm – N/A 188
8.1.25. Shoulder joint Size 2 for UR3e – 124021 189
8.1.26. Shoulder joint Size 3 for UR5e –124031 189
8.1.27. Shoulder joint Size 4 for UR10e/UR16e –124041 190
8.1.28. Base joint Size 2 for UR3e – 124021 191
8.1.29. Base joint Size 3 for UR5e – 124031 192
8.1.30. Base joint Size 4 for UR10e/UR16e –124041 193
8.1.31. Base with Flange Connector cable for UR3e –123183 194
8.1.32. Base with Flange Connector cable for UR5e –123185 195
8.1.33. Base with Flange Connector cable for UR10e/UR16e –123180 196

8.2. Robot Cables 197

8.3. Control Box 198
8.3.1. Filter-Fan-EnergyEater assembly for CB 5.1 – 122750 199
8.3.2. Power Supply Unit for UR3e – 177525 200
8.3.3. Power Supply Unit for UR5e/UR10e/UR16e/OEM AC – 177526 201
8.3.4. Power Supply Unit for OEM DC – 177005 201
8.3.5. Wire bundle from Power Supply to Safety Control Board UR3e – 164071 201
8.3.6. Wire bundle from Power Supply to Control Board UR5e/UR10e/UR16e/OEM AC –
164072 202
8.3.7. Safety Control Board Assembly for UR3e/ UR5e/ UR10e/ UR16e – 124511 202
8.3.8. Battery CR2450 for Safety Control Board Assembly - 170009 203
8.3.9. Terminal set for IOs in Safety Control Board – 104007 204
8.3.10. Teach Pendant and Control Box mounting bolts – 105202 204
8.3.11. Fuse for IOs in Control Board – 170008 205
8.3.12. SCD card for Control Board – 170011/170013/170014 206
 8.3.13. Cover plate with seal – 103240 207
8.3.14. Light pipes for control box - 170007 207
8.3.15. Fan housing and filter for Control Box – 104008/170020 207
8.3.16. 3PE Teach Pendant - 124191 208
8.3.17. Standard Teach Pendant - 124091 209
8.3.18. Control Box 5.2 – 102403 (UR3e) /102400 (UR5e, UR10e, UR16e) 209

8.4. Tools 210

8.4.1. Service tool set – 109011 211
8.4.2. Dual Robot Calibration Tooling - 185500 212
8.4.3. Mounting plate Robot Arm UR5e (Item profile) - 131501 213
8.4.4. Mounting plate Robot Arm UR5e (BOSCH profile) - 131502 214
8.4.5. Mounting plate Robot Arm UR3e (Item & BOSCH profile) - 135103 214
8.4.6. Mounting plate Robot Arm UR5e/UR10e/UR16e (Item & BOSCH profile) - 131510 215
8.4.7. Cable for tool external - 173101 215

9. Packing and Shipping of Robot/Spare Parts 216

10. Change log 217
1. Introduction

1. Introduction
1.1. About This Document
The purpose of the Service Manual is to help Universal Robots (UR) users and integrators to
safely perform service-related operations and troubleshooting.
Universal Robots industrial robots are designed using high quality components to ensure a long
lifetime. However, improper use of a robot or robot parts can potentially cause failures. If, for
example, the robot is overloaded, dropped during relocation, damaged by collision, or any other
improper usage, the warranty will be void.
Universal Robots recommends the user does not attempt repair, adjustment, or make other
interventions in the mechanical or electrical systems of the robot without first consulting a UR
certified service engineer. Any unauthorized intervention voids the warranty. Service-related

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

operations and troubleshooting should only be performed by qualified personnel.
Before performing service-related operations, stop the robot program and disconnect the main
power to any potential dangerous tool on the robot or in the surroundings.
In the event of a defect, Universal Robots recommends ordering new parts from the Universal
Robot distributor where the robot was originally purchased. Alternatively, parts can be ordered
from the nearest distributor, details of which can be obtained from Universal Robots official
website at www.universal-robots.com

1.2. Company Details

Universal Robots A/S
Energivej 25
DK-5260 Odense Denmark
Tel.: +45 89 93 89 89
Fax: +45 38 79 89 89

1.3. Copyright and disclaimers

The information contained herein is the property of Universal Robots A/S and shall not be
reproduced in whole or in part without prior written approval of Universal Robots A/S. The
information herein is subject to change without notice and should not be construed as a
commitment by Universal Robots A/S. This document is periodically reviewed and revised.
Universal Robots A/S assumes no responsibility for any errors or omissions in this document.
Copyright © 2009–2020 by Universal Robots A/S.
The Universal Robots logo is a registered trademark of Universal Robots A/S.

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 1. Introduction

NOTICE
Universal Robots continues to improve reliability and performance of its products,
and therefore reserves the right to upgrade the product without prior warning.
Universal Robots takes care that the content of this document is precise and
correct, but takes no responsibility for any errors or missing information.

NOTICE
Universal Robots disclaims any liability, even if all guidelines in this document
are followed.

1.4. Safety Message Types

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Safety messages in this document contain information that helps you avoid injuries or
equipment damage. This document contains the following safety message types.
DANGER, WARNING, CAUTION, NOTICE and SAFETY INSTRUCTION statements are used
throughout this manual to emphasize important and critical information.
You MUST read these statements to help ensure safety and to prevent product damage.
The statements are defined below.

DANGER
These warnings mean a hazardous situation which, if not avoided, will result in
death or serious injury.

WARNING
These warnings mean a hazardous situation which, if not avoided, could result in
death or serious injury.

CAUTION
These warnings mean a hazardous situation which, if not avoided, could result in
minor or moderate injury.

NOTICE
These warnings mean damage to property may occur if no precautions are taken.

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1. Introduction

CAUTION
This warning sign contain references to safety-relevant information or general
safety measures.
This warning sign do not refer to individual hazards or individual precautionary
measures.

This warning draws attention to procedures which serve to prevent or remedy emergencies or
malfunctions:

MANDATORY ACTION
Procedures marked with this warning must be followed exactly.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

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 2. Handling ESD-Sensitive Parts

2. Handling ESD-Sensitive Parts

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

To prevent damage to ESD-sensitive parts i.e. Printed Circuit Board, follow the instructions below
in addition to all the usual precautions, such as turning off the power before removing the circuit
boards. See section Complete Rebooting Sequence

NOTICE
Be sure you have intact ESD Wristband and a spare ESD bag before replacing any
ESD-sensitive parts.

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2. Handling ESD-Sensitive Parts

NOTICE
Keep the ESD-sensitive part in its original shipping container (a special "ESD
bag") until the part is ready to be installed.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

NOTICE
Put the ESD wristband on your wrist. Connect the wristband to the system ground
point.
It discharges any static electricity in your body to ground.

NOTICE
Replacing an ESD-sensitive part in a safe way is important to avoid damage to the
part. It is important to take precautions when handling an ESD-sensitive part.

NOTICE
Hold the ESD-sensitive part by its edges. Do not touch its pins or hold directly on
any exposed prints.

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 2. Handling ESD-Sensitive Parts
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

NOTICE
First place the OLD part in the spare ESD bag, then take out the NEW part of the
ESD bag.

NOTICE
Do not place the ESD-sensitive part on nonconductive material or on metal
tables/surfaces. If you must put down the ESD-sensitive part for any reason, then
first place it into the ESD bag.

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2. Handling ESD-Sensitive Parts

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

NOTICE
Machine covers and metal tables/surfaces are electrical grounds. They increase
the risk of damage because they make a discharge path from your body through
the ESD-sensitive part. (Large metal objects can be discharge paths without
being grounded.)

NOTICE
If passing an ESD-sensitive part to another person, ensure both are wearing ESD
wristband and the ESD wristband is attached to the system grounding point.

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 2. Handling ESD-Sensitive Parts
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

NOTICE
Be extra careful in working with ESD-sensitive parts when cold-weather and
heating is used, because low humidity increases static electricity.

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3. Recommended Inspection Activities

3. Recommended Inspection Activities

3.1. Robot Arm
3.1.1. Inspection Plan
The table below is a checklist of the type of inspections recommended by Universal Robots.
Perform inspections regularly as advised in the table. Any referenced parts found to be in an
unacceptable state must be rectified or replaced.
See the following sections for detailed guidance:
• 3.1.2. Visual Inspection: Robot arm below
• 4.1. Pre-Use Assessment on page 16

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

• 4.2. Robot Arm on page 17

Inspection action type Timeframe

Monthly Biannually Annually
1 Check blue lids * V ✘
2 Check blue lid screws F ✘
3 Check flat rings V ✘
4 Check robot cable V ✘
5 Check robot cable connection V ✘
6 Check Robot Arm mounting bolts * F ✘
7 Check Tool mounting bolts * F ✘
8 Check screws/bolts on joints * F ✘
V = Visual inspection F = Functional inspection * = Must also be checked after heavy
collision

3.1.2. Visual Inspection: Robot arm

NOTICE
Using compressed air to clean the robot arm can damage the robot arm
components.
• Never use compressed air to clean the robot arm.

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 3. Recommended Inspection Activities

1. Move the Robot Arm to ZERO position, if possible.

2. Turn off and disconnect the power cable from Control Box.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

3. Inspect the cable between Control Box and Robot Arm for any damage.
4. Check the base mounting bolts are properly tightened.
5. Check the tool flange bolts are properly tightened.
6. Inspect the flat rings for wear and damage.
• Replace the flat rings if they are worn out or damaged.
7. Inspect the blue lids on all the joints for any cracks or damage.
• Replace the blue lids if they cracked or damaged.
8. Inspect the screws used for the blue lids are in place and properly tightened.
• Replace or tighten screws, if necessary.

• Correct the torque value for screws on the blue lids to 0.4 Nm

NOTICE
If any damage is observed on a robot within the warranty period, contact the
distributor where the robot was purchased.

3.1.3. Functional Inspection

Do functional inspections to ensure the robot arm and its screws, bolts and tools are not loose.
Use a correctly calibrated torque wrench, specified in Torque Values
to check the screws and bolts listed in the inspection plan.
For the robot arm mounting bolts specifications, see the Hardware Installation Manual, chapter
Mechanical Interface: Mounting.

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3. Recommended Inspection Activities

3.1.4. Cleaning your robot

Everyday cleaning
You can wipe away any dust/dirt/oil observed on the robot arm and/or Teach Pendant using a
cloth and one of the following cleaning agents: Water, Isopropyl alcohol, 10% Ethanol alcohol or
10% Naphtha. In rare cases, very small amounts of grease can be visible from the joint. This
does not affect the function, use, or lifetime of the joint.

Additional cleaning
Due to the added focus on cleaning your robot, Universal Robots recommends cleaning with 70%
isopropyl alcohol (rubbing alcohol).
1. Wipe the robot with a hard twisted micro fiber cloth and 70% isopropyl alcohol (rubbing
alcohol).

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

2. Let the 70% isopropyl alcohol dwell on the robot for 5 minutes, and then clean the robot
using standard cleaning procedure.

DO NOT USE BLEACH. Do not use bleach in any diluted cleaning solution.

3.2. Control Box and Teach Pendant

3.2.1. Inspection Plan
The table below is a checklist of the type of inspections recommended by Universal Robots.
Perform inspections regularly as advised in the table. Any referenced parts found to be in an
unacceptable state must be rectified or replaced.
See the following sections for detailed guidance:
• 3.2.2. Functional and Safety Inspection on the next page
• 3.1.2. Visual Inspection: Robot arm on page 9
• 4.1. Pre-Use Assessment on page 16
• 8.3. Control Box on page 198

Inspection action type Timeframe

Monthly Biannually Annually
1 Check Emergency stop on Teach Pendant F ✘

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 3. Recommended Inspection Activities

Inspection action type Timeframe

Monthly Biannually Annually
On a standard TP: check the freedrive button F ✘
2&3 by pressing it gently.
On a 3PE TP: check the 3PE buttons
pressing them gently.
Check Backdrive mode F ✘
Check Freedrive mode F ✘
4 Check safety inputs and outputs(if F ✘
connected)
5 Check Teach Pendant cable and connector V ✘
6 Check and clean air filters on Control Box V ✘
7 Check terminals in Control Box F ✘
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

8 & 9 Check electrical grounding 1< Ω to Control F ✘

Box
Check main power to Control Box F ✘

V = Visual inspection F = Functional inspection

3.2.2. Functional and Safety Inspection

NOTICE
Robot safety functions is highlight recommended be tested monthly to ensure
correct function.

Emergency Stop button on the Teach Pendant:

1. Press the Emergency Stop button on the Teach Pendant.
2. Observe the robot stops and shuts off power to the joints.
3. Power on robot again.

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3. Recommended Inspection Activities

Freedrive
1. Unmount attachment or set TCP/Payload/CoG according to tool specifications.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

2. To move the robot arm in Freedrive:
• On a standard Teach Pendant, press and hold the Freedrive button.
• On a 3PE Teach Pendant, rapidly light-press, then light-press-and-hold the 3PE button.

Standard TP 3PE TP

3. Pull/Push the robot to a horizontally elongated position and release.

4. Verify the robot arm can maintain the position without support and without pressing the
Freedrive, or 3PE button.

Backdrive
If the robot arm is close to colliding with something, you can use the Backdrive function to move
the robot arm to a safe position before (re)initializing it.
1. Press ON to enable power. Status changes to Robot Active

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 3. Recommended Inspection Activities
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

2. Press and hold Freedrive. Status changes to Backdrive

Standard TP 3PE TP

3. Move robot as in Freedrive. Joint brakes are released where needed once the Freedrive
button is activated.

NOTICE
The robot arm is “heavy” to move around in Backdrive, so efort is required to move
the joints.

MANDATORY ACTION
You must test Backdrive mode on all joints.

Safety settings
Verify the robot safety settings comply with the robot installation risk assessment.
Additional safety inputs and outputs are still functioning

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3. Recommended Inspection Activities

Check which safety inputs and outputs are active and that they can be triggered via PolyScope or
external devices.
Backup data
See section Backup of data

3.2.3. Visual Inspection: Control Box

1. Disconnect the power cable from Control Box.
2. Check the Control Board terminals are properly inserted.Do not ignore loose wires.
3. Check for any dirt/dust inside Control Box. Clean with ESD vacuum cleaner if needed.

NOTICE
Using compressed air to clean the Control Box can cause damage to the Control
Box components.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

• Never use compressed air to clean the Control Box.

3.2.4. Cleaning
See also Cleaning the Robot in Relation to COVID-19
To clean the Teach Pendant touch screen
Use a mild, industrial cleaning agent without thinning agents or any aggressive additives. Do not
use an abrasive material to wipe down the screen.Universal Robots does not promote a specific
cleaning agent.
To clean the Control Box filters
There is a filter on either side of the Control Box.
1. Gently remove the outer plastic frame, by pulling where the red arrows are shown in the
images below. The frame tilts outward.
2. Remove both filters and use low pressure air to clean them.
If necessary, replace filters.

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 4. Service and Replacement of Parts

4. Service and Replacement of Parts

4.1. Pre-Use Assessment
Verify all safety inputs and outputs are correctly connected. Test all connected safety inputs and
outputs, including devices common to multiple machines or robots, are functioning. The
following tests must be conducted before using the robot for the first time or after any
modifications are made:
• Test the emergency stop buttons. Check the robot is stopped and the brakes are engaged.
• Test the safeguard input stops the robot’s motion. If a safeguard reset is configured, check
that it must be activated before motion can resume.
• Test safety boundaries to ensure that Reduced Mode can switch the safety mode and
back.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

• Test the Operational Mode switches (if connected), see icon in top right corner of user
interface to ensure the mode is changing.
• Test the Three-Position Enabling Device (if connected) to enable motion in manual mode
and test that the robot is under reduced speed control.
• Test that the System Emergency Stop Outputs can bring the entire system to a safe state.
• Test that the system connected to Robot Moving Output, Robot Not Stopping Output,
Reduced Mode Output, or Not Reduced Mode Output can detect the output changes.

Read Section 9 to learn how to pack down and ship the robot and/or spare parts. Packing and
Shipping of Robot/Spare Parts

4.1.1. Recommended Tools

Robot Arm Control Box
Service tools – part no.: 109011 Service tools – part no.: 109011

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4. Service and Replacement of Parts

Spirit level Cabinet key SD card reader

or (double-bit key)
Dual Robot Calibration tooling
part no.: 185500

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

4.2. Robot Arm

Service Manual 17 Service Manual

 4. Service and Replacement of Parts
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

4.2.1. Movement Without Drive Power

In the unlikely event of an emergency, when the robot power is either impossible or unwanted,
you can use forced back-driving or contact your Universal Robots distributor if this is not
possible.
To perform forced back-driving you must push, or pull, the Robot Arm hard to move the joint. Each
joint brake has a friction clutch that enables movement during high forced torque.

NOTICE
Moving the Robot Arm manually is intended for urgent emergency and service
purposes only.
The brake inside each joint is not designed for manual release. Attempting to do
so without proper training may cause damage to the brake and other joint
components. This will make the joint un-usable.
Do not move the joint more than necessary.
Not more than 160 degrees to ensure the robot can find its original physical
position.

CAUTION
Attempting to release a joint brake manually may result in injuries personnel or
damage to equipment.

Service Manual 18 Service Manual

4. Service and Replacement of Parts

4.2.2. General Guidance to Separate Joint from Counterpart

WARNING
Before replacing ANY components inside the Control Box, it is important to
completely shut it down first. Follow the first 3 steps in Complete Rebooting
Sequence

NOTICE
Exercise caution when handling ESD sensitive parts. See Section 2: Handling
ESD-Sensitive Parts

Disassemble:

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

1. Before repairing the robot, make sure the necessary tools are available.
1. Service tools with torque tools, ESD Wristband, etc.
2. If you must disassemble the Robot Arm you will need:
new flat rings, wear rings, M3 and M4 tap tool("roll tap" or "forming tap") for threads,
pre-coated screws, or Loctite.

MANDATORY ACTION
Before continuing, read the complete guide in this manual.

2. Move the robot to an appropriate position for disassembly.

3. Shut down the Control Box and remove the main power.
4. If necessary, dismount the entire Robot Arm from the work cell and place on a solid
surface.
5. Remove screws and the blue lid.

6. Now reattach one of the screws, on one of the standoffs and mount the alligator clip on
your ESD wristband, as shown below.

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 4. Service and Replacement of Parts

NOTICE
Some connectors have a lock that must be engaged before it is pulled out of the
printed circuit board.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

7. Gently unplug the cable connectors without bending the printed circuit board.

4.2.3. Joint Connection Types

There are two different ways the joints are assembled.

Screw Connection Bracket Connection

Head Size Torque Head Size Torque

Torx T10 1.3Nm +0,10Nm Hex key 4 5.0Nm +0.00Nm
-0.10Nm -1.00Nm
Torx T20 3.0Nm +0.30Nm
-0.30Nm

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4. Service and Replacement of Parts

4.2.4. Torque Values

Connection Head size Torque
Screw Connection Torx T10 1.3Nm +0,10Nm
-0.10Nm
Screw Connection Torx T20 3.0Nm +0.30Nm
-0.30Nm
Bracket Connection Hex key 4 5.0Nm +0.00Nm
-1.00Nm
Blue lid screws Torx T10 0.4Nm +0.05Nm
-0.05Nm
Tool connector No tools to be used 0.4Nm
Tool mounting Max. 8.0Nm

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

NOTICE
Click the torque tools a minimum of three times before use, to get the correct
calibrated torque.

4.2.5. Power and Communication Connector Types on the Joint

There are two different power plug types and one plug type for communication.
Power Plug Types

This plug can be removed by GENTLY pulling

in the plug.

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 4. Service and Replacement of Parts

This plug has a lock. Use a flat-nose plier or

fingers to unlock and GENTLY pull in the plug.

Communication Plug Type

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

This plug can be removed by GENTLY pulling

in the wire.

4.2.6. Connector Location on joints

Size 0

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4. Service and Replacement of Parts

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Size 1

Size 2

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 4. Service and Replacement of Parts
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Size 3

Size 4

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4. Service and Replacement of Parts

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

4.2.7. Screw Connection
The following two sections describe how to disassemble and assemble a joint with a screw-
connection.

Screw connection location

UR3e UR5e UR10e and UR16e

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 4. Service and Replacement of Parts
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Disassembling Screw Connection

1. Remove the screws in the blue lid, then remove the blue lid as shown in Section General
Guidance to Separate Joint from Counterpart
2. Gently remove the power and communications wires from the terminals as shown in
Section Power and Communication Connector Types on the Joint and Connector Location
on joints.
3. You can use a small flathead screwdriver to push-off the flat-ring.
Then slide the flat-ring over the joint.

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4. Service and Replacement of Parts

4. Remove Teflon-ring.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

MANDATORY ACTION
The joint can fall off if not supported when removing the screws.

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 4. Service and Replacement of Parts

5. First remove the countersunk screws(a) then the remaining(b) screws.

6. The joint is now loose and can be removed. Remember to pull the wires out.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Assemble Screw Connection Joint

The assembly is done in reverse of the disassembly. However, a few things must be noted before
assembly is begun.

NOTICE
Remove old Loctite residue in the screw holes with a roll tap or forming tap (Size
2 M4 the rest M3) for threads before assembling the joint to get the correct
torque on the new screws.
Always use new pre-coated screws when possible. If you must assemble with old
screws, carefully clean the screws and add Loctite 243 to the screws before
assembly.
Always replace the black flexible flat ring with a new one to maintain the IP
classification.
Replace the wear rings if extensive wear or damage is shown

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4. Service and Replacement of Parts

1. Orient the joints according to the marks (indicated by red arrows in the image below) and
gently push the two joints together.
2. Insert and tighten the hex countersunk screws according to the image below. Do not
exceed recommended torque.
Example: 1, 2, 3

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

3. Insert and tighten the hex screws according to the image below. Do not exceed
recommended torque.
Example: 1A, 1B, 2A, 2B etc.

4.2.8. Bracket Connection

The following two sections describe how to disassemble and assemble a joint with a bracket-
connection.

Bracket connection location

UR5e UR10e and UR16e

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 4. Service and Replacement of Parts
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Disassembly Bracket Connection

1. Remove the screws in the blue lid, then remove the blue lid as shown in Section General
Guidance to Separate Joint from Counterpart.
2. Gently remove the power and communications wires from the terminals as shown in
Section Power and Communication Connector Types on the Joint and Connector Location
on joints.
3. Remove the black flat-ring. You can use a small flathead screwdriver.

4. Remove the screws and the bracket on one side.

MANDATORY ACTION
The joint can fall off if not supported when removing the bracket.

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4. Service and Replacement of Parts

5. Support the joint as you remove the second side of the bracket.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

6. The joint is now loose and can be removed. Remember to pull the wires out as well.

Assembling Bracket Connection

The assembly is done in reverse of the disassembly. However, a few things must be noted before
assembly is begun.

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 4. Service and Replacement of Parts

NOTICE
Always replace the black flexible flat ring with a new one to maintain the IP
classification.
Replace the foam seal on the brackets if damaged to maintain the IP
classification.
Replace the wear rings if extensive wear or damage is shown.
The dots must be aligned otherwise the connection cannot be made.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

CAUTION
Joints should be assembled in a vertical position to ensure proper mating
between the joints.
Ensure the screws are inserted in the correct bracket.
Only apply to early version of brackets where one side has a circular marker.

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4. Service and Replacement of Parts

When tightening the brackets, it must be done in steps. Do not exceed recommended torque:
• Step 1: Tighten one side so there is a gap of 1.0mm to 1.5mm.

• Step 2: Tighten the other side completely with 5.0 Nm

• Step 3: Tighten the first side with 5.0 Nm

• Step 4: Ensure same gap at both ends.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

4.2.9. Tool Flange
The tool flange is a Screw Connection and is disassembled like a joint with this connection.
See section Screw Connection
Power and communication plug is in the same plug.

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 4. Service and Replacement of Parts

4.2.10. Joint Verification

When a joint is replaced it needs to be verified by the controller to be assigned the correct ID.
The steps below appear automatically when the Robot Arm is powered on for the first time.
1. Go to Initialize screen and press ON
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

2. A popup appears saying that joints need verification. Confirm the popup message by
pressing Check

3. Press Test Joints to start joint verification.

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4. Service and Replacement of Parts

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

4. Move all joints with the arrows respective to each joint.
1. If joints move as expected, press Valid and a popup appears. Follow the popup
instructions.
2. If joints did not move as expected (i.e., wrong joint moves or incorrect direction),
press Failed and a popup appears. Follow the popup instructions.

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 4. Service and Replacement of Parts

4.2.11. Zeroing of Joints

When a joint has been replaced and verified it may be necessary to zero the joint so that it is
aligned with the rest of the robot arm. There are two ways this can be done.
• Automatically - Dual robot calibration – this is recommended method as it is done via
controlled procedure and removes human errors. Please consult Calibration manual for
this process.
• Manually - Access Expert mode and use a spirit level, to level the joint.

The following step guides how to zero the joint(s) manually.

1. Power on the robot and ensure the brakes are released.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

2. Press and hold the UR logo for approximately 5 seconds. The screen will change.

3. Press the gray box and type the password lightbot and press OK

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4. Service and Replacement of Parts

4. Select Joint Zeroing in the menu to the left.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

5. Use the arrows in the Joint Position window on the right side of the screen to move each
joint to align as shown in the images below. The Speed Slider can be used to reduce the
speed of movement.

Base Shoulder, Elbow, Wrist 1

Shoulder, Elbow and Wrist 1 zero output flange

Base zero position is aligned so the Base joint
vertically align (assuming Base is horizontal).
is offset 180 degrees from the cable at the
Make sure that Base of the robot is horizontal,
back of the robot base.
use spirit level to align joints.
Wrist 2 Wrist 3

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 4. Service and Replacement of Parts

Wrist 2 zero position is aligned like the Base Wrist 3 zero position is aligned so the tool
joint, with tool flange parallel with Wrist 1 connector is pointing upward. Mount two bolts
output flange. in tool holes and use spirit level to align joint.

6. In the Joint Zeroing window select the joint you want to zero. When selected the box will
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

change from gray to blue. Press Zero Joints

7. Confirm you want to zero the joint. The robot will power down after confirmation.

8. A popup shows to confirm that the joint(s) has now been zeroed. Press OK to close the
popup and return it to normal.

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4. Service and Replacement of Parts

4.2.12. Dual Robot Calibration

Dual Robot Calibration calibrates the robot in the full work space. Each new robot is Dual Robot
Calibrated as part of final assembly.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

NOTICE
If a joint is replaced on a calibrated robot the calibration is no longer valid.

Performing a Dual Robot Calibration after replacement of a joint allows the robot to continue in
the production line without modifying waypoints in the robot program.
To perform a Dual Robot Calibration, you need:
• 2 robots (same size and same generation)
• Dual Robot Calibration Tooling Complete (Part no: 185500)

You can download the Calibration Manual from the Universal Robots Support site www.universal-
robots.com/support/

4.2.13. Program Correction by Key Waypoints

Program Correction by Key Waypoints helps adjusting programs waypoints when a program is
moved from an uncalibrated robot to another. The technique can also be used to make programs
work after replacements of joints.
Please refer to the Calibration Manual from the Universal Robots Support site www.universal-
robots.com/support/ for detailed description on how to use this feature.

NOTICE
Program Correction by Key Waypoints does not currently support the following:
- Other types of waypoints with the exception fixed waypoints.
- Move node with Use Joint Angles selected.
The unsupported program nodes above may need to be corrected manually after
the Program Correction by Key Waypoints process is complete.

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 4. Service and Replacement of Parts

4.3. Robot Cable

4.3.1. Replacing Robot Cable

CAUTION
The maximum robot connection from the robot arm to the Control Box is 12 m.
Improper robot connection can result in loss of power to the robot arm.
• Do not extend a 6 m.

NOTICE
Connecting the Base Flange Cable directly to any Control Box can result in
equipments or property damage.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

• Do not connect the Base Flange Cable directly to the Control Box.

1. On the base of the robot arm, locate the robot connection and twist it to the Open position.
2. Pull the robot connection apart to separate the Robot Cable from the Base Flange Cable.
3. On the Control Box, locate the robot connection cable and twist it to the Open position.
4. Pull the robot connection apart to separate the Robot Cable from the Control Box
connector.
5. Connect the new Robot Cable to the Base Flange connector and twist to the Closed
position.

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4. Service and Replacement of Parts

6. Connect the new Robot Cable to the Control Box connector and twist to the Closed position

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

4.4. Control Box
4.4.1. Dismantling the Control Box

WARNING
Before replacing ANY components inside the Control Box, you MUST do a
complete shutdown.
Follow the first 3 steps in section Complete Rebooting Sequence

NOTICE
Exercise caution when handling ESD sensitive parts.
See section 2. Handling ESD-Sensitive Parts
If possible, lay the Control Box on its back.
Assembling is done in revers from the steps shown.

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 4. Service and Replacement of Parts

1. Power off Control Box – follow step 1 to 3 in section Complete Rebooting Sequence
2. Remove all the I/O Terminals, the Fuse, SD-card and any other I/O etc. that may be
connected.

3. Remove the Teach Pendant, see Section 4.4.4. Replacing the Teach Pendant: Standard
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

TP on page 54
4. Lay the Control Box on the backside and remove the four nuts.

5. Take out the Control Box bracket and place it on the edge of the Control Box as shown
below.

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4. Service and Replacement of Parts

6. Remove the wires connecting the Control Box bracket and the Control Box.
Take note of the connections or consult the eletrical diagram in Section 7. Electrical
drawings

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Power Supply

UR5e, UR10e and UR16e UR3e

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 4. Service and Replacement of Parts

7. Remove the four screws on the bottom of the power supply, then remove the power supply.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

NOTICE
When assembling, the screws must not be tightened with a torque greater than

1.0 Nm

8. Remove the twenty-two screws and remove the Control Board upward.

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4. Service and Replacement of Parts

9. Removing the Energy Eater and fan assembly. Remove the four screws.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

NOTICE
When assembling, remember to place the round spacers behind the Energy Eater
board.

Service Manual 45 Service Manual

 4. Service and Replacement of Parts

4.4.2. Dismantling the OEM AC and DC Control Box

The OEM AC and DC version are special

Control Box units made for OEM installation in
AC and DC environments.

WARNING
Before replacing ANY components inside the Control Box, you MUST do a
complete shutdown.
Follow the first 3 steps in section Complete Rebooting Sequence
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

NOTICE
Exercise caution when handling ESD sensitive parts.
See section 2. Handling ESD-Sensitive Parts
If possible, lay the Control Box on its back.
Assembling is done in revers from the steps shown.

OEM DC Control Box Special Precautions

WARNING
In case of a battery failure, (for example, due to a short circuit) the current can
cause fire or explosion. To avoid injury while performing service:
Wear safety glasses.
Wear fireproof protective gloves.
Do not perform service or maintenance work on the OEM DC Control Box if a
circuit breaker, or a power switch and a fuse are not installed.
Ensure that the circuit breaker or the power switch is off and there is no voltage
on the power connector before connecting or disconnecting the connector.

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4. Service and Replacement of Parts

NOTICE
Since the control box does not have the reverse polarity protection, reversing the
DC source polarity causes permanent damage to the control box. Such damage
requires the replacement of the DC-DC PSU. To ensure that the polarity of the
power source wiring is correct:

Doublecheck the polarity of wires in the power connector using a multimeter. Do

not rely on the wire colors unless you have access to the battery terminals and
can see where the wires are connected.

Ensure that the wires are installed correctly in the connector terminals. Ensure
that:
Wires are not loose.
Wires are fully inserted in terminals.
Ensure that the control box is grounded properly. For information on grounding,

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

see the OEM Control Box Installation Guide.
Ensure that the wires in the power connector can sustain the short circuit cut-off
current of the circuit breaker or fuse. For example, an AWG12 wire is rated up to
34A, so the cut-off current of the protective device must be at least 34A or lower
to protect the wire and the system.

Dismantling the OEM AC and DC Control Box

1. Follow step 1 and 2 as described in Dismantling the Control Box

2. Remove main power connection by pushing in on the two clips and pull backwards.

3. Remove robot cable by unscrew the top part clock-vise then pull the plug out.

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 4. Service and Replacement of Parts

CAUTION
When pulling the robot arm cable connector, be careful not to scrape your
hand/fingers on the frame edge.

4. Remove the OEM Control Box from its installation and place it on a table or similar.
5. Remove the 4 screws(T20) shown below, remember the washers as well.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

6. Remove the top lid.

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4. Service and Replacement of Parts

7. Now the power plug on the inside needs to be disconnected from the frame, how to do this
correctly is shown in Step 8.

8. For removing the power plug, you will need a small 2mm flathead screwdriver. Pull in the

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

power plug AND tip the two front locks upwards at the same time

9. Remove all connections to the Control Board.

10. Lay the Control Box on the “back”

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 4. Service and Replacement of Parts

11. Remove the 6 screws(T20) shown below.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

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4. Service and Replacement of Parts

12. Pull out the front part where the power supply and Control Board is attached.

13. There are now two possibilities:

• Remove Power Supply and/or Control Board
• See step 7 and 8 in section Dismantling the Control Box
NOTE: Remember to cable tie the energy eater cable to the power cable when

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

assembly the unit.
- Remove Energy Eater and/or Fan
See next step.
14. Remove the 4 nuts(7mm) on the Energy eater side and pull the individually part off the
screws(T20).

4.4.3. Torque Values

Torque values and notes for Control Box

Below are the torque values used in the Control Box.

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 4. Service and Replacement of Parts

NO. DESCRIPTION Tool size Torque

1 Nut for internal CB bracket 10mm 2.25Nm
2 Robot connector screw Torx T20 1.5Nm
3 Screw for feet bracket Hex key 5 4.0Nm
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

4 Screw and washer for cover plate Torx T20 1.5Nm

5 Control Box and Teach pendant mounting nut 10mm 2.25Nm

NO. DESCRIPTION Tool size Torque

1 Screw for fan and energy eater assembly Torx T20 0.6Nm
2 Screw for mounting power supply Torx T20 1.0Nm
3 Internal power terminal screws PZ2 1.2Nm
4 External power terminal screws PZ2 1.2Nm
5 Control Board mounting screws Torx T10 0.6Nm
6 Bolt for Control Box handle Hex key 5 4.0Nm

Torque values and notes for OEM AC and DC Control Box

Below are the torque values used in the OEM AC and DC Control Box.

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4. Service and Replacement of Parts

NOTICE
The washer, when present, need to have the spikes facing downwards.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

NO. DESCRIPTION Tool size Torque
1 Bolt and nut for fan and energy eater Torx T20/7mm 0.6Nm
2 Panel screw and washer Torx T20 1.6Nm
3 Robot connector screw Torx T20 1.6Nm
4 Shield connecting bold and washer 10mm 2.25Nm

NO. DESCRIPTION Tool size Torque

1a AC external power terminal screws PZ2 1.2Nm

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 4. Service and Replacement of Parts
1b DC external power terminal bolts 8mm 1.6Nm
2a AC internal power terminal screws PZ2 1.2Nm
2b DC internal power terminal screws PZ2 1.6Nm
3 Control Board mounting screws Torx T10 0.6Nm
4 Bolt and nut for fan and energy eater 10mm 2.25Nm
5 Power supply mounting screw Torx T20 1.0Nm
6 Panel screw and washer Torx T20 1.6Nm

4.4.4. Replacing the Teach Pendant: Standard TP

This section describes how to remove and replace a Standard Teach Pendant. For information on
how to replace a Standard Teach Pendant with a 3PE Teach Pendant, see 4.4.5. Replacing the
Teach Pendant: 3PE TP on the facing page.

WARNING
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

When the Teach Pendant is replaced, test the E-stop button function.

NOTICE
Replacing the Teach Pendant can result in the system reporting a fault on start-
up.
• Always select the correct configuration for the type of Teach Pendant.

To remove:
1. Power down the control box and disconnect the mains cable from the power source.
2. Remove and discard the two cable ties used for mounting the Teach Pendant cables.
3. Press in the clips on both sides of the Teach Pendant plug, as illustrated below, and pull
down to disconnect from the Teach Pendant port.
4. Fully open/loosen the plastic grommet at the bottom of the control box and remove the
Teach Pendant plug and cable.
5. Gently remove the Teach Pendant cable and Teach Pendant.

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4. Service and Replacement of Parts

To replace:
1. Place the Teach Pendant plug and cable in through the bottom of the Control Box and fully
close/tighten the plastic grommet.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

2. Push the Teach Pendant plug into the Teach Pendant port to connect.
3. Use two new cable ties to mount the Teach Pendant cables.
4. Connect the main power cable to the power source and power on the Control Box.

4.4.5. Replacing the Teach Pendant: 3PE TP

This section describes how to replace a Standard Teach Pendant with a 3PE Teach Pendant. For
information on how to remove and replace a Standard Teach Pendant, see 4.4.4. Replacing the
Teach Pendant: Standard TP on the previous page.

WARNING
When the Teach Pendant is replaced, test the function of the 3PE buttons.

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 4. Service and Replacement of Parts

NOTICE
Replacing the Teach Pendant can result in the system reporting a fault on start-
up.
• Always select the correct configuration for the type of Teach Pendant.

To remove:
1. Power down the control box and disconnect the main power cable from the power source.
2. Remove and discard the two cable ties used for mounting the Teach Pendant cables.
3. Press in the clips on both sides of the Teach Pendant plug, as illustrated, and pull down to
disconnect from the Teach Pendant port.
4. Fully open/loosen the plastic grommet at the bottom of the Control Box and remove the
Teach Pendant plug and cable.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

5. Gently remove the Teach Pendant cable and Teach Pendant.

To replace:
1. Place the 3PE Teach Pendant plug and cable in through the bottom of the control box and
fully close/tighten the plastic grommet.
2. Push the 3PE Teach Pendant plug into the Teach Pendant port to connect.
3. Use two new cable ties to mount the 3PE Teach Pendant cables.
4. Connect the main power cable to the power source and power on the Control Box.

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Service Manual
4. Service and Replacement of Parts

57
Service Manual
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.
 5. Software

5. Software
5.1. Software Updates
Universal Robots software is called PolyScope.

CAUTION
Read these instructions and the instructions on our support website
(www.universal-robots.com/support) completely prior to updating your software.
Universal Robots assumes no responsibility for failed updates caused by
improper operation.
Control Box power MUST NOT be turned off during the software update process.
Failure to meet this demand is likely to cause loss of data and malfunction.
Keeping the robot software up to date is required to ensure safe operation. Also,
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

the latest software provides more features and a better performance.

Read the Release Notes of the software you install. Release Notes hold notes
about the software changes which in some cases are relevant for safe operation
of the robot.
Updating the software may cause changes to functionality. Robot motions might
change or be subjected to different restrictions.
In case of questions or concerns related to your application please contact your
supplier for advice and assistance.

Not all combinations of updates are possible. These are the rules to observe:
• If running PolyScope 5.5.0 and above:
Update directly to PolyScope 5.8.0 or any later version.
• If running PolyScope 5.4.3 and below:
Updates must be done incrementally in steps of one minor version.
E.g. PolyScope 5.2.1 à 5.3.1 à 5.4.3 à 5.5.1.
When PolyScope 5.5.0 is reached, software can be updated directly to the latest version.

Therefore, when updating your robot software care must be taken to select a proper update path.
Several update steps will be necessary until reaching a version of 5.5.0.
Downgrading software is not supported. In PolyScope 5.5.0 backup and restore functionality is
added and this is the recommended way to go back to any prior version installed. We strongly
recommend that you precede any update cycle with a backup to counter the situation of a failing
update. Please contact your supplier if updating causes any trouble.

5.1.1. Update Procedure

1. On your robot, go to About and check your current software version.

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5. Software

2. Download to your computer the software versions needed to be installed, you can
download from Universal Robot’s website (www.universal-robots.com/support).
• If your SW is below 5.5 (E.g.: 5.3), you will need to incrementally update until you
reach 5.5 (E.g.: 5.3 to 5.4, then 5.4 to 5.5), after updating to software 5.5 you can
download the most up to date software and go straight from 5.5 to this last update

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

(E.g.: 5.5 to 5.8).
• If your SW is equal or above 5.5, just download the most updated software version
file and install it straight from your current software version (E.g: 5.5 to 5.8).
3. Download the software version(s) needed to update your software and save file(s) in the
root of a USB stick on your computer.
4. On the top right side of the Teach Pendant, insert the USB stick into the USB connector.

5. On teach pendant screen, press the right top corner icon   to access the settings
menu.

6. Press Settings to access the settings menu.

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 5. Software

7. On the left side menu, select System.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

8. Press Update, then Search to locate software update on USB stick.

9. Select the desired software update and press Update.

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5. Software

10. Press Install Software to update the software.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

11. The robot will power off and power on again. Once the update is complete, the Control Box
automatically reboots. Do not power off or unplug the robot from the outlet during startup.
12. Wait until the reboot is complete. Firmware for the control Box and Tech Pendant is
updated.
13. When complete, go to the Initialize screen and press ON, if available joint firmware is going
to update.

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 5. Software

14. Remove the USB stick.

15. If it is the case, repeat steps 4. To 14. until reaching the most updated version.
• Note: From software version 5.5 beyond, the most updated version available in UR’s
website can be installed direct, no need to incrementally install updates.

More info is displayed on release notes on support site. Read it for new features releases and
improvements.

5.1.2. Update timeline

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

• If your software version is one of the yellow sections, you need to install incrementally
until 5.5.
• If your software version is one of the blue sections, you can update direct to any green
version.
• If your software version is one of the green sections, you can update direct to any green
version. 

5.1.3. Downgrading vs. Restoring system backup

Do not downgrade the robot software to an earlier version than the version the robot was
manufactured.
Do not revert your robot software using older update packages if you have software version equal
or above 5.8 installed. If for any reason, you need to downgrade below PolyScope version 5.8, you
can do so by restoring your old system backup (system backup was implemented from
Polyscope version 5.5 ahead).

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5. Software

NOTE
The system backup requires around 4Gb memory, please use a USB stick of 4Gb
or more capacity.

NOTICE
Always perform program and installation files backup before updating the
software.

5.2. Using Support File

For easy backup, Universal Robots provides a feature available from software version equal or
above 5.8 called Support File, an automatically copy of the robot data from Control Box to the

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

USB stick.

1. Go to Log tab, insert a USB stick and click on Support File.

NOTE
This backup requires around 1Gb memory, please use a USB stick of 2Gb or more
capacity.

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 5. Software

NOTICE
Always perform program and installation files backup before updating the
software.

5.3. Using Magic Files

For easy backup, Universal Robots provides Magic Files to automatically copy data from Control
Box to USB stick. Magic files backup works with all software versions.

NOTICE
Always perform program and installation files backup before updating the
software.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Available file Function

URmagic log file     Copies the entire log history file to USB stick
URmagic backup Copies all programs and installation files to USB stick
programs
URmagic configuration Copies all configuration files to USB stick
files
URmagic upload Copies all programs and installation files from a USB-stick to the
programs robot
URmagic screenshot     Generates a screenshot of GUI when USB stick is inserted

You can download Magic Files at: www.universal-robots.com/support

5.3.1. Using Magic Files

1. Download and save Magic Files to the root folder on a USB stick. If more than one Magic
File is on the USB stick, they run in sequence. Warnings appear for each file. Do not
remove the USB stick until the last file has finished. Multiple folders are created and
named with serial number as well as a sequence number (e.g., 201855xxxx_0, 201855xxxx_
1).
2. Insert a USB stick into the USB connector located on the top right side of the Teach
Pendant.
3. A red !USB!-sign appears on the screen. Do not remove the USB stick.
4. Wait for a green <-USB-sign to appear. If more than one Magic File is on the USB stick,
proceed to Step 3. NOTE: Large files (e.g., history log) may take up to 2 minutes to
download.
5. After the last Magic File is completed the USB stick can be safely removed.

The Magic File creates a folder on the USB stick named with the serial number of the robot.

Service Manual 64 Service Manual

5. Software

5.4. Backup of data

NOTICE
When copying/moving files and folders, incorrect use might corrupt the file
system.
Contact your IT professional for assistance if you are not comfortable with this
procedure.

This section explains the process of moving required files during a robot backup.

5.4.1. Hardware Requirements

The following hardware is needed:

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

• SD Card (Universal Robots 4GB Industrial grade SD card)
• A standard SD card reader

5.4.2. Software Requirements

When using Windows operation system, to read a Linux partition a software file system driver is
required; in this example we are using “Linux File Systems for Windows” by Paragon but other
Windows Linux reader can be used as well (these are however not tested by Universal Robots).

NOTICE
"Linux File Systems for Windows” by Paragon software is a third-party software.
Universal Robot take no responsibility for this software.

5.4.3. How to Access Linux Partition from Windows

With the software from Paragon you can access all partitions on the SD-card.
The files needed are located on the partition called datafs

Service Manual 65 Service Manual

 5. Software

If the partition is not shown, it could be it is not mounted automatically.

To correct this, open the Paragon software, select the partition (1), select the Mount icon (2),
select the Volume drive letter (3) then Mount (4).

5.4.4. Copy the data from SD card

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Navigate to the SD card partition called datafs and copy the below listed files/folders.

NOTICE
Do not alter any files. You must only take backup copies as needed.

• programs/ [all of the following files: .urp, .txt, .script, .installation, .variable, .old]
• root/ur-serial
• root/log_history.txt
• root/log_history.bak [if existing]
• root/histogram.properties
• root/flightreports [Complete folder if existing]
• root/.urcontrol/calibration.conf
• root/.urcontrol/calibration.log
• root/.urcontrol/robot_calibration_summary.txt

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6. Troubleshooting

6. Troubleshooting
6.1. Adding External Equipment for Troubleshooting
Purpose
For troubleshooting it can be useful to add a mouse, keyboard or monitor.
Most USB mouse and keyboards are supported. Plug in the mouse or keyboard in one of the
available USB ports. It may be required to restart the Control Box for it to work.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

In the Control Box, a Mini Display Port is available. When a monitor is connected, it will
display the same contend as the Teach Pendant and can be connected at the same time as
the Tech Pendant. It may be required to restart the Control Box for it to work.

6.2. Support Log Reader (SLR)

Open log files with the Universal Robots Support Log Reader (SLR).
Go to www.universal-robots.com/support to download the Support Log Reader

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 6. Troubleshooting

1. Filter;
Select what filter to activate

Info filter: 
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Warning filter:

Error filter:
2. Tool bar;
Load log files, export error codes, change language
3. Text search;
Type error code or text
4. Log start Info bar*;
Created every time the robot is powered on.
5. Highlighted text;
When tapped, gives more detailed Information.
6. PolyScope time
7. Reporter;
Where the info is reported from ”safety, PolyScope, etc.”
8. Message;
Text with the Cxxxx refers to the error codes.
9. Log Entries;
Shown and total
10. Expand or collapse all Info bars (point 4)

NOTE
After loading the log file every Log Start Info Bar (4) is collapsed and only the
summary for each log start is visible.

Service Manual 68 Service Manual

6. Troubleshooting

6.3. Error codes

In the error codes, multiple terms are used for the same components and codes until C271 are
shared between robot generations.
• On the Safety Control Board: Processor A = A uP = SafetySys1
• On the Safety Control Board: Processor B = B uP = SafetySys2
• PSU = Power Supply
• PC   = Controller

Error code Description Explanation Suggestion

C0A No error
C1A Outbuffer overflow
C1A1 Buffer of stored

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

warnings overflowed
C1A2 Outbuffer to RS485
overflowed (problem
with Controller
message)
C2A Inbuffer overflow
C3A Processor
overloaded
C4A Communication
issue
C4A1 Communication with Between Control Board and a) Check Ethernet cable
Controller lost. Motherboard between Control Board
and Motherboard, check
that a script or UR+
software is not
overloading the
communication between
the Control Board and
Motherboard.
b) Do a Complete
rebooting sequence.
c) Update the software

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 6. Troubleshooting

C4A2 Communication with a) Check TCP/IP

Safety Control Board connection between
A uP lost Motherboard and Control
Board.
b) Do a Complete
rebooting sequence.
c) Replace Safety
Control Board
C4A3 Communication with a) Check TCP/IP
Safety Control Board connection between
B uP lost Motherboard and Control
Board.
b) Do a Complete
rebooting sequence.
c) Replace Safety
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Control Board
C4A4 Communication with a) Check RS485-12V
primary Teach connection between
Pendant uP lost Motherboard and Teach
Pendant.
b) Do a Complete
rebooting sequence.
c) Replace Teach
Pendant
C4A5 Communication with a) Check RS485-12V
secondary Teach connection between
Pendant uP lost Motherboard and Teach
Pendant.
b) Do a Complete
rebooting sequence.
c) Replace Teach
Pendant
C4A6 Communication with a) Check Euromap67
primary EUROMAP67 connection between
uP lost Motherboard and Teach
Pendant.
b) Do a Complete
rebooting sequence.
c) Replace Teach
Pendant

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6. Troubleshooting

C4A7 Communication with a) Check Euromap67

secondary connection between
EUROMAP67 uP lost Motherboard and Teach
Pendant.
b) Do a Complete
rebooting sequence.
c) Replace Teach
Pendant
C4A8 Primary EUROMAP67 Incorrect safety a) Update the
uP present, but configuration miscellaneous settings
euromap67 is in the Safety
disabled Configuration.
b) Do a Complete
rebooting sequence
C4A9 Secondary Incorrect safety a) Update the

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

EUROMAP67 uP configuration miscellaneous settings
present, but in the Safety
euromap67 is Configuration.
disabled b) Do a Complete
rebooting sequence
C4A10 Primary Teach Incorrect safety a) Update the
Pendant present, but configuration miscellaneous settings
Teach Pendant in the Safety
safety is disabled Configuration.
b) Do a Complete
rebooting sequence
C4A11 Secondary Teach Incorrect safety a) Update the
Pendant uP present, configuration miscellaneous settings
Teach Pendant in the Safety
safety is disabled Configuration.
b) Do a Complete
rebooting sequence
C4A12 Communication with More than 1 package lost a) Verify that the
joint 0 lost communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A13 Communication with More than 1 package lost a) Verify that the
joint 1 lost communication cables
are connected properly.
b) Do a Complete
rebooting sequence

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 6. Troubleshooting

C4A14 Communication with More than 1 package lost a) Verify that the
joint 2 lost communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A15 Communication with More than 1 package lost a) Verify that the
joint 3 lost communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A16 Communication with More than 1 package lost a) Verify that the
joint 4 lost communication cables
are connected properly.
b) Do a Complete
rebooting sequence
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C4A17 Communication with More than 1 package lost a) Verify that the
joint 5 lost communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A18 Communication with More than 1 package lost a) Verify that the
tool lost communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A65 Lost package from 1 package lost If this happens often:
Primary Teach a) Verify that the
Pendant communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A66 Lost package from 1 package lost If this happens often:
Secondary Teach a) Verify that the
Pendant communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A67 Lost package from 1 package lost If this happens often:
Primary Euromap67 a) Verify that the
communication cables
are connected properly.
b) Do a Complete
rebooting sequence

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6. Troubleshooting

C4A68 Lost package from 1 package lost If this happens often:

Secondary a) Verify that the
Euromap67 communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A69 Lost package from 1 package lost If this happens often:
Secondary a) Verify that the
Masterboard communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A70 Lost package from Serial communication If this happens often:
joint 0 problem with one or more a) Verify that the
joints communication cables

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

are connected properly.
b) Do a Complete
rebooting sequence
C4A71 Lost package from Serial communication If this happens often:
joint 1 problem with one or more a) Verify that the
joints communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A72 Lost package from Serial communication If this happens often:
joint 2 problem with one or more a) Verify that the
joints communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A73 Lost package from Serial communication If this happens often:
joint 3 problem with one or more a) Verify that the
joints communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A74 Lost package from Serial communication If this happens often:
joint 4 problem with one or more a) Verify that the
joints communication cables
are connected properly.
b) Do a Complete
rebooting sequence

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 6. Troubleshooting

C4A75 Lost package from Serial communication If this happens often:

joint 5 problem with one or more a) Verify that the
joints communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A76 Lost package from Serial communication If this happens often:
tool problem with one or more a) Verify that the
joints communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A77 Lost package from 1 package lost If this happens often:
uPA to joints a) Verify that the
communication cables
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

are connected properly.

b) Do a Complete
rebooting sequence
C4A78 Lost package from 1 package lost If this happens often:
uPA to teach a) Verify that the
pendant communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A79 Lost package from 1 package lost If this happens often:
uPA to uPB a) Verify that the
communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A80 Lost package from 1 package lost If this happens often:
uPB a) Verify that the
communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A81 Packet counter Safety processor 1 in If this happens often:
disagreement in Teach Pendant has a a) Verify that the
packet from Primary packet disagreement communication cables
Screen are connected properly.
b) Do a Complete
rebooting sequence

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6. Troubleshooting

C4A82 Packet counter Safety processor 2 in If this happens often:

disagreement in Teach Pendant has a a) Verify that the
packet from packet disagreement communication cables
Secondary Screen are connected properly.
b) Do a Complete
rebooting sequence
C4A83 Packet counter If this happens often:
disagreement in a) Verify that the
packet from Primary communication cables
Euromap67 are connected properly.
b) Do a Complete
rebooting sequence
C4A84 Packet counter If this happens often:
disagreement in a) Verify that the
packet from communication cables

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Secondary are connected properly.
Euromap67 b) Do a Complete
rebooting sequence
C4A85 Packet counter If this happens often:
disagreement in a) Verify that the
packet from Safety communication cables
Control Board B are connected properly.
b) Do a Complete
rebooting sequence
C4A86 Packet counter If this happens often:
disagreement in a) Verify that the
packet from joint 0 communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A87 Packet counter If this happens often:
disagreement in a) Verify that the
packet from joint 1 communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A88 Packet counter If this happens often:
disagreement in a) Verify that the
packet from joint 2 communication cables
are connected properly.
b) Do a Complete
rebooting sequence

Service Manual 75 Service Manual

 6. Troubleshooting

C4A89 Packet counter If this happens often:

disagreement in a) Verify that the
packet from joint 3 communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A90 Packet counter If this happens often:
disagreement in a) Verify that the
packet from joint 4 communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A91 Packet counter If this happens often:
disagreement in a) Verify that the
packet from joint 5 communication cables
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

are connected properly.

b) Do a Complete
rebooting sequence
C4A92 Packet counter If this happens often:
disagreement in a) Verify that the
packet from tool communication cables
are connected properly.
b) Do a Complete
rebooting sequence
C4A93 Packet counter If this happens often:
disagreement in a) Verify that the
packet from communication cables
processor A to joints are connected properly.
b) Do a Complete
rebooting sequence
C4A94 Packet counter If this happens often:
disagreement in a) Verify that the
packet from communication cables
processor A to B are connected properly.
b) Do a Complete
rebooting sequence
C4A95 Packet counter If this happens often:
disagreement in a) Verify that the
packet from communication cables
processor A to are connected properly.
Teach Pendant and b) Do a Complete
EUROMAP rebooting sequence

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6. Troubleshooting

C4A100 Communication lost If this happens often: a)

due to Packet Verify that the
counter communication cables
disagreements are connected properly.
b) Do a Complete
rebooting sequence
C5A Heavy processor
load warning
C10A Controller
communication
issue
C10A1 Lost packet from
Controller
C10A101 Controller packet

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

received too early
C10A102 Packet counter does
not match
C10A103 Controller is sending
packets too often
C11A Bad CRC Serial communication Check black 2-wire
problem with joint connectors and wires in
joints
C12A Unknown message
error
C14A Debug message
C14A1 {float}
C14A2 {signed}
C14A3 {unsigned}
C17A Communication error a) Check Ethernet
between Safety connection between circuit
Control Board and boards. b) Do a Complete
Motherboard rebooting sequence. c)
Update the software
C25A Motor Encoder index Joint mechanical problem Try the following actions
missing to see which resolves
the issue: (A) Conduct a
complete rebooting
sequence, (B) If this
happens more than
twice, replace joint

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 6. Troubleshooting

C26A Motor Encoder index Joint mechanical problem a) Do a Complete

drift detected rebooting sequence.
b) If this happens more
than two times in a row,
replace joint
C27A Calibration data is a) Do a Complete
invalid or does not rebooting sequence.
exist, selftest is b) If this happens more
needed! than two times in a row,
replace joint
C29A Online Calibration a) Do a Complete
data checksum rebooting sequence.
failed b) If this happens more
than two times in a row,
replace joint
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C30A Master received data

from too many joints
C31A Caught wrong Serial communication Check black 2-wire
message (not from problem with joint connectors and wires on
master) joints
C32A Flash write verify
failed
C33A Calibration flash
checksum failed
C34A Program flash Update Firmware
checksum failed
C34A0 Program flash
checksum failed
during bootloading
C34A1 Program flash
checksum failed at
runtime
C35A Joint ID is undefined
C36A Illegal bootloader
command
C37A Inbuffer parse error Serial communication Check black 2-wire
problem with joint connectors and wires on
joints
C38A1 Data-bus test failed
C38A2 Address-bus stuck-
high test failed

Service Manual 78 Service Manual

6. Troubleshooting

C38A3 Address-bus stuck-

low test failed
C38A4 Address-bus shorted
test failed
C38A5 Memory-cell test
failed
C38A Online RAM test Check the log file for
failed what item is reporting
this error. Replace the
reporting item
C39A Logic and Temporal
Monitoring Fault
C39A1 Max current a) Do a Complete
deviation failure rebooting sequence.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

b) If this happens more
than two times in a row,
replace joint
C39A2 Max joint-encoder a) Do a Complete
speed exceeded rebooting sequence.
b) If this happens more
than two times in a row,
replace joint
C39A3 Max motor-encoder a) Do a Complete
speed exceeded rebooting sequence.
b) If this happens more
than two times in a row,
replace joint
C39A4 Illegal state change
in joint detected
C39A5 A timing issue Too fast state change in Do a Complete rebooting
occurred during joint detected sequence
startup.
C39A6 5V regulator voltage a) Do a Complete
too low rebooting sequence.
b) If this happens more
than two times in a row,
replace joint
C39A7 5V regulator voltage a) Do a Complete
too high rebooting sequence.
b) If this happens more
than two times in a row,
replace joint

Service Manual 79 Service Manual

 6. Troubleshooting

C39A100 Watchpoint fault:

ADC task timeout
C39A101 Watchpoint fault:
Motor-Control task
timeout
C39A102 Watchpoint fault:
Motor-encoder task
timeout
C39A103 Watchpoint fault:
Joint-encoder task
timeout
C39A104 Watchpoint fault:
Communication task
timeout
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C39A105 Watchpoint fault:

RAM-test task
timeout
C39A106 Watchpoint fault:
CalVal-test task
timeout
C39A107 Watchpoint fault:
ROM-test task
timeout
C40A AD-Converter hit high EMC issue external or Check grounding and
limit joint electronics internal shielding for EMC
problems
C41A RC Oscillator Trim
register hit high limit
C42A RC Oscillator Trim
register hit low limit
C43A Change in invariant
memory detected
C43A1 Current sensor gain

Service Manual 80 Service Manual

6. Troubleshooting

C44A CRC check failure on Serial communication a) Check black 2-wire

primary bus problem with joint or connectors and wires in
secondary bus node joints.
b) Do a Complete
rebooting sequence.
c) If this happens more
than two times in a row,
contact your local
service provider for
assistance.
C44A0 Base
C44A1 Shoulder
C44A2 Elbow
C44A3 Wrist 1

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C44A4 Wrist 2
C44A5 Wrist 3
C44A6 Tool
C44A80 CRC Check failure on Most likely an interference
primary bus. on the communication
bus.
C45A AD-Converter error
C46A Loose gearbox or bad Mechanical problem in a) Do a Complete
encoder mounting gear related to encoder rebooting sequence
mounting b) If this happens more
than two times in a row,
replace joint
C47A AD-Converter hit low EMC issue external or Check grounding and
limit electronics internal shielding for EMC
problems
C49A RS485 receive
warning
C49A200 Secondary RS485 Bus for: Teach Pendant, Check TCP/IP-12V cable
bus is down Processor A and to Teach Pendant
Processor B on Control
Board
C50A Robot powerup issue Electrical error control box Remove all external
connections to I/O-
interface of Safety
Control Board. Check for
short circuit

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 6. Troubleshooting

C50A1 Voltage detected at

24V rail before
startup
C50A2 Voltage present at
unpowered robot
C50A5 Powersupply voltage Check 48 V cable
too low between power supply
and Control Board
C50A6 Powersupply voltage
too high
C50A11 Voltage not detected
at 24V rail after
startup
C50A15 Warning, waiting for
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

SafetySYS2
C50A16 The Teach Pendant Loose wire or incorrect a) Check the Teach
does not respond safety configuration Pendant cable and
connections.
b) Check the settings in
the miscellaneous tab in
the Safety menu
C50A17 The Euromap67 Loose wire or incorrect a) Check the Euromap67
interface does not safety configuration cable and connections.
respond b) Check the settings in
the miscellaneous tab in
the Safety menu
C50A18 Warning, waiting for SafetySYS1 = Processor A
SafetySYS1 on Safety Control Board
C50A19 Warning, Waiting for
a valid \euromap67
activated\" status bit
from secondary
Safety Control Board"
C50A20 5V, 3V3 or ADC error
(5V too high)
C50A21 5V, 3V3 or ADC error
(5V too low)
C50A22 Robot current sensor
reading too high
C50A23 Robot current sensor
reading too low

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6. Troubleshooting

C50A24 48V not present

(Check internal
connection)
C50A25 Robot voltage
present at 48V PSU
powereup
C50A26 Voltage present on
unpowered 48V
power supply
C50A27 12V, 3V3 or ADC
error (12V too high)
C50A28 12V, 3V3 or ADC
error (12V too low)
C50A29 Analog I/O error (-

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

12V too high)
C50A30 Analog I/O error (-
12V too low)
C50A31 The other safetySYS
do not initialize
C50A40 Wrong voltage from
PSU1
C50A41 Wrong voltage from
PSU2
C50A42 Voltage will not
disappear from PSU
C50A43 Warning, waiting for
CB2 type answer
from primary
processor
C50A50 Processor A 3.3V
supply voltage out of
bounds
C50A51 Robot voltage below
threshold
C50A52 Robot voltage above
threshold
C50A53 58V generator
deviation error
C50A54 5V regulator too low
C50A55 5V regulator too high

Service Manual 83 Service Manual

 6. Troubleshooting

C50A56 -4V generator too low

C50A57 -4V generator too
high
C50A80 Last CPU reset
caused by Low-
Power-Reset
C50A81 Last CPU reset
caused by Window-
Watchdog-Reset
C50A82 Last CPU reset
caused by
Independent-
Watchdog-Reset
C50A83 Last CPU reset The Control Board was
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

caused by Software- reset on explicit request.

Reset
C50A84 Last CPU reset
caused by External-
Pin-Reset
C50A85 Last CPU reset
caused by Brown-
Out-Reset
C50A99 Wrong software on
PCB
C50A100 Cable not connected Check cable and
connections between
robot and control box
C50A101 Short circuit in robot Check robot type. Look
detected or wrong for short circuit in cable
robot connected to and in robot arm
control box
C50A102 Voltage rising too
slowly
C50A103 Voltage failed to
reach acceptable
level
C51A CRC check failure on
secondary bus
C51A0 Processor B

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6. Troubleshooting

C51A1 Primary screen CRC check failure on

processor safety processor 1 in
Teach Pendant
C51A2 Secondary screen CRC check failure on
processor safety processor 2 in
Teach Pendant
C51A3 Primary E67
C51A4 Secondary E67
C53A IO overcurrent Control Board error Remove all external
detected connections to I/O-
interface of Safety
Control Board. Check for
short circuit
C53A1 , max is 800mA

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C53A2 , max is 600mA
C55A Safety system error Safety system malfunction a) Check Motherboard,
Control Board,
Screenboard, Current
distributor (Euromap, if
installed).
b) Check safety devices
and cables/connections
to these devices.
c) Do a Complete
rebooting sequence
C55A23 Safety relay error Current distributor error a) Check cable from
(minus connection) Control Board to Current
distributor or 48V Power
supply and Current
distributor for issues
b) Do a Complete
rebooting sequence
C55A24 Safety relay error Current distributor error a) Check cable from
(plus connection) Control Board to Current
distributor or 48V Power
supply and Current
distributor for issues
b) Do a Complete
rebooting sequence

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 6. Troubleshooting

C55A33 Safety relay error (a Current distributor error a) Check cable from
relay is stuck) Control Board to Current
distributor or 48V Power
supply and Current
distributor for issues
b) Do a Complete
rebooting sequence
C55A34 Safety relay error Current distributor error a) Check cable from
(relays are not on) Control Board to Current
distributor or 48V Power
supply and Current
distributor for issues
b) Do a Complete
rebooting sequence
C55A50 Voltage present at Safety Control Bord a) Do a Complete
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

unpowered robot hardware fault rebooting sequence.

b) If this happens more
than two times in a row,
replace Control Board
C55A51 Voltage will not Safety Control Bord a) Do a Complete
disappear from robot hardware fault rebooting sequence.
b) If this happens more
than two times in a row,
replace Control Board
C55A52 5V, 3V3 or ADC error Safety Control Bord a) Do a Complete
(5V too low) hardware fault rebooting sequence.
b) If this happens more
than two times in a row,
replace Control Board
C55A53 5V, 3V3 or ADC error Safety Control Bord a) Do a Complete
(5V too high) hardware fault rebooting sequence.
b) If this happens more
than two times in a row,
replace Control Board
C55A90 Bootloader error,
robot voltage too low
or current too high
C55A91 Bootloader error,
robot voltage too
high
C55A100 Safety violation

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6. Troubleshooting

C55A101 Safety Channel Error

In Safety Control
Board
C55A102 Safety Channel Error
In Screen
C55A103 Safety Channel Error
In Euromap67
Interface
C55A109 Received fault
message from
Controller
C55A110 Safety State is
changing too often
C55A111 On/Off State is

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

changing too often
C55A112 Robot current
sensors readings
differ
C55A120 Robot current is too
high while
emergency stopped
C55A121 Robot current is too
high while safeguard
stopped
C56A Overvoltage Voltage exceeded 55V a) Check Energy Eaters
shutdown cable and connections.
b) Check Energy.
c) Replace Energy Eater
C57A Brake release failure a) Check Brake,
solenoid.
b) Check TCP
configuration, payload
and mounting settings
C57A1 Joint did not move or
motor encoder is not
functioning
C57A2 Large movement
detected during
brake release
C57A3 Robot was not able
to brake release, see
log for details

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 6. Troubleshooting

C58A Motor encoder not

calibrated
C59A Overcurrent Overcurrent in joint. a) Check for short
shutdown Argument = Current in circuit.
Amps b) Do a Complete
rebooting sequence.
c) If this happens more
than two times in a row,
replace joint
C60A Energy surplus The power supply is a) Ensure power grid is
shutdown sending energy to the not delivering more than
energy eater 48V
b) Measure robot energy
input
c) Contact your local
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Universal Robots service

provider for assistance.
C61A Idle power The system is drawing a) Check Energy Eaters
consumption to high more power than expected cables and connections
while idle b) Check Energy Eater
c) Replace Energy Eater
C62A Thermal issue a) Check nothing is
hindering free
movement of the joints.
b) Check TCP
configuration, payload
and mounting settings
C62A1 Joint temperature:
High (80 C)
C62A3 Warning: Static load
too high
C62A11 Joint temperature:
Shut down (85 C)
C62A13 Shutdown: Static
load too high
C63A Motor test failed in
step {unsigned}.
C65A PSU voltage to high The power supply output a) Ensure supply is not
voltage is above 48.7V delivering more than 48V
b) Contact support

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6. Troubleshooting

C68A SPI error Joint: Absolut encoder on a) Check for short

joint communication error circuit.
b) Do a Complete
rebooting sequence.
c) If this happens more
than several times in a
row, replace joint
C70A Close to gearbox Acceleration / a) Reduce acceleration
shear limit deceleration to high. in user program.
Mechanical problem in b) Do a Complete
gear related to encoder rebooting sequence.
mounting c) If this happens more
than several times in a
row, replace joint
C71A Startup check error

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C71A0 Hardware is size0, Update firmware
wrong firmware at
the joint
C71A1 Hardware is size1, Update firmware
wrong firmware at
the joint
C71A2 Hardware is size2, Update firmware
wrong firmware at
the joint
C71A3 Hardware is size3, Update firmware
wrong firmware at
the joint
C71A4 Hardware is size4, Update firmware
wrong firmware at
the joint
C71A5 Invalid hardware
revision
C71A6 ADC calibration
failed
C71A7 Unknown error result The motor wires are a) Check joint for
damaged, bad connection damaged or loose
in screw terminals or connections.
defect PCB b) Replace the joint
C71A8 Motor short circuit to The motor wires are a) Check joint for
ground or H-bridge damaged, bad connection damaged or loose
problems in screw terminals or connections.
defect PCB b) Replace the joint

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 6. Troubleshooting

C71A9 Motor indication The motor wires are a) Check joint for
signal does not work damaged, bad connection damaged or loose
in screw terminals or connections.
defect PCB b) Replace the joint
C71A10 Phase 1 is The motor wires are a) Check joint for
unconnected or not damaged, bad connection damaged or loose
working in screw terminals or connections.
defect PCB b) Replace the joint
C71A11 Phase 2 is The motor wires are a) Check joint for
unconnected or not damaged, bad connection damaged or loose
working in screw terminals or connections.
defect PCB b) Replace the joint
C71A12 Phase 3 or multiple The wire is (1) damaged or a) Check joint for
phases is (2) has been disconnected damaged or loose
unconnected or not from the PCB (not likely) or connections.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

working (3) defect PCB b) Replace the joint

C71A50 Current sensor test Sensor reported wrong a) Check joint for
failed current when probed damaged or loose
connections.
b) Replace the joint
C71A51 Current sensor test Sensor reported wrong a) Check joint for
failed current when probed damaged or loose
connections.
b) Replace the joint
C71A52 Current sensor test Sensors reported different a) Check joint for
failed currents when probed damaged or loose
connections.
b) Replace the joint
C71A101 Wrong firmware on
RLS encoder
C72A Power Supply Unit
failure
C72A1 0 PSUs are active Power Supply was not able Check power connection
to deliver 48V between power supply
and Control Board
C72A2 1 PSU active, but we Power Supply was not able Check power connection
expect 2 (UR10) to deliver 48V or UR10 between power supply
flash card in UR5 robot and Control Board and
check that the flash card
and robot match
C72A3 2 PSUs active, but UR5 flash card in UR10 Check that the flash
we expect 1 (UR5) robot card and robot match

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6. Troubleshooting

C73A Brake test failed

during selftest,
check brakepin
C74A Joint encoder Magnetic encoder error
warning (absolute encoder).
Argument = sum of C74
errors
C74A1 Invalid decode: Check grounding and
Readhead shielding for EMC
misalignment, ring problems
damaged or external
magnetic field
present.
C74A2 Speed reading is not
valid

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C74A4 System
error=malfunction or
inconsistent
calibration detected
C74A8 Supply voltage is out
of range
C74A16 Temperature is out
of range
C74A32 Signal lost
=Misaligned
readhead or
damaged ring
C74A64 Signal low =Too far
from magnetic ring
C74A128 Signal saturation
=Too close to
magnetic ring
C75A Joint encoder error Magnetic encoder error
(absolute encoder).
Argument = sum of C75
errors

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 6. Troubleshooting

C75A1 Invalid decode: a) Do a Complete

Readhead rebooting sequence.
misalignment, ring b) Check grounding and
damaged or external shielding for EMC
magnetic field problems.
present. c) If this happens more
than two times in a row,
replace joint
C75A2 Speed reading is not a) Do a Complete
valid rebooting sequence.
b) If this happens more
than two times in a row,
replace joint
C75A4 System a) Do a Complete
error=malfunction or rebooting sequence.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

inconsistent b) If this happens more

calibration detected than two times in a row,
replace joint
C75A8 Supply voltage is out
of range
C75A16 Temperature is out
of range
C75A32 Signal lost a) Do a Complete
=Misaligned rebooting sequence.
readhead or b) Check grounding and
damaged ring shielding for EMC
problems.
c) If this happens more
than two times in a row,
replace joint
C75A64 Signal low =Too far a) Do a Complete
from magnetic ring rebooting sequence.
b) Check grounding and
shielding for EMC
problems.
c) If this happens more
than two times in a row,
replace joint

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6. Troubleshooting

C75A128 Signal saturation a) Do a Complete

=Too close to rebooting sequence.
magnetic ring b) Check grounding and
shielding for EMC
problems.
c) If this happens more
than two times in a row,
replace joint
C75A200 Position from joint
encoder does not
change while motor
is running
C76A Joint encoder Error between sensor and Check connections or
communication CRC joint circuit very heavy electrical
issue noise

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C77A Sudden position The position reading from
change detected on the encoder was different
the joint-encoder than expected.
C78A Large sudden The position reading from
position change the encoder was severely
detected on the joint- different than expected,
encoder the latest measurement
was discarded. The
argument relates to the
size of the position
change.
C85A200 Position from motor
encoder does not
change while motor
is running
C85A Motor encoder error
C100A Robot changed mode Status warning, general Check preceding errors
mode change in log history
C101A Real Robot
Connected
C102A Real Robot not
connected –
Simulating Robot
C103A Communication
issue

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 6. Troubleshooting

C103A1 Connection to Safety PC did not receive 3 a) Check that the

Control Board lost packets in a row Ethernet cable between
Motherboard and Control
Board is connected.
b) Do a Complete
rebooting sequence
C103A2 Package lost from
Safety Control Board
C103A3 Ethernet connection
initialization with
Safety Control Board
failed
C104A Error=Empty
command sent to
robot
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C111A Something is pulling Check TCP

the robot configuration, payload
and mounting settings
C115A Unknown robot type The robot type specified in
the configuration is
unknown
C116A Realtime part Possible CPU-overload due Restructure user
warning to structure of user program
program
C117A Restart SCB failed The Control Board couldn’t Do a Complete rebooting
be rebooted from the sequence
controller.
C150A Protective Stop:
Position close to
joint limits
C151A Protective Stop: Tool
orientation close to
limits
C152A Protective Stop:
Position close to
safety plane limits
C153A Protective Stop:
Position deviates
from path

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6. Troubleshooting

C153A0 (base). Check Check payload, center of

payload, center of gravity and acceleration
gravity and settings.
acceleration
settings. Log screen
may contain
additional
information.
C153A1 (shoulder). Check Check payload, center of
payload, center of gravity and acceleration
gravity and settings.
acceleration
settings. Log screen
may contain
additional

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

information.
C153A2 (elbow). Check Check payload, center of
payload, center of gravity and acceleration
gravity and settings.
acceleration
settings. Log screen
may contain
additional
information.
C153A3 (wrist 1). Check Check payload, center of
payload, center of gravity and acceleration
gravity and settings.
acceleration
settings. Log screen
may contain
additional
information.
C153A4 (wrist 2). Check Check payload, center of
payload, center of gravity and acceleration
gravity and settings.
acceleration
settings. Log screen
may contain
additional
information.

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 6. Troubleshooting

C153A5 (wrist 3). Check Check payload, center of

payload, center of gravity and acceleration
gravity and settings.
acceleration
settings. Log screen
may contain
additional
information.
C154A Protective Stop: Robot cannot move linear Use MoveJ or change
Position in near a singularity the motion
singularity
C155A Protective Stop:
Robot cannot
maintain its position,
check if payload is
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

correct
C156A Protective Stop: The robot may move Verify that the TCP
Wrong payload or unexpected due to wrong configuration and
mounting detected, settings mounting in the used
or something is installation is correct
pushing the robot
when entering
Freedrive mode
C157A Protective Stop:
Collision detected by
joint
C157A0 (base). Check Make sure no objects
payload, center of are in the path of the
gravity and robot and resume the
acceleration program.
settings. Log screen
may contain
additional
information.
C157A1 (shoulder). Check Make sure no objects
payload, center of are in the path of the
gravity and robot and resume the
acceleration program.
settings. Log screen
may contain
additional
information.

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6. Troubleshooting

C157A2 (elbow). Check Make sure no objects

payload, center of are in the path of the
gravity and robot and resume the
acceleration program.
settings. Log screen
may contain
additional
information.
C157A3 (wrist 1). Check Make sure no objects
payload, center of are in the path of the
gravity and robot and resume the
acceleration program.
settings. Log screen
may contain
additional

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

information.
C157A4 (wrist 2). Check Make sure no objects
payload, center of are in the path of the
gravity and robot and resume the
acceleration program.
settings. Log screen
may contain
additional
information.
C157A5 (wrist 3). Check Make sure no objects
payload, center of are in the path of the
gravity and robot and resume the
acceleration program.
settings. Log screen
may contain
additional
information.
C158A Protective Stop:
Collision detected by
joint
C158A0 (base). The user Specifying an incorrect Make sure the specified
specified payload is payload mass and/or payload mass and
0kg, please make center of gravity may center of gravity are
sure this is correct. cause poor robot correctly specified.
performance and/or
protective stops.

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 6. Troubleshooting

C158A1 (shoulder). The user Specifying an incorrect Make sure the specified
specified payload is payload mass and/or payload mass and
0kg, please make center of gravity may center of gravity are
sure this is correct. cause poor robot correctly specified.
performance and/or
protective stops.
C158A2 (elbow). The user Specifying an incorrect Make sure the specified
specified payload is payload mass and/or payload mass and
0kg, please make center of gravity may center of gravity are
sure this is correct. cause poor robot correctly specified.
performance and/or
protective stops.
C158A3 (wrist 1). The user Specifying an incorrect Make sure the specified
specified payload is payload mass and/or payload mass and
0kg, please make center of gravity may center of gravity are
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

sure this is correct. cause poor robot correctly specified.

performance and/or
protective stops.
C158A4 (wrist 2). The user Specifying an incorrect Make sure the specified
specified payload is payload mass and/or payload mass and
0kg, please make center of gravity may center of gravity are
sure this is correct. cause poor robot correctly specified.
performance and/or
protective stops.
C158A5 (wrist 3). The user Specifying an incorrect Make sure the specified
specified payload is payload mass and/or payload mass and
0kg, please make center of gravity may center of gravity are
sure this is correct. cause poor robot correctly specified.
performance and/or
protective stops.
C159A Protective Stop:
Position deviates
from path
C159A0 (base). The user Specifying an incorrect Make sure the specified
specified payload is payload mass and/or payload mass and
0kg, please make center of gravity may center of gravity are
sure this is correct. cause poor robot correctly specified.
performance and/or
protective stops.

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6. Troubleshooting

C159A1 (shoulder). The user Specifying an incorrect Make sure the specified
specified payload is payload mass and/or payload mass and
0kg, please make center of gravity may center of gravity are
sure this is correct. cause poor robot correctly specified.
performance and/or
protective stops.
C159A2 (elbow). The user Specifying an incorrect Make sure the specified
specified payload is payload mass and/or payload mass and
0kg, please make center of gravity may center of gravity are
sure this is correct. cause poor robot correctly specified.
performance and/or
protective stops.
C159A3 (wrist 1). The user Specifying an incorrect Make sure the specified
specified payload is payload mass and/or payload mass and
0kg, please make center of gravity may center of gravity are

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

sure this is correct. cause poor robot correctly specified.
performance and/or
protective stops.
C159A4 (wrist 2). The user Specifying an incorrect Make sure the specified
specified payload is payload mass and/or payload mass and
0kg, please make center of gravity may center of gravity are
sure this is correct. cause poor robot correctly specified.
performance and/or
protective stops.
C159A5 (wrist 3). The user Specifying an incorrect Make sure the specified
specified payload is payload mass and/or payload mass and
0kg, please make center of gravity may center of gravity are
sure this is correct. cause poor robot correctly specified.
performance and/or
protective stops.

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 6. Troubleshooting

C160A Protective stop: The a) Verify that the robot

robot was powered position in the 3D
off last time due to a graphics matches the
joint position real robot, to ensure that
disagreement the encoders function
before releasing the
brakes. Stand back and
monitor the robot
performing its first
program cycle as
expected.
b) If the position is not
correct, the robot must
be repaired. In this case,
click Power Off Robot.
c) If the position is
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

correct, please tick the

check box below the 3D
graphics and click Robot
Position Verified
C161A Protective stop: a) Verify that the robot
Large movement of position in the 3D
the robot detected graphics matches the
while it was powered real robot, to ensure that
off. The joints were the encoders function
moved while it was before releasing the
powered off, or the brakes. Stand back and
encoders do not monitor the robot
function performing its first
program cycle as
expected.
b) If the position is not
correct, the robot must
be repaired. In this case,
click Power Off Robot.
c) If the position is
correct, please tick the
check box below the 3D
graphics and click Robot
Position Verified

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6. Troubleshooting

C162A The protective stop Specifying an incorrect Make sure the specified
was likely caused by payload mass and/or payload mass and
incorrectly specified center of gravity may center of gravity are
payload mass and/or cause poor robot correct.
center of gravity. performance and/or
protective stops.
C171A Issue with blends
C171A0 A MoveC-waypoint The value for the blend Decrease the blend
were skipped due to radius is too large radius or choose
a blend. compared to the distance waypoints that are
between the waypoints. further apart.
C171A1 Blend radius too Increase blend in MoveC
small in a MoveC
C171A3 A ServoC-waypoint The value for the blend Decrease the blend

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

were skipped due to radius is too large radius or choose
a blend. compared to the distance waypoints that are
between the waypoints. further apart.
C171A4 Overlapping Blends Decrease the blend
in a MoveJ, a radius or choose
waypoint was waypoints that are
skipped further apart.
C171A5 Overlapping Blends Decrease the blend
in a MoveJ, a radius or choose
waypoint was waypoints that are
skipped further apart.
C171A6 Overlapping Blends Decrease the blend
in a MoveJ, a radius or choose
waypoint was waypoints that are
skipped further apart.
C171A7 Overlapping Blends Decrease the blend
in a MoveJ, a radius or choose
waypoint was waypoints that are
skipped further apart.
C171A9 A MoveP-waypoint The value for the blend Decrease the blend
were skipped due to radius is too large radius or choose
a blend. compared to the distance waypoints that are
between the waypoints. further apart.
C171A10 Blend radius too
small error in a
MoveP

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 6. Troubleshooting

C171A11 Overlapping Blends Decrease the blend

in a MoveL, a radius or choose
waypoint was waypoints that are
skipped further apart.
C171A12 Overlapping Blends Decrease the blend
in a MoveL, a radius or choose
waypoint was waypoints that are
skipped further apart.
C171A13 Overlapping Blends Decrease the blend
in a MoveL, a radius or choose
waypoint was waypoints that are
skipped further apart.
C171A14 Overlapping Blends Decrease the blend
in a MoveL, a radius or choose
waypoint was waypoints that are
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

skipped further apart.

C172A Illegal control mode
C184A Joint self test not
received by
controller
C185A1 START_NORMAL_
OPERATION is not
allowed on selftest
firmware
C185A2 GOTO_BACKDRIVE_
COMMAND is not
allowed on selftest
firmware
C186A1 joint_mode ==
JOINT_RUNNING_
MODE is not allowed
on selftest firmware
C187A Temperature sensor
test failed
C187A1 Starting temperature
were lower than
expected
C187A2 Starting temperature
were higher than
expected

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6. Troubleshooting

C187A3 Temperature
increased less than
expected during
warm up
C187A4 Temperature
increased more than
expected during
warm up
C190A Joint failed during
selftest
C190A0 Motor encoder index
mark not found
C190A1 Phases not mounted
correctly

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C190A2 Motor encoder
counting the wrong
way
C190A3 Joint encoder
counting the wrong
way
C190A4 No movement
detected while trying
to move the motor
C190A11 Temperature
alignment did not
warm up to 45
degrees C within 30
minutes
C190A12 Temperature
alignment did not
cool down to 45
degrees C within 60
minutes
C191A Safety system
violation
C191A1 Joint position limit
violated
C191A2 Joint speed limit
violated
C191A3 TCP speed limit
violated

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 6. Troubleshooting

C191A4 TCP position limit

violated
C191A5 TCP orientation limit
violated
C191A6 Power limit violated
C191A7 Joint torque window
violated
C191A8 Joint torque window
too large
C191A9 Reduced mode
output violation
C191A10 Safeguard stop
output violation
C191A11 Emergency stop
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

output violation
C191A12 Momentum limit
violation
C191A13 Robot moving output
violation
C191A14 Robot is not braking During the braking Check TCP
in stop mode process, the safety system configuration, payload
monitors if the robot and mounting settings
brakes as expected. If this
is not the case, this error
is generated
C191A15 Robot is moving in When the robot is stopped a) Check if the robot is
stop mode due to a safety violation or physically pushed while
a safeguard stop, the safeguard stopped.
safety system generates b) Check TCP
this error, if the robot configuration, payload
moves while in this mode and mounting settings
C191A16 Robot did not stop in
time
C191A17 Received a null
vector for TCP
orientation
C191A18 Robot not stopping
output violation
C191A19 Invalid safety IO
configuration

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6. Troubleshooting

C191A20 Configuration
information or limit
sets not received
C191A21 The other safety
processor detected a
violation
C191A22 Received unknown
command from
Controller
C191A23 Invalid setup of a) Check
safety limits Firmware/update
firmware.
b) Do a Complete
rebooting sequence

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C191A24 Reduced Mode a) Check
Output set, while it Firmware/update
should not be firmware.
b) Do a Complete
rebooting sequence
C191A25 Reduced Mode a) Check
Output not set, while Firmware/update
it should be firmware.
b) Do a Complete
rebooting sequence
C191A26 Not Reduced Mode a) Check
Output set, while it Firmware/update
should not be firmware.
b) Do a Complete
rebooting sequence
C191A27 Not Reduced Mode a) Check
Output not set, while Firmware/update
it should be firmware.
b) Do a Complete
rebooting sequence
C191A28 Robot Emergency Too high payload a) Check that max
Stop exceeded payload of the robot has
maximum stop time not been exceeded.
b) Check TCP
configuration, payload
and mounting settings

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 6. Troubleshooting

C191A29 System Emergency Too high payload a) Check that max

Stop exceeded payload of the robot has
maximum stop time not been exceeded.
b) Check TCP
configuration, payload
and mounting settings
C191A30 Safeguard Stop Too high payload a) Check that max
exceeded maximum payload of the robot has
stop time not been exceeded.
b) Check TCP
configuration, payload
and mounting settings
C191A31 Operation mode
switch is present
while the three
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

position switch is
missing
C191A32 Joint speed limit
violated – Base
C191A33 Joint speed limit
violated – Shoulder
C191A34 Joint speed limit
violated – Elbow
C191A35 Joint speed limit
violated – Wrist 1
C191A36 Joint speed limit
violated – Wrist 2
C191A37 Joint speed limit
violated – Wrist 3
C192A Safety system fault
C192A1 Robot still powered When the emergency stop
in emergency stop is active, the robot arm
powers off. The controller
is responsible for sending
the power off command.
This error is generated if
the safety system detects
that the robot arm still has
power
C192A2 Robot emergency E-stop in teach pendant or Check safety devices
stop disagreement in robot E-stop circuit and cables/connections
problem to these devices.

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6. Troubleshooting

C192A3 System emergency System E-stop circuit Check safety devices

stop disagreement problem and cables/connections
to these devices.
C192A4 Safeguard stop Safeguard circuit problem Check safety devices
disagreement and cables/connections
to these devices.
C192A5 Euromap safeguard Euromap circuit problem Check cables from
stop disagreement Control Board to
Euromap and to external
machine
C192A6 Joint position a) Check TCP
disagreement configuration, payload
and mounting settings.
b) Check that safety
settings respected

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C192A7 Joint speed a) Check TCP
disagreement configuration, payload
and mounting settings.
b) Check that safety
settings respected
C192A8 Joint torque a) Check TCP
disagreement configuration, payload
and mounting settings.
b) Check that safety
settings respected
C192A9 TCP speed a) Check TCP
disagreement configuration, payload
and mounting settings.
b) Check that safety
settings respected
C192A10 TCP position a) Check TCP
disagreement configuration, payload
and mounting settings.
b) Check that safety
settings respected
C192A11 TCP orientation a) Check TCP
disagreement configuration, payload
and mounting settings.
b) Check that safety
settings respected
C192A12 Power disagreement Power calculation: uP-A
and uP-B disagreement

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 6. Troubleshooting

C192A13 Joint torque window

disagreement
C192A14 Reduced mode input Safety I/O uP-A and uP-B Check safety devices
disagreement disagreement and cables/connections
to these devices
C192A15 Reduced mode Safety I/O uP-A and uP-B Check safety devices
output disagreement disagreement and cables/connections
to these devices
C192A16 Safety output failed The safety output did not Check for short circuit
reach the correct value in on I/O or for wrong
the expected time connection to output.
C192A17 Safeguard stop Safety I/O uP-A and uP-B Check safety devices
output disagreement disagreement and cables/connections
to these devices
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C192A18 The other safety

processor is in fault
C192A19 Emergency stop Safety I/O uP-A and uP-B Check safety devices
output disagreement disagreement and cables/connections
to these devices
C192A20 SPI output error Power supply for the I/O is Check if the connection
detected not detected to the internal power
supply is correct. If an
external power supply is
being used, check if it is
powered on and at the
correct voltage.
C192A21 Momentum
disagreement
C192A22 Robot moving output Check safety devices
disagreement and cables/connections
to these devices
C192A23 Wrong processor ID
C192A24 Wrong processor
revision
C192A25 Potential brownout Voltage drop on Control
detected Board or defect Safety
Control Board
C192A26 Emergency stop Check safety devices
output disagreement and cables/connections
to these devices

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6. Troubleshooting

C192A27 Safeguard stop Check safety devices

output disagreement and cables/connections
to these devices
C192A28 Robot not stopping Check safety devices
output disagreement and cables/connections
to these devices
C192A29 Safeguard reset Check safety devices
input disagreement and cables/connections
to these devices
C192A30 Safety processor
booted up in fault
mode
C192A31 Reduced Mode Check safety devices
Output disagreement and cables/connections

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

to these devices
C192A32 Not Reduced Mode Check safety devices
Output disagreement and cables/connections
to these devices
C192A33 A timing issue Checksum disagreement
occurred during between safety processors
startup. Please uA and uB
restart to proceed
C192A34 User safety config
checksum
disagreement
between uA and GUI
C192A35 Robot config
checksum
disagreement
between uA and GUI
C192A36 Online RAM test
failed
C192A37 Not all safety related
functionalities are
running
C192A38 Package too short for
CRC calculation
C192A39 Three position
switch input
disagreement

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 6. Troubleshooting

C192A40 Operation mode

switch input
disagreement
C193A One of the nodes is
in fault mode
C193A0 Base Joint a) See previous error.
b) Update the firmware
on the joint.
c) Do a Complete
rebooting sequence
C193A1 Shoulder Joint a) See previous error.
b) Update the firmware
on the joint.
c) Do a Complete
rebooting sequence
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C193A2 Elbow Joint a) See previous error.

b) Update the firmware
on the joint.
c) Do a Complete
rebooting sequence
C193A3 Wrist 1 Joint a) See previous error.
b) Update the firmware
on the joint.
c) Do a Complete
rebooting sequence
C193A4 Wrist 2 Joint a) See previous error.
b) Update the firmware
on the joint.
c) Do a Complete
rebooting sequence
C193A5 Wrist 3 Joint a) See previous error.
b) Update the firmware
on the joint.
c) Do a Complete
rebooting sequence
C193A6 Tool a) See previous error.
b) Do a Complete
rebooting sequence
C193A7 Screen 1 Control Board has a) See previous error.
detected an error on Safety b) Do a Complete
processor 1 in Teach rebooting sequence
pendant

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6. Troubleshooting

C193A8 Screen 2 Control Board has a) See previous error.

detected an error on Safety b) Do a Complete
processor 2 in Teach rebooting sequence
pendant
C193A9 Euromap 1 a) See previous error.
b) Do a Complete
rebooting sequence
C193A10 Euromap 2 a) See previous error.
b) Do a Complete
rebooting sequence
C194A One of the nodes is
not booted or not
present
C194A0 Base Joint

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C194A1 Shoulder Joint
C194A2 Elbow Joint
C194A3 Wrist 1 Joint
C194A4 Wrist 2 Joint
C194A5 Wrist 3 Joint
C194A6 Tool
C194A7 Screen 1 Control Board has
detected an error on Safety
processor 1 in Teach
pendant
C194A8 Screen 2 Control Board has
detected an error on Safety
processor 2 in Teach
pendant
C194A9 Euromap 1
C194A10 Euromap 2
C194A128 Base not ready while Must be at least in IDLE Check for loose
brake release mode when the brake communication cable
requested release is requested
C194A129 Shoulder not ready Must be at least in IDLE Check for loose
while brake release mode when the brake communication cable
requested release is requested
C194A130 Elbow not ready Must be at least in IDLE Check for loose
while brake release mode when the brake communication cable
requested release is requested

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 6. Troubleshooting

C194A131 Wrist 1 not ready Must be at least in IDLE Check for loose
while brake release mode when the brake communication cable
requested release is requested
C194A132 Wrist 2 not ready Must be at least in IDLE Check for loose
while brake release mode when the brake communication cable
requested release is requested
C194A133 Wrist 3 not ready Must be at least in IDLE Check for loose
while brake release mode when the brake communication cable
requested release is requested
C194A134 Tool not ready while Must be at least in IDLE Check for loose
brake release mode when the brake communication cable
requested release is requested
C195A Conveyor speed too Conveyor speed higher Make sure that conveyor
high than robot can run tracking is set up
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

correctly
C195A1 for joint speed safety
limit
C195A2 for TCP speed safety
limit
C195A3 for momentum
safety limit
C196A MoveP speed too Too high speed in relation Reduce speed or
high to blend radius increase blend radius in
user program
C197A Blend overlap
warning
C200A Safety Control Board
hardware error
C200A1 Hardware ID is wrong Safety Control Board: uP-A a) Do a Complete
has detected an error: rebooting sequence.
Wrong Safety Control b) If this happens more
Board than two times in a row,
replace Safety Control
Board
C200A2 MCU type is wrong Safety Control Board: uP-A a) Do a Complete
has detected an error rebooting sequence.
b) If this happens more
than two times in a row,
replace Safety Control
Board

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6. Troubleshooting

C200A3 Part ID is wrong Safety Control Board: uP-A a) Do a Complete

has detected an error rebooting sequence.
b) If this happens more
than two times in a row,
replace Safety Control
Board
C200A4 RAM test failed Safety Control Board: uP-A a) Do a Complete
has detected an error rebooting sequence.
b) If this happens more
than two times in a row,
replace Safety Control
Board
C200A5 Register test failed Safety Control Board: uP-A a) Do a Complete
has detected an error rebooting sequence.
b) If this happens more

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

than two times in a row,
replace Safety Control
Board
C200A6 pRom Crc test failed Safety Control Board: uP-A a) Do a Complete
has detected an error: rebooting sequence.
firmware error b) If this happens more
than two times in a row,
replace Safety Control
Board
C200A7 Watchdog reset the Safety Control Board: uP-A
processor has detected an error
C200A8 OVG signal test not Safety Control Board: uP-A a) Do a Complete
passed has detected an error: over rebooting sequence.
voltage generator b) If this happens more
than two times in a row,
replace Safety Control
Board
C200A9 3V3A power good pin Safety Control Board: uP-A a) Do a Complete
is low has detected an error rebooting sequence.
b) If this happens more
than two times in a row,
replace Safety Control
Board
C200A10 3V3B power good pin Safety Control Board: uP-A a) Do a Complete
is low has detected an error rebooting sequence.
b) If this happens more
than two times in a row,
replace Safety Control
Board

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 6. Troubleshooting

C200A11 5V power good is low Safety Control Board: uP-A a) Do a Complete

has detected an error rebooting sequence.
b) If this happens more
than two times in a row,
replace Safety Control
Board
C200A12 3V3 voltage too low Safety Control Board: uP-A a) Do a Complete
has detected an error rebooting sequence.
b) If this happens more
than two times in a row,
replace Safety Control
Board
C200A13 3v3 voltage too high Safety Control Board: uP-A a) Do a Complete
has detected an error rebooting sequence.
b) If this happens more
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

than two times in a row,

replace Safety Control
Board
C200A14 48V input is too low a) Do a Complete
rebooting sequence.
b) Check 48 V Power
supply, current
distributer, energy eater
and Control Board for
issues
C200A15 48V input is too high a) Do a Complete
rebooting sequence.
b) Check 48 V Power
supply, current
distributer, energy eater
and Control Board for
issues
C200A16 24V IO short Too high current a) Do a Complete
circuited rebooting sequence.
b) Disconnect external
I/O connections and
check external power
supply if connected

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6. Troubleshooting

C200A17 PC current is too Motherboard takes too a) Do a Complete

high high current rebooting sequence.
b) Check cable between
Control Board and
Motherboard and check
all connections to
Motherboard. Also
check for short circuit
C200A18 Robot voltage is too a) Do a Complete
low rebooting sequence.
b) Check for short circuit
in robot arm.
c) Check 48 V Power
supply, current
distributer, energy eater

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

and Control Board for
issues
C200A19 Robot voltage is too a) Do a Complete
high rebooting sequence.
b) Check 48 V Power
supply, current
distributer, energy eater
and Control Board for
issues
C200A20 24V IO voltage is too a) Do a Complete
low rebooting sequence.
b) Disconnect I/O, check
external power supply if
connected and check
Control Board for issues
C200A21 12V voltage is too a) Do a Complete
high rebooting sequence.
b) Check 12 V Power
supply, cables and
Control Board for issues
C200A22 12V voltage is too a) Do a Complete
low rebooting sequence.
b) Check 12 V Power
supply, cables and
Control Board for issues
C200A23 It took too long to a) Do a Complete
stabilize 24V rebooting sequence.
b) Check 24 V and
Control Board for issues

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 6. Troubleshooting

C200A24 It took too long to a) Do a Complete

stabilize 24V IO rebooting sequence.
b) Check 24 V and
Control Board for issues
C200A25 24V voltage is too a) Check external 24 V
high and Control Board for
issues.
b) Do a Complete
rebooting sequence.
c) If this happens more
than two times in a row,
replace Safety Control
Board.
C200A26 24V IO voltage is too a) Disconnect I/O’s.
high b) Do a Complete
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

rebooting sequence.
c) Check external 24 V
and Control Board for
issues
C201A Setup of Safety
Control Board failed
C201A0 Setup of Safety No data was received from a) Do a Complete
Control Board failed the Control Board at rebooting sequence
initialization or invalid b) Update software
safety parameters have c) Contact your local
been received Universal Robots service
provider for assistance.
C201A1 SCB uA is not No data or invalid data was a) Do a Complete
responding received from the Control rebooting sequence
Board uA at initialization b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C201A2 SCB uB is not No data or invalid data was Do a Complete rebooting
responding received from the Control sequence.
Board uB at initialization
C201A3 SCB is not No data or invalid was Do a Complete rebooting
responding received from Control sequence.
Board when requested for
configuration parameters
C202A SCE configuration
was illegal, after
applying tolerances

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6. Troubleshooting

C203A PolyScope detected PolyScope continuously a) Check that the

a mismatch between verifies that the shown software version is the
the shown and (to safety parameters are same or newer than the
be) applied safety equal to the running firmware on the Safety
parameters parameters Control Board.
b) Reload the
installation.
c) Do a Complete
rebooting sequence
C204A Protective Stop: Path
sanity check failed
C204A1 Sudden change in
target position
C204A2 Inconsistency Controller is detecting that a) Either an incorrect
between target position in current cycle payload is mounted, or

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

position and speed has changed much more an external force is
than it should based on pushing the robot.
expected joint speed. b) Check TCP
configuration, payload
and mounting settings.
C204A3 Sudden stop The program contains To abort a motion, use
motions that are not \stopj\” or \”stopl\”
ramped correctly down script commands to
generate a smooth
deceleration before
using \”wait\”. Avoid
aborting motions
between waypoints with
blend”
C204A4 Robot has not
stopped in the
allowed reaction and
braking time
C204A5 Robot program
resulted in invalid
setpoint
C204A6 Blending failed and Try changing the blend
resulted in an invalid radius or contact
setpoint technical support
C204A7 Robot approaching
singularity –
Acceleration
threshold failed

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 6. Troubleshooting

C205A Target speed does

not match target
position
C205A0 Inconsistency
between target
position and speed
C206A Sanity check failed
C206A0 Target joint speed
does not match
target joint position
change – Base
C206A1 Target joint speed
does not match
target joint position
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

change – Shoulder
C206A2 Target joint speed
does not match
target joint position
change – Elbow
C206A3 Target joint speed
does not match
target joint position
change – Wrist 1
C206A4 Target joint speed
does not match
target joint position
change – Wrist 2
C206A5 Target joint speed
does not match
target joint position
change – Wrist 3
C207A Fieldbus input Check fieldbus
disconnected connections (RTDE,
ModBus, EtherNet/IP
and Profinet) or disable
the fieldbus in the
installation. Check RTDE
watchdog feature. Check
if a URCap is using this
feature.

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6. Troubleshooting

C208A Debug Assertion An assert was executed.

failed Notice: The functionality is
exclusively used for
testing purposes.
C209A A protective stop A protective stop was
was triggered (for triggered. Notice: The
test purposes only) functionality is exclusively
used for testing purposes.
C210A Socket is read-only Set the robot in remote
when the robot is in control in PolyScope to
local (Teach enable receiving scripts
pendant) control in the controller
C211A Operational mode
changed

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C211A0 Disabled
C211A1 Automatic
C211A2 Manual
C212A Name conflict in
loaded program
C212A1 {unsigned} name Some feature names and Rename the program
conflict(s) occurred program variables share variables.
between feature the same name, which
names and program may cause confusion.
variables
C213A No Kinematic Calibration.conf file is A new kinematics
Calibration found either corrupt or missing calibration may be
(calibration.conf file needed if the robot
is either corrupt or needs to improve its
missing) kinematics, otherwise,
ignore this message.
C214A Kinematic The calibration checksum If moving a program
Calibration for the stored in the from a different robot to
robot does not match calibration.conf does not this one, re-kinematic
the joint(s) match the values from the calibrate the second
joint(s) robot to improve
kinematics, otherwise
ignore this message.

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 6. Troubleshooting

C214A1 The Kinematic The calibration checksum If moving a program

Calibration stored in the from a different robot to
checksum does not calibration.conf does not this one, re-kinematic
match the Base match the values from the calibrate the second
checksum joint(s) robot to improve
kinematics, otherwise
ignore this message.
C214A2 The Kinematic The calibration checksum If moving a program
Calibration stored in the from a different robot to
checksum does not calibration.conf does not this one, re-kinematic
match the Shoulder match the values from the calibrate the second
checksum joint(s) robot to improve
kinematics, otherwise
ignore this message.
C214A3 The Kinematic The calibration checksum If moving a program
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Calibration stored in the from a different robot to

checksum does not calibration.conf does not this one, re-kinematic
match the Elbow match the values from the calibrate the second
checksum joint(s) robot to improve
kinematics, otherwise
ignore this message.
C214A4 The Kinematic The calibration checksum If moving a program
Calibration stored in the from a different robot to
checksum does not calibration.conf does not this one, re-kinematic
match Wrist 1 match the values from the calibrate the second
checksum joint(s) robot to improve
kinematics, otherwise
ignore this message.
C214A5 The Kinematic The calibration checksum If moving a program
Calibration stored in the from a different robot to
checksum does not calibration.conf does not this one, re-kinematic
match for Wrist 2 match the values from the calibrate the second
checksum joint(s) robot to improve
kinematics, otherwise
ignore this message.
C214A6 The Kinematic The calibration checksum If moving a program
Calibration stored in the from a different robot to
checksum does not calibration.conf does not this one, re-kinematic
match for Wrist 3 match the values from the calibrate the second
checksum joint(s) robot to improve
kinematics, otherwise
ignore this message.

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6. Troubleshooting

C215A Kinematic The calibration checksum Check if the serial

Calibration does not stored in the number of the robot arm
match the robot calibration.conf does not matches the Control Box
match the values from the
joints
C216A The offset of the The joint has been
joint has changed zeroed by the user.
Perform a kinematic
calibration to improve
kinematics if needed.
C216A1 Base The joint has been
zeroed by the user.
Perform a kinematic
calibration to improve
kinematics if needed.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C216A2 Shoulder The joint has been
zeroed by the user.
Perform a kinematic
calibration to improve
kinematics if needed.
C216A3 Elbow The joint has been
zeroed by the user.
Perform a kinematic
calibration to improve
kinematics if needed.
C216A4 Wrist 1 The joint has been
zeroed by the user.
Perform a kinematic
calibration to improve
kinematics if needed.
C216A5 Wrist 2 The joint has been
zeroed by the user.
Perform a kinematic
calibration to improve
kinematics if needed.
C216A6 Wrist 3 The joint has been
zeroed by the user.
Perform a kinematic
calibration to improve
kinematics if needed.

Service Manual 121 Service Manual

 6. Troubleshooting

C217 Blank space Leading blank spaces in Make sure that these
detected at the strings are ignored in this leading blank spaces are
beginning of a string version intentional otherwise
remove them
C218 A thread used a lot There may be an infinite Add a Wait command or
of time loop or other command sync() script to split
that does not move the long program sequences
robot, this can cause and have sequenced
program overload processing time
C218A0 Main Robot Program
C218A1 Thread Please go to thread and
fix it
C219 Change in offset is Following the specified
too high offsets would result in the
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

robot exceeding safety

limits
C219A1 Close to joint speed Review program speed
safety limit and acceleration
C219A2 Close to tool speed Review program speed
safety limit and acceleration
C219A3 Close to momentum Review program speed
safety limit and acceleration
C259A Filesystem related
issue
C259A0 Critical error A critical error occurred in a) Do a Complete
the filesystem rebooting sequence
b) Reimage SD card
c) Contact your local
Universal Robots service
provider for assistance.
C260A Brake Release
C260A0 Critical error A critical error occurred a) Do a Complete
during Brake Release rebooting sequence
b) Ensure the mounted
payload, TCP and CoG
matches your
configuration.
c) For further
assistance, contact your
local Universal Robots
service provider.
C261A Temperature Sensor

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6. Troubleshooting

C261A0 Critical error A critical error occurred in a) Do a Complete

the temperature sensor rebooting sequence
b) Contact your local
Universal Robots service
provider for assistance.
C261A4 Temperature is too Ambient temperature is a) Cool down the robot’s
high (degrees too high or robot is environment and make
Celsius) overloaded sure the robot is
operating within
recommended limits.
b) Do a Complete
rebooting sequence
C261A5 Temperature is too Ambient temperature is a) Make sure the robot
low (degrees too low is operating within
Celsius) recommended limits.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

a) Do a Complete
rebooting sequence
C262A Communication
C262A0 Critical error A critical error occurred in a) Do a Complete
the communication rebooting sequence
framework b) Check for ESD noise
c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
C263A Motor Encoder
C263A0 Critical error A critical error occurred in a) Do a Complete
the Motor Encoder. rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C263A21 Validation of the The absolute Motor a) Do a Complete
detected Index Mark Encoder position cannot be rebooting sequence
failed validated because the b) Update software
Motor position calculated c) Contact your local
by the Joint Encoder is Universal Robots service
invalid. provider for assistance.
C264A Task Manager

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 6. Troubleshooting

C264A0 Critical error A critical error occurred in a) Do a Complete

the task manager rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C265A Joint Encoder
C265A0 Critical error A critical error occurred in a) Do a Complete
the Joint Encoder rebooting sequence
b) Check for ESD noise
c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
C265A6 Not present. Status: The Joint Encoder is not a) Do a Complete
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

{hex} responding to commands rebooting sequence

b) Check for ESD noise
c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
C266A Self-test
C266A0 Critical error A critical error occurred in a) Do a Complete
the Joint Self-test rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C267A Bootloader error a) Do a Complete
rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C267A0 Critical error A critical error occurred a) Do a Complete
during Firmware upgrade. rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C267A11 Hardware Hardware configuration Contact your local
configuration issue mismatch Universal Robots service
provider for assistance.
C269A Transceiver

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6. Troubleshooting

C269A70 Flash device is not The flash device’s JEDEC a) Do a Complete

supported, JEDEC ID does not match a rebooting sequence
data for device is: supported flash device b) Update software
{hex} c) Contact your local
Universal Robots service
provider for assistance.
C271 Low-level runtime Process running behind a) Check that the
thread program and client
interface is not taking
unnecessary resources.
C271A1 Runtime is too much One of the threads might Consider using a Wait or
behind be using too much time sync() to split long
program sequences that
do not move the robot.
C272A Missing joint

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

calibration
C272A0 Critical error – the Joint calibration could not Contact your local
calibration is be loaded Universal Robots service
missing provider for assistance.
C273A Cross monitoring
C273A0 Critical error A critical disagreement a) Do a Complete
error occurred in the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A5 Disagreement on A critical disagreement a) Do a Complete
Safety Control Board occurred within the safety rebooting sequence
State system. b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A6 Disagreement on A critical disagreement a) Do a Complete
Robot State occurred within the safety rebooting sequence
system. b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A7 Disagreement on A critical disagreement a) Do a Complete
Safety State occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.

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 6. Troubleshooting

C273A8 Disagreement on A critical disagreement a) Do a Complete

position occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A9 Disagreement on A critical disagreement a) Do a Complete
velocity occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A10 Disagreement on A critical disagreement a) Do a Complete
current occurred within the safety rebooting sequence
system b) Update software
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

c) Contact your local

Universal Robots service
provider for assistance.
C273A11 Disagreement on A critical disagreement a) Do a Complete
temperature occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A12 Disagreement on A critical disagreement a) Do a Complete
Teach Pendant State occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A13 Disagreement on A critical disagreement a) Do a Complete
Teach Pendant occurred within the safety rebooting sequence
Emergency Stop system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A14 One processor A critical disagreement a) Do a Complete
entered Fault State occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.

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6. Troubleshooting

C273A15 One processor A critical disagreement a) Do a Complete

entered Violation occurred within the safety rebooting sequence
State system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A16 Joint State A critical disagreement a) Do a Complete
disagreement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A17 Joint Constant Data A critical disagreement a) Do a Complete
CRC disagreement occurred within the safety rebooting sequence
system b) Update software

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

c) Contact your local
Universal Robots service
provider for assistance.
C273A18 Joint target current A critical disagreement a) Do a Complete
disagreement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A19 Torque Window A critical disagreement a) Do a Complete
disagreement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A20 Torque Error A critical a) Do a Complete
disagreement disagreementoccurred rebooting sequence
within the safety system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A21 Target Velocity A critical disagreement a) Do a Complete
disagreement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.

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 6. Troubleshooting

C273A22 Target Acceleration A critical disagreement a) Do a Complete

disagreement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A23 Recovery Mode CRC A critical disagreement a) Do a Complete
disagreement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A24 Robot Configuration A critical disagreement a) Do a Complete
CRC disagreement occurred within the safety rebooting sequence
system b) Update software
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

c) Contact your local

Universal Robots service
provider for assistance.
C273A25 User Configuration A critical disagreement a) Do a Complete
CRC disagreement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A26 Maximum stopping A critical disagreement a) Do a Complete
time disagreement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A27 Stopping Time A critical disagreement a) Do a Complete
Torque Overload occurred within the safety rebooting sequence
disagreement system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A28 Disagreement error A critical disagreement a) Do a Complete
on joint {unsigned} occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.

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6. Troubleshooting

C273A29 Tool speed A critical disagreement a) Do a Complete

disagreement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A30 Safety Mode Limit A critical disagreement a) Do a Complete
disagreement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A31 Hand Protection A critical disagreement a) Do a Complete
Distance occurred within the safety rebooting sequence
disagreement system b) Update software

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

c) Contact your local
Universal Robots service
provider for assistance.
C273A32 Elbow Sphere speed A critical disagreement a) Do a Complete
disagreement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A33 Momentum A critical disagreement a) Do a Complete
disagreement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A34 Power A critical disagreement a) Do a Complete
disagreeement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A35 Elbow position A critical disagreement a) Do a Complete
disagreement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.

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 6. Troubleshooting

C273A36 Workpiece Rotation A critical disagreement a) Do a Complete

disagreement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A37 Disagreement on A critical disagreement a) Do a Complete
Workpiece Position occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A38 Disagreement on A critical disagreement a) Do a Complete
motor parameter (R_ occurred within the safety rebooting sequence
pp) system b) Update software
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

c) Contact your local

Universal Robots service
provider for assistance.
C273A39 Disagreement on A critical disagreement a) Do a Complete
motor parameter (L_ occurred within the safety rebooting sequence
pp) system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A40 Disagreement on A critical disagreement a) Do a Complete
motor parameter occurred within the safety rebooting sequence
(Kb) system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A41 Disagreement on A critical disagreement a) Do a Complete
motor parameter (Kt) occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A42 Disagreement on A critical disagreement a) Do a Complete
motor parameter (T) occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.

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6. Troubleshooting

C273A43 Disagreement on the A critical disagreement a) Do a Complete

Teach Pendant’s occurred within the safety rebooting sequence
Three-Position system b) Update software
Enabling Device c) Contact your local
Universal Robots service
provider for assistance.
C273A44 Disagreement on the A critical disagreement a) Do a Complete
active status of the occurred within the safety rebooting sequence
Teach Pendant’s system b) Update software
Three-Position c) Contact your local
Enabling Device Universal Robots service
provider for assistance.
C273A47 Disagreement on A critical disagreement a) Do a Complete
state occurred within the safety rebooting sequence
system b) Update software

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

c) Contact your local
Universal Robots service
provider for assistance.
C273A48 Disagreement on A critical disagreement a) Do a Complete
Injection-Molding- occurred within the safety rebooting sequence
Machine-Interface system b) Update software
Emergency Stop c) Contact your local
input Universal Robots service
provider for assistance.
C273A49 Disagreement on A critical disagreement a) Do a Complete
Injection-Molding- occurred within the safety rebooting sequence
Machine-Interface system b) Update software
Emergency Stop c) Contact your local
output Universal Robots service
provider for assistance.
C273A50 Disagreement on A critical disagreement a) Do a Complete
Injection-Molding- occurred within the safety rebooting sequence
Machine-Interface system b) Update software
Safeguard input c) Contact your local
Universal Robots service
provider for assistance.
C273A51 Disagreement on A critical disagreement a) Do a Complete
Injection-Molding- occurred within the safety rebooting sequence
Machine-Interface system b) Update software
type c) Contact your local
Universal Robots service
provider for assistance.

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 6. Troubleshooting

C273A52 Disagreement on A critical disagreement a) Do a Complete

Torque Parameters occurred within the safety rebooting sequence
CRC system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C273A53 Target Torque A critical disagreement a) Do a Complete
disagreement occurred within the safety rebooting sequence
system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C276A Uart between
microprocessor
C276A0 Critical error A critical error occurred in a) Do a Complete
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

the UART driver rebooting sequence

b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C278A Servo in Joint A
processor
C278A0 Critical error A critical error occurred in a) Do a Complete
the servo module rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C279A Flash in joint
C279A0 Critical error A critical error occurred in a) Do a Complete
the flash driver rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C280A Real-time error

Service Manual 132 Service Manual

6. Troubleshooting

C280A0 Critical error A critical real-time error a) Do a Complete

occurred rebooting sequence
b) Update software
c) Check
communication between
joints
d) Contact your local
Universal Robots service
provider for assistance.
C281A Robot State Machine
C281A0 Critical error A critical State Machine a) Do a Complete
error occurred rebooting sequence
b) Update software
c) Contact your local
Universal Robots service

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

provider for assistance.
C281A3 {unsigned} joint a) Do a Complete
entered the Fault rebooting sequence
State b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C281A4 {unsigned} joint a) Do a Complete
entered the Violation rebooting sequence
State b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C281A7 Teach Pendant a) Do a Complete
entered the Fault rebooting sequence
State b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C281A8 Teach Pendant a) Do a Complete
entered the Violation rebooting sequence
State b) Update software
c) Contact your local
Universal Robots service
provider for assistance.

Service Manual 133 Service Manual

 6. Troubleshooting

C281A9 {unsigned} joint A Joint moved more than a) Do a Complete

moved too far before the permissible range rebooting sequence
robot entered during the Brake Release b) Ensure the mounted
RUNNING State procedure. payload, TCP and CoG
matches your
configuration.
c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
C281A14 IMMI entered the a) Do a Complete
Fault State rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C281A15 IMMI entered the a) Do a Complete

Violation State rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C283A Safety system
C283A0 Critical error A critical error occurred in a) Do a Complete
the safety system rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C283A1 Robot is not braking
when in Stop Mode
C283A2 Robot is moving
when in Stop Mode
C283A3 Power not removed
from the motors
while in Emergency
Stop
C283A4 Failed to power on
the Robot arm
C283A5 Invalid pin-
configuration
received: {hex}

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6. Troubleshooting

C283A6 Trying to reassign

pin configuration
with configuration
{hex}
C283A7 {unsigned} joint
exceeded the
velocity limit
C283A8 The System Failed to activate the a) Make sure output is
Emergency Stop System Emergency Stop not short circuited to a
Output is not active Output. The output is power supply
active when voltage is low
C283A9 System Emergency The input signals are not a) Ensure both inputs
Stop Output switching simultaneously are properly connected
disagreement within or are incorrectly b) Contact your local
the safety system connected. Universal Robots service

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

provider for assistance.
C283A10 Robot Emergency The input signals are not a) Ensure both inputs
Stop Input switching simultaneously are properly connected
disagreement within or are incorrectly b) Contact your local
the safety system connected. Universal Robots service
provider for assistance.
C283A11 System Emergency The input signals are not a) Ensure both inputs
Stop Input switching simultaneously are properly connected
disagreement within or are incorrectly b) Contact your local
the safety system connected. Universal Robots service
provider for assistance.
C283A12 Safeguard Stop Input The input signals are not a) Ensure both inputs
disagreement within switching simultaneously are properly connected
the safety system or are incorrectly b) Contact your local
connected. Universal Robots service
provider for assistance.
C283A13 Safeguard Reset The input signals are not a) Ensure both inputs
Input disagreement switching simultaneously are properly connected
within the safety or are incorrectly b) Contact your local
system connected. Universal Robots service
provider for assistance.
C283A14 Operation Mode The input signals are not a) Ensure both inputs
input disagreement switching simultaneously are properly connected
within the safety or are incorrectly b) Contact your local
system. connected. Universal Robots service
provider for assistance.

Service Manual 135 Service Manual

 6. Troubleshooting

C283A15 Three-Positional The input signals are not a) Ensure both inputs
Enabling Device switching simultaneously are properly connected
Input disagreement or are incorrectly b) Contact your local
within the safety connected. Universal Robots service
system provider for assistance.
C283A17 Lost {unsigned} a) Check that the teach
Teach Pendant pendant is proper
safety packages in a connected
row b) Do a Complete
rebooting sequence
c) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C283A18 Lost too many Joint a) Check that the joints
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

safety packages in a are proper connected

row. Diagnostic data: b) Do a Complete
{unsigned} rebooting sequence
c) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C283A22 Teach Pendant is If the Teach Pendant is Disconnect the Teach
connected while it is enabled, it is connected. If Pendant or enable it in
disabled in robot it is disabled, it is not the configuration.
configuration connected.
C283A26 Force limitation: a) Ensure the mounted
exceeded torque payload, TCP and CoG
window by: {float} matches your
configuration.
b) Slow down
movements
c) Contact your local
Universal Robots service
provider for assistance.
C283A27 Mismatch on Robot a) Do a Complete
Configuration CRC rebooting sequence
between the safety b) Update software
system and c) Contact your local
PolyScope Universal Robots service
provider for assistance.

Service Manual 136 Service Manual

6. Troubleshooting

C283A28 Mismatch on User a) Do a Complete

Configuration CRC rebooting sequence
between the safety b) Make new
system and .installation
PolyScope c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
C283A34 Error while trying to a) Do a Complete
apply safety rebooting sequence
configuration b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C283A35 Reduced Mode a) Do a Complete

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Output disagreement rebooting sequence
within the safety b) Update software
system c) Contact your local
Universal Robots service
provider for assistance.
C283A36 Not Reduced Mode a) Do a Complete
Output disagreement rebooting sequence
within the safety b) Update software
system c) Contact your local
Universal Robots service
provider for assistance.
C283A37 Robot Moving Output a) Do a Complete
disagreement within rebooting sequence
the safety system b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C283A38 Robot Not Stopping a) Do a Complete
Output disagreement rebooting sequence
within the safety b) Update software
system c) Contact your local
Universal Robots service
provider for assistance.
C283A40 Reduced Mode Input The input signals are not a) Ensure both inputs
disagreement within switching simultaneously are correctly connected.
the safety systems or are incorrectly b) Contact your local
connected. Universal Robots service
provider for assistance.

Service Manual 137 Service Manual

 6. Troubleshooting

C283A41 TCP Velocity violates a) Ensure the mounted

limits of maximum payload, TCP and CoG
stopping time matches your
configuration.
b) Slow down
movements
c) Check safety setting
d) Contact your local
Universal Robots service
provider for assistance.
C283A42 TCP Velocity violates a) Ensure the mounted
limits of maximum payload, TCP and CoG
stopping distance matches your
configuration.
b) Slow down
movements
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

c) Check safety setting

d) Contact your local
Universal Robots service
provider for assistance.
C283A43 {unsigned} joint a) Ensure the mounted
moved too quickly payload, TCP and CoG
toward a Joint matches your
position limit configuration.
b) Slow down
movements
c) Check safety setting
d) Contact your local
Universal Robots service
provider for assistance.
C283A44 The tool moved too a) Ensure the mounted
fast towards an payload, TCP and CoG
orientation limit matches your
configuration.
b) Slow down
movements
c) Check safety setting
d) Contact your local
Universal Robots service
provider for assistance.

Service Manual 138 Service Manual

6. Troubleshooting

C283A45 The Elbow moved too a) Ensure the mounted

fast towards a safety payload, TCP and CoG
plane matches your
configuration.
b) Slow down
movements
c) Check safety setting
d) Contact your local
Universal Robots service
provider for assistance.
C283A46 The tool moved too a) Ensure the mounted
fast towards a safety payload, TCP and CoG
plane matches your
configuration.
b) Slow down
movements

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

c) Check safety setting
d) Contact your local
Universal Robots service
provider for assistance.
C283A47 {unsigned} joint a) Ensure the mounted
position limit payload, TCP and CoG
exceeded matches your
configuration.
b) Slow down
movements
c) Check safety setting
d) Contact your local
Universal Robots service
provider for assistance.
C283A48 Tool position limit a) Ensure the mounted
exceeded payload, TCP and CoG
matches your
configuration.
b) Slow down
movements
c) Check safety setting
d) Contact your local
Universal Robots service
provider for assistance.

Service Manual 139 Service Manual

 6. Troubleshooting

C283A49 Tool orientation limit a) Ensure the mounted

exceeded payload, TCP and CoG
matches your
configuration.
b) Slow down
movements
c) Check safety setting
d) Contact your local
Universal Robots service
provider for assistance.
C283A50 Elbow position limit a) Ensure the mounted
exceeded payload, TCP and CoG
matches your
configuration.
b) Slow down
movements
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

c) Check safety setting

d) Contact your local
Universal Robots service
provider for assistance.
C283A51 Tool moved with a a) Ensure the mounted
speed of {float} payload, TCP and CoG
mm/s, which matches your
exceeds the speed configuration.
limit b) Slow down
movements
c) Check safety setting
d) Contact your local
Universal Robots service
provider for assistance.
C283A52 Elbow moved with a a) Ensure the mounted
speed of {float} payload, TCP and CoG
mm/s, which matches your
exceeds the speed configuration.
limit b) Slow down
movements
c) Check safety setting
d) Contact your local
Universal Robots service
provider for assistance.
C283A53 Maximum Tool Ensure the Reduced
Center Point Speed Mode Limit is less than
in Reduced Mode is or equal to the Normal
invalid Mode limit.

Service Manual 140 Service Manual

6. Troubleshooting

C283A54 Maximum Elbow Ensure the Reduced

Speed in Reduced Mode limit is less than
Mode is invalid or equal to the Normal
Mode Limit.
C283A55 Maximum Joint Ensure the Reduced
Speed of joint Mode Limit is less than
{unsigned} in or equal to the Normal
Reduced Mode is Mode Limit.
invalid
C283A56 Maximum Ensure the Reduced
Momentum in Mode Limit is less than
Reduced Mode is or equal to the Normal
invalid Mode Limit.
C283A57 Maximum stopping Ensure the Reduced
time in Reduced Mode Limit is less than

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Mode is invalid or equal to the Normal
Mode Limit.
C283A58 Maximum stopping Ensure the Reduced
distance in Reduced Mode Limit is less than
Mode is invalid or equal to the Normal
Mode Limit.
C283A59 Reduced Mode Failed to activate the Make sure output is not
Output is not active Reduced Mode Output. The short circuited to a
output is active when power supply
voltage is low
C283A60 Reduced Mode Failed to deactivate the Make sure output is not
Output is not inactive Reduced Mode Output. The short circuited to ground
output is inactive when
voltage is high
C283A61 Not Reduced Mode Failed to activate the Not Make sure output is not
Output is not active Reduced Mode Output. The short circuited to a
output is active when power supply
voltage is low
C283A62 Not Reduced Mode Failed to deactivate the Make sure output is not
Output is not inactive Not Reduced Mode Output. short circuited to ground
The output is inactive
when voltage is high
C283A63 Robot is moving Failed to activate the Make sure output is not
while Robot Moving Robot Moving Output. The short circuited to a
Output is not active output is active when power supply
voltage is low

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 6. Troubleshooting

C283A64 Tool Direction Vector Reconfigure Tool

Length for Normal orientation
Mode is {float}, not
1.0
C283A65 Tool Direction Vector Reconfigure Tool
Length for Reduced orientation
Mode is {float}, not
1.0
C283A66 Robot Momentum
reached {float} kg *
m/s, which exceeds
the Momentum limit
C283A67 Robot Power reached
{float} W, which
exceeds the Power
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

limit
C283A68 Error caused by the A critical safety error a) Do a Complete
{unsigned} Joint rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C283A72 The motor The motor configuration a) Do a Complete
configuration sent by sent is unusable with this rebooting sequence
the Control Box is firmware revision. b) Update software
invalid c) Contact your local
Universal Robots service
provider for assistance.
C283A73 Safe Home Position Review your home
Output disagreement position
within the safety
system
C283A74 The Safe Home The Safe Home Position Make sure output is not
Position Output is Output is active while the short circuited to power
active while not robot is not in Safe Home supply or ground
allowed Position
C283A81 The robot The safety system is not Upgrade to a newer
configuration certified to work with the software version
specifies an specified joint size
unsupported joint
size

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6. Troubleshooting

C283A82 The connected The connected Teach a) Check that the Teach
Teach Pendant type Pendant is not the same Pendant is properly
does not match the type as the one selected in connected and matches
configuration the safety configuration the one in the safety
configuration
b) Conduct a complete
rebooting sequence
c) Update software
d) Contact your local
Universal Robots
technical support
C283A83 The configured The safety configuration a) Check that the correct
Teach Pendant has enables the Teach Teach Pendant is
no Three-Positional Pendant’s Three-Positional selected in the safety
Enabling Device Enabling Device, but the configuration
b) Conduct a complete

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

configured Teach Pendant
does not have a Three- rebooting sequence
Positional Enabling Device c) Update software
d) Contact your local
Universal Robots
technical support
C283A85 Automatic Safeguard The input signals are not a) Ensure both inputs
Stop Input switching simultaneously, are properly connected
disagreement within or are incorrectly b) Contact your local
the safety system connected Universal Robots service
provider for assistance
C283A86 Automatic Safeguard The input signals are not a) Ensure both inputs
Reset Input switching simultaneously, are properly connected
disagreement within or are incorrectly b) Contact your local
the safety system connected Universal Robots service
provider for assistance
C283A87 Injection-Molding- If the Injection-Molding- Disconnect the
Machine-Interface is Machine-Interface is Injection-Molding-
connected while it is enabled, it must be Machine-Interface or
disabled in the robot connected. If it is disabled, enable it in the
configuration it must be disconnected configuration

Service Manual 143 Service Manual

 6. Troubleshooting

C283A88 Lost more than a) Check that the

allowed Injection- Injection-Molding-
Molding-Machine- Machine-Interface is
Interface safety properly connected
packages in a row b) Conduct a complete
rebooting sequence
c) Update software
d) Contact your local
Universal Robots service
provider for assistance
C283A89 The connected The connected Injection- a) Check that the
Injection-Molding- Molding-Machine-Interface Injection-Molding-
Machine-Interface is not the same type as Machine-Interface is
type does not match the one selected in the properly connected and
the configuration safety configuration matches the one in the
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

safety configuration
b) Conduct a complete
rebooting sequence
c) Update software
d) Contact your local
Universal Robots service
provider for assistance
C283A90 Invalid Injection- The configuration provided a) Ensure the correct
Molding-Machine- by the user safety IMMI type is selected in
Interface type in the configuration is invalid the Safety Configuration
user configuration b) Conduct a complete
rebooting sequence
c) Update software
d) Contact your local
Universal Robots service
provider for assistance
C283A91 The Injection- Failed to activate the Make sure output is not
Molding-Machine- System Emergency Stop short circuited to ground
Interface System Output on the Injection-
Emergency Stop Molding-Machine-
Output is not active Interface. The output is
active when voltage is high

Service Manual 144 Service Manual

6. Troubleshooting

C283A94 Automatic Safeguard a) Ensure that a Three-

Stop input is Positional Device is
configured but no enabled in the Safety
Three-Position Configuration
Enabling device is b) Conduct a complete
configured rebooting sequence
c) Update software
d) Contact your local
Universal Robots service
provider for assistance
C284A Brake Release
C284A0 Critical error A critical error occurred a) Conduct a complete
during Brake Release rebooting sequence
b) Ensure the mounted
payload, TCP, and CoG

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

matches your
configuration
c) Check if there is no
interference with the
joints
d) Contact your local
Universal Robots service
provider for assistance
C285A Joint Keep-Alive
System
C285A0 Critical error A critical error occurred in a) Do a Complete
the Joint Keep-Alive rebooting sequence
System b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C285A10 Lost {unsigned} An invalid amount of Keep- a) Do a Complete
Keep-Alive System Alive System messages rebooting sequence
message(s) in a row have been lost from the b) Update software
from Safety Control Control Board Processor A c) Contact your local
Board-uPA Universal Robots service
provider for assistance.
C285A11 Lost {unsigned} A invalid amount of Keep- a) Do a Complete
Keep-Alive System Alive messages have been rebooting sequence
message(s) in a row lost from the Control Board b) Update software
from Safety Control Processor B c) Contact your local
Board-uPB Universal Robots service
provider for assistance.
C287A Saved files in tool

Service Manual 145 Service Manual

 6. Troubleshooting

C287A0 Critical error A critical error occurred a) Do a Complete

during file loading/saving rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C289A Tool Connector
C289A1 Short circuit Tool Digital Output pin has Check connections to
detected on Digital been turned off due to make sure Tool Digital
Output: {unsigned} either a short-circuit or an Output currents are
high side overload was detected. within specified limits.
C289A2 Short circuit Tool Digital Output pin has Check connections to
detected on Digital been turned off due to make sure Tool Digital
Output: {unsigned} either a short-circuit or an Output currents are
low side overload was detected. within specified limits.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

C289A4 10 second Average The average current sum Check connections to

tool IO Current of of the Tool Connector make sure tool Digital
{float} A is outside of Power and Digital Output Output currents are
the allowed range. pins is outside of the within specified limits.
allowed range.
C289A5 Unable to remove Unable to remove the Check connections to
tool Digital Output overload on tool Digital make sure the Tool
fault. Output, therefore the robot Digital Output currents
powered down. are within specified
limits.
C289A6 Current of {float} A Too high current on tool Check connections to
on the POWER pin is connector power pin make sure the Tool
outside of the Digital Output currents
allowed range. are within specified
limits.
C289A7 Current of {float} A Too high current on tool Check connections to
on the Digital Output connector Digital Output make sure the Tool
pins is outside of the pins. Digital Output currents
allowed range. are within specified
limits.
C289A8 Current of {float} A Too high current on tool Check connections to
on the ground pin is ground pin make sure the Tool
outside of the Digital Output currents
allowed range. are within specified
limits.

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6. Troubleshooting

C289A9 Maximum current on Too high current on tool Check connections to

the POWER pin is power pin make sure the Tool
outside of the Digital Output currents
allowed range are within specified
limits.
C292A Online RAM test
C292A0 Critical error A critical error occurred a) Do a Complete
during RAM test rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C294A ADC Analog to Digital converter a) Do a Complete
rebooting sequence
b) Update software

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

c) Contact your local
Universal Robots service
provider for assistance.
C294A0 Critical error A critical error occurred in a) Do a Complete
the ADC driver rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C295A PCB Wrong PCB type. Likely a a) Do a Complete
hardware error. rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C295A0 Wrong PCB type The printed circuit board is a) Do a Complete
({hex}) defective rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C296A Start up check
C296A0 Critical error A critical error occurred a) Check 10A fuse
during startup b) Do a Complete
rebooting sequence
c) Update software
d) Contact your local
Universal Robots service
provider for assistance.

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 6. Troubleshooting

C296A1 SCB IO failed to Ensure the IO Power

power on Connector on the Safety
Control Board is
connected to the 24VDC
C297A Joint validation Validation during power up. a) Do a Complete
rebooting sequence
b) Check that SD card
and robot type match.
c) Update software    
d) Contact your local
Universal Robots service
provider for assistance.
C297A0 Critical error A critical error occurred a) Do a Complete
during Joint validation rebooting sequence
b) Check that SD card
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

and robot type match.

c) Update software    
d) Contact your local
Universal Robots service
provider for assistance.
C297A11 The Robot arm does One or more joints do not a) Do a Complete
not match the match stored Robot rebooting sequence
Control Box Configuration b) Check that SD card
and robot type match.
c) Update software    
d) Contact your local
Universal Robots service
provider for assistance.
C298A Hand protection
C298A0 Tool is too close to The tool is too close to the a) Check wrist position.
the lower arm: {float_ lower Robot arm b) Verify mounting
2_4} meter. c) Do a Complete
rebooting sequence
d) Update software    
e) Contact your local
Universal Robots service
provider for assistance
C299A Tool communication
C299A0 Communication error A problem with the Tool a) Do a Complete
detected communication was rebooting sequence
detected. b) Update software
c) Contact your local
Universal Robots service
provider for assistance.

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6. Troubleshooting

C299A3 RX framing error Framing error detected on a) Check external

received data equipment connection
b) Verify the
communication
configuration matches
the hardware.
c) Do a Complete
rebooting sequence
d) Update software
e) Contact your local
Universal Robots service
provider for assistance
C299A4 RX Parity error Parity error detected on a) Check external
received data equipment connection
b) Verify the
communication

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

configuration matches
the hardware.
c) Do a Complete
rebooting sequence
d) Update software
e) Contact your local
Universal Robots service
provider for assistance
C301A Safety message Safety processors does a) Do a Complete
monitor not agree. rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance
C301A0 Critical error A critical error occurred in a) Do a Complete
safety message rebooting sequence
monitoring b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C302A Tool configuration Please check your
configuration on the
installation tab
C302A1 Invalid Robot Type The tool received an a) Do a Complete
invalid robot type rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance

Service Manual 149 Service Manual

 6. Troubleshooting

C303A System status a) Do a Complete

rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance
C303A0 Critical error A critical system error a) Do a Complete
occurred rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C304A Self monitoring
C304A0 Critical error A critical error occurred in a) Do a Complete
physical, logical, and rebooting sequence
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

temporal monitoring b) Update software

(PLATM) c) Contact your local
Universal Robots service
provider for assistance.
C304A3 Close to the gearbox The Joint acceleration or a) Reduce acceleration
shear limit. Encoders deceleration is too high, or in the user program.
disagree {float} [rad] there is a mechanical b) Do a Complete
on the Joint position problem in the gear related rebooting sequence
to encoder mounting. b) Update software
c) Contact your local
Universal Robots service
provider for assistance
or Replace Joint if
necessary.
C304A4 Either the encoder Mechanical problem in a) Reduce acceleration
was inappropriately gear related to encoder in the user program.
mounted, or the mounting. b) Check TCP/Payload
gearbox is loose or and Cog
broken. Difference c) Do a Complete
between the rebooting sequence
encoders is {float} d) Update software
[rad]. e) Contact your local
Universal Robots service
provider for assistance
or Replace Joint if
necessary.

Service Manual 150 Service Manual

6. Troubleshooting

C304A6 Motor phase The lead/connector is a) Do a Complete

{unsigned}’s broken, or the Motor phase rebooting sequence
resistance is too lead has become b) Update software
high. disconnected or loose. c) Contact your local
Universal Robots service
provider for assistance
C305A Robot Power Control
C305A0 Critical error A critical error in power a) Do a Complete
control module rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C305A1 Power supply voltage Robot voltage is lower than a) Check for loose
too low 40V. connections

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

b) Do a Complete
rebooting sequence
c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
C305A2 Robot cable not a) Make sure the cable
connected between Control Box and
Robot Arm is correctly
connected and it has no
damage.
b) Check for loose
connections
c) Do a Complete
rebooting sequence
d) Update software
e) Contact your local
Universal Robots service
provider for assistance
Contact your local
Universal Robots service
provider for assistance.

Service Manual 151 Service Manual

 6. Troubleshooting

C305A3 Short circuit in Robot a) Check for loose

detected or the connections
wrong Robot is b) Make sure the cable
connected to the between Control Box and
Control Box. Robot Arm is correctly
connected and it has no
damage.
c) Check for loose
connections
d) Do a Complete
rebooting sequence
e) Update software
f) Contact your local
Universal Robots service
provider for assistance.
C305A4 Robot voltage rising a) Verify the power
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

slower than expected supply voltage

b) Verify Control Box and
Robot Arm are correctly
paired
c) Check for loose
connections
d) Do a complete
rebooting sequence
e) Contact your local
Universal Robots service
provider for assistance
C305A6 Power supply voltage Power supply is higher a) Make sure the cable
too high: {float} V than 56V between Control Box and
Robot Arm is correctly
connected and it has no
damage.
b) Check for loose
connections
c) Do a Complete
rebooting sequence
d) Update software
e) Contact your local
Universal Robots service
provider for assistance.
C305A8 The Robot Voltage is a) Do a Complete
too high ({float})V rebooting sequence
when powering on b) Update software
the Robot c) Contact your local
Universal Robots service
provider for assistance.

Service Manual 152 Service Manual

6. Troubleshooting

C305A9 The Power State was a) Do a Complete

not OFF ({unsigned}) rebooting sequence
when trying to power b) Update software
on the Robot c) Contact your local
Universal Robots service
provider for assistance
C305A11 The power to the a) Do a Complete
robot arm was not rebooting sequence
removed fast enough b) Update software
after violation c) Contact your local
Universal Robots service
provider for assistance
C306A Joint Joint error
C306A0 Critical error A critical error occurred in a) Do a Complete
a Joint rebooting sequence

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C306A1 Not stopping fast Joint was unable to come a) Either an incorrect
enough to a full stop fast enough. payload is mounted, or
an external force is
pushing the robot
b) Do a Complete
rebooting sequence
c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
C306A9 Joint moved more Potential mechanical b) Do a Complete
than allowable limit failure of the joints brakes rebooting sequence
c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
C309 Keep-Alive System
C309A Critical error A critical error occurred in a) Conduct a complete
the Keep-Alive System rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance

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 6. Troubleshooting

C309A10 Lost more than An invalid amount of Keep- a) Conduct a complete

allowed Keep-Alive Alive System messages rebooting sequence
System messages in have been lost from the b) Update software
a row from Safety Safety Control Board c) Contact your local
Control Board-uPA Processor A Universal Robots service
provider for assistance
C309A11 Lost more than An invalid amount of Keep- a) Conduct a complete
allowed Keep-Alive Alive messages have been rebooting sequence
System messages in lost from the Safety b) Update software
a row from Safety Control Board Processor B c) Contact your local
Control Board-uPB Universal Robots service
provider for assistance
C312A Data validation
C312A0 Critical error A critical error occurred a) Do a Complete
during data validation rebooting sequence
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

b) Check for ESD noise.

c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
C314A SPI IO IO sanity check error.
C314A0 Critical error A critical error occurred a) Do a Complete
related to IO rebooting sequence
b) Check IO connections
c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
C314A5 Expected OSSD The generated OSSD a) Verify if safety output
pulse were not pulses on the safety is not connected to any
detected on the output were not seen power supply or another
Configurable Output during readback safety output
(CO) b) Update software
c) Contact your local
Universal Robots service
provider for assistance
C314A6 An unexpected OSSD An OSSD pulse was a) Verify if safety output
pulse was detected detected on the safety is not connected to
on Configurable output readback, but was ground or another safety
Output (CO) not generated by the output
hardware b) Update software
c) Contact your local
Universal Robots service
provider for assistance

Service Manual 154 Service Manual

6. Troubleshooting

C315A Watchdog
C315A0 Self-test failed The system watchdog is a) Do a Complete
not working as expected rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C316A MCU Micro Control Unit
C316A0 Unknown ID The Microcontroller a) Do a Complete
Identifier does not match rebooting sequence
an expected value. b) Update software
Firmware does not match c) Contact your local
hardware. Universal Robots service
provider for assistance
C316A1 This version of the The firmware in the robot a) Do a Complete

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

firmware is obsolete is too old and needs to be rebooting sequence
and needs to be updated b) Update software
updated c) Contact your local
Universal Robots service
provider for assistance.
C328A Transceiver
miscellaneous
C328A2 Flash device is not The flash device’s JEDEC a) Conduct a complete
supported, check ID does not match a rebooting sequence
JEDEC data for supported flash device b) Update software
device c) Contact your local
Universal Robots service
provider for assistance
C330A Injection Molding
Machine Interface
IMMI IO
C330A1 Injection-Molding- First byte: produced value, Check E-stop output
Machine-Interface E- second byte: read value
Stop output readback
does not match the
produced value
C330A2 Injection-Molding- First byte: produced value, Check output
Machine-Interface second byte: read value
Moulding Area Free
output readback
does not match the
produced value

Service Manual 155 Service Manual

 6. Troubleshooting

C330A3 Injection-Molding- The voltage measured on a) Check the fuses on

Machine-Interface the 24V IO rail is lower the Injection-Molding-
24V IO voltage than expected Machine-Interface
outside acceptable b) Verify there are no
range short circuits on the 24V
IO connectors
c) Contact your local
Universal Robots service
provider for assistance
C330A4 Injection-Molding- The voltages measured on a) Check the fuses on
Machine-Interface the 48V rails are lower the Injection-Molding-
48V voltages outside than expected Machine-Interface
acceptable range b) Verify there are no
short circuits on the IO
connectors
c) Contact your local
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Universal Robots service

provider for assistance
C331A Friction model
C331A0 Critical error A critical error occurred in a) Conduct a complete
the friction model module rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance
C332A Servo configuration
C332A0 Critical error on A critical error occurred in a) Conduct a complete
Servo configuration the servo configuration rebooting sequence
module b) Update software
c) Contact your local
Universal Robots service
provider for assistance
C400A Protective Stop:
Elbow position close
to safety plane limits
C401A Protective Stop:
Exceeding user
safety settings for
stopping time
C402A Protective Stop:
Exceeding user
safety settings for
stopping distance

Service Manual 156 Service Manual

6. Troubleshooting

C403A Protective Stop:

Danger of clamping
between the Robot’s
lower arm and tool
C404A Unexpected behavior
C404A0 Runtime sends data
too often
C404A1 Runtime tries to
receive data too
often
C450A Force-Torque sensor
C450A0 Sensor data invalid Force-Torque sensor is a) Do a Complete
defective or not mounted rebooting sequence
correctly b) Check for loose

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

connections
c) Update software
d) Contact your local
Universal Robots service
provider for assistance.
C450A1 Sensor cannot be Force-Torque sensor a) Do a Complete
used, therefore it is version is newer than the rebooting sequence
disabled Robot software b) Check for loose
connections
c) Update software
d) Contact your local
Universal Robots service
provider for assistance
C450A4 Force-Torque sensor Force-Torque sensor is a) Do a Complete
is expected, but it expected, but no signals rebooting sequence
cannot be detected from the sensor can be b) Check for loose
detected. connections
c) Check for damages to
the Tool/sensor
d) Update software
e) Contact your local
Universal Robots service
provider for assistance.
C450A5 Force-Torque sensor Force-Torque sensor is a) Conduct a complete
is detected but not installed, but no calibration rebooting sequence
calibrated was found b) Update software
c) Contact your local
Universal Robots service
provider for assistance
C500A Self-test step

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 6. Troubleshooting

C500A19 Awaiting acceptance The Self-test awaits

started acceptance using serial
number.
C710A ROM Test
C710A0 Critical error A critical error occurred a) Do a Complete
during ROM validation rebooting sequence
b) Update software
c) Contact your local
Universal Robots service
provider for assistance.
C740A Hardware monitoring
C740A0 Critical error A critical error occurred a) Do a Complete
during hardware rebooting sequence
monitoring b) Update software
c) Contact your local
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Universal Robots service

provider for assistance.
C740A20 24V SPI IO voltage 24V voltage IO is outside a) Do a Complete
its limits rebooting sequence
(Below 23,0V above 25,7V) b) Check for loose
connections
c) Check for damages to
the Tool/sensor
d) Update software
e) Contact your local
Universal Robots service
provider for assistance
C740A21 24V SPI IO current 24V current IO is outside a) Do a Complete
its limits rebooting sequence
b) Check for loose
connections
c) Check for damages to
the Tool/sensor
d) Update software
e) Contact your local
Universal Robots service
provider for assistance

Service Manual 158 Service Manual

6. Troubleshooting

C740A24 The left Three- a) Do not press the

Position Enabling button repeatedly
button is b) Remove any pressure
inconsistent off the button
c) Press the button with
more pressure, if light
pressing may not work
d) Update software
e) Contact your local
Universal Robots service
provider for assistance
C740A25 The right Three- a) Do not press the
Position Enabling button repeatedly
button is b) Remove any pressure
inconsistent off the button
c) Press the button with

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

more pressure, if light
pressing may not work,
d) Update software
e) Contact your local
Universal Robots service
provider for assistance

6.4. LED indicators and Fuse on Safety Control Board

6.4.1. LED Indicators on Safety Control Board
The below LEDs are “power” LEDs. They are either on or off.

LED for power

• Green color permanent = Power on
• No color permanent = Error or no power

Service Manual 159 Service Manual

 6. Troubleshooting

Below are “communication” LEDs. They flash in different patterns, depending on the status.

LED for Safety A and Safety B

Green fast flash = Bootloader
Green slow flash = Normal communication
Red permanent = Error (Red flash can happen during bootup/power on, this is normal.)
LED for FPGA
Green/Red permanent = Normal communication
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Green slow flash = No communication/trying to establish communication

6.4.2. Fuse
Fuse is a 10A fast-acting mini blade fuse.

WARNING
Never use a different fuse than specified. Only use high grade components.

Fuse specifications:
• Interrupting Rating: 1000A @ 32 VDC
• Voltage Rating: 32 VDC
• Component Level Temperature Range: -40˚C to +125˚C
• System Level Temperature Range: -40˚C to +105˚C
• Terminals: Ag plated zinc alloy

Service Manual 160 Service Manual

6. Troubleshooting

• Housing Material: PA66

• Complies with: SAE J2077, ISO 8820-3
• UL 248 Special Purpose Fuses

6.5. Complete Rebooting Sequence

To completely reboot the robot system, follow the following steps:

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

6.6. Protective stop
Read also article 18939 on the support site www.universal-robots.com/support

Service Manual 161 Service Manual

 6. Troubleshooting
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Ignoring protective stops is considered abuse of the robot which voids the warranty.
These faults can be hidden from view under the following two circumstances:
1. Personnel simply resetting a fault without review of why the fault has happened.

WARNING
Ignoring protective stops masks fault detection!
Pay careful attention to protective stops.
Learn why they happen to improve your programs and preserve fault detection! 

Protective stops must never be acknowledged and reset automatically, it must always be a
deliberate action by a user to resume after a protective stop.
In general, protective stops are designed to inform the user that the robot has stopped due to an
external event such as hitting an obstacle or similar. In case the robots are pushed close to the
limits, the robots can generate protective stops to indicate that they are not capable of following
the desired trajectory.  After a protective stop, the following must be done before resuming
operation:
i. If there has been a collision or similar:
Remove the obstacle and ensure that operators are out of the way before resuming
operation.  See Section 2 of Service Manual (see link below).

Service Manual 162 Service Manual

6. Troubleshooting

ii. If there has been NO collision or similar:

The robot is operating too close to the limits, the application should be adjusted to reduce
the load on the robot, for instance by reducing accelerations, by correct use of blends or
similar measures.

Protective stops are indications of issues, including program or production issues – not only
safety issues.  An application which results in daily protective stops is not designed correctly
and needs to be modified.
2. If an automatic acknowledgment and reset of a protective stop has been programmed – no
one will see the protective stop. 

WARNING
Automatic acknowledgment and reset of protective stops masks faults that will
lead to a failure condition.

When there is a protective stop, verify the cause.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

If there has been no collision, then adjust the program

If an integrator has set-up the application program to do automatic acknowledgement and reset
of protective stops, the customer should contact the integrator change the program immediately,
as such override voids the product warranty and masks fault detection.

Service Manual 163 Service Manual

 7. Electrical drawings

7. Electrical drawings
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Service Manual 164 Service Manual

8. Spare Parts

8. Spare Parts
NOTICE
Ensure you have the correct part numbers when ordering spare parts.

8.1. Robot Arm

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Click on the page no. in the right column to see part in detail or go to the page.

Service Manual 165 Service Manual

 8. Spare Parts

NO. DESCRIPTION PART NUMBER(S) PAGE NO.

8.1.1. Sealing set for UR3e – 103703 on the
Sealing ring
1 103703/103705/103700 facing page-8.1.3. Sealing ring set
set
UR10e/UR16e –103700 on page 168
8.1.4. Lid set for UR3e – 103413 on page 169-
2 Lid set 103413/103405/103410 8.1.6. Lid set for UR10e/UR16e – 103410 on
page 171
Protective cap
8.1.7. Protective cap for tool connector -
3 for tool 131095
131095 on page 171
connector
Tool mount 8.1.8. Tool with Force/Torque sensor for UR3e
with – 124083 on page 172-8.1.10. Tool mount with
4 124083/124085/124080
Force/Torque Force/Torque sensor for UR10e/UR16e –
sensor 124080 on page 174
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

8.1.11. Joint Wrist 3 Size 0 for UR3e –

5 Wrist joint 3 124002/102414/102412 124002 on page 175-8.1.13. Joint Wrist 3 Size 2
for UR10e/UR16e – 102412 on page 177
8.1.14. Joint Wrist 2 Size 0 for UR3e –
6 Wrist joint 2 124110/124111/124112 124110 on page 178-8.1.16. Joint Wrist 2 Size 2
for UR10e/UR16e –124112 on page 180
8.1.17. Joint Wrist 1 Size 0 for UR3e –
7 Wrist joint 1 124001/102413/102411 124001 on page 181-8.1.19. Joint Wrist 1 Size 2
for UR10e/UR16e –102411 on page 183
Lower arm
8 N/A 8.1.20. Lower arm assembly – N/A on page 184
assembly
8.1.21. Elbow joint Size 1 for UR3e– 124011 on
9 Elbow joint 124011/124031/124031 page 185-8.1.23. Elbow joint Size 3 for
UR10e/UR16e –124031 on page 187
10 Upper arm N/A 8.1.24. Upper arm – N/A on page 188
8.1.25. Shoulder joint Size 2 for UR3e –
11 Shoulder joint 124021/124031/124041 124021 on page 189-8.1.27. Shoulder joint Size
4 for UR10e/UR16e –124041 on page 190
8.1.28. Base joint Size 2 for UR3e – 124021 on
12 Base joint 124021/124031/124041 page 191-8.1.30. Base joint Size 4 for
UR10e/UR16e –124041 on page 193
Base with
13 Robot Arm 122083/122085/122080 1-1
cable

Refer to Section Robot Arm for joint name and size.

Service Manual 166 Service Manual

8. Spare Parts

8.1.1. Sealing set for UR3e – 103703

Return to overview

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Sealing ring set UR3e – 103703
NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 3 Form-ring for Size 2 joints 103703 N/A
2 2 Form-ring for Size 1 joints 103703 N/A
3 4 Form-ring for size 0 joints 103703 N/A
4 2 O-ring for size 2 lids 103703 N/A
5 1 O-ring for size 1 lids 103703 N/A
6 3 O-ring for size 0 lids 103703 N/A
7 2 Flat ring for lower arm 103703 N/A
8 1 Flat ring for size 1 joints 103703 N/A
9 4 Flat ring for size 0 joints 103703 N/A
10 3 Flat ring for size 2 joints 103703 N/A
11 2 Wear ring for size 2 joints 103703 N/A
12 1 Wear ring for size 1 joints 103703 N/A
13 3 Wear ring for size 0 joints 103703 N/A

Service Manual 167 Service Manual

 8. Spare Parts

8.1.2. Sealing set for UR5e – 103705

Return to overview

Sealing ring set UR5e – 103705

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.

1 4 Form-ring for Size 1 joints 103705 N/A
2 3 O-ring for size 3 lids 103705 N/A
3 3 O-ring for size 1 lids 103705 N/A
4 5 Flat ring for size 3 joints 103705 N/A
5 1 Flat ring for lower arm 103705 N/A
6 4 Flat ring for size 1 joints 103705 N/A
7 2 Wear ring for size 3 joints 103705 N/A
8 3 Wear ring for size 1 joints 103705 N/A

8.1.3. Sealing ring set UR10e/UR16e –103700

Return to overview

Service Manual 168 Service Manual

8. Spare Parts

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Sealing ring set UR10e/UR16e –103700
NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 4 Form-ring for Size 2 joints N/A N/A
2 2 O-ring for size 4 lids N/A N/A
3 1 O-ring for size 3 lids N/A N/A
4 3 O-ring for size 2 lids N/A N/A
5 3 Flat ring for size 4 joints N/A N/A
6 3 Flat ring for size 3 joints N/A N/A
7 4 Flat ring for size 2 joints N/A N/A
8 2 Wear ring for size 4 joints N/A N/A
9 1 Wear ring for size 3 joints N/A N/A
10 3 Wear ring for size 2 joints N/A N/A

8.1.4. Lid set for UR3e – 103413

Return to overview

Service Manual 169 Service Manual

 8. Spare Parts

*All parts in the table below are included in the lid set

Lid set for UR3e – 103413

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 2 O-ring for size 2 N/A N/A
2 2 Lid for size 2 N/A N/A
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

3 6 Screws for size 2 lid N/A N/A

4 1 O-ring for size 1 N/A N/A
5 1 Lid for size 1 N/A N/A
6 3 Screws for size 1 N/A N/A
7 3 O-ring for size 0 N/A N/A
8 3 Lid for size 0 N/A N/A
9 9 Screws for size 0 N/A N/A

8.1.5. Lid set for UR5e – 103405

Return to overview

*All parts in the table below are included in the lid set

Service Manual 170 Service Manual

8. Spare Parts

Lid set for UR5e – 103405

PART NUMBER REMOVE THIS WHOLE PAGE
NO. QTY. DESCRIPTION
(S) COLUMN NO.
1 3 O-ring for size 3 N/A N/A
2 3 Lid for size 3 N/A N/A
Screws for size 3
3 12 N/A N/A
lid
4 3 O-ring for size 1 N/A N/A
5 3 Lid for size 1 N/A N/A
6 9 Screws for size 1 N/A N/A

8.1.6. Lid set for UR10e/UR16e – 103410

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Return to overview

*All parts in the table below are included in the lid set

Lid set for UR10e/UR16e – 103410

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 2 O-ring for size 4 N/A N/A
2 2 Lid for size 4 N/A N/A
3 12 Screws for size 4 lid N/A N/A
4 1 O-ring for size 3 N/A N/A
5 1 Lid for size 3 N/A N/A
6 4 Screws for size 3 N/A N/A
7 3 O-ring for size 2 N/A N/A
8 3 Lid for size 2 N/A N/A
9 9 Screws for size 2 N/A N/A

8.1.7. Protective cap for tool connector - 131095

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Service Manual 171 Service Manual

 8. Spare Parts

Protective cap for tool connector - 131095

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 1 Protective cap for tool connector 131095 1
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

8.1.8. Tool with Force/Torque sensor for UR3e – 124083

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Service Manual 172 Service Manual

8. Spare Parts

Tool mount with Force/Torque sensor for UR3e – 124083

PART
NO. QTY. DESCRIPTION NUMBER PAGE NO.
(S)
8.1.1. Sealing set for UR3e – 103703 on
1 1 Wear ring 103703
page 167
8.1.1. Sealing set for UR3e – 103703 on
2 1 Flat ring 103703
page 167
8.1.1. Sealing set for UR3e – 103703 on
3 1 Form ring 103703
page 167
4 6 Screw N/A N/A
5 3 Screw counter sunk N/A N/A
8.1.7. Protective cap for tool connector
6 1 Tool connector lid 131095

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

- 131095 on page 171
Tool mount with
7 1 124083 1
Force/Torque sensor

8.1.9. Tool with Force/Torque sensor for UR5e –124085

Return to overview

Service Manual 173 Service Manual

 8. Spare Parts

Tool mount with Force/Torque sensor for UR5e –124085

PART
NO. QTY. DESCRIPTION NUMBER PAGE NO.
(S)
8.1.2. Sealing set for UR5e – 103705 on
1 1 Wear ring 103705
page 168
8.1.2. Sealing set for UR5e – 103705 on
2 1 Flat ring 103705
page 168
8.1.2. Sealing set for UR5e – 103705 on
3 1 Form ring 103705
page 168
4 8 Screw N/A N/A
5 3 Screw counter sunk N/A N/A
8.1.7. Protective cap for tool connector
6 1 Tool connector lid 131095
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

- 131095 on page 171
Tool mount with
7 1 124085 1
Force/Torque sensor

8.1.10. Tool mount with Force/Torque sensor for UR10e/UR16e –

124080
Return to overview

Service Manual 174 Service Manual

8. Spare Parts

Tool mount with Force/Torque sensor for UR10e/UR16e – 124080

PART
NO. QTY. DESCRIPTION NUMBER PAGE NO.
(S)
8.1.3. Sealing ring set UR10e/UR16e –
1 1 Wear ring N/A
103700 on page 168
8.1.3. Sealing ring set UR10e/UR16e –
2 1 Flat ring N/A
103700 on page 168
8.1.3. Sealing ring set UR10e/UR16e –
3 1 Form ring N/A
103700 on page 168
4 10 Screw N/A N/A
5 3 Screw counter sunk N/A N/A
8.1.7. Protective cap for tool connector
6 1 Tool connector lid 131095

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

- 131095 on page 171
Tool mount with
7 1 124080 1
Force/Torque sensor

8.1.11. Joint Wrist 3 Size 0 for UR3e – 124002

Return to overview

Service Manual 175 Service Manual

 8. Spare Parts

Wrist joint 3 for UR3e – 124002

PART NUMBER
NO. QTY. DESCRIPTION PAGE NO.
(S)
8.1.1. Sealing set for UR3e – 103703 on
1 2 Flat ring for size 0 103703
page 167
Form ring for size 8.1.1. Sealing set for UR3e – 103703 on
2 2 103703
0 page 167
Wear ring for size 8.1.1. Sealing set for UR3e – 103703 on
3 2 103703
0 page 167
4 1 Wrist 3, size 0 N/A N/A
O-ring for lid size 8.1.4. Lid set for UR3e – 103413 on
5 1 103413
0 page 169
8.1.4. Lid set for UR3e – 103413 on
6 1 Lid size 0 103413
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

page 169
Screws for lid size 8.1.4. Lid set for UR3e – 103413 on
7 3 103413
0 page 169
8 12 Screws N/A N/A
Screws counter
9 6 N/A N/A
sunk

8.1.12. Joint Wrist 3 Size 1 for UR5e – 102414

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Service Manual 176 Service Manual

8. Spare Parts

Wrist joint 3 for UR5e – 102414

PART NUMBER
NO. QTY. DESCRIPTION PAGE NO.
(S)
8.1.2. Sealing set for UR5e – 103705 on
1 2 Flat ring for size 1 103705
page 168
Form ring for size 8.1.2. Sealing set for UR5e – 103705 on
2 2 103705
1 page 168
Wear ring for size 8.1.2. Sealing set for UR5e – 103705 on
3 2 103705
1 page 168
4 1 Wrist 3, size 1 N/A N/A
O-ring for lid size 8.1.5. Lid set for UR5e – 103405 on
5 1 103405
1 page 170
8.1.5. Lid set for UR5e – 103405 on
6 1 Lid size 1 103405

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

page 170
Screws for lid size 8.1.5. Lid set for UR5e – 103405 on
7 3 103405
1 page 170
8 16 Screws N/A N/A
Screws counter
9 6 N/A N/A
sunk

8.1.13. Joint Wrist 3 Size 2 for UR10e/UR16e – 102412

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Service Manual 177 Service Manual

 8. Spare Parts

Wrist joint 3 for UR10e/UR16e – 102412

PART
NO. QTY. DESCRIPTION PAGE NO.
NUMBER(S)
Flat ring for size 8.1.3. Sealing ring set UR10e/UR16e –
1 2 103700
2 103700 on page 168
Form ring for 8.1.3. Sealing ring set UR10e/UR16e –
2 2 103700
size 2 103700 on page 168
Wear ring for 8.1.3. Sealing ring set UR10e/UR16e –
3 2 103700
size 2 103700 on page 168
4 1 Wrist 3, size 2 N/A N/A
O-ring for lid 8.1.6. Lid set for UR10e/UR16e – 103410 on
5 1 103410
size 2 page 171
8.1.6. Lid set for UR10e/UR16e – 103410 on
6 1 Lid size 2 103410
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

page 171
Screws for lid 8.1.6. Lid set for UR10e/UR16e – 103410 on
7 3 103410
size 2 page 171
8 20 Screws N/A N/A
Screws counter
9 6 N/A N/A
sunk

8.1.14. Joint Wrist 2 Size 0 for UR3e – 124110

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Service Manual 178 Service Manual

8. Spare Parts

Wrist joint 2 for UR3e – 124110

PART NUMBER
NO. QTY. DESCRIPTION PAGE NO.
(S)
8.1.1. Sealing set for UR3e – 103703 on
1 2 Flat ring for size 0 103703
page 167
Form ring for size 8.1.1. Sealing set for UR3e – 103703 on
2 2 103703
0 page 167
Wear ring for size 8.1.1. Sealing set for UR3e – 103703 on
3 2 103703
0 page 167
4 1 Wrist 2, size 0 N/A N/A
O-ring for lid size 8.1.4. Lid set for UR3e – 103413 on
5 1 103413
0 page 169
8.1.4. Lid set for UR3e – 103413 on
6 1 Lid size 0 103413

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

page 169
Screws for lid size 8.1.4. Lid set for UR3e – 103413 on
7 3 103413
0 page 169
8 12 Screws N/A N/A
Screws counter
9 6 N/A N/A
sunk

8.1.15. Joint Wrist 2 Size 1 for UR5e –124111

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Service Manual 179 Service Manual

 8. Spare Parts

Wrist joint 2 for UR5e –124111

PART NUMBER
NO. QTY. DESCRIPTION PAGE NO.
(S)
8.1.2. Sealing set for UR5e – 103705 on
1 2 Flat ring for size 1 103705
page 168
Form ring for size 8.1.2. Sealing set for UR5e – 103705 on
2 2 103705
1 page 168
Wear ring for size 8.1.2. Sealing set for UR5e – 103705 on
3 2 103705
1 page 168
4 1 Wrist 2, size 1 N/A N/A
O-ring for lid size 8.1.5. Lid set for UR5e – 103405 on
5 1 103405
1 page 170
8.1.5. Lid set for UR5e – 103405 on
6 1 Lid size 1 103405
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

page 170
Screws for lid size 8.1.5. Lid set for UR5e – 103405 on
7 3 103405
1 page 170
8 16 Screws N/A N/A
Screws counter
9 6 N/A N/A
sunk

8.1.16. Joint Wrist 2 Size 2 for UR10e/UR16e –124112

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Service Manual 180 Service Manual

8. Spare Parts

Wrist joint 2 for UR10e/UR16e –124112

PART
NO. QTY. DESCRIPTION PAGE NO.
NUMBER(S)
Flat ring for size 8.1.3. Sealing ring set UR10e/UR16e –
1 2 103700
2 103700 on page 168
Form ring for 8.1.3. Sealing ring set UR10e/UR16e –
2 2 103700
size 2 103700 on page 168
Wear ring for 8.1.3. Sealing ring set UR10e/UR16e –
3 2 103700
size 2 103700 on page 168
4 1 Wrist 2, size 2 N/A N/A
O-ring for lid 8.1.6. Lid set for UR10e/UR16e – 103410 on
5 1 103410
size 2 page 171
8.1.6. Lid set for UR10e/UR16e – 103410 on
6 1 Lid size 2 103410

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

page 171
Screws for lid 8.1.6. Lid set for UR10e/UR16e – 103410 on
7 3 103410
size 2 page 171
8 20 Screws N/A N/A
Screws counter
9 6 N/A N/A
sunk

8.1.17. Joint Wrist 1 Size 0 for UR3e – 124001

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Service Manual 181 Service Manual

 8. Spare Parts

Wrist joint 1 for UR3e – 124001

PART NUMBER
NO. QTY. DESCRIPTION PAGE NO.
(S)
8.1.1. Sealing set for UR3e – 103703 on
1 2 Flat ring for size 0 103703
page 167
Form ring for size 8.1.1. Sealing set for UR3e – 103703 on
2 2 103703
0 page 167
Wear ring for size 8.1.1. Sealing set for UR3e – 103703 on
3 2 103703
0 page 167
4 1 Wrist 1, size 0 N/A N/A
O-ring for lid size 8.1.4. Lid set for UR3e – 103413 on
5 1 103413
0 page 169
8.1.4. Lid set for UR3e – 103413 on
6 1 Lid size 0 103413
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

page 169
Screws for lid size 8.1.4. Lid set for UR3e – 103413 on
7 3 103413
0 page 169
8 12 Screws N/A N/A
Screws counter
9 6 N/A N/A
sunk

8.1.18. Joint Wrist 1 Size 1 for UR5e –102413

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Service Manual 182 Service Manual

8. Spare Parts

Wrist joint 1 for UR5e –102413

PART NUMBER
NO. QTY. DESCRIPTION PAGE NO.
(S)
8.1.2. Sealing set for UR5e – 103705 on
1 2 Flat ring for size 1 103705
page 168
Form ring for size 8.1.2. Sealing set for UR5e – 103705 on
2 2 103705
1 page 168
Wear ring for size 8.1.2. Sealing set for UR5e – 103705 on
3 2 103705
1 page 168
4 1 Wrist 1, size 1 N/A N/A
O-ring for lid size 8.1.5. Lid set for UR5e – 103405 on
5 1 103405
1 page 170
8.1.5. Lid set for UR5e – 103405 on
6 1 Lid size 1 103405

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

page 170
Screws for lid size 8.1.5. Lid set for UR5e – 103405 on
7 3 103405
1 page 170
8 16 Screws N/A N/A
Screws counter
9 6 N/A N/A
sunk

8.1.19. Joint Wrist 1 Size 2 for UR10e/UR16e –102411

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Service Manual 183 Service Manual

 8. Spare Parts

Wrist joint 1 for UR10e/UR16e –102411

PART
NO. QTY. DESCRIPTION PAGE NO.
NUMBER(S)
Flat ring for size 8.1.3. Sealing ring set UR10e/UR16e –
1 2 103700
2 103700 on page 168
Form ring for 8.1.3. Sealing ring set UR10e/UR16e –
2 2 103700
size 2 103700 on page 168
Wear ring for 8.1.3. Sealing ring set UR10e/UR16e –
3 2 103700
size 2 103700 on page 168
4 1 Wrist 1, size 2 N/A N/A
O-ring for lid 8.1.6. Lid set for UR10e/UR16e – 103410 on
5 1 103410
size 2 page 171
8.1.6. Lid set for UR10e/UR16e – 103410 on
6 1 Lid size 2 103410
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

page 171
Screws for lid 8.1.6. Lid set for UR10e/UR16e – 103410 on
7 3 103410
size 2 page 171
8 20 Screws N/A N/A
Screws counter
9 6 N/A N/A
sunk

8.1.20. Lower arm assembly – N/A

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If for any reason this spare parts is needed , please contact your preferred distributor for part
number, availability and ordering.

Service Manual 184 Service Manual

8. Spare Parts

Lower arm assembly – N/A

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 Lower arm assembly UR3e N/A N/A
1 Lower arm assembly UR5e N/A N/A
1 Lower arm assembly UR10e N/A N/A
1 Lower arm assembly UR16e N/A N/A

8.1.21. Elbow joint Size 1 for UR3e– 124011

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Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Service Manual 185 Service Manual

 8. Spare Parts

Elbow joint for UR3e– 124011

PART NUMBER
NO. QTY. DESCRIPTION PAGE NO.
(S)
8.1.1. Sealing set for UR3e – 103703 on
1 2 Flat ring for size 1 103703
page 167
Form ring for size 8.1.1. Sealing set for UR3e – 103703 on
2 2 103703
1 page 167
Wear ring for size 8.1.1. Sealing set for UR3e – 103703 on
3 1 103703
1 page 167
4 1 Elbow, size 1 N/A N/A
O-ring for lid size 8.1.4. Lid set for UR3e – 103413 on
5 1 103413
1 page 169
8.1.4. Lid set for UR3e – 103413 on
6 1 Lid size 1 103413
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

page 169
Screws for lid size 8.1.4. Lid set for UR3e – 103413 on
7 3 103413
1 page 169
8 16 Screws N/A N/A
Screws counter
9 6 N/A N/A
sunk

8.1.22. Elbow joint Size 3 for UR5e –124031

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*The Joint Size 3 can be used for J0, J1 and J2 of your UR5e. Specify the desired joint position
when ordering this spare part (J0 = base, J1 = shoulder, J2 = elbow).

Service Manual 186 Service Manual

8. Spare Parts

Elbow joint Size 3 for UR5e –124031

PART
NO. QTY. DESCRIPTION PAGE NO.
NUMBER(S)
8.1.2. Sealing set for UR5e –
1 2 Flat ring for size 3 103705
103705 on page 168
Bracket connection incl. bolts
2 2 N/A N/A
and seals size 3
8.1.2. Sealing set for UR5e –
3 1 Wear ring size 3 103705
103705 on page 168
4 1 Elbow, size 3 N/A N/A
8.1.5. Lid set for UR5e –
5 1 O-ring for lid size 3 103405
103405 on page 170
8.1.5. Lid set for UR5e –
6 1 Lid size 3 103405

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

103405 on page 170
8.1.5. Lid set for UR5e –
7 4 Screws for lid size 3 103405
103405 on page 170

8.1.23. Elbow joint Size 3 for UR10e/UR16e –124031

Return to overview

*The Joint Size 3 can be used only for J2 of your UR10e/UR16e. Specify the desired joint position
when ordering this spare part (J2 = elbow).

Service Manual 187 Service Manual

 8. Spare Parts

Elbow joint for UR10e/UR16e –124031

PART
NO. QTY. DESCRIPTION NUMBER PAGE NO.
(S)
8.1.3. Sealing ring set UR10e/UR16e
1 2 Flat ring for size 3 103700
–103700 on page 168
Bracket connection incl. bolts
2 2 N/A N/A
and seals size 1
8.1.3. Sealing ring set UR10e/UR16e
3 1 Wear ring size 3 103700
–103700 on page 168
4 1 Elbow, size 3 N/A N/A
8.1.6. Lid set for UR10e/UR16e –
5 1 O-ring for lid size 3 103410
103410 on page 171
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

8.1.6. Lid set for UR10e/UR16e –

6 1 Lid size 3 103410
103410 on page 171
8.1.6. Lid set for UR10e/UR16e –
7 3 Screws for lid size 3 103410
103410 on page 171

8.1.24. Upper arm – N/A

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If for any reason this spare part is needed, please contact your preferred distributor for part
number, and availability and ordering.

Upper arm assembly – N/A

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 Upper arm assembly UR3e N/A N/A
1 Upper arm assembly UR5e N/A N/A
1 Upper arm assembly UR10e N/A N/A
1 Upper arm assembly UR16e N/A N/A

Service Manual 188 Service Manual

8. Spare Parts

8.1.25. Shoulder joint Size 2 for UR3e – 124021

Return to overview

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

*The Joint Size 2 can be used for J0 and J1 of your UR3e. Specify the desired joint position when
ordering this spare part (J0 = base, J1 = shoulder).

Shoulder joint for UR3e – 124021

PART NUMBER
NO. QTY. DESCRIPTION PAGE NO.
(S)
8.1.1. Sealing set for UR3e – 103703 on
1 2 Flat ring for size 2 103703
page 167
Form ring for size 8.1.1. Sealing set for UR3e – 103703 on
2 2 103703
2 page 167
Wear ring for size 8.1.1. Sealing set for UR3e – 103703 on
3 1 103703
2 page 167
4 1 Shoulder, size 2 N/A N/A
O-ring for lid size 8.1.4. Lid set for UR3e – 103413 on
5 1 103413
2 page 169
8.1.4. Lid set for UR3e – 103413 on
6 1 Lid size 2 103413
page 169
Screws for lid size 8.1.4. Lid set for UR3e – 103413 on
7 3 103413
2 page 169
8 20 Screws N/A N/A
Screws counter
9 6 N/A N/A
sunk

8.1.26. Shoulder joint Size 3 for UR5e –124031

Return to overview

Service Manual 189 Service Manual

 8. Spare Parts

*The Joint Size 3 can be used for J0, J1 and J2 of your UR5e. Specify the desired joint position
when ordering this spare part (J0 = base, J1 = shoulder, J2 = elbow).
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Shoulder joint Size 3 for UR5e –124031

PART
NO. QTY. DESCRIPTION PAGE NO.
NUMBER(S)
8.1.2. Sealing set for UR5e –
1 2 Flat ring for size 3 103705
103705 on page 168
Bracket connection incl. bolts
2 2 N/A N/A
and seals size 3
8.1.2. Sealing set for UR5e –
3 1 Wear ring size 3 103705
103705 on page 168
4 1 Shoulder, size 3 N/A N/A
8.1.5. Lid set for UR5e –
5 1 O-ring for lid size 3 103405
103405 on page 170
8.1.5. Lid set for UR5e –
6 1 Lid size 3 103405
103405 on page 170
8.1.5. Lid set for UR5e –
7 4 Screws for lid size 3 103405
103405 on page 170

8.1.27. Shoulder joint Size 4 for UR10e/UR16e –124041

Return to overview

Service Manual 190 Service Manual

8. Spare Parts

*The Joint Size 4 can be used for J0 and J1 of your UR10e/UR16e. Specify the desired joint
position when ordering this spare part (J0 = base, J1 = shoulder).

Shoulder joint for UR10e/UR16e –124041

PART

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

NO. QTY. DESCRIPTION NUMBER PAGE NO.
(S)
8.1.3. Sealing ring set UR10e/UR16e
1 2 Flat ring for size 4 103700
–103700 on page 168
Bracket connection incl. bolts
2 2 N/A N/A
and seals size 4
8.1.3. Sealing ring set UR10e/UR16e
3 1 Wear ring size 4 103700
–103700 on page 168
4 1 Shoulder, size 4 N/A N/A
8.1.6. Lid set for UR10e/UR16e –
5 1 O-ring for lid size 4 103410
103410 on page 171
8.1.6. Lid set for UR10e/UR16e –
6 1 Lid size 4 103410
103410 on page 171
8.1.6. Lid set for UR10e/UR16e –
7 6 Screws for lid size 4 103410
103410 on page 171

8.1.28. Base joint Size 2 for UR3e – 124021

Return to overview

Service Manual 191 Service Manual

 8. Spare Parts

*The Joint Size 2 can be used for J0 and J1 of your

UR3e. Specify the desired joint position when ordering this spare part (J0 = base, J1 = shoulder).

Base joint for UR3e – 124021

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

PART NUMBER
NO. QTY. DESCRIPTION PAGE NO.
(S)
8.1.1. Sealing set for UR3e – 103703 on
1 2 Flat ring for size 2 103703
page 167
Form ring for size 8.1.1. Sealing set for UR3e – 103703 on
2 2 103703
2 page 167
Wear ring for size 8.1.1. Sealing set for UR3e – 103703 on
3 2 103703
2 page 167
4 1 Base joint, size 2 N/A N/A
O-ring for lid size 8.1.4. Lid set for UR3e – 103413 on
5 1 103413
2 page 169
8.1.4. Lid set for UR3e – 103413 on
6 1 Lid size 2 103413
page 169
Screws for lid size 8.1.4. Lid set for UR3e – 103413 on
7 3 103413
2 page 169
8 20 Screws N/A N/A
Screws counter
9 6 N/A N/A
sunk

8.1.29. Base joint Size 3 for UR5e – 124031

Return to overview

Service Manual 192 Service Manual

8. Spare Parts

*The Joint Size 3 can be used for J0, J1 and J2 of your UR5e. Specify the desired joint position
when ordering this spare part (J0 = base, J1 = shoulder, J2 = elbow).

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Base joint Size 3 for UR5e – 124031
PART
NO. QTY. DESCRIPTION PAGE NO.
NUMBER(S)
8.1.2. Sealing set for UR5e –
1 2 Flat ring for size 3 103705
103705 on page 168
Bracket connection incl. bolts
2 2 N/A N/A
and seals size 3
8.1.2. Sealing set for UR5e –
3 2 Wear ring size 3 103705
103705 on page 168
4 1 Base joint, size 3 N/A N/A
8.1.5. Lid set for UR5e –
5 1 O-ring for lid size 3 103405
103405 on page 170
8.1.5. Lid set for UR5e –
6 1 Lid size 3 103405
103405 on page 170
8.1.5. Lid set for UR5e –
7 3 Screws for lid size 3 103405
103405 on page 170

8.1.30. Base joint Size 4 for UR10e/UR16e –124041

Return to overview

Service Manual 193 Service Manual

 8. Spare Parts

*The Joint Size 4 can be used for J0 and J1 of your UR10e/UR16e. Specify the desired joint
position when ordering this spare part (J0 = base, J1 = shoulder).

Base joint for UR10e/UR16e –124041

PART
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

NO. QTY. DESCRIPTION NUMBER PAGE NO.

(S)
8.1.3. Sealing ring set UR10e/UR16e
1 2 Flat ring for size 4 103700
–103700 on page 168
Bracket connection incl. bolts
2 2 N/A N/A
and seals size 4
8.1.3. Sealing ring set UR10e/UR16e
3 2 Wear ring size 4 103700
–103700 on page 168
4 1 Base joint, size 4 N/A N/A
8.1.6. Lid set for UR10e/UR16e –
5 1 O-ring for lid size 4 103410
103410 on page 171
8.1.6. Lid set for UR10e/UR16e –
6 1 Lid size 4 103410
103410 on page 171
8.1.6. Lid set for UR10e/UR16e –
7 6 Screws for lid size 4 103410
103410 on page 171

8.1.31. Base with Flange Connector cable for UR3e –123183

Return to overview

Service Manual 194 Service Manual

8. Spare Parts

*The cable is not included in this Spare Part, if you need the cable, please refer to the cable

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

option spare part section.

Base with Flange Connector cable for UR5e –123185

PART
NO. QTY. DESCRIPTION NUMBER PAGE NO.
(S)
8.1.3. Sealing ring set UR10e/UR16e
1 1 Flat ring for size 4 103700
–103700 on page 168
8.1.3. Sealing ring set UR10e/UR16e
2 1 Wear ring for size 4 103700
–103700 on page 168
Bracket connection incl.
3 1 N/A N/A
bolts and seals size 4
4 1 Base excl. cable, size 4 N/A N/A
5 1 Plug for Base N/A N/A

8.1.32. Base with Flange Connector cable for UR5e –123185

Return to overview

Service Manual 195 Service Manual

 8. Spare Parts

*The cable is not included in this Spare Part, if you need the cable, please refer to the cable
option spare part section.

Base with Flange Connector cable for UR5e –123185

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

PART
NO. QTY. DESCRIPTION NUMBER PAGE NO.
(S)
8.1.3. Sealing ring set UR10e/UR16e
1 1 Flat ring for size 4 103700
–103700 on page 168
8.1.3. Sealing ring set UR10e/UR16e
2 1 Wear ring for size 4 103700
–103700 on page 168
Bracket connection incl.
3 1 N/A N/A
bolts and seals size 4
4 1 Base excl. cable, size 4 N/A N/A
5 1 Plug for Base N/A N/A

8.1.33. Base with Flange Connector cable for UR10e/UR16e –

123180
Return to overview

Service Manual 196 Service Manual

8. Spare Parts

*The cable is not included in this Spare Part, if you need the cable, please refer to the cable
option spare part section.

Base with Flange Connector cable for UR10e/UR16e - 123180

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

PART
NO. QTY. DESCRIPTION NUMBER PAGE NO.
(S)
8.1.3. Sealing ring set
1 1 Flat ring for size 4 103700
UR10e/UR16e –103700 on page 168
8.1.3. Sealing ring set
2 1 Wear ring for size 4 103700
UR10e/UR16e –103700 on page 168
Bracket connection incl.
3 1 N/A N/A
bolts and seals size 4
4 1 Base excl. cable, size 4 N/A N/A
5 1 Plug for Base N/A N/A

8.2. Robot Cables

The maximum robot connection from the robot arm to the Control Box is 12 m.
Improper robot connection can result in loss of power to the robot arm.

Connecting the Base Flange Cable directly to any Control Box can result in
equipment or property damage.

Service Manual 197 Service Manual

 8. Spare Parts

For more info about cable options go to: https://www.universal-robots.com/articles/ur/e-series-

cable-options

NO. DESCRIPTION PART NUMBER MATERIAL LENGTH DIAMETER

1 1005865 PVC 6m 12.1 mm

Robot Cable Standard
1006541 PVC 12 m 12.1 mm
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

NO. DESCRIPTION PART NUMBER MATERIAL LENGTH DIAMETER

1006547 PUR 6m 13.4 mm
2 Robot Cable HiFlex
1006548 PUR 12 m 13.4 mm

8.3. Control Box

asdfs
Click on the page no. in the right column to see part in detail or go to the page.

NO. DESCRIPTION PART NUMBER(S) PAGE NO.

Service Manual 198 Service Manual

8. Spare Parts

1 Fan & Energy Eater 122750 8.3.1. Filter-Fan-EnergyEater assembly

for CB 5.1 – 122750 below
2 Power Supply 177525/177526/177005 8.3.2. Power Supply Unit for UR3e –
177525 on the next page
3 Wire bundle Power 164071/164072 8.3.5. Wire bundle from Power Supply
Supply Unit to Safety Control Board UR3e –
164071 on page 201
4 Control Board 124511 8.3.7. Safety Control Board Assembly
for UR3e/ UR5e/ UR10e/ UR16e –
124511 on page 202
5 Battery for Control 170009 8.3.8. Battery CR2450 for Safety Control
Board Board Assembly - 170009 on page 203
6 Terminals for Control 104007 8.3.9. Terminal set for IOs in Safety
Board Control Board – 104007 on page 204

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

7 Teach Pendant and 105202 8.3.10. Teach Pendant and Control Box
Control Box mounting mounting bolts – 105202 on page 204
bolt
8 Fuse for Control 170008 8.3.11. Fuse for IOs in Control Board –
Board 170008 on page 205
9 SD Card for Control 170010/170013 8.3.12. SCD card for Control Board –
Board 170011/170013/170014 on page 206
10 Cover plate with seal 103240 8.3.13. Cover plate with seal –
for Control Box 103240 on page 207
11 ight Pipe for Control 170007 8.3.14. Light pipes for control box -
Box 170007 on page 207
12 Fan housing and filter 104008/170020 8.3.15. Fan housing and filter for
for Control Box Control Box – 104008/170020 on
page 207
13 Teach Pendant 124091 8.3.17. Standard Teach Pendant -
124091 on page 209
14 Control Box 124500/124510 8.3.18. Control Box 5.2 – 102403
(UR3e) /102400 (UR5e, UR10e,
UR16e) on page 209

NOTE
If nothing is mentioned, the parts will also fit OEM version Control Box.

8.3.1. Filter-Fan-EnergyEater assembly for CB 5.1 – 122750

Return to overview

Service Manual 199 Service Manual

 8. Spare Parts

Filter-Fan-EnergyEater f. CB 5.1 – 122750

PART
NO. QTY. DESCRIPTION NUMBER PAGE NO.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

(S)
Housing for filter 8.3.15. Fan housing and filter for Control Box –
1 1 104008
incl. filter sheet 104008/170020 on page 207
Plate Fan Spacer
2 1 N/A N/A
Disc
3 1 Fan N/A N/A
4 1 Energy Eater PCB N/A N/A
5 1 Wire bundle N/A N/A

8.3.2. Power Supply Unit for UR3e – 177525

Return to overview

Power Supply for UR3e – 177525

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 1 Power Supply Unit for UR3e 177525 1

Service Manual 200 Service Manual

8. Spare Parts

8.3.3. Power Supply Unit for UR5e/UR10e/UR16e/OEM AC – 177526

Return to overview

Power Supply for UR5e/UR10e/UR16e/OEM AC – 177526

PART NUMBER PAGE

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

NO. QTY. DESCRIPTION
(S) NO.
Power Supply Unit for UR5e/ UR10e/ UR16e/
1 1 177526 1
OEM AC

8.3.4. Power Supply Unit for OEM DC – 177005

Return to overview

Power Supply for OEM DC – 177005

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 1 Power Supply Unit for OEM DC 177005 1

8.3.5. Wire bundle from Power Supply to Safety Control Board UR3e
– 164071
Return to overview

Service Manual 201 Service Manual

 8. Spare Parts

Wire bundle from Power Supply to Safety Control Board UR3e – 164071
PART PAGE
NO. QTY. DESCRIPTION
NUMBER(S) NO.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Wire bundle from Power Supply to Safety

1 1 164071 1
Control Board UR3e

8.3.6. Wire bundle from Power Supply to Control Board

UR5e/UR10e/UR16e/OEM AC – 164072
Return to overview

Wire bundle from Power Supply to Safety Control Board

UR5e/UR10e/UR16e/OEM AC– 164072
PART
PAGE
NO. QTY. DESCRIPTION NUMBER
NO.
(S)
Wire bundle from Power Supply to Safety Control Board
1 1 164072 1
UR5e, UR10e, UR16e, OEM AC

8.3.7. Safety Control Board Assembly for UR3e/ UR5e/ UR10e/

UR16e – 124511
Return to overview

Service Manual 202 Service Manual

8. Spare Parts

Safety Control Board Assembly for UR3e/ UR5e/ UR10e/ UR16e – 124511
PART
NO. QTY. DESCRIPTION NUMBER PAGE NO.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

(S)
Safety Control Board
1 1 N/A N/A
PCB
Battery for Safety
8.3.8. Battery CR2450 for Safety Control
2 1 Control Board PCB - 170009
Board Assembly - 170009 below
CR2450
Safety Control Board
3 1 N/A N/A
Bracket
Safety Control Board 8.3.9. Terminal set for IOs in Safety
4 1 104007
Terminal set for IOs Control Board – 104007 on the next page
8.3.11. Fuse for IOs in Control Board –
5 1 Fuse Mini Blade 10A 170008
170008 on page 205

8.3.8. Battery CR2450 for Safety Control Board Assembly - 170009

Return to overview

Service Manual 203 Service Manual

 8. Spare Parts

Battery for Control Board PCB - 170009

PART NUMBER PAGE
NO. QTY. DESCRIPTION
(S) NO.
Battery CR2450 for Safety Control Board
1 1 170009 1
Assembly

8.3.9. Terminal set for IOs in Safety Control Board – 104007

Return to overview
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Terminal set for IOs in Safety Control Board – 104007

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 13 Terminals for Safety Control Board 104007 1
2 4 Jumpers for Safety Terminal N/A N/A
3 2 Jumpers for external 24V power N/A N/A

8.3.10. Teach Pendant and Control Box mounting bolts – 105202

Return to overview

Service Manual 204 Service Manual

8. Spare Parts

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Teach Pendant and Control Box mounting bolts – 105202
PART NUMBER PAGE
NO. QTY. DESCRIPTION
(S) NO.
Teach Pendant and Control Box mounting
1 10 105202 1
bolts

8.3.11. Fuse for IOs in Control Board – 170008

Return to overview

Service Manual 205 Service Manual

 8. Spare Parts

Fuse for Control Board – 170008

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 10 Fuse Mini Blade 10A 170008 1
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

8.3.12. SCD card for Control Board – 170011/170013/170014

Return to overview

SCD Card for Control Board incl. Software and License - 170013/170014
PART NUMBER
NO. QTY. DESCRIPTION PAGE NO.
(S)
SCD Card with SW and Serial Number
1 1 170013 1
PRE 2020

SCD card with SW and Serial Number AFTER 2020 - 170014

PART NUMBER PAGE
NO. QTY. DESCRIPTION
(S) NO.
SCD card with SW and Serial Number
1 1 170014 1
AFTER 2020

SCD Card 4GB SLC after 2020 - 170011

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 1 SCD Card 4GB SLC after 2020 170011 1

Service Manual 206 Service Manual

8. Spare Parts

8.3.13. Cover plate with seal – 103240

Return to overview

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Cover plate with seal for Control Box - 103240
NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 2 Cover plate with seal for Control Box 103240 1
2 12 Screw and tooth washer for cover plate N/A N/A

8.3.14. Light pipes for control box - 170007

Return to overview

Light pipes for control box - 170007

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 2 Light Pipes for Control Box 170007 1

8.3.15. Fan housing and filter for Control Box – 104008/170020

Return to overview

Service Manual 207 Service Manual

 8. Spare Parts

Housing and filter for Control Box incl. filter sheets - 104008
NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 1 Housing for Control Box 104008 1
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

2 5 Filter material sheets 170020 1

Filter material sheets - 170020

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
2 5 Filter material sheets 170020 1

8.3.16. 3PE Teach Pendant - 124191

Return to overview

Service Manual 208 Service Manual

8. Spare Parts

3-Position Enabling (3PE) Teach Pendant - 124191

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 1 3-Position Enabling Teach Pendant 124191 1

8.3.17. Standard Teach Pendant - 124091

Return to overview

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Standard Teach Pendant - 124091
NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 1 Teach Pendant 124091 1

8.3.18. Control Box 5.2 – 102403 (UR3e) /102400 (UR5e, UR10e,

UR16e)
Return to overview

Service Manual 209 Service Manual

 8. Spare Parts

Control Box 5.2 for UR3e excluding Teach Pendant - 102403

PART NUMBER PAGE
NO. QTY. DESCRIPTION
(S) NO.
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Control Box for UR3e excluding Teach

1 1 102403 1
Pendant

Control Box 5.2 for UR5e/UR10e/UR16e excluding Teach Pendant - 102400

PART NUMBER
NO. QTY. DESCRIPTION PAGE NO.
(S)
Control Box for
1 1 UR5e/UR10e/UR16e 102400 1
excluding Teach Pendant

8.4. Tools

Click on the page no. in the right column to see part in detail or go to the page.

Service Manual 210 Service Manual

8. Spare Parts

PART
NO. DESCRIPTION NUMBER PAGE NO.
(S)
Service Tools -
1 109011 8.4.1. Service tool set – 109011 below
UR3e/UR5e/UR10e/UR16e
Dual Robot Calibration 8.4.2. Dual Robot Calibration Tooling - 185500 on
2 185500
Tooling Complete the next page
Mounting plate Robot Arm
8.4.3. Mounting plate Robot Arm UR5e (Item
3 UR5e 131501
profile) - 131501 on page 213
(Item profile)
Mounting plate Robot Arm
8.4.4. Mounting plate Robot Arm UR5e (BOSCH
4 UR5e 131501
profile) - 131502 on page 214
(BOSCH profile)
Mounting plate Robot Arm

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

8.4.5. Mounting plate Robot Arm UR3e (Item &
5 UR3e 131502
BOSCH profile) - 135103 on page 214
(Item & BOSCH profile)
Mounting plate Robot Arm 8.4.6. Mounting plate Robot Arm
6 UR5e/UR10e/UR16e 131503 UR5e/UR10e/UR16e (Item & BOSCH profile) -
(Item & BOSCH profile) 131510 on page 215
7 Cable for tool external 131510 8.4.7. Cable for tool external - 173101 on page 215

8.4.1. Service tool set – 109011

Return to overview

Service Manual 211 Service Manual

 8. Spare Parts

Service Tool set - 109011

PART
PAGE
NO. QTY. DESCRIPTION NUMBER
NO.
(S)
1 1 Service tool set 109011 1
2 1 Screwdriver Flat 2.5 N/A N/A
3 1 Multi-bit tool incl. bits 109117 N/A
Screwdriver hex key 4mm. – 5.0Nm for e-
4 1 109113 N/A
Series
5 1 Socket bit 10mm. for Control Box 109118 N/A
6 1 Needle nose pliers ESD 109122 N/A
7 1 ESD Wrist band 109180 N/A
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

7 1 By-pass cable N/A N/A

Torque wrench hex 10.0mm. – 8.0Nm for
8 1 109107 N/A
CB-Series
9 1 Spanner 5.5mm. 109101 N/A
9 1 Spanner 7.0mm. 109102 N/A
9 1 Spanner 10.0mm. 109110 N/A
10 1 Torque screwdriver ESD TX8 – 0.4Nm 109114 N/A
11 1 Torque screwdriver ESD TX10 – 1.3Nm 109115 N/A
12 1 Torque screwdriver ESD TX20 – 3.0Nm 109116 N/A
Torque wrench hex 5.5mm. – 1.3Nm for
13 1 109105 N/A
CB-Series
Torque wrench hex 7.0mm. – 2.6Nm for
14 1 109106 N/A
CB-Series
15 1 Torx TX10 bit for 109114 109120 N/A

8.4.2. Dual Robot Calibration Tooling - 185500

Return to overview

Service Manual 212 Service Manual

8. Spare Parts

Dual Robot Calibration Tooling - 185500

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

1 1 Tooling Dual Robot Calib. Horse 185500 1
2 1 Tooling Dual Robot Calib. Tool Connector 185500
3 1 TOOLING CALIB. GO TOOL 185500
4 1 TOOLING CALIB. NOGO TOOL 185500

8.4.3. Mounting plate Robot Arm UR5e (Item profile) - 131501

Return to overview

Mounting plate Robot Arm UR5e(Item profile) - 131501

PART NUMBER PAGE
NO. QTY. DESCRIPTION
(S) NO.
Mounting plate Robot Arm UR5e(Item
1 1 131501 1
profile)

Service Manual 213 Service Manual

 8. Spare Parts

8.4.4. Mounting plate Robot Arm UR5e (BOSCH profile) - 131502

Return to overview
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Mounting plate Robot Arm UR5e(BOSCH profile) - 131502

PART NUMBER PAGE
NO. QTY. DESCRIPTION
(S) NO.
Mounting plate Robot Arm UR5e(BOSCH
1 1 131502 1
profile)

8.4.5. Mounting plate Robot Arm UR3e (Item & BOSCH profile) -
135103
Return to overview

Mounting plate Robot Arm UR3e(Item & BOSCH profile) - 135103

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
Mounting plate Robot Arm UR3e
1 1 131503 1
(Item & BOSCH profile)

Service Manual 214 Service Manual

8. Spare Parts

8.4.6. Mounting plate Robot Arm UR5e/UR10e/UR16e (Item &

BOSCH profile) - 131510
Return to overview

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Mounting plate Robot Arm UR5e/UR10e/UR16e(Item & BOSCH profile) - 131510
PART
NO. QTY. DESCRIPTION PAGE NO.
NUMBER(S)
Mounting plate Robot Arm
1 1 UR5e/UR10e/UR16e 131510 1
(Item & BOSCH profile)

8.4.7. Cable for tool external - 173101

Return to overview

Cable for tool external - 173101

NO. QTY. DESCRIPTION PART NUMBER(S) PAGE NO.
1 1 Cable for tool external 1

NOTE
Cable is with 90° bend connector – not shown on above image

Service Manual 215 Service Manual

 9. Packing and Shipping of Robot/Spare Parts

9. Packing and Shipping of Robot/Spare

Parts
Before shipping any robots or spare parts back to Universal Robots, please note the following

NOTICE
Remove external tools and external electrical connections before shipment.
Universal Robots may reject the shipment if third party products cannot be
unmounted safely, or if they prohibit the execution of required post repair tests.
Universal Robots assumes no responsibility for the return shipment of third party
goods.
Ensure the robot, Control Box, and Teach Pendant are packed responsibly.
Universal Robots will return Universal Robots products in original Universal
Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

Robots packaging.

NOTICE
The robot software/firmware is updated when repaired. New parts are also
updated to their newest versions (hardware/software). Therefore, updating
PolyScope may be necessary when new parts are mounted.

MANDATORY ACTION
If the robot/part(s) has been in contact with, or worked in environments, where
dangerous chemicals or materials are present, it must be cleaned before
shipment. If this is not possible, the shipment must be accompanied by an MSDA
(Material Safety Data Sheet) in English and include instructions for cleaning. The
amount of labor hours needed for cleaning will be billed at the standard rate.
If Universal Robots finds the robot/part unsafe to service, UR reserves the right to
get the robot/part(s) cleaned or decline the case and send the part(s) back at
customers expense.

Packing Down the Robot and Control Box for Shipment

1. Download the put_in_box program at: www.universal-robots.com/support
2. Upload the put_in_box program. See Section 5.2 Using Magic Files on how to do this.
3. Load the program and follow the instructions when running the program.
4. Power down, disconnect main power, and disconnect the Robot Arm from controller.
5. Pack the Robot Arm and Control Box in designated boxes. Ensure the Robot Arm is
orientated correctly in the box.

Service Manual 216 Service Manual

10. Change log

10. Change log
Date Revision Action Changes
June 2018 1.0.0 Started Service Manual e-Series English
August 1.0.1 Corrected Service tool part number
2018
September 1.0.2 Added Descriptions to error codes
2018
Added Inspection plan to section 3
October 1.0.2 Added Detailed spare parts list
2018
March 2019 1.0.3 Correction New icons for Notice and reading instructions

Copyright © 2009–2020 by Universal Robots A/S. All rights reserved.

1.0.3 Correction Various text and image corrections
June 2019 1.1.4 Added UR16e ref.
Added OEM AC and DC
Correction Various text and image corrections
October 1.1.5 Change Title and wording in section 3
2019
November 1.1.6 Corrected Joint part numbers and references.
2019
March 2020 1.1.8 Added Update info on sections 5.1.1. Added info on 5.1.2, 5.1.3
and 5.2. Error codes update.
August n/a Added Robot Cable type description technical data.
2020
September n/a Updated Updates for 3PE TP.
2020

Service Manual 217 Service Manual