Error: C192A11 TCP orientation disagreement

Technical Questions
1

Hi forum,

We use a UR10 CB3.1 for a pick and place application. Recently we noticed that at random pick or place positions the robot goes into a halt with a C192A11 TCP orientation disagreement. The suggestions to fix the issue are:
(A) Check TCP configuration, payload and mounting settings
(B) Check that safety settings respected

Both (A) and (B) seem to be fulfilled in our case. What bothers me, is that the fault comes at random times and at points that the robot already successfully approached (IMO, the reason that we command the robot to an unreachable TCP orientation does not seem valid). Sometimes the robot will run for four hours straight, sometimes we hit the error after 30 minutes.

What I tried so far, without success:

  • Set safety settings to least restrictive (robot is in an enclosure)
  • Dumb monitoring variables via ur_rtde at 100 Hz. I see nothingspecial going on there when the robot halts.
  • Changed the cable for the Robotiq Vacuum gripper that we use

Is there any likely cause for this behavior that we can troubleshoot? Can this be due to a worn electrical connection inside the arm?

Thanks in advance,

Nikita

2

An update on the topic in case anyone runs into the same issue.

We discussed this with our UR distributor. I share their conclusion that there may be a cable slowly breaking somewhere in the wire harness - after all, this is a safety-related error. We sent the robot in for inxpection.

Will post more results as soon as I have news.