Universal Robots 2014350001, Service Manual, Page: 108 / 238

C39A101 Watchpoint fault:
Motor-Control task
timeout Same as C39A1
C39A102 Watchpoint fault:
Motor-encoder task
timeout Same as C39A1
C39A103 Watchpoint fault:
Joint-encoder task
timeout Same as C39A1
C39A104 Watchpoint fault:
Communication task
timeout Same as C39A1
C39A105 Watchpoint fault:
RAM-test task
timeout Same as C39A1
C39A106 Watchpoint fault:
CalVal-test task
timeout Same as C39A1
C39A107 Watchpoint fault:
ROM-test task
timeout Same as C39A1
C40A AD-Converter hit
high limit joint EMC issue external or
electronics internal Check grounding and
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
C44A CRC check failure on
primary bus Serial communication
problem with joint or
secondary bus node a) Check black 2-wire
connectors and wires in
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
UR5 102 Service Manual
7. Troubleshooting
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