Universal Robots 2014350001, Service Manual, Page: 117 / 238

C71A2 Hardware is size2,
wrong firmware at
the joint Update firmware
C71A3 Hardware is size3,
wrong firmware at
the joint Update firmware
C71A4 Hardware is size4,
wrong firmware at
the joint Update firmware
C71A5 Invalid hardware
revision
C71A6 ADC calibration
failed
C71A7 Unknown error result The motor wires are
damaged, bad connection in
screw terminals or defect
PCB a) Check joint for damaged or
loose connections.
b) Replace the joint
C71A8 Motor short circuit
to ground or H-bridge
problems The motor wires are
damaged, bad connection in
screw terminals or defect
PCB a) Check joint for damaged or
loose connections.
b) Replace the joint
C71A9 Motor indication
signal does not work The motor wires are
damaged, bad connection in
screw terminals or defect
PCB a) Check joint for damaged or
loose connections.
b) Replace the joint
C71A10 Phase 1 is
unconnected or not
working The motor wires are
damaged, bad connection in
screw terminals or defect
PCB a) Check joint for damaged or
loose connections.
b) Replace the joint
C71A11 Phase 2 is
unconnected or not
working The motor wires are
damaged, bad connection in
screw terminals or defect
PCB a) Check joint for damaged or
loose connections.
b) Replace the joint
C71A12 Phase 3 or multiple
phases is
unconnected or not
working The wire is (1) damaged or
(2) has been disconnected
from the PCB (not likely) or
(3) defect PCB a) Check joint for damaged or
loose connections.
b) Replace the joint
C71A50 Current sensor test
failed Sensor reported wrong
current when probed a) Check joint for damaged or
loose connections.
b) Replace the joint
Service Manual 111 UR5
7. Troubleshooting
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