Universal Robots 2014350001, Service Manual, Page: 144 / 238

C203A PolyScope detected
a mismatch between
the shown and (to
be) applied safety
parameters PolyScope continuously
verifies that the shown
safety parameters are equal
to the running parameters a) Check that the software
version is the same or newer
than the firmware on the
Safety 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
between target
position and speed Controller is detecting that
position in current cycle has
changed much more than it
should based on expected
joint speed. a) Either an incorrect payload
is mounted, or an external
force is pushing the robot.
b) Check TCP configuration,
payload and mounting
settings.
C204A3 Sudden stop The program contains
motions that are not
ramped correctly down To abort a motion, use
\stopj\” or \”stopl\” 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 Review waypoints in the
program
C204A6 Blending failed and
resulted in an invalid
setpoint Try changing the blend radius
or contact technical support
C204A7 Robot approaching
singularity –
Acceleration
threshold failed Review waypoints in the
program, try using MoveJ
instead of MoveL in the
position close to singularity
C205A Target speed does
not match target
position
UR5 138 Service Manual
7. Troubleshooting
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