Universal Robots 2014350001, Service Manual, Page: 145 / 238

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
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
disconnected Check fieldbus 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.
C208A Debug Assertion
failed An assert was executed.
Notice: The functionality is
exclusively used for testing
purposes.
C209A A protective stop
was triggered (for
test purposes only) A protective stop was
triggered. Notice: The
functionality is exclusively
used for testing purposes.
Service Manual 139 UR5
7. Troubleshooting
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