Universal Robots UR10 Service Manual page 91

C204A4 Robot is not braking in stop or
pause mode
C204A5 Robot program resulted in
invalid setpoint
C204A6 Blending failed and resulted in
an invalid setpoint
C205 Target speed does not match
target position
C205A0 Inconsistency between target
position and speed
C206 Sanity check failed
C206A0 Target joint speed does not
match target joint position –
Joint 0 (Base)
C206A1 Target joint speed does not
match target joint position –
Joint 1 (Shoulder)
C206A2 Target joint speed does not
match target joint position –
Joint 2 (Elbow)
C206A3 Target joint speed does not
match target joint position –
Joint 3 (Wrist 1)
C206A4 Target joint speed does not
match target joint position –
Joint 4 (Wrist 2)
C206A5 Target joint speed does not
match target joint position –
Joint 5 (Wrist 3)
C207 Fieldbus input disconnected
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If this happens, report it as
a bug
Try changing the blend
radius or contact technical
support
The software version on
the robot must be the same
or later than the version
the robot had from the
factory.
Check fieldbus connections
or disable the fieldbus in
the installation
Servicemanual_UR10_en_3.1.3