Universal Robots E Series Service Manual page 113

C204A2 Inconsistency between target position and
speed
C204A3 Sudden stop
C204A4 Robot has not stopped in the allowed reaction
and braking time
C204A5 Robot program resulted in invalid setpoint
C204A6 Blending failed and resulted in an invalid
setpoint
C204A7 Robot approaching singularity – Acceleration
threshold failed
C205A Target speed does not match target position
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
C208A Debug Assertion failed
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Controller is detecting that position in current
cycle has changed much more than it should
based on expected joint speed.
The program contains motions that are not
ramped correctly down
An assert was executed.
Notice: The functionality is exclusively used for
testing purposes.
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a) Either an incorrect payload is mounted, or an external force is
pushing the robot.
b) Check TCP configuration, payload and mounting settings.
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"
Try changing the blend radius or contact technical support
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.
Service Manual e-Series (EN) 1.1.8