Universal Robots UR5 Service Manual page 114

C39A3 Max motor-encoder
speed exceeded
C39A4 Illegal state change in
joint detected
C39A5 A timing issue
occurred during
startup. Please
restart to proceed
C39A6 5V regulator voltage
too low
C39A7 5V regulator voltage
too high
C39A100 Watchpoint fault:
ADC task timeout
C39A101 Watchpoint fault:
Motor-Control task
timeout
C39A102 Watchpoint fault:
Motor-encoder task
timeout
C39A103 Watchpoint fault:
Joint-encoder task
timeout
C39A104 Watchpoint fault:
Communication task
timeout
C39A105 Watchpoint fault:
RAM-test task
timeout
UR5
Too fast state change in
joint detected
108
7. Troubleshooting
a) Do a Complete rebooting
sequence as per section
5.3.7
b) If this happens more
than two times in a row,
replace joint
Do a Complete rebooting
sequence as per section
5.3.7
a) Do a Complete rebooting
sequence as per section
5.3.7
b) If this happens more
than two times in a row,
replace joint
a) Do a Complete rebooting
sequence as per section
5.3.7
b) If this happens more
than two times in a row,
replace joint
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