Universal Robots UR5 Service Manual page 127

7. Troubleshooting
C71 Startup check error
C71A0 Hardware is size0,
wrong firmware at the
joint
C71A1 Hardware is size1,
wrong firmware at the
joint
C71A2 Hardware is size2,
wrong firmware at the
joint
C71A3 Hardware is size3,
wrong firmware at the
joint
C71A4 Hardware is size4,
wrong firmware at the
joint
C71A5 Invalid hardware size
read
C71A6 ADC calibration failed Only in joint
C71A7 Unknown error result
C71A8 Motor short circuit to
ground or H-bridge
problems
C71A9 Motor indication
signal does not work
C71A10 Phase 1 is
unconnected or not
working
C71A11 Phase 2 is
unconnected or not
working
User Manual
Fault: Firmware in joint
Fault: Firmware in joint
Fault: Firmware in joint
Fault: Firmware in joint
Fault: Firmware in joint
Fault: Firmware in joint
The motor wires are
damaged, bad connection in
screw terminals or defect
PCB
The motor wires are
damaged, bad connection in
screw terminals or defect
PCB
The motor wires are
damaged, bad connection in
screw terminals or defect
PCB
The motor wires are
damaged, bad connection in
screw terminals or defect
PCB
The motor wires are
damaged, bad connection in
screw terminals or defect
PCB
121
Update firmware
Update firmware
Update firmware
Update firmware
Update firmware
Update firmware
a) Check joint for damaged
or loose connections
b) Replace the joint
a) Check joint for damaged
or loose connections
b) Replace the joint
a) Check joint for damaged
or loose connections
b) Replace the joint
a) Check joint for damaged
or loose connections
b) Replace the joint
a) Check joint for damaged
or loose connections
b) Replace the joint
UR5