Universal Robots UR5 Service Manual page 150

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
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)
UR5
The program contains
motions that are not ramped
correctly down
The software version on the
robot must be the same or
later than the version the
robot had from the factory.
144
7. Troubleshooting
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
User Manual