Universal Robots UR5 Service Manual page 151

7. Troubleshooting
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
C212A0 Name conflict in
loaded program
C212A1 Name conflict(s)
occurred between
feature names and
program variables
C213A0 No Kinematic
Calibration found
(calibration.conf file
is either corrupt or
missing)
C214A0 Kinematic Calibration
for the robot does not
match the joint(s)
User Manual
Some feature names and
program variables share the
same name, which may
cause confusion.
Calibration.conf file is either
corrupt or missing
The calibration checksum
stored in the calibration.conf
does not match the values
from the joint(s)
145
Check fieldbus
connections (RTDE,
ModBus, EtherNet/IP and
Profinet) or disable the
fieldbus in the installation.
Check RTDE "watch dog"
feature. Check if a URCaps
is using this feature as
well.
Rename the program
variables.
A new kinematics
calibration may be needed
if the robot needs to
improve its kinematics,
otherwise, ignore this
message.
If moving a program from a
different robot to this one,
re-kinematic calibrate the
second robot to improve
kinematics, otherwise
ignore this message.
UR5