Universal Robots UR5 Service Manual page 108

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
C39A106 Watchpoint fault:
CalVal-test task
timeout
C39A107 Watchpoint fault:
ROM-test task
timeout
C40A AD-Converter hit
high limit joint
C41A RC Oscillator Trim
register hit high limit
C42A RC Oscillator Trim
register hit low limit
C43A Change in invariant
memory detected
C43A1 Current sensor gain
C44A CRC check failure on
primary bus
C44A0 Base
C44A1 Shoulder
UR5
EMC issue external or
electronics internal
Serial communication
problem with joint or
secondary bus node
102
7. Troubleshooting
Same as C39A1
Same as C39A1
Same as C39A1
Same as C39A1
Same as C39A1
Same as C39A1
Same as C39A1
Check grounding and
shielding for EMC problems
a) Check black 2-wire
connectors and wires in
joints.
b) Do a Complete rebooting
sequence.
c) If this happens more than
two times in a row, contact
your local service provider for
assistance.
Service Manual