Universal Robots UR5 Service Manual page 144

C203A PolyScope detected
a mismatch between
the shown and (to
be) applied safety
parameters
C204A Protective Stop: Path
sanity check failed
C204A1 Sudden change in
target position
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
C204A7 Robot approaching
singularity –
Acceleration
threshold failed
C205A Target speed does
not match target
position
UR5
PolyScope continuously
verifies that the shown
safety parameters are equal
to the running parameters
Controller is detecting that
position in current cycle has
changed much more than it
should based on expected
joint speed.
The program contains
motions that are not
ramped correctly down
138
7. Troubleshooting
a) Check that the software
version is the same or newer
than the firmware on the
Safety Control Board.
b) Reload the installation.
c) Do a Complete rebooting
sequence
a) Either an incorrect payload
is mounted, or an external
force is pushing the robot.
b) Check TCP configuration,
payload and mounting
settings.
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"
Review waypoints in the
program
Try changing the blend radius
or contact technical support
Review waypoints in the
program, try using MoveJ
instead of MoveL in the
position close to singularity
Service Manual