Universal Robots UR5 Service Manual page 145

7. Troubleshooting
C205A0 Inconsistency
between target
position and speed
C206A Sanity check failed
C206A0 Target joint speed
does not match
target joint position
change – Base
C206A1 Target joint speed
does not match
target joint position
change – Shoulder
C206A2 Target joint speed
does not match
target joint position
change – Elbow
C206A3 Target joint speed
does not match
target joint position
change – Wrist 1
C206A4 Target joint speed
does not match
target joint position
change – Wrist 2
C206A5 Target joint speed
does not match
target joint position
change – Wrist 3
C207A Fieldbus input
disconnected
C208A Debug Assertion
failed
C209A A protective stop
was triggered (for
test purposes only)
Service Manual
An assert was executed.
Notice: The functionality is
exclusively used for testing
purposes.
A protective stop was
triggered. Notice: The
functionality is exclusively
used for testing purposes.
139
Check fieldbus connections
(RTDE, ModBus, EtherNet/IP
and Profinet) or disable the
fieldbus in the installation.
Check RTDE watchdog
feature. Check if a URCap is
using this feature.
UR5