Universal Robots UR3 Service Manual page 144

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)
UR3
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.
138
7. Troubleshooting
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.
Service Manual