Applicable Systems
UR3
UR5
UR10
UR3e
UR5e
UR10e
UR16e
UR20
UR30
Symptoms
The safety system has detected a mismatch between the detected and the configured joint type.
Possible Causes
- The safety system has detected a mismatch between the detected and the configured joint type.
Troubleshooting Steps
- Step 1: Conduct a complete rebooting sequence,
Check if the issue is resolved after this step - Step 2: Update software,
Check if the issue is resolved after this step - Step 3: Contact your local Universal Robots service provider for assistance,
Check if the issue is resolved after this step - Step 4: Change the joint to the correct joint type.
Check if the issue is resolved after this step
How to Reset
Power cycle the robot controller and perform a complete reboot sequence. If the error persists, update the software to the latest version.
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Source: Universal Robots Official Error Codes Directory (https://www.universal-robots.com/manuals/EN/PDF/Shared/ErrorCodes/ErrorCodes.pdf)
Category: Robot
Published: 2026-10-30
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