Universal Robots e-Series Error Code C351A1: Unexpected {deviceName} joint detected

Universal Robots Robot Minor Motion

Model: e-Series (UR3e/UR5e/UR10e/UR16e/UR20/UR30) | Code: C351A1

Applicable Systems
UR3 UR5 UR10 UR3e UR5e UR10e UR16e UR20 UR30

Symptoms

Joint was detected in the arm, but not in the robot configuration.

Possible Causes

  • Joint was detected in the arm, but not in the robot configuration.

Troubleshooting Steps

  1. Step 1: Update robot configuration to match attached hardware.
    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.

Related Universal Robots Fault Codes

Source: Universal Robots Official Error Codes Directory (https://www.universal-robots.com/manuals/EN/PDF/Shared/ErrorCodes/ErrorCodes.pdf)

Category: Robot