C204 Path sanity check failed

C204A1 Sudden change in target position

C204A2 Inconsistency between target position and speed

C204A3 Sudden stop

The program contains motions that are not ramped correctly down

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

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

Try the following actions to see which resolves the issue: (A) Try changing the blend radius, (B) Contact your local Universal Robots technical support

C204A7 Robot approaching singularity - Acceleration threshold failed

If you unable to resolve the issue, login to http://myUR.universal-robots.com and create a new case.