# Protective Stop C207A0: Fieldbus input disconnected **URL:** \ **Category:** Robot Communication\ **Created:** [November 25, 2024, 11:47am UTC](https://forum.universal-robots.com/t/protective-stop-c207a0-fieldbus-input-disconnected/37144 "2024-11-25T11:47:26Z")\ **Posts on this page:** 7\ **Page:** 1
**Author:** ![abath](https://avatars.discourse-cdn.com/v4/letter/a/d9b06d/32.png) [@abath](https://forum.universal-robots.com/u/abath)\ **Post date:** [November 25, 2024, 11:47am UTC](https://forum.universal-robots.com/t/protective-stop-c207a0-fieldbus-input-disconnected/37144/1 "2024-11-25T11:47:26Z")
I am trying to run the trained MIRAI skill on a UR10e robot but am getting this error everytime: ![Error C207A0](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/5/553e1e6037e67a220324492fad69fd94f0af856b.jpeg) Is there a way to resolve this? Is there a way to check what is causing this error? Thank you for the help 🙂 ---
**Author:** ![efn](https://avatars.discourse-cdn.com/v4/letter/e/35a633/32.png) [@efn](https://forum.universal-robots.com/u/efn)\ **Post date:** [November 25, 2024, 12:12pm UTC](https://forum.universal-robots.com/t/protective-stop-c207a0-fieldbus-input-disconnected/37144/2 "2024-11-25T12:12:30Z")
What else is connected to the controller? Robotiq gripper? 🙂 Any other fieldbus devices? Make sure PROFINET, Ethernet IP and MODBUS are disabled, if they are not in use. ---
**Author:** ![abath](https://avatars.discourse-cdn.com/v4/letter/a/d9b06d/32.png) [@abath](https://forum.universal-robots.com/u/abath)\ **Post date:** [November 25, 2024, 12:32pm UTC](https://forum.universal-robots.com/t/protective-stop-c207a0-fieldbus-input-disconnected/37144/3 "2024-11-25T12:32:28Z")
This is the connection set-up: ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/3/3ec16ef76c2e700ea492cce5956761fb50507cd7.png) these are the info about connections: OnRobot Compute Box v3.5 (Software version 6.0.4) F/T sensor - HEX-E/H QC Gripper - 2FG7 Also, this is one thing I observed, when Ethernet is enabled, even simple “move” program cannot run but when I disable Ethernet it can run but cannot connect with MIRAI box. ---
**Author:** ![efn](https://avatars.discourse-cdn.com/v4/letter/e/35a633/32.png) [@efn](https://forum.universal-robots.com/u/efn)\ **Post date:** [November 25, 2024, 12:48pm UTC](https://forum.universal-robots.com/t/protective-stop-c207a0-fieldbus-input-disconnected/37144/4 "2024-11-25T12:48:54Z")
When you say “enable/disable Ethernet”, you’re not talking about Ethernet/IP, are you? Because it’s a fairly common thing that people confuse Ethernet/IP for Ethernet TCP/IP in the UR interface. But since you’re saying it’s working with Ethernet enabled, I guess it’s done right. 🙂 I would contact MIRAI about this issue. ---
**Author:** ![abath](https://avatars.discourse-cdn.com/v4/letter/a/d9b06d/32.png) [@abath](https://forum.universal-robots.com/u/abath)\ **Post date:** [November 26, 2024, 2:02pm UTC](https://forum.universal-robots.com/t/protective-stop-c207a0-fieldbus-input-disconnected/37144/5 "2024-11-26T14:02:59Z")
thank you @efn, that gave me an idea to try. I was talking about the Fieldbus - “EtherNet/IP” in Installation menu. New update: I got the program running by removing the OnRobot URCap, in this case it was able connect to MIRAI and find the skill and then execute it(even though the “EtherNet/IP” was disabled, it was never about about that;)). But I couldn’t operate the OnRobot gripper since there was’t URCap for that. But, when I Re-install the OnRobot URCap, it detects the gripper but when executing the problem it shows the same error - “Protective Stop C207A0: Fieldbus input disconnected”. I am stuck now at this point. ---
**Author:** ![efn](https://avatars.discourse-cdn.com/v4/letter/e/35a633/32.png) [@efn](https://forum.universal-robots.com/u/efn)\ **Post date:** [November 27, 2024, 6:46am UTC](https://forum.universal-robots.com/t/protective-stop-c207a0-fieldbus-input-disconnected/37144/6 "2024-11-27T06:46:12Z")
I must admit that I’m a bit unsure if it works with two devices communicating over fieldbus simultaneously. I slightly recall having seen this issue before. I hope someone else can elaborate on this. 🙂 ---
**Author:** ![abath](https://avatars.discourse-cdn.com/v4/letter/a/d9b06d/32.png) [@abath](https://forum.universal-robots.com/u/abath)\ **Post date:** [November 27, 2024, 11:29am UTC](https://forum.universal-robots.com/t/protective-stop-c207a0-fieldbus-input-disconnected/37144/7 "2024-11-27T11:29:42Z")
Found the solution, the problem was with the RTDE registers. MIRAI and OnRobot were both using the same registers and this was the reason for this error. I updated the version of OnRobot URCap, then offset the registers and this worked. Thank you for the ideas. @efn