The UR robotic arm has malfunctioned. As shown in the log, the error code is C0A0, and the content relates to the socket.
We are using ROS for communication. A ROS program is running on the teach pendant, and my controller is receiving the robotic arm’s status and sending commands. However, I am experiencing a clock synchronization issue, and at the same time, the robotic arm is exhibiting jerking movements in its hardware, with only Joint 2 twitching.
But after restarting the device, it works normally again. Why?
3.5 :: 0120d02h11m14.136s :: 2025-10-09 14:22:29.558 :: -3 :: C0A0:0 :: null :: 1 :: Socket timed out waiting for command on reverse_socket. The script will exit now. :: :: null
3.5 :: 0120d02h04m57.824s :: 2025-10-09 14:16:13.215 :: -3 :: C0A0:0 :: null :: 1 :: ExternalControl: Starting servo thread :: :: null
3.5 :: 0120d02h11m14.136s :: 2025-10-09 14:22:29.558 :: -3 :: C0A0:0 :: null :: 1 :: Socket timed out waiting for command on reverse_socket. The script will exit now. :: :: null
3.5 :: 0120d02h11m14.136s :: 2025-10-09 14:22:29.558 :: -3 :: C0A0:0 :: null :: 1 :: ExternalControl: Stopping communication and control :: :: null
3.5 :: 0120d02h11m14.136s :: 2025-10-09 14:22:29.559 :: -3 :: C0A0:0 :: null :: 1 :: socket_read_binary_integer: timeout :: :: null
3.5 :: 0120d02h11m14.144s :: 2025-10-09 14:22:29.559 :: -3 :: C0A0:0 :: null :: 1 :: ExternalControl: All threads ended :: :: null
3.5 :: 0120d02h11m14.144s :: 2025-10-09 14:22:29.560 :: -3 :: C0A0:0 :: null :: 1 :: ExternalControl: steptime=0.008 :: :: null
3.5 :: 0120d02h11m14.168s :: 2025-10-09 14:22:29.560 :: -3 :: C0A0:0 :: null :: 1 :: ExternalControl: External control active :: :: null
3.5 :: 0120d02h11m14.168s :: 2025-10-09 14:22:29.560 :: -3 :: C0A0:0 :: null :: 1 :: ExternalControl: Starting servo thread :: :: null