Short answer is “YES”
However, the Soldier can simply disagree with the counseling statement and provide a written explanation of the situation.
Now from a leader’s perspective, if the Soldier was told to cancel the appointment with reasonable time to do so and the Soldier had access to a phone (personnel cell phone, phone at the training location) and the Soldier had the number to the facilitate or could have reasonable obtained this information then Yes the Soldier should be counseled.
One of the things a Soldier must be able to do is be flexible and adapt to the situation. Now if the Leader failed to provide proper guidance, failed to provide an opportunity, and/or set the Soldier up for failure then that is another issue and the counseling should not take place.