12. Error Handling
12.1 Control Box Error Code and Handling
If there is an error in the hardware of the robotic arm/the software of the Control Box/in sending commands, an error or warning will be issued. This error/warning signal will be fed back when the user sends any command; The feedback is passive and not actively reported.
After the above error occurs, the robotic arm will stop working immediately and discard the Control Box cache command. Users need to clear these errors manually to allow normal operation. Please re-plan the motion of the robotic arm according to the reported error message.
| Controller Error Code | Error Handling |
|---|---|
| C1 | The Emergency Stop Button on the Control Box is pushed in to Stop Please release the Emergency Stop Button, and then click the "Enable Robot" [Applicable to Simulation]Please release the Emergency Stop Button, switch to the real robot,and then click the "Enable Robot". |
| C2 | The Emergency Stop Button is pushed in to Stop Please release the Emergency Stop Button, and then click the "Enable Robot" [Applicable to Simulation]Please release the Emergency Stop Button, switch to the real robot,and then click the "Enable Robot". |
| C3 | The Emergency Stop Button of the Three-state Switch is pressed Please release the Emergency Stop Button of the Three-state Switch, and then click "Enable Robot". [Applicable to Simulation]Please release the Emergency Stop Button of the Three-state Switch,switch to the real robot, and then click "Enable Robot". |
| C11-C17 | Power on again. |
| C18 | Six-axis Force Torque Sensor Communication Error. Please ensure the sensor is properly installed |
| C19 | End Module Communication Error Robot SN:xxxxxxxxxxxx Please check whether gripper is installed and the baud rate setting is correct. |
| C21 | Kinematic Error (xArm7)Please re-plan the path. (xArm5,xArm6 or Lite6)Please long-press the "Align" button to level the end flange of the robot before moving. |
| C22 | Self-collision Error, Please Re-plan the Path. If the robotic arm continues to report self-collision errors, please go to the "live control" interface to turn on the "manual mode" and drag the robotic arm back to the normal position. |
| C23 | Joints Angle Exceed Limit Joint ID [x],joint angle is xxx° Please go to the "Live Control" page and press the "Initial Position" button to let the robot back to the Initial position. |
| C24 | Joints Speed Exceeds Limit Joint ID [x],joint speed is xxx°/s Please check if the robot is out of working range, or go to " General - Advanced Settings" and turn on the "Use Approximate Solution" feature. |
| C25 | Planning Error Please check whether the blend radius is too large, reduce the motion speed, orre-plan the path. |
| C26 | Linux RT Error Please contact technical support. |
| C27 | Command Reply Error Please retry, or restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots are not working, please contact technical support. |
| C29 | Other Errors Please contact technical support. |
| C30 | Feedback Speed Exceeds Limit Please contact technical support. |
| C31 | Abnormal current in the robotic arm. Robot SN: XXXXXXXXXXXX Joint ID [x], theoretical torque is xx.xx N·m, actual torque is xx.xx N·m Collision sensitivity x TCP payload xx kg, center ofmass [0 ,0,0]mm Mounting direction [xx°,xx°] Please check whether the robot collides |
| C32 | Three-point drawing circle calculation Error, please reset the arc command. |
| C33 | Controller IO Error Control Box SN: XXXXXXXXXXXX If the error occurs repeatedly, please contact technical support. |
| C34 | Recording Timeout The track recording duration exceeds the maximum duration limit of 5 minutes. It is recommended to re-record. |
| C35 | Safety Boundary Limit The robot reaches the safety boundary. Please let the robot work within the safety boundary. |
| C36 | The number of delay commands exceeds the limit 1. Please check whether there are too many position detection or IO delay commands. 2. Increase the tolerance of the position detection command. |
| C37 | Abnormal movement in Manual Mode Joint ID [],rotation angle is xx.xx° Please check whether the TCP payload setting and mounting setting of the robotare correct. |
| C38 | Abnormal Joint Angle Joint ID [],rotation angle is xx.xx° Please stop the robot by pressing the Emergency Stop Button on the Control Box and then contact technical support. |
| C39 | Control Box Power Board Master and Slave IC Communication Error Please contact technical support. |
| C40 | Solution failure of error-free joint trajectory. Please adjust the position. |
| C41 | The content of the friction file is invalid. Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| C42 | The content of the calibration file is invalid. Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| C43 | Failed to load the dynamics model. Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| C44 | SN is missing, incorrect, or inconsistent with the firmware type SN: XXXXXXXXXXXXXX Type: Please press down the E-stop on the Control Box, wait 5 seconds and then release, then go to "Settings - My Device - Device Info" page and restart thecontroller. |
| C50 | Six-axis Force Torque Sensor Error Please check the sensor error code, locate the problem, and power on again. If it cannot be resolved, please contact technical support. |
| C51 | Six-axis Force Torque Sensor Mode Setting Error Please make sure that the robotic arm is not in Manual Mode, check whether the given value of this command is 0/1/2 |
| C52 | Six-axis Force Torque Sensor Zero Setting Error Please check the sensor communication wiring and whether the power is normal. |
| C53 | Six-axis Force Torque Sensor Overload Please reduce the payload or applied external force. |
| C54 | The six-axis force torque sensor detected a collision. Fx actual value: xx N, threshold: xx N |
| C60 | Linear speed exceed limit in servo_j mode. Linear speed limit is xxx mm/s, current linear speed is xxx mm/s |
| C110 | Robot Arm Base Board Communication Error. Please contact technical support. |
| C111 | Control Box External 485 Device Communication Error Please contact technical support. |
For alarm codes that are not listed in the above table: Power on again. If the problem remains unsolved after power on/off for multiple times, please contact technical support.
12.2 Joint Servo Error Code and Handling
Error processing method: Re-power on, the steps are as follows:
- Release the emergency stop button on the control box.
- Enable the robotic arm.
| Joint Servo Error Code | Error Handling |
|---|---|
| S0 | Joint Communication Error Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| S10 | Current Detection Error Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| S11 | Joint Overcurrent Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| S12 | Joint Overspeed Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| S14 | Position Command Overlimit Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| S15 | Joints Overheat If the robot arm is running for a long time, please stop running and restart the robot after it cools down. If multiple reboots do not work, please contact technical support. |
| S16 | Encoder Initialization Error Please ensure that no external force pushes the robot arm to move when it's powered on. Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| S17 | Single-turn Encoder Error Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| S18 | Multi-turn Encoder Error Please contact technical support. |
| S19 | Low Battery Voltage Please contact technical support. |
| S20 | Driver IC Hardware Error Please re-enable the robot. If it appears frequently, please contact technical support. |
| S21 | Driver IC Initialization Error Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| S22 | Encoder Configuration Error Please contact technical support. |
| S23 | Large Motor Position Deviation Please check whether the robot movement is blocked, whether the payload exceeds the rated payload of robot, and whether the acceleration value is too large. If it appears frequently, please contact technical support. |
| S26 | Joint Positive Overrun Please contact technical support. |
| S27 | Joint N Negative Overrun Please check if the angle value of the joint N is too large, if so, please click Clear Error and manually unlock the joint and rotate the joint to the allowed range of motion. |
| S28 | Joint Commands Error The robot is not enabled, please click Enable Robot. |
| S33 | Drive Overloaded Please make sure the payload is within the rated load. |
| S34 | Motor Overload Please make sure the payload is within the rated load. |
| S35 | Motor Type Error Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| S36 | Driver Type Error Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| S39 | Joint Overvoltage Please reduce the acceleration value in the Motion Settings. |
| S40 | Joint Undervoltage Please reduce the acceleration value in the Motion Settings. Please check if the Emergency Stop Button on the Control Box is released. |
| S49 | EEPROM Read and Write Error Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| S52 | Motor Angle Initialization Error Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| S54 | Multi-turn Encoder Initialization Error. Multi-turn Encoder Status code [] Please contact technical support. |
| S55 | Encoder interface error Please restart the robot with the Emergency Stop Button on the Control Box. If multiple reboots do not work, please contact technical support. |
| S58 | Torque Command Timeou Please check the connection between the Control Box and the robot, and restartthe robot with the Emergency Stop Button on the Control Box. If multiple rebootsdo not work, please contact technical support. |
For alarm codes that are not listed in the above table: Power on again. If the problem remains unsolved after power on/off for multiple times, please contact technical support.
12.3 Python SDK Error Code and Handling
When designing the robotic arm motion path with the Python library, if the robotic arm error (see Appendix for Alarm information) occurs, then it needs to be cleared manually. After clearing the error, the robotic arm should be motion enabled.
Python library error clearing steps: (Please check GitHub for details on the following interfaces)
- error clearing: clean_error()
- Re-enable the robotic arm: motion_enable(true)
- Set the motion state: set_state(0)
| Python SDK Error Code | Error Handling |
|---|---|
| A-9 | Emergency Stop. |
| A-8 | The TCP position command is out of the robot arm's motion range. Please adjust the TCP position command. |
| A-2 | Robot is not ready. Please check whether the robot is enabled and the state is set correctly. |
| A-1 | Robot is disconnect or not connect. Please check the network. |
| A1 | There are errors that have not been cleared. Please clear the errors and try again. |
| A2 | There are warnings that have not been cleared. Please clear the warnings and try again. |
| A3 | Get response timeout. Please check the firmware version and the network. |
| A4 | TCP reply length error. Please check the network. |
| A5 | TCP reply number error. Please check the network. |
| A6 | TCP protocol flag error. Please check the network. |
| A7 | The TCP reply command does not match the sending command. Please check the network. |
| A8 | Send command error. Please check the network. |
| A9 | robot is not ready. Please check whether the errors have been cleared, whether the robot arm has been enabled, and whether the robot arm status is set correctly. |
| A11 | Other error. Please contact technical support. |
| A12 | Parameter error. |
| A20 | Tool IO ID error. |
| A22 | The end tool Modbus baud rate is incorrect. |
| A23 | The end tool Modbus reply length error. |
| A31 | Trajectory read/write failed. |
| A32 | Trajectory read/write timeout. |
| A33 | Playback trajectory timeout. |
| A41 | Vacuum gripper wait timeout. |
| A80 | There is an error in the Linear Motor. |
| A81 | Linear Motor stopped by SCI 1. |
| A82 | The Linear Motor is not initialized, please initialize the Linear Motor. |
| A100 | Waiting for completion timeout. |
| A101 | Too many failures to detect the status of the end effector. |
| A102 | There are errors in the end effector |
| A103 | The end effector is not enabled |
| A105 | Manual Mode is not turned off, please turn off the Manual Mode. |
For alarm codes that are not listed in the above table: enable the robotic arm and gripper. If the problem remains unsolved after power on/off for multiple times, please contact technical support.