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xarm_api_code

xArmSDK API code description

API Code

  • -12: run blockly app exception

  • -11: convert blockly app to pythen exception

  • -9: emergency stop

  • -8: out of range

  • -7: joint angle limit

  • -6: cartesian pos limit

  • -5: revesed, no use

  • -4: command is not exist

  • -3: revesed, no use

  • -2: xArm is not ready, may be the motion is not enable or not set state

  • -1: xArm is disconnect or not connect

  • 0: success

  • 1: there are errors that have not been cleared

  • 2: there are warnings that have not been cleared

  • 3: get response timeout

  • 4: tcp reply length error

  • 5: tcp reply number error

  • 6: tcp protocol flag error

  • 7: tcp reply command and send command do not match

  • 8: send command error, may be network exception

  • 9: state is not ready to move

  • 10: the result is invalid

  • 11: other error

  • 12: parameter error

  • 20: host id error

  • 21: modbus baudrate not supported

  • 22: modbus baudrate not correct

  • 23: modbus reply length error

  • 31: trajectory read/write failed

  • 32: trajectory read/write timeout

  • 33: playback trajectory timeout

  • 41: wait to set suction cup timeout

  • 80: linear track has error

  • 81: linear track sci is low

  • 82: linear track is not init

  • 100: wait finish timeout

  • 101: too many consecutive failed tests

  • 102: end effector has error

  • 103: end effector is not enabled

Controller Warn Code

  • 11: uxbux que is full

  • 12: parameter error

  • 13: the instruction does not exist

  • 14: command has no solution

  • 15: modbus cmd full

Controller Error Code

  • 1: The Emergency Stop Button is pushed

  • 2: The Emergency IO of the Control Box is triggered

  • 3: The Emergency Stop Button of the Three-state Switch is pressed

  • 10: Servo motor error

  • 11: Servo motor 1 error

  • 12: Servo motor 2 error

  • 13: Servo motor 3 error

  • 14: Servo motor 4 error

  • 15: Servo motor 5 error

  • 16: Servo motor 6 error

  • 17: Servo motor 7 error

  • 18: Force Torque Sensor Communication Error

  • 19: End Module Communication Error

  • 21: Kinematic Error

  • 22: Self-Collision Error

  • 23: Joints Angle Exceed Limit

  • 24: Speed Exceeds Limit

  • 25: Planning Error

  • 26: Linux RT Error

  • 27: Command Reply Error

  • 28: End Module Communication Error

  • 29: Other Errors

  • 30: Feedback Speed Exceeds limit

  • 31: Collision Caused Abnormal Current

  • 32: Three-point drawing circle calculation error

  • 33: Controller GPIO error

  • 34: Recording Timeout

  • 35: Safety Boundary Limit

  • 36: The number of delay commands exceeds the limit

  • 37: Abnormal movement in Manual Mode

  • 38: Abnormal Joint Angle

  • 39: Abnormal Communication Between Master and Slave IC of Power Board

  • 40: No IK available

  • 50: Six-axis Force Torque Sensor read error

  • 51: Six-axis Force Torque Sensor set mode error

  • 52: Six-axis Force Torque Sensor set zero error

  • 53: Six-axis Force Torque Sensor is overloaded or the reading exceeds the limit

  • 110: Robot Arm Base Board Communication Error

  • 111: Control Box External 485 Device Communication Error

Servo Error Code

  • 10: Current Detection Error

  • 11: Joint Current Overlimit

  • 12: Joint Speed Overlimit

  • 14: Position Command Overlimit

  • 15: Joints Overheat

  • 16: Encoder Initialization Error

  • 17: Single Ring Encoder Error

  • 18: Multi-turn Encoder Error

  • 19: Low Battery Voltage

  • 20: Driver IC Hardware Error

  • 21: Driver IC Initialization Error

  • 22: Encoder Configuration Error

  • 23: Large Motor Position Deviation

  • 26: Joint N Positive Overrun

  • 27: Joint N Negative Overrun

  • 28: Joint Commands Error

  • 33: Drive Overloaded

  • 34: Motor Overload

  • 35: Motor Type Error

  • 36: Driver Type Error

  • 39: Joint Voltage Overload

  • 40: Joint Voltage Insufficient

  • 49: EEPROM Read and Write Error

  • 52: Motor Angle Initialization Error

Gripper Error Code

  • 9: Gripper Current Detection Error

  • 11: Gripper Current Overlimit

  • 12: Gripper Speed Overlimit

  • 14: Gripper Position Command Overlimit

  • 15: Gripper EEPROM Read and Write Error

  • 20: Gripper Driver IC Hardware Error

  • 21: Gripper Driver IC Initialization Error

  • 23: Gripper Large Motor Position Deviation

  • 25: Gripper Command Over Software Limit

  • 26: Gripper Feedback Position Software Limit

  • 33: Gripper Drive Overloaded

  • 34: Gripper Motor Overload

  • 36: Gripper Driver Type Error

Bio Gripper Error Code

  • 11: BIO Gripper Current Overlimit

  • 12: The object slipped from the BIO Gripper

Linear Motor Error Code

  • 10: Linear Motor Current Detection Error

  • 11: Linear Motor Current Overlimit

  • 12: Linear Motor Speed Overlimit

  • 13: Linear Motor Large Motor Position Deviation

  • 14: Linear Motor Position Command Overlimit

  • 20: Linear Motor Driver IC Hardware Error

  • 21: Linear Motor Driver IC Initialization Error

  • 25: Linear Motor Command Over Software Limit

  • 26: Linear Motor Feedback Position Software Limit

  • 33: Linear Motor Drive Overloaded

  • 34: Linear Motor Motor Overload

  • 35: Linear Motor type error

  • 36: Linear Motor Driver Type Error

  • 39: Linear Motor over voltage

  • 40: Linear Moter undervoltage

  • 49: Linear Motor EEPROM Read and Write Error

Six-axis Force Torque Sensor Error Code

  • 64: Six-axis Force Torque Sensor Communication Failure

  • 65: The Data Collected by the Six-axis Force Torque Sensor is Abnormal

  • 66: Six-axis Force Torque Sensor X-direction Torque Exceeds Limit

  • 67: Six-axis Force Torque Sensor Y-direction Torque Exceeds Limit

  • 68: Six-axis Force Torque Sensor Z-direction Torque Exceeds Limitrection

  • 69: Six-axis Force Torque Sensor Tx Torque Exceeds Limit

  • 70: Six-axis Force Torque Sensor Ty direction Torque Exceeds Limit

  • 71: Six-axis Force Torque Sensor Tz direction Torque Exceeds Limit

  • 73: Six-axis Force Torque Sensor Failed to Initialize

PreviousImport Blockly project

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