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