Skip to content

Aubo Sdk Error Code

Abbreviations

  • JNT: joint
  • PDL: pedstral
  • TP: teach pendant
  • COMM: communication
  • ENC: encoder
  • CURR: current
  • POS: position
  • PKG: package
  • PROG: program

Error Codes

Error NameError CodeDescriptionRecommendation
DEBUG0Debug message {}suggest...
POPUP1Popup title: {}, msg: {}, mode: {}suggest...
POPUP_DISMISS2{}suggest...
SYSTEM_HALT3{}suggest...
INV_ARGUMENTS4Invalid arguments.suggest...
USER_NOTIFY5{}suggest...
MODBUS_SIGNAL_CREATED10Modbus signal {} created.suggest...
MODBUS_SIGNAL_REMOVED11Modbus signal {} removed.suggest...
MODBUS_SIGNAL_VALUE_CHANGED12Modbus signal {} value changed to {}suggest...
RUNTIME_CONTEXT13tid: {} lineno: {} index: {} comment: {}suggest...
INTERP_CONTEXT14tid: {} lineno: {} index: {} comment: {}suggest...
PROGRAM_LOADED15program loaded: {}suggest...
TASK_DELETED16tid: {}was deleted
MODBUS_SLAVE_BIT20Modbus slave address: {} value {}suggest...
MODBUS_SLAVE_REG21Modbus slave address: {} value {}suggest...
PNIO_SLAVE_SLOT_VALUE30PNIO slot: {} subslot {} index {} value {}suggest...
PNIO_CONNECT_STATUS31PNIO connection status changed to {}suggest...
PNIO_DEVICE_NAME32PNIO device name changed to {}suggest...
PNIO_IP33PNIO ip {} mask {} gateway {}suggest...
ICM_SERVER_STATUS40ICM server status changed to {}suggest...
EIP_X50ICM slot: {} index {} subindex {}suggest...
LOG_PROGRAM_SUCCESS100[{}] Load program {} successfulsuggest...
LOG_PROGRAM_FAILED101[{}] Load program {} failed, file not foundsuggest...
LOG_PROGRAM_FAILED2102[{}] Load program {} failed, configuration file (.ins) does not matchsuggest...
JOINT_ERR_OVER_CURRENET10001joint{} error: over current(a) Check for short circuit. (b) Do a Complete rebooting sequence. (c) If this happens more than two times in a row, replace joint
JOINT_ERR_OVER_VOLTAGE10002joint{} error: over voltage(a) Do a Complete rebooting sequence. (b) Check 48 V Power supply, current distributer, energy eater and Control Board for issues
JOINT_ERR_LOW_VOLTAGE10003joint{} error: low voltage(a) Do a Complete rebooting sequence. (b) Check for short circuit in robot arm. (c) Check 48 V Power supply, current distributer, energy eater and Control Board for issues
JOINT_ERR_OVER_TEMP10004joint{} error: over temperature(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence
JOINT_ERR_HALL10005joint{} error: hallsuggest...
JOINT_ERR_ENCODER10006joint{} error: encoderCheck encoder connections
JOINT_ERR_ABS_ENCODER10007joint{} error: abs encodersuggest...
JOINT_ERR_Q_CURRENT10008joint{} error: detect currentsuggest...
JOINT_ERR_ENC_POLL10009joint{} error: encoder pollustionsuggest...
JOINT_ERR_ENC_Z_SIGNAL10010joint{} error: enocder z signalsuggest...
JOINT_ERR_ENC_CAL10011joint{} error: encoder calibratesuggest...
JOINT_ERR_IMU_SENS10012joint{} error: IMU sensorsuggest...
JOINT_ERR_TEMP_SENS10013joint{} error: TEMP sensorsuggest...
JOINT_ERR_CAN_BUS10014joint{} error: CAN bus errorsuggest...
JOINT_ERR_SYS_CUR10015joint{} error: system current errorsuggest...
JOINT_ERR_SYS_POS10016joint{} error: system position errorsuggest...
JOINT_ERR_OVER_SP10017joint{} error: over speedsuggest...
JOINT_ERR_OVER_ACC10018joint{} error: over acceleratesuggest...
JOINT_ERR_TRACE10019joint{} error: trace accuracysuggest...
JOINT_ERR_TAG_POS_OVER10020joint{} error: target position out of rangesuggest...
JOINT_ERR_TAG_SP_OVER10021joint{} error: target speed out of rangesuggest...
JOINT_ERR_COLLISION10022joint{} error: collisionsuggest...
JOINT_ERR_COMMON10023joint{} error: unkown error. Check communication with joint.suggest...
JOINT_ERR_SWITCH_SERVO_MODE10024joint{} error: switch servo mode timeout.suggest...
JOINT_ERR_MOTOR_STUCK10025joint{} error: motor stucked.suggest...
JOINT_ERR_REDUCER_OVER_TEMP10026joint{} error: reducer over temperature(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence
JOINT_ERR_REDUCER_NTC10027joint{} error: reducer TEMP sensor failure(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence
JOINT_ERR_ABS_MULTITURN10028joint{} error: absolute encoder multiturn error(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence
JOINT_ERR_ADC_ZERO_OFFSET10029joint{} error: ADC zero offset failure(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence
JOINT_ERR_SHORT_CIRCUIT10030joint{} error: short circuit(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence
JOINT_ERR_PHASE_LOST10031joint{} error: motor phase lost(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence
JOINT_ERR_BRAKE10032joint{} error: brake failure(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence
JOINT_ERR_FIRMWARE_UPDATE10033joint{} error: firmware update failure(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence
JOINT_ERR_BATTERY_LOW10034joint{} error: battery low(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence
JOINT_ERR_PHASE_ALIGN10035joint{} error: phase align(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence
JOINT_ERR_CAN_HW_FAULT10036joint{} error: CAN bus hw fault(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence
JOINT_ERR_POS_DISCONTINUOUS10037joint{} error: target position discontinuous(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence
JOINT_ERR_POS_INIT10038joint{} error: position initiallization failure(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence
JOINT_ERR_TORQUE_SENSOR10039joint{} error: torqure sensor failure(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence
JOINT_ERR_OFFLINE10040joint{} error: joint may be offline(a) Check joint's hardware. (b) Check joint's id.
JOINT_ERR_BOOTLOADER10041joint{} error: The joint is in bootloader mode. Retry firmware update.suggest...
JOINT_ERR_SLAVE_OFFLINE10042slave joint{} error: slave joint may be offline(a) Check slave joint's hardware. (b) Check slave joint's id.
JOINT_ERR_SLAVE_BOOTLOADER10043slave joint{} error: The slave joint is in bootloader mode. Retry firmware update.suggest...
IFB_ERR_ROBOTTYPE20001Robot error type!suggest...
IFB_ERR_ADXL_SENS20002Acceleration sensor error!suggest...
IFB_ERR_EN_LINE20003Encoder line error!suggest...
IFB_ERR_ENTER_HDG_MODE20004Robot enter handguide mode!suggest...
IFB_ERR_EXIT_HDG_MODE20005Robot exit handguide mode!suggest...
IFB_ERR_MAC_DATA_BREAK20006MAC data break!suggest...
IFB_ERR_DRV_FIRMWARE_VERSION20007Motor driver firmware version error!suggest...
INIT_ERR_EN_DRV20008Motor driver enable failed!suggest...
INIT_ERR_EN_AUTO_BACK20009Motor driver enable auto back failed!suggest...
INIT_ERR_EN_CUR_LOOP20010Motor driver enable current loop failed!suggest...
INIT_ERR_SET_TAG_CUR20011Motor driver set target current failed!suggest...
INIT_ERR_RELEASE_BRAKE20012Motor driver release brake failed!suggest...
INIT_ERR_EN_POS_LOOP20013Motor driver enable postion loop failed!suggest...
INIT_ERR_SET_MAX_ACC20014Motor set max accelerate failed!suggest...
SAFETY_ERR_PROTECTION_STOP_TIMEOUT20015Protective stop timeout!suggest...
SAFETY_ERR_REDUCED_MODE_TIMEOUT20016Reduced mode timeout!suggest...
SYS_ERR_MCU_COM20017Robot system error: mcu communication error!suggest...
SYS_ERR_RS485_COM20018Robot system error: RS485 communication error!suggest...
IFB_ERR_DISCONNECTED20019Interface board may be disconnected. Please check connection between IPC and Interface board.suggest...
IFB_ERR_PAYLOAD_ERROR20020Payload error.suggest...
IFB_OFFLINE20021ifaceboard error: ifaceboard may be offline(a) Check ifaceboard's hardware. (b) Check ifaceboard's id.
IFB_ERR_BOOTLOADER20022ifaceboard error: The ifaceboard is in bootloader mode. Retry firmware update.suggest...
IFB_SLAVE_OFFLINE20023interface slave board error: interface slave board may be offline(a) Check interface slave board's hardware. (b) Check interface slave board's id.
IFB_SLAVE_ERR_BOOTLOADER20024interface slave board error: The interface slave board is in bootloader mode. Retry firmware update.suggest...
ROBOT_BE_PULLING30001Something is pulling the robot.Please check TCP configuration,payload and mounting settings
PSTOP_ELBOW_POS30002Protective Stop: Elbow position close to safety plane limits.Please move robot Elbow joint away from the safety plane
PSTOP_STOP_TIME30003Protective Stop: Exceeding user safety settings for stopping time.(a) Check speeds and accelerations in the program (b) Check usage of TCP,payload and CoG correctly (c) Check external equipmentactivation if correctly set
PSTOP_STOP_DISTANCE30004Protective Stop: Exceeding user safety settings for stopping distance.(a) Check speeds and accelerations in the program (b) Check usage of TCP,payload and CoG correctly (c) Check external equipmentactivation if correctly set
PSTOP_CLAMP30005Protective Stop: Danger of clamping between the Robot’s lower arm and tool.(a) Check speeds and accelerations in the program (b) Check usage of TCP,payload and CoG correctly (c) Check external equipmentactivation if correctly set
PSTOP_POS_LIMIT30006Protective Stop: Position close to joint limitssuggest...
PSTOP_ORI_LIMIT30007Protective Stop: Tool orientation close to limitssuggest...
PSTOP_PLANE_LIMIT30008Protective Stop: Position close to safety plane limitssuggest...
PSTOP_POS_DEVIATE30009Protective Stop: Position deviates from pathCheck payload, center of gravity and acceleration settings.
JOINT_CHK_PAYLOAD30010Joint {}: Check payload, center of gravity and acceleration settings. Log screen may contain additional information.suggest...
PSTOP_SINGULARITY30011Protective Stop: Position in singularity.Please use MoveJ or change the motion
PSTOP_CANNOT_MAINTAIN30012Protective Stop: Robot cannot maintain its position, check if payload is correctsuggest...
PSTOP_WRONG_PAYLOAD30013Protective Stop: Wrong payload or mounting detected, or something is pushing the robot when entering Freedrive modeVerify that the TCP configuration and mounting in the used installation is correct
PSTOP_JOINT_COLLISION30014Protective Stop: Collision detected by joint {}Make sure no objects are in the path of the robot and resume the program
PSTOP_POS_DISAGREE30015Protective stop: The robot was powered off last time due to a joint position disagreement.(a) Verify that the robot position in the 3D graphics matches the real robot, to ensure that the encoders function before releasing the brakes. Stand back and monitor the robot performing its first program cycle as expected. (b) If the position is not correct, the robot must be repaired. In this case, click Power Off Robot. (c) If the position is correct, please tick the check box below the 3D graphics and click Robot Position Verified
TARGET_JOINT_SPEED_EXCEED30016Target joint speed exceed limitssuggest...
TARGET_POS_SUDDEN_CHG30017Sudden change in target positionsuggest...
SUDDEN_STOP30018Sudden stop.To abort a motion, use "stopj" or "stopl" script commands to generate a smooth deceleration before using "wait". Avoid aborting motions between waypoints with blend”
ROBOT_STOP_ABNORMAL30019Robot has not stopped in the allowed reaction and braking timesuggest...
PROG_INVALID_SETP30020Robot program resulted in invalid setpoint.Please review waypoints in the program
BLEND_INVALID_SETP30021Blending failed and resulted in an invalid setpoint.Try changing the blend radius or contact technical support
APPROACH_SINGULARITY30022Robot approaching singularity – Acceleration threshold failed.Review waypoints in the program, try using MoveJ instead of MoveL in the position close to singularity
TSPEED_UNMATCH_POS30023Target speed does not match target positionsuggest...
INCONSIS_TPOS_SPD30024Inconsistency between target position and speedsuggest...
JOINT_TSPD_UNMATCH_POS30025Target joint speed does not match target joint position change – Joint {}suggest...
FIELDBUS_INPUT_DISCONN30026Fieldbus input disconnected.Please check fieldbus connections (RTDE, ModBus, EtherNet/IP and Profinet) or disable the fieldbus in the installation. Check RTDE watchdog feature. Check if a URCap is using this feature.
OPMODE_CHANGED30027Operational mode changed: {}suggest...
NO_KIN_CALIB30028No Kinematic Calibration found (calibration.conf file is either corrupt or missing).A new kinematics calibration may be needed if the robot needs to improve its kinematics, otherwise, ignore this message)
KIN_CALIB_UNMATCH_JOINT30029Kinematic Calibration for the robot does not match the joint(s).If moving a program from a different robot to this one, rekinematic calibrate the second robot to improve kinematics, otherwise ignore this message.
KIN_CALIB_UNMATCH_ROBOT30030Kinematic Calibration does not match the robot.Please check if the serial number of the robot arm matches the Control Box
JOINT_OFFSET_CHANGED30031Large movement of the robot detected while it was powered off. The joints were moved while it was powered off, or the encoders do not functionsuggest...
OFFSET_CHANGE_HIGH30032Change in offset is too highsuggest...
JOINT_SPEED_LIMIT30033Close to joint speed safety limit.Review program speed and acceleration
TOOL_SPEED_LIMIT30034Close to tool speed safety limit.Review program speed and acceleration
MOMENTUM_LIMIT30035Close to momentum safety limit.Review program speed and acceleration
ROBOT_MV_STOP30036Robot is moving when in Stop Modesuggest...
HAND_PROTECTION30037Hand protection: Tool is too close to the lower arm: {} meter.(a) Check wrist position. (b) Verify mounting (c) Do a Complete rebooting sequence (d) Update software (e) Contact your local AUBO Robots service provider for assistance
WRONG_SAFETYMODE30038Wrong safety mode: {}suggest...
SAFETYMODE_CHANGED30039Safety mode changed: {}suggest...
JOINT_ACC_LIMIT30040Close to joint acceleration safety limitsuggest...
TOOL_ACC_LIMIT30041Close to tool acceleration safety limitsuggest...
JOINT_TEMPERATURE_LIMIT30042Joint {} temperature too high(>{}℃)suggest...
CONTROL_BOX_TEMPERATURE_LIMIT30043Control box temperature too high(>{}℃)suggest...
ROBOT_EMERGENCY_STOP30044Robot emergency stopsuggest...
ROBOTMODE_CHANGED30045Robot mode changed: {}suggest...
ROBOTMODE_ERROR30046Wrong robot mode: {}suggest...
POSE_OUT_OF_REACH30047Target pose [{}] out of reachsuggest...
TP_PLAN_FAILED30048Trajectory plan FAILED.suggest...
START_FORCE_FAILED30049Start force control failed, because force sensor does not exist.suggest...
OVER_SAFE_PLANE_LIMIT30050{} axis exceeds the safety plane limit (Move_type:{} id:{}).Please move the robot to the safety plane range.
POWERON_FAIL_VIOLATION30051Failed to power on because the robot safety mode is in violationsuggest...
POWERON_FAIL_SYSTEMEMERGENCYSTOP30052Failed to power on because the robot safety mode is in system emergency stopsuggest...
POWERON_FAIL_ROBOTEMERGENCYSTOP30053Failed to power on because the robot safety mode is in robot emergency stopPop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion
POWERON_FAIL_FAULT30054Failed to power on because the robot safety mode is in faultsuggest...
STARTUP_FAIL_VIOLATION30055Failed to startup because the robot safety mode is in violationsuggest...
STARTUP_FAIL_SYSTEMEMERGENCYSTOP30056Failed to startup because the robot safety mode is in system emergency stopsuggest...
STARTUP_FAIL_ROBOTEMERGENCYSTOP30057Failed to startup because the robot safety mode is in robot emergency stopPop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion
STARTUP_FAIL_FAULT30058Failed to startup because the robot safety mode is in faultsuggest...
BACKDRIVE_FAIL_VIOLATION30059Failed to backdrive because the robot safety mode is in violationsuggest...
BACKDRIVE_FAIL_SYSTEMEMERGENCYSTOP30060Failed to backdrive because the robot safety mode is in system emergency stopsuggest...
BACKDRIVE_FAIL_ROBOTEMERGENCYSTOP30061Failed to backdrive because the robot safety mode is in robot emergency stopPop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion
BACKDRIVE_FAIL_FAULT30062Failed to backdrive because the robot safety mode is in faultsuggest...
SETSIM_FAIL_VIOLATION30063Switch sim mode failed because the robot safety mode is in violationsuggest...
SETSIM_FAIL_SYSTEMEMERGENCYSTOP30064Switch sim mode failed because the robot safety mode is in system emergency stopsuggest...
SETSIM_FAIL_ROBOTEMERGENCYSTOP30065Switch sim mode failed because the robot safety mode is in robot emergency stopPop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion
SETSIM_FAIL_FAULT30066Switch sim mode failed because the robot safety mode is in faultsuggest...
FREEDRIVE_FAIL_VIOLATION30067Enable handguide mode failed because the robot safety mode is in violationsuggest...
FREEDRIVE_FAIL_SYSTEMEMERGENCYSTOP30068Enable handguide mode failed because the robot safety mode is in system emergency stopsuggest...
FREEDRIVE_FAIL_ROBOTEMERGENCYSTOP30069Enable handguide mode failed because the robot safety mode is in robot emergency stopPop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion
FREEDRIVE_FAIL_FAULT30070Enable handguide mode failed because the robot safety mode is in faultsuggest...
UPFIRMWARE_FAIL_VIOLATION30071Firmware update failed because the robot safety mode is in violationsuggest...
UPFIRMWARE_FAIL_SYSTEMEMERGENCYSTOP30072Firmware update failed because the robot safety mode is in system emergency stopsuggest...
UPFIRMWARE_FAIL_ROBOTEMERGENCYSTOP30073Firmware update failed because the robot safety mode is in robot emergency stopPop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion
UPFIRMWARE_FAIL_FAULT30074Firmware update failed because the robot safety mode is in faultsuggest...
SETPERSOSTENT_FAIL_VIOLATION30075Set persistent parameter failed because the robot safety mode is in violationsuggest...
SETPERSOSTENT_FAIL_SYSTEMEMERGENCYSTOP30076Set persistent parameter failed because the robot safety mode is in system emergency stopsuggest...
SETPERSOSTENT_FAIL_ROBOTEMERGENCYSTOP30077Set persistent parameter failed because the robot safety mode is in robot emergency stopPop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion
SETPERSOSTENT_FAIL_FAULT30078Set persistent parameter failed because the robot safety mode is in faultsuggest...
SETPERSOSTENT_FAIL_PARAM_ERR30079Set persistent parameter failed(a) Check the parameter format, whether all are floating point numbers
ROBOT_CABLE_DISCONN30080Robot cable not connected(a) Make sure the cable between Control Box and Robot Arm is correctly connected and it has no damage. (b) Check for loose connections (c) Do a Complete rebooting sequence (d) Update software (e) Contact your local AUBO Robots service provider for assistance Contact your local AUBO Robots service provider for assistance.
TP_TOO_SHORT30081The generated trajectory is ignored because it is too short(a) Please check if the added waypoints are coincident (b) If it is an arc movement, please check whether the three points are collinear
INV_KIN_FAIL30082Inverse kinematics solution failed. The target pose may be in a singular position or exceed the joint limits(a) Change the target pose and try moving again
FREEDRIVE_ENABLED30083Freedrive status changed to {}suggest...
TP_INV_FAIL_REFERENCE_JOINT_OUT_OF_LIMIT30084Inverse kinematics solution failed. Reference angle [{}] exceeds joint limit [{}].suggest...
TP_INV_FAIL_NO_SOLUTION30085Inverse kinematics solution failed. The reference angle [{}] and the target angle [{}] are used as parameters. there is no solution in the calculation of the inverse solution process.suggest...
SERVO_FAIL_VIOLATION30086Switch servo mode failed because the robot safety mode is in violationsuggest...
SERVO_FAIL_SYSTEMEMERGENCYSTOP30087Switch servo mode failed because the robot safety mode is in system emergency stopsuggest...
SERVO_FAIL_ROBOTEMERGENCYSTOP30088Switch servo mode failed because the robot safety mode is in robot emergency stopPop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion
SERVO_FAIL_FAULT30089Switch servo mode failed because the robot safety mode is in faultsuggest...
FREEDRIVE_FAIL_NO_RUNNING30090Enable handguide mode failed because the robot mode type is {}(not running)suggest...
RUNTIME_MACHINE_ERROR30091The state of the running machine is {}, not {}. {} function execution failed because the state is wrong.suggest...
RESUME_FAR_PAUSE_PT30092Cannot resume from joint position [{}].\nToo far away from paused point [{}].suggest...
PAYLOAD_LIGHTER_ERROR30093The payload setting is too small!suggest...
PAYLOAD_OVERLOAD_ERROR30094The payload setting is too large!suggest...
PAUSE_FAIL_NOT_POSITION_PLAN_MODE30095This motion does not support the pause function. The motion is stopping.suggest...
TP_PLAN_FAILED_CIRCULAR_WAYPOINTS_COINCIDE30096The planning failed because the three waypoints of the arc were determined to coincide.Check the circular waypoints to make sure they are different.
SERVO_WRONG_SAFETYMODE30097Switch servo mode failed because the robot safety mode is in {}.Check the circular waypoints to make sure they are different.
SET_PERSTPARAM_WRONG_SAFETYMODE30098Set persistent parameter failed because the robot safety mode is in {}suggest...
SET_KINPARAM_WRONG_SAFETYMODE30099Set Kinematics Compensate parameters failed because the robot safety mode is in {}suggest...
SET_ROBOT_ZERO_WRONG_SAFETYMODE30100Set current joint angles to zero failed because the robot safety mode is in {}suggest...
UPFIRMWARE_WRONG_SAFETYMODE30101Firmware update failed because the robot safety mode is in {}suggest...
POWERON_WRONG_SAFETYMODE30102Failed to power on because the robot safety mode is in {}suggest...
STARTUP_WRONG_SAFETYMODE30103Failed to startup because the robot safety mode is in {}suggest...
BACKDRIVE_WRONG_SAFETYMODE30104Failed to backdrive because the robot safety mode is in system emergency stopsuggest...
SETSIM_WRONG_SAFETYMODE30105Switch sim mode failed because the robot safety mode is in violationsuggest...
FREEDRIVE_WRONG_SAFETYMODE30106Enable handguide mode failed because the robot safety mode is in wrong safety mode: {}suggest...
TP_PLAN_FAILED_JOINT_JUMP_BIGGER30107Inverse kinematics solution failed. The target point and the current point are in different robot configuration spaces.Add a few more points between the target point and the current point.
RUN_PROGRAM_FAILED30108Run program {} failed.suggset...
FREEDRIVE_FAIL_WRONG_RTMSTATE30109Unable to enter the HandGuide mode as the robot is not currently in a stopped or paused state.suggset...
SAFEGUARDSTOP_CONFIGURABLE_INPUT30110Configurable safety input is triggered.suggset...
SAFEGUARDSTOP_3PE301113PE is triggered.suggset...
SAFEGUARDSTOP_SI30112SI0/SI1 is triggered.suggset...
ROBOT_TYPE_CHANGED30200Robot type changed to '{}', and robot subtype changed to '{}'suggest...
LINKMODE_CHANGED30201Link mode changed to {}suggest...
ROBOT_SELF_COLLISION30301Detect risk of robot self collisionsuggest...
CONSTANT_INVALID30302Joint torque constants are invalid. HandGuide will be disabled, and the collision protection may be triggered by mistake.suggest...
GRAVITY_INVALID30303Abnormal value of gravity acceleration sensor. HandGuide will be disabled, and the collision protection may be triggered by mistake.suggest...
DYNAMICS_INVALID30304Robot dynamics parameters are invalid. HandGuide will be disabled, and the collision protection may be triggered by mistake.suggest...
FRICTION_INVALID30305Joint friction parameters are invalid. HandGuide will be disabled, and the collision protection may be triggered by mistake.suggest...
HANDGUIDE_UNDER_DEVELOP30306Robot type of {} function under development. HandGuide will be disabled, and the collision protection may be triggered by mistake.suggest...
SLOW_DOWN_INFO30307Slow down level changed to {}({}%)suggest...
WRONG_JOINT_DESIGNED_LIMIT30308Joint designed ranges exceeds ranges read from hardware interface.suggest...
FREEDRIVE_IN_SIMULATION30309Enable handguide mode failed because the robot is in simulation mode.suggest...
ROBOT_STOPPING_TIMEOUT30310Robot stopping timeout.suggest...
PSTOP_INCORRECT_FORCE_OFFSET30311Protective Stop: Sudden change in force control target position. Force sensor offset may be incorrect or force sensor fault.suggest...
WRONG_JOINT_SAFETY_LIMIT30312Joint safety ranges exceeds designed ranges.suggest...
PSTOP_TCP_PLANE_VIOLATION30401Protective Stop: TCP position close to safety plane limits.suggest...
PSTOP_ELBOW_PLANE_VIOLATION30402Protective Stop: elbow position close to safety plane limits.suggest...
PSTOP_JOINT_TORQUE_VIOLATION30403Protective Stop: joint{} exceeds torque limit.suggest...
PSTOP_JOINT_POSITION_VIOLATION30404Protective Stop: joint{} exceeds position limit.suggest...
PSTOP_JOINT_SPEED_VIOLATION30405Protective Stop: joint{} exceeds speed limit.suggest...
PSTOP_TCP_SPEED_VIOLATION30406Protective Stop: TCP speed close to safety limits.suggest...
PSTOP_ELBOW_SPEED_VIOLATION30407Protective Stop: elbow speed close to safety limits.suggest...
PSTOP_TCP_FORCE_VIOLATION30408Protective Stop: TCP foece close to safety limits.suggest...
PSTOP_ELBOW_TORQUE_VIOLATION30409Protective Stop: elbow torque close to safety limits.suggest...
PSTOP_POWER_VIOLATION30410Protective Stop: robot power close to safety limits.suggest...
PSTOP_MOMENTUM_VIOLATION30411Protective Stop: robot momentum close to safety limits.suggest...
PSTOP_TCP_CUBE_VIOLATION30412Protective Stop: TCP position close to safety cube.suggest...
PSTOP_ELBOW_CUBE_VIOLATION30413Protective Stop: TCP position close to safety cube.suggest...
REDUCE_ELBOW_PLANE_TRIGGER30414Reduce mode: elbow close to safety plane triggers reduction mode.suggest...
REDUCE_TCP_PLANE_TRIGGER30415Reduce mode: TCP close to safety plane triggers reduction mode.suggest...
PSTOP_MOVE_OUT_RANGE30416Joint {} has exceeded the limit, please do not continue to move out of the rangesuggest...
RESUME_PAUSE_FAILED30417Resume Failed: Safety mode type is {}suggest...
FIRMWARE_UPDATE_FAIL_EMERGENCYSTOP30418Failed to firmware update because the robot safety mode is in {}Release emergency stop when the robot is in a safe range of motion
TOOL_SENSOR_CHANGED30419Tool sensor type changed to {}suggest...
TOOL_SENSOR_REMOVED30420Tool sensor is removed.suggest...
CAL_TARGET_CURRENT_ERR30421The calculation of the target current failed. Please try again later.suggest...
CONVEYOR_MODE_CHANGED30422Conveyor{}: track mode changed to {}, track item id is {}suggest...
CONVEYOR_ENQUEUE30423Conveyor{}: the queue has been changed, item{} is enqueuesuggest...
CONVEYOR_DEQUEUE_FINISH30424Conveyor{}: the queue has been changed, item{} dequeue due to track finishedsuggest...
CONVEYOR_DEQUEUE_STARTWINDOW30425Conveyor{}: the queue has been changed, item{} dequeue due to exceeds startwindowsuggest...
CONVEYOR_DEQUEUE_LIMIT30426Conveyor{}: the queue has been changed, item{} dequeue due to exceed limit areasuggest...
CONVEYOR_DEQUEUE_CLEAR30427Conveyor{}: item queue is clearedsuggest...
CONVEYOR_NEXT_TRACK30428Conveyor{}: item{} inside the start window that can be trackedsuggest...
CONVEYOR_EXCEED_LIMIT30429Conveyor{}: item{} exceeds the limit area during trackingsuggest...
WRONG_POWER_SAFETY_LIMIT30430Robot power safety value exceeds designed value.suggest...
WRONG_POWER_DESIGNED_LIMIT30431Power designed value exceeds value read from hardware interface.suggest...
TOOL_SENSOR_STATUS_CHANGED30432Tool sensor status changed to {}suggest...
TOOL_FLASH_VERIFY_FAILED40001Flash write verify failedsuggest...
TOOL_PROGRAM_CRC_FAILED40002Program flash checksum failed during bootloadingsuggest...
TOOL_PROGRAM_CRC_FAILED240003Program flash checksum failed at runtimesuggest...
TOOL_ID_UNDIFINED40004Tool ID is undefinedsuggest...
TOOL_ILLEGAL_BL_CMD40005Illegal bootloader commandsuggest...
TOOL_FW_WRONG40006Wrong firmware at the jointsuggest...
TOOL_HW_INVALID40007Invalid hardware revisionsuggest...
TOOL_SHORT_CURCUIT_H40011Short circuit detected on Digital Output: {} high sidesuggest...
TOOL_SHORT_CURCUIT_L40012Short circuit detected on Digital Output: {} low sidesuggest...
TOOL_AVERAGE_CURR_HIGH4001310 second Average tool IO Current of {} A is outside of the allowed range.suggest...
TOOL_POWER_PIN_OVER_CURR40014Current of {} A on the POWER pin is outside of the allowed range.suggest...
TOOL_DOUT_PIN_OVER_CURR40015Current of {} A on the Digital Output pins is outside of the allowed range.suggest...
TOOL_GROUND_PIN_OVER_CURR40016Current of {} A on the ground pin is outside of the allowed range.suggest...
TOOL_RX_FRAMING40021RX framing errorsuggest...
TOOL_RX_PARITY40022RX Parity errorsuggest...
TOOL_48V_LOW4003148V input is too lowsuggest...
TOOL_48V_HIGH4003248V input is too highsuggest...
TOOL_ERR_OFFLINE40033tool error: tool may be offline(a) Check tool's hardware. (b) Check joint's id.
TOOL_ERR_BOOTLOADER40034tool error: The tool is in bootloader mode. Retry firmware update.suggest...
PKG_LOST50001Lost package from pedestalsuggest...
PEDSTRAL_OFFLINE50002pedestal error: pedestal may be offline(a) Check pedestal's hardware. (b) Check pedestal's id.
PEDESTAL_ERR_BOOTLOADER50003pedestal error: The pedestal is in bootloader mode. Retry firmware update.suggest...
HW_SCB_SETUP_FAILED60001Setup of Interface Board failedsuggest...
HW_PKG_CNT_DISAGEE60002Packet counter disagreementssuggest...
HW_SCB_DISCONNECT60003Connection to Interface Board lostsuggest...
HW_SCB_PKG_LOST60004Package lost from Interface Boardsuggest...
HW_SCB_CONN_INIT_FAILED60005Ethernet connection initialization with Interface Board failedsuggest...
HW_LOST_JOINT_PKG60006Lost package from joint {}suggest...
HW_LOST_TOOL_PKG60007Lost package from toolsuggest...
HW_JOINT_PKG_CNT_DISAGREE60008Packet counter disagreement in packet from joint {}suggest...
HW_TOOL_PKG_CNT_DISAGREE60009Packet counter disagreement in packet from toolsuggest...
HW_JOINTS_FAULT60011{} joint entered the Fault Statesuggest...
HW_JOINTS_VIOLATION60012{} joint entered the Violation Statesuggest...
HW_TP_FAULT60013Teach Pendant entered the Fault Statesuggest...
HW_TP_VIOLATION60014Teach Pendant entered the Violation Statesuggest...
HW_JOINT_MV_TOO_FAR60021{} joint moved too far before robot entered RUNNING Statesuggest...
HW_JOINT_STOP_NOT_FAST60022Joint Not stopping fast enoughsuggest...
HW_JOINT_MV_LIMIT60023Joint moved more than allowable limitsuggest...
HW_FT_SENSOR_DATA_INVALID60024Force-Torque Sensor data invalidsuggest...
HW_NO_FT_SENSOR60025Force-Torque sensor is expected, but it cannot be detectedsuggest...
HW_FT_SENSOR_NOT_CALIB60026Force-Torque sensor is detected but not calibratedsuggest...
HW_RELEASE_BRAKE_FAILED60030Robot was not able to brake release, see log for detailssuggest...
HW_OVERCURR_SHUTDOWN60040Overcurrent shutdownsuggest...
HW_ENERGEY_SURPLUS60050Energy surplus shutdownsuggest...
HW_IDLE_POWER_HIGH60060Idle power consumption to highsuggest...
HW_ENTER_COLLISION_TIMEOUT60071Enter collision stop procedure timeoutsuggest...
HW_POWERON_TIMEOUT60072Poweron robot timeoutsuggest...
HW_NO_NIC_FOUND60073No network cards found.suggest...
HW_IFB_NOT_FOUND60074No Interface Board found.suggest...
HW_IFB_BOOTLOAD60075The Interface Board is in bootloader mode. Update firmware firstly.suggest...
HW_TOOL_NOT_FOUND60076No Tool Board found.suggest...
HW_BASE_NOT_FOUND60077No Base Board found.suggest...
HW_BRINGUP_TIMEOUT60078Poweron robot timeoutsuggest...
HW_COLLISION_RECOVERY_FAILED60079Collision recovery failedsuggest...
ARCS_MAX_ERROR_CODE-1Max error codesuggest...