错误码
最后更新时间: 2026-04-28
系统错误 (0 - 102)
| 错误码 | 名称 | 描述 | 描述(中文) | 建议 |
|---|---|---|---|---|
| 0 | DEBUG | Debug message {} | 系统级消息和调试信息 | |
| 1 | POPUP | Popup title: {}, msg: {}, mode: {} | 弹窗标题/消息/模式 | 根据弹窗内容处理 |
| 2 | POPUP_DISMISS | {} | 弹窗关闭 | |
| 3 | SYSTEM_HALT | {} | 系统停止 | 检查系统日志 |
| 4 | INV_ARGUMENTS | Invalid arguments. | 无效参数 | 检查输入参数 |
| 5 | USER_NOTIFY | {} | 用户通知 | 查看通知内容 |
| 6 | POPUP_DISMISS_BY_ID | {} | 按 ID 关闭弹窗 | |
| 10 | MODBUS_SIGNAL_CREATED | Modbus signal {} created. | Modbus 信号创建 | 检查 Modbus 配置 |
| 11 | MODBUS_SIGNAL_REMOVED | Modbus signal {} removed. | Modbus 信号移除 | 检查 Modbus 配置 |
| 12 | MODBUS_SIGNAL_VALUE_CHANGED | Modbus signal {} value changed to {} | Modbus 信号变更 | 检查 Modbus 配置 |
| 13 | RUNTIME_CONTEXT | tid: {} lineno: {} index: {} comment: {} | 运行时 | 查看线程和行号信息 |
| 14 | INTERP_CONTEXT | tid: {} lineno: {} index: {} comment: {} | 解释器上下文 | 查看线程和行号信息 |
| 15 | PROGRAM_LOADED | program loaded: {} | 程序加载成功 | |
| 16 | TASK_DELETED | tid: {} | 任务已删除 | was deleted |
| 20 | MODBUS_SLAVE_BIT | Modbus slave address: {} value {} | Modbus 从站地址/值 | 检查 Modbus 从站配置 |
| 21 | MODBUS_SLAVE_REG | Modbus slave address: {} value {} | Modbus 从站地址/值 | 检查 Modbus 从站配置 |
| 30 | PNIO_SLAVE_SLOT_VALUE | PNIO slot: {} subslot {} index {} value {} | PNIO 槽位 | 检查 PROFINET 配置 |
| 31 | PNIO_CONNECT_STATUS | PNIO connection status changed to {} | PNIO 连接状态变更 | 检查 PROFINET 配置 |
| 32 | PNIO_DEVICE_NAME | PNIO device name changed to {} | PNIO 设备名称变更 | 检查 PROFINET 配置 |
| 33 | PNIO_IP | PNIO ip {} mask {} gateway {} | PNIO ip {} mask {} gateway {} | 检查 PROFINET 配置 |
| 40 | ICM_SERVER_STATUS | ICM server status changed to {} | ICM 服务器状态变更 | 检查 ICM 服务 |
| 50 | EIP_SLAVE_VALUE | EIP slave: trans_type {} index {} value {} | EtherNet/IP 从站值/连接 | 检查 EtherNet/IP 配置 |
| 51 | EIP_SLAVE_CONNECT_STATUS | EIP slave connection status changed to {} | EtherNet/IP 从站值/连接 | 检查 EtherNet/IP 配置 |
| 100 | LOG_PROGRAM_SUCCESS | [{}] Load program {} successful | 程序加载成功 | |
| 101 | LOG_PROGRAM_FAILED | [{}] Load program {} failed, file not found | 程序加载失败，文件未找到 | 检查程序文件路径 |
| 102 | LOG_PROGRAM_FAILED2 | [{}] Load program {} failed, configuration file (.ins) does not match | 程序加载失败，配置文件不匹配 | 检查.ins 配置文件 |
关节错误 (10001 - 10044)
| 错误码 | 名称 | 描述 | 描述(中文) | 建议 |
|---|---|---|---|---|
| 10001 | JOINT_ERR_OVER_CURRENET | joint{} error: over current | 关节过流 | (a) 检查短路 (b) 完整重启序列 (c) 如重复出现，更换关节 |
| 10002 | JOINT_ERR_OVER_VOLTAGE | joint{} error: over voltage | 关节过压 | (a) 完整重启 (b) 检查 48V 电源、电流分配器、能耗器和控制板 |
| 10003 | JOINT_ERR_LOW_VOLTAGE | joint{} error: low voltage | 关节欠压 | (a) 完整重启 (b) 检查机械臂短路 (c) 检查 48V 电源系统 |
| 10004 | JOINT_ERR_OVER_TEMP | joint{} error: over temperature | 关节过温 | (a) 检查环境确保在推荐范围内运行 (b) 完整重启 |
| 10005 | JOINT_ERR_HALL | joint{} error: hall | 霍尔传感器错误 | |
| 10006 | JOINT_ERR_ENCODER | joint{} error: encoder | 编码器错误 | 检查编码器连接 |
| 10007 | JOINT_ERR_ABS_ENCODER | joint{} error: abs encoder | 绝对编码器错误 | |
| 10008 | JOINT_ERR_Q_CURRENT | joint{} error: detect current | 电流检测错误 | |
| 10009 | JOINT_ERR_ENC_POLL | joint{} error: encoder pollustion | 编码器污染 | |
| 10010 | JOINT_ERR_ENC_Z_SIGNAL | joint{} error: enocder z signal | 编码器 Z 信号错误 | |
| 10011 | JOINT_ERR_ENC_CAL | joint{} error: encoder calibrate | 编码器校准错误 | |
| 10012 | JOINT_ERR_IMU_SENS | joint{} error: IMU sensor | IMU 传感器错误 | |
| 10013 | JOINT_ERR_TEMP_SENS | joint{} error: TEMP sensor | 温度传感器错误 | |
| 10014 | JOINT_ERR_CAN_BUS | joint{} error: CAN bus error | CAN 总线错误 | |
| 10015 | JOINT_ERR_SYS_CUR | joint{} error: system current error | 系统电流错误 | |
| 10016 | JOINT_ERR_SYS_POS | joint{} error: system position error | 系统位置错误 | |
| 10017 | JOINT_ERR_OVER_SP | joint{} error: over speed | 超速 | |
| 10018 | JOINT_ERR_OVER_ACC | joint{} error: over accelerate | 过加速 | |
| 10019 | JOINT_ERR_TRACE | joint{} error: trace accuracy | 轨迹精度错误 | |
| 10020 | JOINT_ERR_TAG_POS_OVER | joint{} error: target position out of range | 目标位置超限 | |
| 10021 | JOINT_ERR_TAG_SP_OVER | joint{} error: target speed out of range | 目标速度超限 | |
| 10022 | JOINT_ERR_COLLISION | joint{} error: collision | 碰撞 | |
| 10023 | JOINT_ERR_COMMON | joint{} error: unkown error. Check communication with joint. | 未知错误 | 检查关节通信 |
| 10024 | JOINT_ERR_SWITCH_SERVO_MODE | joint{} error: switch servo mode timeout. | 切换伺服模式超时 | |
| 10025 | JOINT_ERR_MOTOR_STUCK | joint{} error: motor stucked. | 电机卡死 | |
| 10026 | JOINT_ERR_REDUCER_OVER_TEMP | joint{} error: reducer over temperature | 减速机过温 | (a) 检查环境确保在推荐范围内运行 (b) 完整重启 |
| 10027 | JOINT_ERR_REDUCER_NTC | joint{} error: reducer TEMP sensor failure | 减速机温度传感器故障 | (a) 检查环境 (b) 完整重启 |
| 10028 | JOINT_ERR_ABS_MULTITURN | joint{} error: absolute encoder multiturn error | 绝对编码器多圈错误 | (a) 检查环境 (b) 完整重启 |
| 10029 | JOINT_ERR_ADC_ZERO_OFFSET | joint{} error: ADC zero offset failure | ADC 零偏故障 | (a) 检查环境 (b) 完整重启 |
| 10030 | JOINT_ERR_SHORT_CIRCUIT | joint{} error: short circuit | 短路 | (a) 检查环境 (b) 完整重启 |
| 10031 | JOINT_ERR_PHASE_LOST | joint{} error: motor phase lost | 电机缺相 | (a) 检查环境 (b) 完整重启 |
| 10032 | JOINT_ERR_BRAKE | joint{} error: brake failure | 制动故障 | (a) 检查环境 (b) 完整重启 |
| 10033 | JOINT_ERR_FIRMWARE_UPDATE | joint{} error: firmware update failure | 固件更新失败 | (a) 检查环境 (b) 完整重启 |
| 10034 | JOINT_ERR_BATTERY_LOW | joint{} error: battery low | 电池电量低 | (a) 检查环境 (b) 完整重启 |
| 10035 | JOINT_ERR_PHASE_ALIGN | joint{} error: phase align | 相位对齐错误 | (a) 检查环境 (b) 完整重启 |
| 10036 | JOINT_ERR_CAN_HW_FAULT | joint{} error: CAN bus hw fault | CAN 总线硬件故障 | (a) 检查环境 (b) 完整重启 |
| 10037 | JOINT_ERR_POS_DISCONTINUOUS | joint{} error: target position discontinuous | 目标位置不连续 | (a) 检查环境 (b) 完整重启 |
| 10038 | JOINT_ERR_POS_INIT | joint{} error: position initiallization failure | 位置初始化失败 | (a) 检查环境 (b) 完整重启 |
| 10039 | JOINT_ERR_TORQUE_SENSOR | joint{} error: torqure sensor failure | 扭矩传感器故障 | (a) 检查环境 (b) 完整重启 |
| 10040 | JOINT_ERR_OFFLINE | joint{} error: joint may be offline | 关节可能离线 | (a) 检查关节硬件 (b) 检查关节 ID |
| 10041 | JOINT_ERR_BOOTLOADER | joint{} error: The joint is in bootloader mode. Retry firmware update. | 关节处于引导模式 | 重试固件更新 |
| 10042 | JOINT_ERR_SLAVE_OFFLINE | slave joint{} error: slave joint may be offline | 从关节可能离线 | (a) 检查从关节硬件 (b) 检查从关节 ID |
| 10043 | JOINT_ERR_SLAVE_BOOTLOADER | slave joint{} error: The slave joint is in bootloader mode. Retry firmware update. | 从关节处于引导模式 | 重试固件更新 |
| 10044 | JOINT_ERR_ETHERCAT_BUS | joint{} error: ETHERCAT bus error | EtherCAT 总线错误 |
扩展轴错误 (11001 - 11066)
| 错误码 | 名称 | 描述 | 描述(中文) | 建议 |
|---|---|---|---|---|
| 11001 | EXT_AXIS_ERR_COMMON | ext axis{} error: common | 外部轴驱动器相关错误 | 检查与外部轴驱动器的通信 |
| 11002 | EXT_AXIS_ERR_OVER_CURRENT | ext axis{} error: over current | 外部轴过流 | 检查接线/短路；重启；如重复更换驱动器/电机 |
| 11003 | EXT_AXIS_ERR_OVER_VOLTAGE | ext axis{} error: over voltage | 外部轴过压 | 检查直流电源、再生、能耗器；重启 |
| 11004 | EXT_AXIS_ERR_LOW_VOLTAGE | ext axis{} error: low voltage | 外部轴欠压 | 检查直流电源和电缆；重启 |
| 11005 | EXT_AXIS_ERR_OVER_TEMP | ext axis{} error: over temperature | 外部轴过温 | 检查环境/冷却；重启 |
| 11006 | EXT_AXIS_ERR_HALL | ext axis{} error: hall fault | 霍尔传感器故障 | 检查霍尔传感器和电机接线 |
| 11007 | EXT_AXIS_ERR_ENCODER | ext axis{} error: encoder fault | 编码器故障 | 检查编码器连接/电缆/噪声 |
| 11008 | EXT_AXIS_ERR_ABS_ENCODER | ext axis{} error: absolute encoder fault | 绝对编码器故障 | 检查绝对编码器电源/电缆；重启 |
| 11009 | EXT_AXIS_ERR_CUR_CALIB | ext axis{} error: current calibration fault | 电流校准故障 | 重启；检查电流传感电路 |
| 11010 | EXT_AXIS_ERR_Q_CURRENT | ext axis{} error: current detect fault | 电流检测故障 | 重启；检查电流传感电路 |
| 11011 | EXT_AXIS_ERR_ENC_POLL | ext axis{} error: encoder pollution | 编码器污染 | 检查编码器污染/噪声；改善屏蔽 |
| 11012 | EXT_AXIS_ERR_ENC_Z_SIGNAL | ext axis{} error: encoder Z signal fault | 编码器 Z 信号故障 | 检查编码器 Z 通道和接线 |
| 11013 | EXT_AXIS_ERR_ENC_CAL | ext axis{} error: encoder calibrate invalid | 编码器校准无效 | 重新校准；检查编码器 |
| 11014 | EXT_AXIS_ERR_IMU | ext axis{} error: IMU fault | IMU 故障 | 检查 IMU 传感器和连接 |
| 11015 | EXT_AXIS_ERR_TEMP_SENSOR | ext axis{} error: temperature sensor fault | 温度传感器故障 | 检查温度传感器接线；重启 |
| 11016 | EXT_AXIS_ERR_ECAT_BUS | ext axis{} error: EtherCAT bus error | EtherCAT 总线错误 | 检查 EtherCAT 电缆/拓扑/同步；重启主站/驱动器 |
| 11017 | EXT_AXIS_ERR_ECAT_CONFIG | ext axis{} error: EtherCAT config/ESI/SM/PDO fault | EtherCAT 配置/ESI/SM/PDO 故障 | 检查 ESI、邮箱/SM/PDO 映射、厂商/产品/版本匹配 |
| 11018 | EXT_AXIS_ERR_ECAT_SYNC | ext axis{} error: EtherCAT sync/frame/period fault | EtherCAT 同步/帧/周期故障 | 检查 DC 同步、周期时间、帧丢失；验证 NIC/IRQ 亲和性 |
| 11019 | EXT_AXIS_ERR_SYS_CUR | ext axis{} error: system current fault | 系统电流故障 | 检查电流环和负载；重启 |
| 11020 | EXT_AXIS_ERR_SYS_POS | ext axis{} error: position out of range | 位置超限 | 检查编码器/光栅尺/限位；重启 |
| 11021 | EXT_AXIS_ERR_OVER_SPEED | ext axis{} error: over speed | 超速 | 检查命令限制和调谐参数 |
| 11022 | EXT_AXIS_ERR_OVER_ACC | ext axis{} error: over acceleration | 过加速 | 减小加速度/加加速度；检查调谐 |
| 11023 | EXT_AXIS_ERR_FOLLOW_ERROR | ext axis{} error: following error | 跟随误差 | 检查增益、负载、饱和；验证反馈 |
| 11024 | EXT_AXIS_ERR_TAG_POS_OVER | ext axis{} error: target position out of range | 目标位置超限 | 检查目标限制和回零 |
| 11025 | EXT_AXIS_ERR_TAG_SPEED_OVER | ext axis{} error: target speed out of range | 目标速度超限 | 限制速度；检查轮廓设置 |
| 11026 | EXT_AXIS_ERR_TAG_CURRENT_OVER | ext axis{} error: target current out of range | 目标电流超限 | 限制电流/扭矩；检查负载 |
| 11027 | EXT_AXIS_ERR_COLLISION | ext axis{} error: collision | 碰撞 | 移除障碍物；检查扭矩/力限制 |
| 11028 | EXT_AXIS_ERR_ADC_ZERO_OFFSET | ext axis{} error: ADC zero offset | ADC 零偏故障 | 重启；检查 ADC/电流传感器偏置 |
| 11029 | EXT_AXIS_ERR_IPM_NTC | ext axis{} error: IPM NTC fault | IPM 温度传感器故障 | 检查功率模块温度传感 |
| 11030 | EXT_AXIS_ERR_SHORT_CIRCUIT | ext axis{} error: short circuit | 短路 | 检查电机相线接线；绝缘测试 |
| 11031 | EXT_AXIS_ERR_MOTOR_STALL | ext axis{} error: motor stall | 电机堵转 | 检查机械卡死/负载；减小加速；重启 |
| 11032 | EXT_AXIS_ERR_ABS_MULTITURN | ext axis{} error: abs encoder multiturn fault | 绝对编码器多圈故障 | 检查绝对编码器电池/参数；重启 |
| 11033 | EXT_AXIS_ERR_PHASE_LOST | ext axis{} error: motor phase lost | 电机缺相 | 检查相线接线/连接器；测量通断 |
| 11034 | EXT_AXIS_ERR_BRAKE | ext axis{} error: brake fault | 制动故障 | 检查制动接线/电源；验证制动释放 |
| 11035 | EXT_AXIS_ERR_REDUCER_OVER_TEMP | ext axis{} error: reducer over temperature | 减速机过温 | 检查减速机温度/冷却 |
| 11036 | EXT_AXIS_ERR_REDUCER_NTC | ext axis{} error: reducer NTC fault | 减速机温度传感器故障 | 检查减速机温度传感器 |
| 11037 | EXT_AXIS_ERR_FIRMWARE_UPDATE | ext axis{} error: firmware update fault | 固件更新故障 | 重试更新；检查电源稳定性 |
| 11038 | EXT_AXIS_ERR_FLASH_OP | ext axis{} error: flash operation fault | Flash 操作故障 | 重试；如持续存在更换驱动器 |
| 11039 | EXT_AXIS_ERR_EXT_ABS_ENC | ext axis{} error: motor-side abs encoder comm fault | 电机侧绝对编码器通信故障 | 检查外部绝对编码器链路/电源 |
| 11040 | EXT_AXIS_ERR_DRIVE_FAULT | ext axis{} error: drive fault | 驱动器故障 | 检查驱动器报警代码；重启；如重复更换 |
| 11041 | EXT_AXIS_ERR_OVERLOAD | ext axis{} error: overload | 过载 | 减小负载；检查机械和调谐 |
| 11042 | EXT_AXIS_ERR_HARDWARE_LIMIT | ext axis{} error: hardware limit triggered | 硬件限位触发 | 移离限位；检查限位开关 |
| 11043 | EXT_AXIS_ERR_SERVO_MODE_TIMEOUT | ext axis{} error: switch servo mode timeout | 切换伺服模式超时 | 检查模式转换和通信；重启 |
| 11044 | EXT_AXIS_ERR_UVW_ABZ | ext axis{} error: UVW/ABZ fault | UVW/ABZ 故障 | 检查相线/编码器信号接线 |
| 11045 | EXT_AXIS_ERR_BATTERY_LOW | ext axis{} error: battery low | 电池电量低 | 更换编码器电池；重启 |
| 11046 | EXT_AXIS_ERR_PHASE_ALIGN | ext axis{} error: phase align fail | 相位对齐失败 | 重新相位对齐；检查电机参数 |
| 11047 | EXT_AXIS_ERR_POS_DISCONTINUOUS | ext axis{} error: position command discontinuous | 位置命令不连续 | 检查轨迹生成和限制 |
| 11048 | EXT_AXIS_ERR_POS_INIT | ext axis{} error: position initialization failure | 位置初始化失败 | 检查编码器初始化/回零程序 |
| 11049 | EXT_AXIS_ERR_TORQUE_SENSOR | ext axis{} error: torque sensor fault | 扭矩传感器故障 | 检查扭矩传感器接线/校准 |
| 11050 | EXT_AXIS_ERR_ABS_ENC_LOW_VOLT | ext axis{} error: abs encoder low voltage | 绝对编码器欠压 | 检查编码器供电电压和电缆 |
| 11051 | EXT_AXIS_ERR_OFFLINE | ext axis{} error: ext axis offline | 外部轴离线 | 检查硬件和轴 ID；检查 EtherCAT 状态 |
| 11052 | EXT_AXIS_ERR_BOOTLOADER | ext axis{} error: ext axis in bootloader | 外部轴处于引导模式 | 重试固件更新 |
| 11053 | EXT_AXIS_ERR_SLAVE_OFFLINE | ext axis slave{} error: slave offline | 从站离线 | 检查从站硬件和 ID |
| 11054 | EXT_AXIS_ERR_SLAVE_BOOTLOADER | ext axis slave{} error: slave in bootloader | 从站处于引导模式 | 重试固件更新 |
| 11055 | EXT_AXIS_ERR_EEPROM | ext axis{} error: EEPROM/param store fault | EEPROM/参数存储故障 | 检查 EEPROM/参数存储；重新上电 |
| 11056 | EXT_AXIS_ERR_PARAM_CONFIG | ext axis{} error: parameter/config fault | 参数/配置故障 | 验证参数集；必要时恢复默认值 |
| 11057 | EXT_AXIS_ERR_STO | ext axis{} error: STO safety fault | STO 安全故障 | 检查 STO 接线/安全链；重置安全 |
| 11058 | EXT_AXIS_ERR_ENCRYPT_CHIP | ext axis{} error: encrypt chip/key fault | 加密芯片/密钥故障 | 检查加密芯片/密钥/固件兼容性 |
| 11059 | EXT_AXIS_ERR_BRAKE_RES_OVERLOAD | ext axis{} error: brake resistor overload | 制动电阻过载 | 检查制动电阻/再生电路；占空比 |
| 11060 | EXT_AXIS_ERR_POWER_LINE_OPEN | ext axis{} error: motor power line open | 电机动力线开路 | 检查电机动力电缆通断/连接器 |
| 11061 | EXT_AXIS_ERR_HOMING | ext axis{} error: homing fault | 回零故障 | 检查回零传感器/原点程序；重试 |
| 11062 | EXT_AXIS_ERR_TUNING_FAIL | ext axis{} error: tuning fail | 调谐失败 | 重新调谐；减小共振；检查机械 |
| 11063 | EXT_AXIS_ERR_INERTIA_ID_FAIL | ext axis{} error: inertia identification fail | 惯量辨识失败 | 检查负载；重新惯量辨识；调整条件 |
| 11064 | EXT_AXIS_ERR_FLYAWAY | ext axis{} error: flyaway | 飞车 | 急停；检查反馈极性/比例；检查驱动器参数 |
| 11065 | EXT_AXIS_ERR_SPEED_PULSE_OVER | ext axis{} error: feedback pulse overspeed | 反馈脉冲超速 | 检查编码器反馈和比例；减速 |
| 11066 | EXT_AXIS_ERR_CTRL_LOOP | ext axis{} error: control loop/timeout fault | 控制 loop/超时故障 | 检查采样/电流 loop/通信超时；重启 |
安全接口板错误 (20001 - 20027)
| 错误码 | 名称 | 描述 | 描述(中文) | 建议 |
|---|---|---|---|---|
| 20001 | IFB_ERR_ROBOTTYPE | Robot error type! | 机器人类型错误！ | |
| 20002 | IFB_ERR_ADXL_SENS | Base Acceleration sensor error! | 底座加速度传感器错误！ | |
| 20003 | IFB_ERR_EN_LINE | Encoder line error! | 编码器线路错误！ | |
| 20004 | IFB_ERR_ENTER_HDG_MODE | Robot enter handguide mode! | 机器人进入手导模式！ | |
| 20005 | IFB_ERR_EXIT_HDG_MODE | Robot exit handguide mode! | 机器人退出手导模式！ | |
| 20006 | IFB_ERR_MAC_DATA_BREAK | MAC data break! | MAC 数据中断！ | |
| 20007 | IFB_ERR_DRV_FIRMWARE_VERSION | Motor driver firmware version error! | 电机驱动器固件版本错误！ | |
| 20008 | INIT_ERR_EN_DRV | Motor driver enable failed! | 电机驱动器使能失败！ | |
| 20009 | INIT_ERR_EN_AUTO_BACK | Motor driver enable auto back failed! | 电机驱动器自动回零使能失败！ | |
| 20010 | INIT_ERR_EN_CUR_LOOP | Motor driver enable current loop failed! | 电机驱动器电流环使能失败！ | |
| 20011 | INIT_ERR_SET_TAG_CUR | Motor driver set target current failed! | 电机驱动器设置目标电流失败！ | |
| 20012 | INIT_ERR_RELEASE_BRAKE | Motor driver release brake failed! | 电机驱动器释放制动失败！ | |
| 20013 | INIT_ERR_EN_POS_LOOP | Motor driver enable postion loop failed! | 电机驱动器位置环使能失败！ | |
| 20014 | INIT_ERR_SET_MAX_ACC | Motor set max accelerate failed! | 电机设置最大加速度失败！ | |
| 20015 | SAFETY_ERR_PROTECTION_STOP_TIMEOUT | Protective stop timeout! | 保护停止超时！ | |
| 20016 | SAFETY_ERR_REDUCED_MODE_TIMEOUT | Reduced mode timeout! | 减速模式超时！ | |
| 20017 | SYS_ERR_MCU_COM | Robot system error: mcu communication error! | 机器人系统错误：MCU 通信错误！ | |
| 20018 | SYS_ERR_RS485_COM | Robot system error: RS485 communication error! | 机器人系统错误：RS485 通信错误！ | |
| 20019 | IFB_ERR_DISCONNECTED | Interface board may be disconnected. Please check connection between IPC and Interface board. | 接口板可能断开连接 | 检查 IPC 和接口板之间的连接 |
| 20020 | IFB_ERR_PAYLOAD_ERROR | Payload error. | 负载错误 | |
| 20021 | IFB_OFFLINE | ifaceboard error: ifaceboard may be offline | 接口板可能离线 | (a) 检查接口板硬件 (b) 检查接口板 ID |
| 20022 | IFB_ERR_BOOTLOADER | ifaceboard error: The ifaceboard is in bootloader mode. Retry firmware update. | 接口板处于引导模式 | 重试固件更新 |
| 20023 | IFB_SLAVE_OFFLINE | interface slave board error: interface slave board may be offline | 从接口板可能离线 | (a) 检查从接口板硬件 (b) 检查从接口板 ID |
| 20024 | IFB_SLAVE_ERR_BOOTLOADER | interface slave board error: The interface slave board is in bootloader mode. Retry firmware update. | 从接口板处于引导模式 | 重试固件更新 |
| 20025 | IFB_TOOL_ERR_ADXL_SENS | Tool Acceleration sensor error! | 工具加速度传感器错误！ | |
| 20026 | HANDLE_OFFLINE | handle error: handle may be offline | 手柄错误：手柄可能已离线 | (a) 检查手柄对应的硬件设备。(b) 检查手柄 ID。 |
| 20027 | HANDLE_ERR_BOOTLOADER | handle error: The handle is in bootloader mode. Retry firmware update. | 手柄错误：手柄处于引导加载程序模式，请重新尝试固件升级。 | 重新尝试固件升级 |
运行时错误 (30001 - 30444)
| 错误码 | 名称 | 描述 | 描述(中文) | 建议 |
|---|---|---|---|---|
| 30001 | ROBOT_BE_PULLING | Something is pulling the robot. | 机器人运行时错误（保护停止、运动规划等） | 请检查 TCP 配置、负载和安装设置 |
| 30002 | PSTOP_ELBOW_POS | Protective Stop: Elbow position close to safety plane limits. | 保护停止：肘部位置接近安全平面限制 | 将机器人肘关节移离安全平面 |
| 30003 | PSTOP_STOP_TIME | Protective Stop: Exceeding user safety settings for stopping time. | 保护停止：超出用户安全设置的停止时间 | (a) 检查程序中的速度和加速度 (b) 检查 TCP/负载/质心使用 (c) 检查外部设备激活设置 |
| 30004 | PSTOP_STOP_DISTANCE | Protective Stop: Exceeding user safety settings for stopping distance. | 保护停止：超出用户安全设置的停止距离 | (a) 检查程序中的速度和加速度 (b) 检查 TCP/负载/质心使用 (c) 检查外部设备激活设置 |
| 30005 | PSTOP_CLAMP | Protective Stop: Danger of clamping between the Robot’s lower arm and tool. | 保护停止：机器人前臂和工具之间有夹持危险 | (a) 检查程序中的速度和加速度 (b) 检查 TCP/负载/质心使用 (c) 检查外部设备激活设置 |
| 30006 | PSTOP_POS_LIMIT | Protective Stop: Position close to joint limits | 保护停止：位置接近关节限制 | |
| 30007 | PSTOP_ORI_LIMIT | Protective Stop: Tool orientation close to limits | 保护停止：工具方向接近限制 | |
| 30008 | PSTOP_PLANE_LIMIT | Protective Stop: Position close to safety plane limits | 保护停止：位置接近安全平面限制 | |
| 30009 | PSTOP_POS_DEVIATE | Protective Stop: Position deviates from path | 保护停止：位置偏离路径 | 检查负载、质心和加速度设置 |
| 30010 | JOINT_CHK_PAYLOAD | Joint {}: Check payload, center of gravity and acceleration settings. Log screen may contain additional information. | 关节：检查负载、质心和加速度设置 | 日志屏幕可能包含更多信息 |
| 30011 | PSTOP_SINGULARITY | Protective Stop: Position in singularity. | 保护停止：位置处于奇异点 | 使用 MoveJ 或更改运动 |
| 30012 | PSTOP_CANNOT_MAINTAIN | Protective Stop: Robot cannot maintain its position, check if payload is correct | 保护停止：机器人无法保持位置 | 检查负载是否正确 |
| 30013 | PSTOP_WRONG_PAYLOAD | Protective Stop: Wrong payload or mounting detected, or something is pushing the robot when entering Freedrive mode | 保护停止：检测到错误的负载或安装 | 验证所用安装中的 TCP 配置和安装是否正确 |
| 30014 | PSTOP_JOINT_COLLISION | Protective Stop: Collision detected by joint {} | 保护停止：关节检测到碰撞 | 确保机器人路径上无障碍物，然后恢复程序 |
| 30015 | PSTOP_POS_DISAGREE | Protective stop: The robot was powered off last time due to a joint position disagreement. | 保护停止：因关节位置分歧而断电 | (a) 验证 3D 图形中的机器人位置是否与实际机器人匹配 (b) 如位置不正确需维修 (c) 如位置正确，勾选复选框并点击"机器人位置已验证" |
| 30016 | TARGET_JOINT_SPEED_EXCEED | Target joint speed exceed limits | 目标关节速度超限 | |
| 30017 | TARGET_POS_SUDDEN_CHG | Sudden change in target position | 目标位置突变 | |
| 30018 | SUDDEN_STOP | Sudden stop. | 突然停止 | 要中止运动，使用"stopj"或"stopl"脚本命令生成平滑减速后再使用"wait" |
| 30019 | ROBOT_STOP_ABNORMAL | Robot has not stopped in the allowed reaction and braking time | 机器人未在允许的反应和制动时间内停止 | |
| 30020 | PROG_INVALID_SETP | Robot program resulted in invalid setpoint. | 机器人程序导致无效设定点 | 检查程序中的路点 |
| 30021 | BLEND_INVALID_SETP | Blending failed and resulted in an invalid setpoint. | 混合失败导致无效设定点 | 尝试更改混合半径或联系技术支持 |
| 30022 | APPROACH_SINGULARITY | Robot approaching singularity – Acceleration threshold failed. | 机器人接近奇异点 – 加速度阈值失败 | 检查程序中的路点，在接近奇异点的位置尝试使用 MoveJ 代替 MoveL |
| 30023 | TSPEED_UNMATCH_POS | Target speed does not match target position | 目标速度与目标位置不匹配 | |
| 30024 | INCONSIS_TPOS_SPD | Inconsistency between target position and speed | 目标位置和速度不一致 | |
| 30025 | JOINT_TSPD_UNMATCH_POS | Target joint speed does not match target joint position change – Joint {} | 目标关节速度与关节位置变化不匹配 | |
| 30026 | FIELDBUS_INPUT_DISCONN | Fieldbus input disconnected. | 现场总线输入断开 | 检查现场总线连接（RTDE、ModBus、EtherNet/IP 和 Profinet）或在安装中禁用现场总线。检查 RTDE 看门狗功能。检查是否有 URCap 使用此功能。 |
| 30027 | OPMODE_CHANGED | Operational mode changed: {} | 操作模式变更 | |
| 30028 | NO_KIN_CALIB | No Kinematic Calibration found (calibration.conf file is either corrupt or missing). | 未找到运动学校准 | 如需要改进运动学需重新校准，否则忽略 |
| 30029 | KIN_CALIB_UNMATCH_JOINT | Kinematic Calibration for the robot does not match the joint(s). | 运动学校准与关节不匹配 | 如从不同机器人移动程序，重新校准第二个机器人 |
| 30030 | KIN_CALIB_UNMATCH_ROBOT | Kinematic Calibration does not match the robot. | 运动学校准与机器人不匹配 | 检查机械臂序列号与控制箱是否匹配 |
| 30031 | JOINT_OFFSET_CHANGED | Large movement of the robot detected while it was powered off. The joints were moved while it was powered off, or the encoders do not function | 检测到机器人在断电时大幅移动 | 关节在断电时被移动，或编码器不工作 |
| 30032 | OFFSET_CHANGE_HIGH | Change in offset is too high | 偏移变化过高 | |
| 30033 | JOINT_SPEED_LIMIT | Close to joint speed safety limit. | 接近关节速度安全限制 | 检查程序速度和加速度 |
| 30034 | TOOL_SPEED_LIMIT | Close to tool speed safety limit. | 接近工具速度安全限制 | 检查程序速度和加速度 |
| 30035 | MOMENTUM_LIMIT | Close to momentum safety limit. | 接近动量安全限制 | 检查程序速度和加速度 |
| 30036 | ROBOT_MV_STOP | Robot is moving when in Stop Mode | 机器人在停止模式下移动 | |
| 30037 | HAND_PROTECTION | Hand protection: Tool is too close to the lower arm: {} meter. | 手部保护：工具距离前臂太近 | (a) 检查手腕位置 (b) 验证安装 (c) 完整重启 (d) 更新软件 (e) 联系当地 AUBO 服务提供商 |
| 30038 | WRONG_SAFETYMODE | Wrong safety mode: {} | 错误的安全模式 | |
| 30039 | SAFETYMODE_CHANGED | Safety mode changed: {} | 安全模式变更 | |
| 30040 | JOINT_ACC_LIMIT | Close to joint acceleration safety limit | 接近关节加速度安全限制 | |
| 30041 | TOOL_ACC_LIMIT | Close to tool acceleration safety limit | 接近工具加速度安全限制 | |
| 30042 | JOINT_TEMPERATURE_LIMIT | Joint {} temperature too high(>{}℃) | 关节温度过高 | |
| 30043 | CONTROL_BOX_TEMPERATURE_LIMIT | Control box temperature too high(>{}℃) | 控制箱温度过高 | |
| 30044 | ROBOT_EMERGENCY_STOP | Robot emergency stop | 机器人急停 | |
| 30045 | ROBOTMODE_CHANGED | Robot mode changed: {} | 机器人模式变更 | |
| 30046 | ROBOTMODE_ERROR | Wrong robot mode: {} | 错误的机器人模式 | |
| 30047 | POSE_OUT_OF_REACH | Target pose [{}] out of reach | 目标位姿不可达 | |
| 30048 | TP_PLAN_FAILED | Trajectory plan FAILED. | 轨迹规划失败 | |
| 30049 | START_FORCE_FAILED | Start force control failed, because force sensor does not exist. | 启动力控失败，力传感器不存在 | |
| 30050 | OVER_SAFE_PLANE_LIMIT | {} axis exceeds the safety plane limit (Move_type:{} id:{}). | 轴超出安全平面限制 | 请将机器人移动到安全平面范围内 |
| 30051 | POWERON_FAIL_VIOLATION | Failed to power on because the robot safety mode is in violation | 上电失败，机器人安全模式处于违规状态 | |
| 30052 | POWERON_FAIL_SYSTEMEMERGENCYSTOP | Failed to power on because the robot safety mode is in system emergency stop | 上电失败，机器人安全模式处于系统急停 | |
| 30053 | POWERON_FAIL_ROBOTEMERGENCYSTOP | Failed to power on because the robot safety mode is in robot emergency stop | 上电失败，机器人安全模式处于机器人急停 | 在机器人安全运动范围内弹出示教器上的红色急停按钮 |
| 30054 | POWERON_FAIL_FAULT | Failed to power on because the robot safety mode is in fault | 上电失败，机器人安全模式处于故障状态 | |
| 30055 | STARTUP_FAIL_VIOLATION | Failed to startup because the robot safety mode is in violation | 启动失败，机器人安全模式处于违规状态 | 同上对应安全模式 |
| 30056 | STARTUP_FAIL_SYSTEMEMERGENCYSTOP | Failed to startup because the robot safety mode is in system emergency stop | 启动失败，机器人安全模式处于系统急停 | |
| 30057 | STARTUP_FAIL_ROBOTEMERGENCYSTOP | Failed to startup because the robot safety mode is in robot emergency stop | 启动失败，机器人安全模式处于机器人急停 | 在机器人安全运动范围内弹出示教器上的红色急停按钮 |
| 30058 | STARTUP_FAIL_FAULT | Failed to startup because the robot safety mode is in fault | 启动失败，机器人安全模式处于故障状态 | |
| 30059 | BACKDRIVE_FAIL_VIOLATION | Failed to backdrive because the robot safety mode is in violation | 回驱失败，机器人安全模式处于违规状态 | 同上对应安全模式 |
| 30060 | BACKDRIVE_FAIL_SYSTEMEMERGENCYSTOP | Failed to backdrive because the robot safety mode is in system emergency stop | 回驱失败，机器人安全模式处于系统急停 | |
| 30061 | BACKDRIVE_FAIL_ROBOTEMERGENCYSTOP | Failed to backdrive because the robot safety mode is in robot emergency stop | 回驱失败，机器人安全模式处于机器人急停 | 在机器人安全运动范围内弹出示教器上的红色急停按钮 |
| 30062 | BACKDRIVE_FAIL_FAULT | Failed to backdrive because the robot safety mode is in fault | 回驱失败，机器人安全模式处于故障状态 | |
| 30063 | SETSIM_FAIL_VIOLATION | Switch sim mode failed because the robot safety mode is in violation | 切换仿真模式失败因为... | 同上对应安全模式 |
| 30064 | SETSIM_FAIL_SYSTEMEMERGENCYSTOP | Switch sim mode failed because the robot safety mode is in system emergency stop | 切换仿真模式失败，机器人安全模式处于系统急停 | |
| 30065 | SETSIM_FAIL_ROBOTEMERGENCYSTOP | Switch sim mode failed because the robot safety mode is in robot emergency stop | 切换仿真模式失败，机器人安全模式处于机器人急停 | 在机器人安全运动范围内弹出示教器上的红色急停按钮 |
| 30066 | SETSIM_FAIL_FAULT | Switch sim mode failed because the robot safety mode is in fault | 切换仿真模式失败，机器人安全模式处于故障状态 | |
| 30067 | FREEDRIVE_FAIL_VIOLATION | Enable handguide mode failed because the robot safety mode is in violation | 启用手导模式失败因为... | 同上对应安全模式 |
| 30068 | FREEDRIVE_FAIL_SYSTEMEMERGENCYSTOP | Enable handguide mode failed because the robot safety mode is in system emergency stop | 启用手导模式失败，机器人安全模式处于系统急停 | |
| 30069 | FREEDRIVE_FAIL_ROBOTEMERGENCYSTOP | Enable handguide mode failed because the robot safety mode is in robot emergency stop | 启用手导模式失败，机器人安全模式处于机器人急停 | 在机器人安全运动范围内弹出示教器上的红色急停按钮 |
| 30070 | FREEDRIVE_FAIL_FAULT | Enable handguide mode failed because the robot safety mode is in fault | 启用手导模式失败，机器人安全模式处于故障状态 | |
| 30071 | UPFIRMWARE_FAIL_VIOLATION | Firmware update failed because the robot safety mode is in violation | 固件更新失败因为... | 同上对应安全模式 |
| 30072 | UPFIRMWARE_FAIL_SYSTEMEMERGENCYSTOP | Firmware update failed because the robot safety mode is in system emergency stop | 固件更新失败，机器人安全模式处于系统急停 | |
| 30073 | UPFIRMWARE_FAIL_ROBOTEMERGENCYSTOP | Firmware update failed because the robot safety mode is in robot emergency stop | 固件更新失败，机器人安全模式处于机器人急停 | 在机器人安全运动范围内弹出示教器上的红色急停按钮 |
| 30074 | UPFIRMWARE_FAIL_FAULT | Firmware update failed because the robot safety mode is in fault | 固件更新失败，机器人安全模式处于故障状态 | |
| 30075 | SETPERSOSTENT_FAIL_VIOLATION | Set persistent parameter failed because the robot safety mode is in violation | 设置持久参数失败因为... | 同上对应安全模式 |
| 30076 | SETPERSOSTENT_FAIL_SYSTEMEMERGENCYSTOP | Set persistent parameter failed because the robot safety mode is in system emergency stop | 设置持久参数失败，机器人安全模式处于系统急停 | |
| 30077 | SETPERSOSTENT_FAIL_ROBOTEMERGENCYSTOP | Set persistent parameter failed because the robot safety mode is in robot emergency stop | 设置持久参数失败，机器人安全模式处于机器人急停 | 在机器人安全运动范围内弹出示教器上的红色急停按钮 |
| 30078 | SETPERSOSTENT_FAIL_FAULT | Set persistent parameter failed because the robot safety mode is in fault | 设置持久参数失败，机器人安全模式处于故障状态 | |
| 30079 | SETPERSOSTENT_FAIL_PARAM_ERR | Set persistent parameter failed | 设置持久参数失败 | (a) 检查参数格式，是否都是浮点数 |
| 30080 | ROBOT_CABLE_DISCONN | Robot cable not connected | 机器人电缆未连接 | (a) 确保控制箱和机械臂之间的电缆正确连接且无损坏 (b) 检查松动连接 (c) 完整重启 (d) 更新软件 (e) 联系当地 AUBO 服务提供商 |
| 30081 | TP_TOO_SHORT | The generated trajectory is ignored because it is too short | 生成的轨迹被忽略因为太短 | (a) 检查添加的路点是否重合 (b) 如是圆弧运动，检查三点是否共线 |
| 30082 | INV_KIN_FAIL | Inverse kinematics solution failed. The target pose may be in a singular position or exceed the joint limits | 逆运动学解算失败 | 目标位姿可能在奇异位置或超出关节限制；更改目标位姿重试 |
| 30083 | FREEDRIVE_ENABLED | Freedrive status changed to {} | 自由驱动状态变更 | |
| 30084 | TP_INV_FAIL_REFERENCE_JOINT_OUT_OF_LIMIT | Inverse kinematics solution failed. Reference angle [{}] exceeds joint limit [{}]. | 逆运动学解算失败，参考角度超出关节限制 | |
| 30085 | TP_INV_FAIL_NO_SOLUTION | Inverse 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. | 逆运动学解算失败，无解 | |
| 30086 | SERVO_FAIL_VIOLATION | Switch servo mode failed because the robot safety mode is in violation | 切换伺服模式失败，机器人安全模式处于违规状态 | |
| 30087 | SERVO_FAIL_SYSTEMEMERGENCYSTOP | Switch servo mode failed because the robot safety mode is in system emergency stop | 切换伺服模式失败，机器人安全模式处于系统急停 | |
| 30088 | SERVO_FAIL_ROBOTEMERGENCYSTOP | Switch servo mode failed because the robot safety mode is in robot emergency stop | 切换伺服模式失败，机器人安全模式处于机器人急停 | 在机器人安全运动范围内弹出示教器上的红色急停按钮 |
| 30089 | SERVO_FAIL_FAULT | Switch servo mode failed because the robot safety mode is in fault | 切换伺服模式失败，机器人安全模式处于故障状态 | |
| 30090 | FREEDRIVE_FAIL_NO_RUNNING | Enable handguide mode failed because the robot mode type is {}(not running) | 启用手导模式失败，机器人模式未运行 | |
| 30091 | RUNTIME_MACHINE_ERROR | The state of the running machine is {}, not {}. {} function execution failed because the state is wrong. | 运行机器状态错误 | |
| 30092 | RESUME_FAR_PAUSE_PT | Cannot resume from joint position [{}].\nToo far away from paused point [{}]. | 无法从关节位置恢复，距离暂停点太远 | |
| 30093 | PAYLOAD_LIGHTER_ERROR | The payload setting is too small! | 负载设置太小！ | |
| 30094 | PAYLOAD_OVERLOAD_ERROR | The payload setting is too large! | 负载设置太大！ | |
| 30095 | PAUSE_FAIL_NOT_POSITION_PLAN_MODE | This motion does not support the pause function. The motion is stopping. | 此运动不支持暂停功能 | |
| 30096 | TP_PLAN_FAILED_CIRCULAR_WAYPOINTS_COINCIDE | The planning failed because the three waypoints of the arc were determined to coincide. | 规划失败，圆弧的三个路点被确定为重合 | 检查圆弧路点确保它们不同 |
| 30097 | SERVO_WRONG_SAFETYMODE | Switch servo mode failed because the robot safety mode is in {}. | 切换伺服模式失败，安全模式错误 | 检查圆弧路点确保它们不同 |
| 30098 | SET_PERSTPARAM_WRONG_SAFETYMODE | Set persistent parameter failed because the robot safety mode is in {} | 设置持久参数失败，安全模式错误 | |
| 30099 | SET_KINPARAM_WRONG_SAFETYMODE | Set Kinematics Compensate parameters failed because the robot safety mode is in {} | 设置运动学补偿参数失败，安全模式错误 | |
| 30100 | SET_ROBOT_ZERO_WRONG_SAFETYMODE | Set current joint angles to zero failed because the robot safety mode is in {} | 设置当前关节角度为零失败，安全模式错误 | |
| 30101 | UPFIRMWARE_WRONG_SAFETYMODE | Firmware update failed because the robot safety mode is in {} | 固件更新失败，安全模式错误 | |
| 30102 | POWERON_WRONG_SAFETYMODE | Failed to power on because the robot safety mode is in {} | 上电失败，安全模式错误 | |
| 30103 | STARTUP_WRONG_SAFETYMODE | Failed to startup because the robot safety mode is in {} | 启动失败，安全模式错误 | |
| 30104 | BACKDRIVE_WRONG_SAFETYMODE | Failed to backdrive because the robot safety mode is in system emergency stop | 回驱失败，安全模式错误 | |
| 30105 | SETSIM_WRONG_SAFETYMODE | Switch sim mode failed because the robot safety mode is in violation | 切换仿真模式失败，安全模式错误 | |
| 30106 | FREEDRIVE_WRONG_SAFETYMODE | Enable handguide mode failed because the robot safety mode is in wrong safety mode: {} | 启用手导模式失败，安全模式错误 | |
| 30107 | TP_PLAN_FAILED_JOINT_JUMP_BIGGER | Inverse kinematics solution failed. The target point and the current point are in different robot configuration spaces. | 逆运动学解算失败，目标点和当前点在不同的机器人构型空间 | 在目标点和当前点之间添加更多点 |
| 30108 | RUN_PROGRAM_FAILED | Run program {} failed. | 运行程序失败 | |
| 30109 | FREEDRIVE_FAIL_WRONG_RTMSTATE | Unable to enter the HandGuide mode as the robot is not currently in a stopped or paused state. | 无法进入手导模式，机器人未处于停止/暂停状态 | |
| 30110 | SAFEGUARDSTOP_CONFIGURABLE_INPUT | Configurable safety input is triggered. | 可配置安全输入被触发 | |
| 30111 | SAFEGUARDSTOP_3PE | 3PE is triggered. | 3PE 被触发 | |
| 30112 | SAFEGUARDSTOP_SI | SI0/SI1 is triggered. | SI0/SI1 被触发 | |
| 30200 | ROBOT_TYPE_CHANGED | Robot type changed to '{}', and robot subtype changed to '{}' | 机器人类型变更 | |
| 30201 | LINKMODE_CHANGED | Link mode changed to {} | 链接模式变更 | |
| 30301 | ROBOT_SELF_COLLISION | Detect risk of robot self collision | 检测到机器人自碰撞风险 | |
| 30302 | CONSTANT_INVALID | Joint torque constants are invalid. HandGuide will be disabled, and the collision protection may be triggered by mistake. | 关节扭矩常数无效 | 手导模式将被禁用，碰撞保护可能误触发 |
| 30303 | GRAVITY_INVALID | Abnormal value of gravity acceleration sensor. HandGuide will be disabled, and the collision protection may be triggered by mistake. | 重力加速度传感器值异常 | 手导模式将被禁用，碰撞保护可能误触发 |
| 30304 | DYNAMICS_INVALID | Robot dynamics parameters are invalid. HandGuide will be disabled, and the collision protection may be triggered by mistake. | 机器人动力学参数无效 | 手导模式将被禁用，碰撞保护可能误触发 |
| 30305 | FRICTION_INVALID | Joint friction parameters are invalid. HandGuide will be disabled, and the collision protection may be triggered by mistake. | 关节摩擦参数无效 | 手导模式将被禁用，碰撞保护可能误触发 |
| 30306 | HANDGUIDE_UNDER_DEVELOP | Robot type of {} function under development. HandGuide will be disabled, and the collision protection may be triggered by mistake. | 机器人类型功能开发中 | 手导模式将被禁用，碰撞保护可能误触发 |
| 30307 | SLOW_DOWN_INFO | Slow down level changed to {}({}%) | 减速级别变更 | |
| 30308 | WRONG_JOINT_DESIGNED_LIMIT | Joint designed ranges exceeds ranges read from hardware interface. | 关节设计范围超出硬件接口读取范围 | |
| 30309 | FREEDRIVE_IN_SIMULATION | Enable handguide mode failed because the robot is in simulation mode. | 启用手导模式失败，机器人处于仿真模式 | |
| 30310 | ROBOT_STOPPING_TIMEOUT | Robot stopping timeout. | 机器人停止超时 | |
| 30311 | PSTOP_INCORRECT_FORCE_OFFSET | Protective Stop: Sudden change in force control target position. Force sensor offset may be incorrect or force sensor fault. | 保护停止：力控目标位置突变 | 力传感器偏置可能不正确或力传感器故障 |
| 30312 | WRONG_JOINT_SAFETY_LIMIT | Joint safety ranges exceeds designed ranges. | 关节安全范围超出设计范围 | |
| 30401 | PSTOP_TCP_PLANE_VIOLATION | Protective Stop: TCP position close to safety plane limits. | 保护停止：TCP 位置接近安全平面限制 | |
| 30402 | PSTOP_ELBOW_PLANE_VIOLATION | Protective Stop: elbow position close to safety plane limits. | 保护停止：肘部位置接近安全平面限制 | |
| 30403 | PSTOP_JOINT_TORQUE_VIOLATION | Protective Stop: joint{} exceeds torque limit. | 保护停止：关节超出扭矩限制 | |
| 30404 | PSTOP_JOINT_POSITION_VIOLATION | Protective Stop: joint{} exceeds position limit. | 保护停止：关节超出位置限制 | |
| 30405 | PSTOP_JOINT_SPEED_VIOLATION | Protective Stop: joint{} exceeds speed limit. | 保护停止：关节超出速度限制 | |
| 30406 | PSTOP_TCP_SPEED_VIOLATION | Protective Stop: TCP speed close to safety limits. | 保护停止：TCP 速度接近安全限制 | |
| 30407 | PSTOP_ELBOW_SPEED_VIOLATION | Protective Stop: elbow speed close to safety limits. | 保护停止：肘部速度接近安全限制 | |
| 30408 | PSTOP_TCP_FORCE_VIOLATION | Protective Stop: TCP foece close to safety limits. | 保护停止：TCP 力接近安全限制 | |
| 30409 | PSTOP_ELBOW_TORQUE_VIOLATION | Protective Stop: elbow torque close to safety limits. | 保护停止：肘部扭矩接近安全限制 | |
| 30410 | PSTOP_POWER_VIOLATION | Protective Stop: robot power close to safety limits. | 保护停止：机器人功率接近安全限制 | |
| 30411 | PSTOP_MOMENTUM_VIOLATION | Protective Stop: robot momentum close to safety limits. | 保护停止：机器人动量接近安全限制 | |
| 30412 | PSTOP_TCP_CUBE_VIOLATION | Protective Stop: TCP position close to safety cube. | 保护停止：TCP 位置接近安全立方体 | |
| 30413 | PSTOP_ELBOW_CUBE_VIOLATION | Protective Stop: TCP position close to safety cube. | 保护停止：肘部位置接近安全立方体 | |
| 30414 | REDUCE_ELBOW_PLANE_TRIGGER | Reduce mode: elbow close to safety plane triggers reduction mode. | 减速模式：肘部接近安全平面触发减速 | |
| 30415 | REDUCE_TCP_PLANE_TRIGGER | Reduce mode: TCP close to safety plane triggers reduction mode. | 减速模式：TCP 接近安全平面触发减速 | |
| 30416 | PSTOP_MOVE_OUT_RANGE | Joint {} has exceeded the limit, please do not continue to move out of the range | 关节已超出限制 | 请勿继续向外移动 |
| 30417 | RESUME_PAUSE_FAILED | Resume Failed: Safety mode type is {} | 恢复失败：安全模式类型为 {} | |
| 30418 | FIRMWARE_UPDATE_FAIL_EMERGENCYSTOP | Failed to firmware update because the robot safety mode is in {} | 固件更新失败，机器人安全模式处于急停 | 在机器人安全运动范围内释放急停 |
| 30419 | TOOL_SENSOR_CHANGED | Tool sensor type changed to {} | 工具传感器类型变更 | |
| 30420 | TOOL_SENSOR_REMOVED | Tool sensor is removed. | 工具传感器已移除 | |
| 30421 | CAL_TARGET_CURRENT_ERR | The calculation of the target current failed. Please try again later. | 目标电流计算失败 | 请稍后重试 |
| 30422 | CONVEYOR_MODE_CHANGED | Conveyor{}: track mode changed to {}, track item id is {} | 传送带模式/队列变更 | 根据具体项目 ID 和模式检查 |
| 30423 | CONVEYOR_ENQUEUE | Conveyor{}: the queue has been changed, item{} is enqueue | 传送带 {} : 队列已变更，项目 {} 入队 | |
| 30424 | CONVEYOR_DEQUEUE_FINISH | Conveyor{}: the queue has been changed, item{} dequeue due to track finished | 传送带 {} : 队列已变更，项目 {} 因轨迹完成出队 | |
| 30425 | CONVEYOR_DEQUEUE_STARTWINDOW | Conveyor{}: the queue has been changed, item{} dequeue due to exceeds startwindow | 传送带 {} : 队列已变更，项目 {} 因超出启动窗口出队 | |
| 30426 | CONVEYOR_DEQUEUE_LIMIT | Conveyor{}: the queue has been changed, item{} dequeue due to exceed limit area | 传送带 {} : 队列已变更，项目 {} 因超出限制区域出队 | |
| 30427 | CONVEYOR_DEQUEUE_CLEAR | Conveyor{}: item queue is cleared | 传送带 {} : 项目队列已清空 | |
| 30428 | CONVEYOR_NEXT_TRACK | Conveyor{}: item{} inside the start window that can be tracked | 传送带 {} : 项目 {} 在可追踪的启动窗口内 | |
| 30429 | CONVEYOR_EXCEED_LIMIT | Conveyor{}: item{} exceeds the limit area during tracking | 传送带 {} : 项目 {} 在追踪期间超出限制区域 | |
| 30430 | WRONG_POWER_SAFETY_LIMIT | Robot power safety value exceeds designed value. | 机器人功率安全值超出设计值 | |
| 30431 | WRONG_POWER_DESIGNED_LIMIT | Power designed value exceeds value read from hardware interface. | 功率设计值超出硬件接口读取值 | |
| 30432 | TOOL_SENSOR_STATUS_CHANGED | Tool sensor status changed to {} | 工具传感器状态变更 | |
| 30433 | COLLISION_THRESHOLD_INVALID | Robot collision threshold parameters are invalid.Please reidentify the threshold or modify the configuration to ensure that it does not cause accidental collisions. | 机器人碰撞阈值参数无效 | 请重新识别阈值或修改配置确保不会引起意外碰撞 |
| 30434 | GRIPPER_DISCONNECT | The gripper {} is disconnected. | 夹爪断开连接 | |
| 30435 | GRIPPER_UNKNOWN_FAULT | There is an unknown fault with the gripper {} | 夹爪未知故障 | |
| 30436 | GRIPPER_CURRENT_ANOMALY_FAULT | There is an abnormal current fault with the gripper {} | 夹爪电流异常故障 | |
| 30437 | GRIPPER_VOLTAGE_ANOMALY_FAULT | There is an abnormal voltage fault with the gripper {} | 夹爪电压异常故障 | |
| 30438 | GRIPPER_OVER_TEMPERATURE_FAULT | There is an over-temperature fault with the gripper {} | 夹爪过温故障 | |
| 30439 | GRIPPER_INTERNAL_FAULT | There is an internal fault with the gripper {} | 夹爪内部故障 | |
| 30440 | GRIPPER_COMMUNICATION_FAULT | There is an communication fault with the gripper {} | 夹爪通信故障 | |
| 30441 | GRIPPER_CONTROL_COMMAND_FAULT | There is an control command fault with the gripper {} | 夹爪控制命令故障 | |
| 30442 | GRIPPER_ENABLE_FAULT | There is an enable fault with the gripper {} | 夹爪使能故障 | |
| 30443 | WRIST_SINGULARITY_RISK | Wrist singularity detected. Linear motion may cause excessive joint speed.Adjust robot posture to avoid J5 near 0° or 180°, or use joint motion instead of linear motion. | 检测到手腕奇异点 | 线性运动可能导致关节超速。调整机器人姿态避免 J5 接近 0°或 180°，或使用关节运动代替线性运动 |
| 30444 | PSTOP_PATH_OFFSET_OVER_LIMIT | Protective Stop: the offset of the robot has exceeded the limit. | 保护停止：机器人偏移量已超限 |
工具错误 (40001 - 40034)
| 错误码 | 名称 | 描述 | 描述(中文) | 建议 |
|---|---|---|---|---|
| 40001 | TOOL_FLASH_VERIFY_FAILED | Flash write verify failed | Flash 写入验证失败 | |
| 40002 | TOOL_PROGRAM_CRC_FAILED | Program flash checksum failed during bootloading | 引导加载期间程序 Flash 校验和失败 | |
| 40003 | TOOL_PROGRAM_CRC_FAILED2 | Program flash checksum failed at runtime | 运行时程序 Flash 校验和失败 | |
| 40004 | TOOL_ID_UNDIFINED | Tool ID is undefined | 工具 ID 未定义 | |
| 40005 | TOOL_ILLEGAL_BL_CMD | Illegal bootloader command | 非法引导加载命令 | |
| 40006 | TOOL_FW_WRONG | Wrong firmware at the joint | 关节固件错误 | |
| 40007 | TOOL_HW_INVALID | Invalid hardware revision | 无效硬件版本 | |
| 40011 | TOOL_SHORT_CURCUIT_H | Short circuit detected on Digital Output: {} high side | 数字输出高侧检测到短路 | |
| 40012 | TOOL_SHORT_CURCUIT_L | Short circuit detected on Digital Output: {} low side | 数字输出低侧检测到短路 | |
| 40013 | TOOL_AVERAGE_CURR_HIGH | 10 second Average tool IO Current of {} A is outside of the allowed range. | 10 秒平均工具 IO 电流超出允许范围 | |
| 40014 | TOOL_POWER_PIN_OVER_CURR | Current of {} A on the POWER pin is outside of the allowed range. | POWER 引脚电流超出允许范围 | |
| 40015 | TOOL_DOUT_PIN_OVER_CURR | Current of {} A on the Digital Output pins is outside of the allowed range. | 数字输出引脚电流超出允许范围 | |
| 40016 | TOOL_GROUND_PIN_OVER_CURR | Current of {} A on the ground pin is outside of the allowed range. | 接地引脚电流超出允许范围 | |
| 40021 | TOOL_RX_FRAMING | RX framing error | 接收帧错误 | |
| 40022 | TOOL_RX_PARITY | RX Parity error | 接收奇偶校验错误 | |
| 40031 | TOOL_48V_LOW | 48V input is too low | 48V 输入过低 | |
| 40032 | TOOL_48V_HIGH | 48V input is too high | 48V 输入过高 | |
| 40033 | TOOL_ERR_OFFLINE | tool error: tool may be offline | 工具可能离线 | (a) 检查工具硬件 (b) 检查关节 ID |
| 40034 | TOOL_ERR_BOOTLOADER | tool error: The tool is in bootloader mode. Retry firmware update. | 工具处于引导模式 | 重试固件更新 |
基座错误 (50001 - 50003)
| 错误码 | 名称 | 描述 | 描述(中文) | 建议 |
|---|---|---|---|---|
| 50001 | PKG_LOST | Lost package from pedestal | 机器人底座相关错误 | |
| 50002 | PEDSTRAL_OFFLINE | pedestal error: pedestal may be offline | 底座可能离线 | (a) 检查底座硬件 (b) 检查底座 ID |
| 50003 | PEDESTAL_ERR_BOOTLOADER | pedestal error: The pedestal is in bootloader mode. Retry firmware update. | 底座处于引导模式 | 重试固件更新 |
硬件接口错误 (60001 - 60080)
| 错误码 | 名称 | 描述 | 描述(中文) | 建议 |
|---|---|---|---|---|
| 60001 | HW_SCB_SETUP_FAILED | Setup of Interface Board failed | 接口板设置失败 | |
| 60002 | HW_PKG_CNT_DISAGEE | Packet counter disagreements | 数据包计数器不一致 | |
| 60003 | HW_SCB_DISCONNECT | Connection to Interface Board lost | 与接口板的连接丢失 | |
| 60004 | HW_SCB_PKG_LOST | Package lost from Interface Board | 丢失来自接口板的数据包 | |
| 60005 | HW_SCB_CONN_INIT_FAILED | Ethernet connection initialization with Interface Board failed | 与接口板的以太网连接初始化失败 | |
| 60006 | HW_LOST_JOINT_PKG | Lost package from joint {} | 丢失来自关节的数据包 | |
| 60007 | HW_LOST_TOOL_PKG | Lost package from tool | 丢失来自工具的数据包 | |
| 60008 | HW_JOINT_PKG_CNT_DISAGREE | Packet counter disagreement in packet from joint {} | 来自关节的数据包计数器不一致 | |
| 60009 | HW_TOOL_PKG_CNT_DISAGREE | Packet counter disagreement in packet from tool | 来自工具的数据包计数器不一致 | |
| 60011 | HW_JOINTS_FAULT | {} joint entered the Fault State | 关节进入故障状态 | |
| 60012 | HW_JOINTS_VIOLATION | {} joint entered the Violation State | 关节进入违规状态 | |
| 60013 | HW_TP_FAULT | Teach Pendant entered the Fault State | 示教器进入故障状态 | |
| 60014 | HW_TP_VIOLATION | Teach Pendant entered the Violation State | 示教器进入违规状态 | |
| 60021 | HW_JOINT_MV_TOO_FAR | {} joint moved too far before robot entered RUNNING State | 机器人进入运行状态前关节移动过远 | |
| 60022 | HW_JOINT_STOP_NOT_FAST | Joint Not stopping fast enough | 关节停止不够快 | |
| 60023 | HW_JOINT_MV_LIMIT | Joint moved more than allowable limit | 关节移动超出允许限制 | |
| 60024 | HW_FT_SENSOR_DATA_INVALID | Force-Torque Sensor data invalid | 力扭矩传感器数据无效 | |
| 60025 | HW_NO_FT_SENSOR | Force-Torque sensor is expected, but it cannot be detected | 预期有力扭矩传感器但无法检测到 | |
| 60026 | HW_FT_SENSOR_NOT_CALIB | Force-Torque sensor is detected but not calibrated | 检测到力扭矩传感器但未校准 | |
| 60030 | HW_RELEASE_BRAKE_FAILED | Robot was not able to brake release, see log for details | 机器人无法释放制动 | 查看日志获取详情 |
| 60040 | HW_OVERCURR_SHUTDOWN | Overcurrent shutdown | 过流关机 | |
| 60050 | HW_ENERGEY_SURPLUS | Energy surplus shutdown | 能量过剩关机 | |
| 60060 | HW_IDLE_POWER_HIGH | Idle power consumption to high | 空闲功耗过高 | |
| 60071 | HW_ENTER_COLLISION_TIMEOUT | Enter collision stop procedure timeout | 进入碰撞停止程序超时 | |
| 60072 | HW_POWERON_TIMEOUT | Poweron robot timeout | 机器人上电超时 | |
| 60073 | HW_NO_NIC_FOUND | No network cards found. | 未找到网卡 | |
| 60074 | HW_IFB_NOT_FOUND | No Interface Board found. | 未找到接口板 | |
| 60075 | HW_IFB_BOOTLOAD | The Interface Board is in bootloader mode. Update firmware firstly. | 接口板处于引导模式 | 先更新固件 |
| 60076 | HW_TOOL_NOT_FOUND | No Tool Board found. | 未找到工具板 | |
| 60077 | HW_BASE_NOT_FOUND | No Base Board found. | 未找到底板 | |
| 60078 | HW_BRINGUP_TIMEOUT | Poweron robot timeout | 机器人上电超时 | |
| 60079 | HW_COLLISION_RECOVERY_FAILED | Collision recovery failed | 碰撞恢复失败 | |
| 60080 | HW_TP_ENABLED | Teach pendant enabled status changed to {} | 示教器使能状态变更 |