Frequently Asked Questions:
Error Codes Definition of Error Categories
- General Error: Joint errors caused by the design of the robot system, which can return to normal use after resolution; or the customer can use them normally by resetting parameters or powering on again.
- Severe Error: Requires re-flashing of firmware or factory repair.
Error Codes
| No. | Error Code (Hexadecimal) | Error Code (Decimal) | Error Content | Causes | Handling Suggestions | Category |
|---|---|---|---|---|---|---|
| 1 | 0x0000 | 0 | Joint normal | - | Our joints can be used normally. | |
| 2 | 0x0001 | 1 | FOC error | FOC frequency is too high | Please contact our technical support in a timely manner. | Severe |
| 3 | 0x0002 | 2 | Overvoltage | Input voltage exceeds the voltage withstand range of the joint | Check if the voltage input is between 20-27V. | General |
| 4 | 0x0004 | 4 | Undervoltage | Input voltage is lower than the voltage withstand range of the joint | 1. Common in battery-powered situations: insufficient battery power, insufficient power output when the joint starts or moves quickly under high load. 2. Check the power output. It is recommended to use a switching power supply with 20-27V output, power above 600W, and with hiccup mode and 1S constant current output function for the robot arm's self-inspection and self-tuning after power-on. | General |
| 5 | 0x0008 | 8 | Over-temperature | Joint temperature reaches the alarm temperature | 1. The joint temperature reaches the over-temperature threshold of 90℃, please let it stand or power off to cool down. 2. It is recommended to check if the joint is overloaded or has collided. | General |
| 6 | 0x0010 | 16 | Startup failure | The joint does not start normally | 1. Check the power output. It is recommended to use a switching power supply with 20-27V output, power above 600W, and with hiccup mode and 1S constant current output function for the robot arm's self-inspection and self-tuning after power-on. | General |
| 7 | 0x0020 | 32 | Encoder error | Joint self-inspection failure or inability to recognize the current angle | 1. If multiple joints of the robot arm have encoding errors, it is recommended to check the power output and restart the robot arm. This phenomenon is caused by insufficient power output, making the robot arm unable to perform normal self-inspection and self-tuning. 2. If a single joint has an encoder error, you can try to clear it; if it cannot be cleared, it may be due to excessive joint load, which causes an error after startup. It is recommended to reduce the load and power on again to solve the problem. 3. The continuous deviation between the encoder reading position and the previous data is greater than 1 degree (considering the output flange position offset if there is no hard brake). 4. The error cannot be eliminated and the driver board lights up blue (not visible externally), indicating an encoder error. 5. The target position sent by the upper computer exceeds the set limit position. | General |
| 8 | 0x0040 | 64 | Overcurrent | Instantaneous current is too large | 1. Check if the power supply and load are normal. 2. Check if there is an excessively large step in the position command causing excessive instantaneous current. | General |
| 9 | 0x0080 | 128 | Software error | 1. Mismatch between hardware and software. 2. Current detection error. | Please contact our technical support in a timely manner. 1. Re-flashing the corresponding firmware can solve the problem of hardware and software mismatch. | Severe |
| 10 | 0x0100 | 256 | Temperature sensor error | The temperature sensor fails to obtain the joint temperature normally | Please contact our technical support in a timely manner. | Severe |
| 11 | 0x0200 | 512 | Position overrun error | The current position of the joint exceeds the joint limit | Solution ideas: 1. Check the current joint angle on the single-joint upper computer. 2. Adjust the joint limit to be greater than the current angle. 3. Clear the joint error. | General |
| 12 | 0x0400 | 1024 | Invalid joint ID | Incorrect joint ID | Enter the correct joint ID information. 1. The correct setting range for the joint ID is 1-7. If the joint ID is less than 1 or greater than 7, this error will occur. | General |
| 13 | 0x0800 | 2048 | Position tracking error | 1. Position error tracking over-limit protection. 2. The difference between the target position and the current position exceeds the threshold. | 1. The error angle is greater than the maximum following angle limit (the difference between the target motor position and the encoder reading position is greater than 80 degrees). | General |
| 14 | 0x1000 | 4096 | Current detection error | Current sensor detection error during power-on | Please contact our technical support in a timely manner. 1. The current detected by the circuit board is outside the correct range (most likely a circuit board problem). | Severe Error |
| 15 | 0x2000 | 8192 | Brake release failure | 1. The joint brake is not released normally. 2. The internal Hall signal is incorrect. | 1. It is recommended to check the power output. Use a switching power supply with 20-27V output, power above 600W, and with hiccup mode and 1S constant current output function for the robot arm's self-inspection and self-tuning after power-on. 2. The motor is stuck and cannot rotate, resulting in brake release failure. Please contact our technical support in a timely manner. | Severe /General |
| 16 | 0x4000 | 16384 | Position command step warning | The error between the current position and the target position is large | Often occurs during transparent transmission. It is recommended to check if the transparent transmission trajectory is smooth and the communication cycle is stable. 1. The angle between the target position sent by the upper computer and the existing position of the motor is greater than 10 degrees. 2. FOC state error. | General |
| 17 | 0x8000 | 32768 | Multi-turn joint lost turns | Encoder battery is low | The end joint of the robot arm uses a multi-turn encoder. Check if the battery interface is loose and if the battery is low. | Severe |
| 18 | 0xF000 | 61440 | Communication frame loss | The joint cannot communicate normally | Clear the joint error on the single-joint upper computer, and check the CAN line connection and the 120-ohm parallel resistor. | General |