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Appendix: Error Codes

System error code

S/N	Error Code (Hexadecimal)	Error Code (Decimal)	Description	Causes	Suggested Actions
1	0x0000	0	Normal system.	-	You can use our robotic arm as normal.
2	0x1001	4097	Abnormal joint communication.	-	Please contact our technical support promptly.
3	0x1002	4098	Target angle out of limit.	The command sent exceeds the maximum angle limit of the robotic arm joints	Modify the sent command according to the angle limits of the robotic arm joints.
4	0x1003	4099	Point unreachable as a singularity.	Pose reaches the singularity point of the robotic arm	It is recommended to refer to the user manual for the explanation of singularity points and avoid singular regions.
5	0x1004	4100	Real-time kernel communication error.	The hardware and software versions of the robotic arm do not match	It is recommended to contact our technical support promptly to re-flash the corresponding firmware.
6	0x1005	4101	Joint communication bus error.	-	Please contact our technical support promptly.
7	0x1006	4102	Planning layer kernel error.	The hardware and software versions of the robotic arm do not match	It is recommended to contact our technical support promptly to re-flash the corresponding firmware.
8	0x1007	4103	Joint overspeed.	The robotic arm is moving too fast, causing joint overspeed	This usually occurs during transparency and requires reducing the planned trajectory speed.
9	0x1008	4104	End interface board disconnected.	1. Check if the end light is always on. 2. Check if there is voltage output from the end interface board.	1. If the end light is always on, you can perform drag teaching. Connect the teach pendant and click on the expansion on the page. Turn on the end power output. 2. If the end light is not on, you cannot perform drag teaching. Please contact our technical support promptly.
10	0x1009	4105	Speed out of limit.	The robotic arm's movement speed exceeds the speed limit of the robotic arm	This usually occurs during transparency and requires reducing the planned trajectory speed.
11	0x100A	4106	Acceleration out of limit.	The robotic arm's movement speed exceeds the acceleration limit of the robotic arm	This usually occurs during transparency and requires appropriately reducing the planned trajectory's acceleration.
12	0x100B	4107	Joint brake release failed.	The joint brake is not released, which is usually related to the startup current	Solution approach: 1. After power-on is complete, press and hold the green button at the end of the robotic arm for an extended period, observe whether the corresponding joint can be normally dragged. 2. If it cannot be normally dragged, perform disable and enable operations on the abnormal joint in the security configuration interface.
13	0x100C	4108	Overspeed during drag teaching.	Dragging the teach pendant too fast has caused this issue	Slow down the speed when dragging the robotic arm.
14	0x100D	4109	Robotic arm collision.	The robotic arm stopped operating after a collision occurred	1. Reduce the collision protection level. 2. If there is a load at the end, it is necessary to re-establish the tool coordinate system.
15	0x100E	4110	Null work frame.	-	When running online programming, a non-existent work coordinate system was entered.
16	0x100F	4111	Null tool frame.	-	When running online programming, a non-existent work coordinate system was entered.
17	0x1010	4112	Joint disabling error.	Take appropriate measures based on the specific situation at the time	Solution approach: 1. Click on System Information in the teach pendant to clear the current error message, and then go to Configuration - Robot Arm Configuration - Security Configuration to select the corresponding joint and click on Enable. 2. If the error message cannot be cleared or there are other issues, Please contact our technical support promptly.
18	0x1011	4113	Arc planning error.	The circular arc motion trajectory includes the singularity area of the robotic arm	Reselect the waypoints.
19	0x1012	4114	Self-collision error.	After adding a load to the end of the robotic arm, it collides with the arm body, causing the robotic arm to stop moving	Choose reasonable waypoints to avoid the risk of self-collision.
20	0x1013	4115	Electronic fence collision error.	The robotic arm stops moving after detecting a collision with the electronic fence	1. Manually clear the error and move the robotic arm within/outside the set electronic fence. 2. The range of the electronic fence can be adjusted as needed.
21	0x1014	4116	Joint out of soft limit error.	Joint exceeds soft limit	Press and hold the green button at the end of the robotic arm to automatically recover within the limit range.
22	0x2001	8193	Abnormal gripper.	-	Use the upper computer software for the gripper to check the specific error code and message, and take corresponding action or contact our technical support.
23	0x2002	8194	Abnormal dexterous hand.	-	Use the upper computer software for the dexterous hand to check the specific error code and message, and take corresponding action or contact our technical support.
24	0x2003	8195	Abnormal 6-DoF force module.	-	Contact our technical support for factory repair and inspection.
25	0x2004	8196	Abnormal 1-DoF force module.	-	Contact our technical support for factory repair and inspection.
26	0x2005	8197	Abnormal output current.	The end effector might be jammed, increasing the demand for current, and the end effector continuously outputs a large current for an extended period, leading to overcurrent	Please contact our technical support for repair and handling.
27	0x5001	20481	Reserved.	-	-
28	0x5002	20482	Reserved.	-	-
29	0x5003	20483	Controller over-temperature.	The controller temperature has reached the alarm temperature	The controller temperature has reached the alarm level, please let it rest or power it off to cool down.
30	0x5004	20484	Reserved.	-	-
31	0x5005	20485	Controller overcurrent.	The controller current is too high	It is recommended to check the power supply output. It is suggested to use a switching power supply with an output of 20-27V, over 600W, and equipped with hiccup mode and constant current output for 1 second, for the robotic arm's self-inspection and self-calibration after powering up. Please contact our technical support promptly.
32	0x5006	20486	Controller undercurrent.	Controller current is too low	It is recommended to check the power supply output. It is suggested to use a switching power supply with an output of 20-27V, over 600W, and equipped with hiccup mode and constant current output for 1 second, for the robotic arm's self-inspection and self-calibration after powering up. Please contact our technical support promptly.
33	0x5007	20487	Controller overvoltage.	Input voltage exceeds the robotic arm's voltage tolerance range	Check if the voltage input is between 20-27V, the I series robotic arm supports up to 30V.
34	0x5008	20488	Controller undervoltage.	Input voltage is below the robotic arm's voltage tolerance range	It is recommended to check the power supply output. It is suggested to use a switching power supply with an output of 20-27V, over 600W, and equipped with hiccup mode and constant current output for 1 second, for the robotic arm's self-inspection and self-calibration after powering up. Please contact our technical support promptly.
35	0x5009	20489	Real-time layer communication error.	The hardware and software versions of the robotic arm do not match	Please contact our technical support promptly to re-flash the corresponding firmware.

Joint error code

S/N	Error Code (Hexadecimal)	Error Code (Decimal)	Description	Causes	Suggested Actions
1	0x0000	0	Normal joint.	-	You can use our robotic arm normally.
2	0x0001	1	FOC error.	-	Please contact our technical support promptly.
3	0x0002	2	Overvoltage.	The input voltage exceeds the voltage tolerance range of the robotic arm	1. Check if the voltage input is between 20-27V, the I series robotic arm supports up to 30V. 2. Clear the joint error in the System Information interface, and then in the Security Configuration interface, select the corresponding joint to perform the enable operation.
4	0x0004	4	Undervoltage.	The input voltage is below the voltage tolerance range of the robotic arm	1. This is commonly seen when powered by a battery, such as when the battery charge is insufficient, when the robotic arm is started, or during high-load rapid movement when the power supply output is inadequate. 2. Check the power supply output. It is recommended to use a switching power supply with an output of 20-27V, over 600W, and equipped with hiccup mode and constant current output for 1 second, for the robotic arm's self-inspection and self-calibration after powering up.
5	0x0008	8	Over-temperature.	The joint temperature has reached the alarm level, please let it rest or power it off to cool down.	The overheating threshold is 85°C; it is recommended to check if the joint is overloaded or if there has been a collision.
6	0x0010	16	Start failed.	The robotic arm did not start up properly	1. Check the power supply output. It is recommended to use a switching power supply with an output of 20-27V, over 600W, and equipped with hiccup mode and constant current output for 1 second, for the robotic arm's self-inspection and self-calibration after powering up. 2. Observe whether the breathing light on the controller panel is blinking. 3. Check if the light at the end of the robotic arm is on continuously.
7	0x0020	32	Encoder error.	Joint self-check failed or unable to recognize the current angle	1. If the teach pendant's system information interface shows encoding errors in multiple joints, it is recommended to check the power supply output and restart the robotic arm. This phenomenon is due to insufficient power supply output, which prevents the robotic arm from self-inspecting and self-calibrating properly. 2. If a single joint shows an encoder error, you can try to clear it. If it occurs frequently, please contact our technical support promptly.
8	0x0040	64	Overcurrent.	Surge current	Please contact our technical support promptly.
9	0x0080	128	Software error.	The hardware and software of the robotic arm do not match	Please contact our technical support promptly to re-flash the corresponding firmware.
10	0x0100	256	Temperature sensor error.	The temperature sensor fails to obtain the joint temperature normally	Please contact our technical support promptly.
11	0x0200	512	Position out of limit error.	The current position of the joint exceeds the joint limit	Solution approach: First, drag the joint that has exceeded the limit back within the limit and clear the joint error message. 1. Check the current joint angle in the robotic arm's teaching interface. 2. In Configuration - Robotic Arm Configuration - Security Configuration, select the corresponding joint and adjust the joint limit to be greater than the current angle. 3. Clear the joint error in the System Information interface. 4. In Configuration - Robotic Arm Configuration - Security Configuration, select the corresponding joint and click the Enable button. 5. In the robotic arm's teaching interface, control the joint to move back within the limit. 6. In Configuration - Robotic Arm Configuration - Security Configuration, select the corresponding joint, click the Disable button to restore the limit to its initial value, and then re-enable it.
12	0x0400	1024	Invalid joint ID.	Joint ID is incorrect	Enter the correct joint ID information.
13	0x0800	2048	Position tracking error.	-	Please contact our technical support promptly.
14	0x1000	4096	Current detection error.	-	Please contact our technical support promptly.
15	0x2000	8192	Brake release failed.	Joint brake does not open properly	Solution approach: 1. After the robotic arm is powered on, press the green button at the end and drag each joint to confirm whether the joints are properly unlocked. Perform disable operations on the abnormal joints in the Configuration - Robotic Arm Configuration - Security Configuration page. 2. It is recommended to check the power supply output. It is suggested to use a switching power supply with an output of 20-27V, over 600W, and equipped with hiccup mode and constant current output for 1 second, for the robotic arm's self-inspection and self-calibration after powering up.
16	0x4000	16384	Position command step warning.	The current position and the target position have a large error	This often occurs during transparency and it is recommended to check whether the transparency trajectory is smooth and the communication cycle is stable.
17	0x8000	32768	Multi-coil joint data loss.	Encoder battery is low on power	Solution approach: The end joint of the robotic arm uses a multi-turn encoder, which is powered by a battery to record the current position after power off. It is recommended to let it stand by for 5-10 minutes and then restart the robotic arm after this phenomenon occurs. It is recommended to power on for at least 30 minutes each month to charge the battery. Do not zero the joint during the fault period.
18	0xF000	61440	Communication frame loss.	The joint cannot communicate normally	Clear the joint error in the system information interface, if it frequently reoccurs, Please contact our technical support promptly.