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cpr>Mab at 11:11, 26 June 2025

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Error codes are used to describe different error conditions. This article explains the error codes that can occur.

Most error codes are either hardware errors or kinematic errors. Most other errors, e.g. robot program errors, are signaled as a message without a code, as described in [[CRI Ethernet Interface]].

= Hardware Error Codes =
This kind of error originates from the hardware modules and therefore depends on the hardware protocol.

CPRog/iRC displays a summary of all module error codes at the left side next to the 3D view. Check the information tab at the bottom for the error code of each axis.

== CPRCANv2 ==
The error code can be a combination of the following. Some codes have alternative names that may be mentioned in older software versions.

The bit code is relevant for CRI and Modbus users: The error codes are transmitted as bitfields.

{| class="wikitable" style="margin:auto"
|-
!Bit !! Code !! Description !! Hints
|-
|0x00 || NoError || No error || Axis is enabled and ready for operation
|-
|0x01 || ESTOP / TEMP || [[Temperature Error|Emergency stop pressed / temperature limit exceeded]] || Check the fan at the axis modules, lower the [[Motor_Current_Parameter|motor current]]. Check e-stop.
|-
|0x02 || ESTOP / LOWV || [[Low Voltage Error|Emergency stop pressed / low voltage]] || Low or no motor voltage at the axis modules. Check the e-stop, the fuse, plugs and wires
|-
|0x04 || MNE || Motor not enabled || The motor is not enabled. If there are no other codes the motor is ready to be enabled.
|-
|0x08 || COM || [[CAN Bus Communication Errors|Communication watchdog]] || Module missed some messages; expected state after startup or after accessing amp parameters, may hint to an issue in other cases.
|-
|0x10 || LAG || [[Position Lag|Position lag]] || Axis could not follow target: too fast, load too heavy, current too low
|-
|0x20 || ENC || [[Encoder Error|Encoder error]] || Defective encoder or cable, emergency stop pressed, motor blocked, moving too fast, load too heavy, current too low
|-
|0x40 || OC || [[Overcurrent Error|Over current]] || Current limit exceeded, possibly due to a blocked or overloaded axis, trying to move too fast,...
|-
|0x80 || DRV / GEN || [[Driver Error|Driver / general error]] || Check whether the axis is blocked or free and easy to move; check whether the brake releases; check the [[Extended Error Information|extended error information]]
|-
|0x100 || BUS || [[CAN Bus Communication Errors|Bus dead]] || CAN bus issue, no responses received; check CAN bus wiring and module power
|-
|0x200 || DEAD || [[CAN Bus Communication Errors|Module dead]] || A module did not respond; check CAN ID at the module and configuration, too many modules configured (I/O, external axes)?
|-
|0x1000 || NOTREADY || Joint not ready || This error should disappear shortly after enabling once the joints are aligned. Alignment may be prevented when the motor current is missing, e.g. when the estop is pushed.
|-
| || ERR || unknown error || This error may appear if the hardware issues an error that is not known to the software. [[Software Updates|Update the software of the embedded robot control]].
|}

== CANopen ==
CANopen uses a different error code scheme, however the robot control translates most codes to the CPRCANv2 format. Additionally the following CANopen status codes are displayed.

If your robot control gets stuck in an unexpected state check the firmware and configuration of your axis controllers. If an axis e.g. exceeded the software limit or if a limit switch is triggered the axis may constantly return to that error state.

{| class="wikitable" style="margin:auto"
|-
! Code !! Description !! Hints
|-
|not inited || hardware is not initialized yet || this should not occur
|-
|startup || axis is starting up || this should not occur
|-
|not_ready_to_switch_on || see CANopen state machine || initializing or error if stuck
|-
|switch_on_disabled || see CANopen state machine || initialized, motors not powered yet
|-
|ready_to_switch_on || see CANopen state machine || initialized, motors not powered yet
|-
|switched_on || see CANopen state machine || motors are powered but motion is not yet enabled
|-
|operation_enabled || see CANopen state machine || motors are enabled and ready for operation
|-
|quick_stop_active || see CANopen state machine || an error occured
|-
|fault_reaction_active || see CANopen state machine || an error occured
|-
|fault || see CANopen state machine || an error occured
|-
|homing || axis is in homing / referencing mode || wait until referencing is done or do a reset to return to operation mode
|}

= Kinematic Error Codes =
These errors are caused by the kinematic calculation, e.g. when the target position can not be reached or when a mathematical error ocured. See [[Singularities and Kinematic Limits]] for a list, explanations and solutions.

= igus ReBeL status light =
The ReBeL arm shows status information at its power switch. It's meaning is explained in [[Igus_ReBeL#Status_light_at_the_power_switch|Igus ReBeL]].

[[Category:CPRog]][[Category:TinyCtrl]][[Category:Troubleshooting]]

Error Codes - Revision history

OLT: 1 revision imported

cpr>Mab at 11:11, 26 June 2025