Error Codes

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.

Bit	Code	Description	Hints
0x00	NoError	No error	Axis is enabled and ready for operation
0x01	ESTOP / TEMP	Emergency stop pressed / temperature limit exceeded	Check the fan at the axis modules, lower the motor current. Check e-stop.
0x02	ESTOP / LOWV	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	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	Axis could not follow target: too fast, load too heavy, current too low
0x20	ENC	Encoder error	Defective encoder or cable, emergency stop pressed, motor blocked, moving too fast, load too heavy, current too low
0x40	OC	Over current	Current limit exceeded, possibly due to a blocked or overloaded axis, trying to move too fast,...
0x80	DRV / GEN	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
0x100	BUS	Bus dead	CAN bus issue, no responses received; check CAN bus wiring and module power
0x200	DEAD	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. 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.

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.