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
0x02	ESTOP / LOWV	Emergency stop pressed / low voltage
0x04	MNE	Motor not enabled	no error, the motor is ready to be enabled
0x08	COM	Communication watchdog	module missed some messages; expected state after startup
0x10	LAG	Position lag	axis could not follow target: too fast, load too heavy, current too low
0x20	ENC	Encoder error	emergency stop, motor blocked, too fast, load too heavy, current too low
0x40	OC	Over current	current limit exceeded
0x80	DRV / GEN	Driver / general error	contact support
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)?

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

Code	Description	Hints
0	No error
13	Joint limit min reached	an axis reached it's lower limit
14	Joint limit max reached	an axis reached it's upper limit
21	Center singularity	robot arm is too close to vertical center axis, change to joint motion
22	Out of reach	cartesian position can not be reached, try joint motion
23	Wrist singularity	wrist joint of 6 axis arm can not be extended completely in cartesian mode, change to joint motion
30	Virtual box violated in X+	reached virtual box max X position
31	Virtual box violated in X-	reached virtual box min X position
32	Virtual box violated in Y+	reached virtual box max Y position
33	Virtual box violated in Y-	reached virtual box min Y position
34	Virtual box violated in Z+	reached virtual box max Z position
35	Virtual box violated in Z-	reached virtual box min Z position
50	NAN value in joint position	a mathematical error occured, contact support
99	Motion not allowed	a hardware error occured