错误码

最后更新时间: 2026-05-20

系统错误 (0 - 102)

错误码 名称 描述 描述(中文) 建议
0 DEBUG Debug message {} 系统级消息和调试信息
1 POPUP Popup title: {}, msg: {}, mode: {} 弹窗标题/消息/模式 根据弹窗内容处理
2 POPUP_DISMISS {} 弹窗关闭
3 SYSTEM_HALT {} 系统停止 检查系统日志
4 INV_ARGUMENTS Invalid arguments. 无效参数 检查输入参数
5 USER_NOTIFY {} 用户通知 查看通知内容
6 POPUP_DISMISS_BY_ID {} 按 ID 关闭弹窗
10 MODBUS_SIGNAL_CREATED Modbus signal {} created. Modbus 信号创建 检查 Modbus 配置
11 MODBUS_SIGNAL_REMOVED Modbus signal {} removed. Modbus 信号移除 检查 Modbus 配置
12 MODBUS_SIGNAL_VALUE_CHANGED Modbus signal {} value changed to {} Modbus 信号变更 检查 Modbus 配置
13 RUNTIME_CONTEXT tid: {} lineno: {} index: {} comment: {} 运行时 查看线程和行号信息
14 INTERP_CONTEXT tid: {} lineno: {} index: {} comment: {} 解释器上下文 查看线程和行号信息
15 PROGRAM_LOADED program loaded: {} 程序加载成功
16 TASK_DELETED tid: {} 任务已删除 was deleted
20 MODBUS_SLAVE_BIT Modbus slave address: {} value {} Modbus 从站地址/值 检查 Modbus 从站配置
21 MODBUS_SLAVE_REG Modbus slave address: {} value {} Modbus 从站地址/值 检查 Modbus 从站配置
30 PNIO_SLAVE_SLOT_VALUE PNIO slot: {} subslot {} index {} value {} PNIO 槽位 检查 PROFINET 配置
31 PNIO_CONNECT_STATUS PNIO connection status changed to {} PNIO 连接状态变更 检查 PROFINET 配置
32 PNIO_DEVICE_NAME PNIO device name changed to {} PNIO 设备名称变更 检查 PROFINET 配置
33 PNIO_IP PNIO ip {} mask {} gateway {} PNIO ip {} mask {} gateway {} 检查 PROFINET 配置
40 ICM_SERVER_STATUS ICM server status changed to {} ICM 服务器状态变更 检查 ICM 服务
50 EIP_SLAVE_VALUE EIP slave: trans_type {} index {} value {} EtherNet/IP 从站值/连接 检查 EtherNet/IP 配置
51 EIP_SLAVE_CONNECT_STATUS EIP slave connection status changed to {} EtherNet/IP 从站值/连接 检查 EtherNet/IP 配置
100 LOG_PROGRAM_SUCCESS [{}] Load program {} successful 程序加载成功
101 LOG_PROGRAM_FAILED [{}] Load program {} failed, file not found 程序加载失败，文件未找到 检查程序文件路径
102 LOG_PROGRAM_FAILED2 [{}] Load program {} failed, configuration file (.ins) does not match 程序加载失败，配置文件不匹配 检查.ins 配置文件

关节错误 (10001 - 10044)

错误码 名称 描述 描述(中文) 建议
10001 JOINT_ERR_OVER_CURRENET joint{} error: over current 关节过流 (a) 检查短路 (b) 完整重启序列 (c) 如重复出现，更换关节
10002 JOINT_ERR_OVER_VOLTAGE joint{} error: over voltage 关节过压 (a) 完整重启 (b) 检查 48V 电源、电流分配器、能耗器和控制板
10003 JOINT_ERR_LOW_VOLTAGE joint{} error: low voltage 关节欠压 (a) 完整重启 (b) 检查机械臂短路 (c) 检查 48V 电源系统
10004 JOINT_ERR_OVER_TEMP joint{} error: over temperature 关节过温 (a) 检查环境确保在推荐范围内运行 (b) 完整重启
10005 JOINT_ERR_HALL joint{} error: hall 霍尔传感器错误
10006 JOINT_ERR_ENCODER joint{} error: encoder 编码器错误 检查编码器连接
10007 JOINT_ERR_ABS_ENCODER joint{} error: abs encoder 绝对编码器错误
10008 JOINT_ERR_Q_CURRENT joint{} error: detect current 电流检测错误
10009 JOINT_ERR_ENC_POLL joint{} error: encoder pollustion 编码器污染
10010 JOINT_ERR_ENC_Z_SIGNAL joint{} error: enocder z signal 编码器 Z 信号错误
10011 JOINT_ERR_ENC_CAL joint{} error: encoder calibrate 编码器校准错误
10012 JOINT_ERR_IMU_SENS joint{} error: IMU sensor IMU 传感器错误
10013 JOINT_ERR_TEMP_SENS joint{} error: TEMP sensor 温度传感器错误
10014 JOINT_ERR_CAN_BUS joint{} error: CAN bus error CAN 总线错误
10015 JOINT_ERR_SYS_CUR joint{} error: system current error 系统电流错误
10016 JOINT_ERR_SYS_POS joint{} error: system position error 系统位置错误
10017 JOINT_ERR_OVER_SP joint{} error: over speed 超速
10018 JOINT_ERR_OVER_ACC joint{} error: over accelerate 过加速
10019 JOINT_ERR_TRACE joint{} error: trace accuracy 轨迹精度错误
10020 JOINT_ERR_TAG_POS_OVER joint{} error: target position out of range 目标位置超限
10021 JOINT_ERR_TAG_SP_OVER joint{} error: target speed out of range 目标速度超限
10022 JOINT_ERR_COLLISION joint{} error: collision 碰撞
10023 JOINT_ERR_COMMON joint{} error: unkown error. Check communication with joint. 未知错误 检查关节通信
10024 JOINT_ERR_SWITCH_SERVO_MODE joint{} error: switch servo mode timeout. 切换伺服模式超时
10025 JOINT_ERR_MOTOR_STUCK joint{} error: motor stucked. 电机卡死
10026 JOINT_ERR_REDUCER_OVER_TEMP joint{} error: reducer over temperature 减速机过温 (a) 检查环境确保在推荐范围内运行 (b) 完整重启
10027 JOINT_ERR_REDUCER_NTC joint{} error: reducer TEMP sensor failure 减速机温度传感器故障 (a) 检查环境 (b) 完整重启
10028 JOINT_ERR_ABS_MULTITURN joint{} error: absolute encoder multiturn error 绝对编码器多圈错误 (a) 检查环境 (b) 完整重启
10029 JOINT_ERR_ADC_ZERO_OFFSET joint{} error: ADC zero offset failure ADC 零偏故障 (a) 检查环境 (b) 完整重启
10030 JOINT_ERR_SHORT_CIRCUIT joint{} error: short circuit 短路 (a) 检查环境 (b) 完整重启
10031 JOINT_ERR_PHASE_LOST joint{} error: motor phase lost 电机缺相 (a) 检查环境 (b) 完整重启
10032 JOINT_ERR_BRAKE joint{} error: brake failure 制动故障 (a) 检查环境 (b) 完整重启
10033 JOINT_ERR_FIRMWARE_UPDATE joint{} error: firmware update failure 固件更新失败 (a) 检查环境 (b) 完整重启
10034 JOINT_ERR_BATTERY_LOW joint{} error: battery low 电池电量低 (a) 检查环境 (b) 完整重启
10035 JOINT_ERR_PHASE_ALIGN joint{} error: phase align 相位对齐错误 (a) 检查环境 (b) 完整重启
10036 JOINT_ERR_CAN_HW_FAULT joint{} error: CAN bus hw fault CAN 总线硬件故障 (a) 检查环境 (b) 完整重启
10037 JOINT_ERR_POS_DISCONTINUOUS joint{} error: target position discontinuous 目标位置不连续 (a) 检查环境 (b) 完整重启
10038 JOINT_ERR_POS_INIT joint{} error: position initiallization failure 位置初始化失败 (a) 检查环境 (b) 完整重启
10039 JOINT_ERR_TORQUE_SENSOR joint{} error: torqure sensor failure 扭矩传感器故障 (a) 检查环境 (b) 完整重启
10040 JOINT_ERR_OFFLINE joint{} error: joint may be offline 关节可能离线 (a) 检查关节硬件 (b) 检查关节 ID
10041 JOINT_ERR_BOOTLOADER joint{} error: The joint is in bootloader mode. Retry firmware update. 关节处于引导模式 重试固件更新
10042 JOINT_ERR_SLAVE_OFFLINE slave joint{} error: slave joint may be offline 从关节可能离线 (a) 检查从关节硬件 (b) 检查从关节 ID
10043 JOINT_ERR_SLAVE_BOOTLOADER slave joint{} error: The slave joint is in bootloader mode. Retry firmware update. 从关节处于引导模式 重试固件更新
10044 JOINT_ERR_ETHERCAT_BUS joint{} error: ETHERCAT bus error EtherCAT 总线错误

关节扩展错误 (10401 - 10800)

错误码 名称 描述 描述(中文) 建议
10401 EX_JOINT_EC_SHORT_CIRCUIT joint{} error: short circuit protection
10402 EX_JOINT_EC_SHORT_CURRENT joint{} error: over current
10403 EX_JOINT_EC_PHASEA_CURRENT joint{} error: phase A over current
10404 EX_JOINT_EC_PHASEB_CURRENT joint{} error: phase B over current
10405 EX_JOINT_EC_PHASEC_CURRENT joint{} error: phase C over current
10406 EX_JOINT_EC_PHASE_CURRENT joint{} error: phase over current
10407 EX_JOINT_EC_MOTOR_PHASE_LOSE joint{} error: motor phase loss
10408 EX_JOINT_EC_BUS_OVER_VOLTAGE joint{} error: bus over voltage
10409 EX_JOINT_EC_BUS_LOW_VOLTAGE joint{} error: bus under voltage
10410 EX_JOINT_EC_OVERLOAD joint{} error: overload
10411 EX_JOINT_EC_IPM_OVER_TEMP joint{} error: IPM over temperature
10412 EX_JOINT_EC_REDUCER_OVER_TEMP joint{} error: reducer over temperature
10413 EX_JOINT_EC_ADC_ZERO_OFFSET joint{} error: ADC zero offset
10414 EX_JOINT_EC_REDUCER_NTC joint{} error: reducer NTC fault
10415 EX_JOINT_EC_IPM_NTC joint{} error: IPM NTC fault
10416 EX_JOINT_EC_TORQUE_SENSOR joint{} error: torque sensor fault
10417 EX_JOINT_EC_TORQUE_SENSOR_COMM joint{} error: torque sensor communication fault
10418 EX_JOINT_EC_MOTOR_ABS_ENC_COMM joint{} error: motor-side absolute encoder communication fault
10419 EX_JOINT_EC_REDUCER_ABS_ENC_COMM joint{} error: reducer-side absolute encoder communication fault
10420 EX_JOINT_EC_REDUCER_ABS_ENC_DATA joint{} error: reducer-side absolute encoder data channel disabled warning
10421 EX_JOINT_EC_REDUCER_ABS_ENC_CMD joint{} error: reducer-side absolute encoder command invalid warning
10422 EX_JOINT_EC_REDUCER_ABS_ENC_ERR joint{} error: reducer-side absolute encoder fault
10423 EX_JOINT_EC_REDUCER_ABS_ENC_WARNING joint{} error: reducer-side absolute encoder warning
10424 EX_JOINT_EC_BRAKE joint{} error: brake fault
10425 EX_JOINT_EC_COMM_HWL joint{} error: communication hardware layer error
10426 EX_JOINT_EC_FIRMWARE_UPDATE joint{} error: firmware update failed
10427 EX_JOINT_EC_FLASH_OP joint{} error: flash operation failed
10428 EX_JOINT_EC_MU_SAVE joint{} error: multi-turn data error
10429 EX_JOINT_EC_DEMADATA_LOST joint{} error: calibration zero point data lost
10430 EX_JOINT_EC_PARAMETER joint{} error: parameter error
10431 EX_JOINT_EC_UVW_LOGIC joint{} error: hall signal fault
10432 EX_JOINT_EC_UVW_ABZ joint{} error: incremental encoder fault
10433 EX_JOINT_EC_ENC_Z_LOST joint{} error: encoder Z signal lost
10434 EX_JOINT_EC_ENC_POLLUTE joint{} error: encoder pollution
10435 EX_JOINT_EC_ENC_CALI joint{} error: encoder calibration failed
10436 EX_JOINT_EC_MT_ABS_DATA joint{} error: multi-turn absolute data error
10437 EX_JOINT_EC_ENC_TYPE_INFO joint{} error: encoder type identified and saved
10438 EX_JOINT_EC_ENC_TYPE_ERROR joint{} error: encoder type error
10439 EX_JOINT_EC_ENC_VERIFY joint{} error: encoder verification failed
10440 EX_JOINT_EC_DUAL_ENC_ERROR joint{} error: dual encoder deviation too large
10441 EX_JOINT_EC_DUAL_ENC_EANGLE joint{} error: dual encoder electrical angle deviation too large
10442 EX_JOINT_EC_OBJECT_DICT_ERROR joint{} error: object dictionary data error
10443 EX_JOINT_EC_MOTOR_STALL joint{} error: motor stall protection
10444 EX_JOINT_EC_ABS_ENC_LOW_VOLT joint{} error: absolute encoder low voltage
10445 EX_JOINT_EC_MT_BATTERY_LOW joint{} error: multi-turn battery low voltage
10446 EX_JOINT_EC_POS_CMD joint{} error: position command discontinuous
10447 EX_JOINT_EC_POS_OVER_LIMIT joint{} error: position over limit
10448 EX_JOINT_EC_COMM_PROTO joint{} error: communication protocol layer error
10449 EX_JOINT_EC_GRAVITY_PARA_WARNING joint{} error: gravity compensation parameter invalid
10450 EX_JOINT_EC_GRAVITY_COMPENSATE_ERROR joint{} error: gravity compensation value sudden change
10451 EX_JOINT_EC_LOW_RIGIDITY joint{} error: collision soft float abnormal
10452 EX_JOINT_EC_POS_CMD_WARNING joint{} error: position command unchanged during motion
10453 EX_JOINT_EC_SLAVE_COMM joint{} error: master-slave MCU communication fault
10454 EX_JOINT_EC_POS_ERR joint{} error: position following error too large
10455 EX_JOINT_EC_DUAL_POS_ERR joint{} error: dual servo position sync error too large
10456 EX_JOINT_EC_DUAL_COMM_ERR joint{} error: dual servo communication
10457 EX_JOINT_EC_CAN_BUSOFF joint{} error: CAN bus-off warning
10458 EX_JOINT_EC_SYNC_SNAKE joint{} error: sync frame jitter warning
10459 EX_JOINT_EC_SYNC_DISCON joint{} error: sync frame discontinuous warning
10460 EX_JOINT_EC_RPDO_LOST joint{} error: RPDO lost warning
10461 EX_JOINT_EC_RPDO_MANY joint{} error: multiple RPDO in one sync cycle warning
10462 EX_JOINT_EC_GRAVITY_LOST joint{} error: gravity compensation value lost
10463 EX_JOINT_EC_MAININT_TIME_WARN joint{} error: servo main interrupt runtime warning
10464 EX_JOINT_EC_MAININT_TIME_ERROR joint{} error: servo main interrupt runtime error
10465 EX_JOINT_EC_SPDINT_TIME_WARN joint{} error: servo speed loop interrupt runtime warning
10466 EX_JOINT_EC_SPDINT_TIME_ERROR joint{} error: servo speed loop interrupt runtime error
10467 EX_JOINT_EC_POS_CMD_JUMP_WARNING joint{} error: position command sudden jump during motion
10468 EX_JOINT_EC_SYNC_TIMCOARSE joint{} error: clock sync compensation status
10469 EX_JOINT_EC_ENC_Z_CNTS_ERR joint{} error: incremental encoder Z signal or CNTS abnormal
10470 EX_JOINT_EC_SLAVE_OVER_CURRENT joint{} error: slave MCU detected motor phase current over safe threshold
10471 EX_JOINT_EC_SLAVE_OVER_VOLTAGE joint{} error: slave MCU detected DC bus voltage over upper threshold
10472 EX_JOINT_EC_SLAVE_UNDER_VOLTAGE joint{} error: slave MCU detected DC bus voltage below lower threshold
10473 EX_JOINT_EC_SLAVE_POS_ERR joint{} error: slave MCU detected master-slave motor position deviation out of range
10474 EX_JOINT_EC_SLAVE_SPEED_ERR joint{} error: slave MCU detected master-slave motor speed deviation out of range
10475 EX_JOINT_EC_SLAVE_TRACE_ERR joint{} error: slave MCU detected position following error out of control range
10476 EX_JOINT_EC_SLAVE_ABS_ERR joint{} error: slave MCU detected absolute encoder feedback abnormal
10477 EX_JOINT_EC_SLAVE_ADC_ZERO_OFFSET joint{} error: slave MCU detected current sampling zero offset out of calibration range
10478 EX_JOINT_EC_SLAVE_ENC_POLLUTE joint{} error: slave MCU detected encoder signal quality degradation
10479 EX_JOINT_EC_SLAVE_ENC_Z_LOST joint{} error: slave MCU detected encoder Z reference signal lost
10480 EX_JOINT_EC_SLAVE_COMM_OVER_TM joint{} error: slave MCU detected master-slave communication timeout
10481 EX_JOINT_EC_SLAVE_TRQ_ERR joint{} error: slave MCU detected master-slave motor torque deviation out of range
10482 EX_JOINT_EC_BRAKE_TYPE_ERR joint{} error: brake type config mismatch with hardware
10483 EX_JOINT_EC_PHASE_ALIGN joint{} error: phase alignment failed
10484 EX_JOINT_EC_POS_OVER_LIMIT_WARNING joint{} error: position over limit
10485 EX_JOINT_EC_PHASE_ALIGN_WARNING joint{} error: phase alignment warning
10486 EX_JOINT_EC_TASK_STACK_SHORTAGE joint{} error: task stack insufficient
10487 EX_JOINT_EC_TASK_STACK_OVERFLOW joint{} error: task stack overflow
10800 EX_JOINT_EC_UNKNOWN joint{} error: unknown error

扩展轴错误 (11001 - 11066)

错误码 名称 描述 描述(中文) 建议
11001 EXT_AXIS_ERR_COMMON ext axis{} error: common 外部轴驱动器相关错误 检查与外部轴驱动器的通信
11002 EXT_AXIS_ERR_OVER_CURRENT ext axis{} error: over current 外部轴过流 检查接线/短路；重启；如重复更换驱动器/电机
11003 EXT_AXIS_ERR_OVER_VOLTAGE ext axis{} error: over voltage 外部轴过压 检查直流电源、再生、能耗器；重启
11004 EXT_AXIS_ERR_LOW_VOLTAGE ext axis{} error: low voltage 外部轴欠压 检查直流电源和电缆；重启
11005 EXT_AXIS_ERR_OVER_TEMP ext axis{} error: over temperature 外部轴过温 检查环境/冷却；重启
11006 EXT_AXIS_ERR_HALL ext axis{} error: hall fault 霍尔传感器故障 检查霍尔传感器和电机接线
11007 EXT_AXIS_ERR_ENCODER ext axis{} error: encoder fault 编码器故障 检查编码器连接/电缆/噪声
11008 EXT_AXIS_ERR_ABS_ENCODER ext axis{} error: absolute encoder fault 绝对编码器故障 检查绝对编码器电源/电缆；重启
11009 EXT_AXIS_ERR_CUR_CALIB ext axis{} error: current calibration fault 电流校准故障 重启；检查电流传感电路
11010 EXT_AXIS_ERR_Q_CURRENT ext axis{} error: current detect fault 电流检测故障 重启；检查电流传感电路
11011 EXT_AXIS_ERR_ENC_POLL ext axis{} error: encoder pollution 编码器污染 检查编码器污染/噪声；改善屏蔽
11012 EXT_AXIS_ERR_ENC_Z_SIGNAL ext axis{} error: encoder Z signal fault 编码器 Z 信号故障 检查编码器 Z 通道和接线
11013 EXT_AXIS_ERR_ENC_CAL ext axis{} error: encoder calibrate invalid 编码器校准无效 重新校准；检查编码器
11014 EXT_AXIS_ERR_IMU ext axis{} error: IMU fault IMU 故障 检查 IMU 传感器和连接
11015 EXT_AXIS_ERR_TEMP_SENSOR ext axis{} error: temperature sensor fault 温度传感器故障 检查温度传感器接线；重启
11016 EXT_AXIS_ERR_ECAT_BUS ext axis{} error: EtherCAT bus error EtherCAT 总线错误 检查 EtherCAT 电缆/拓扑/同步；重启主站/驱动器
11017 EXT_AXIS_ERR_ECAT_CONFIG ext axis{} error: EtherCAT config/ESI/SM/PDO fault EtherCAT 配置/ESI/SM/PDO 故障 检查 ESI、邮箱/SM/PDO 映射、厂商/产品/版本匹配
11018 EXT_AXIS_ERR_ECAT_SYNC ext axis{} error: EtherCAT sync/frame/period fault EtherCAT 同步/帧/周期故障 检查 DC 同步、周期时间、帧丢失；验证 NIC/IRQ 亲和性
11019 EXT_AXIS_ERR_SYS_CUR ext axis{} error: system current fault 系统电流故障 检查电流环和负载；重启
11020 EXT_AXIS_ERR_SYS_POS ext axis{} error: position out of range 位置超限 检查编码器/光栅尺/限位；重启
11021 EXT_AXIS_ERR_OVER_SPEED ext axis{} error: over speed 超速 检查命令限制和调谐参数
11022 EXT_AXIS_ERR_OVER_ACC ext axis{} error: over acceleration 过加速 减小加速度/加加速度；检查调谐
11023 EXT_AXIS_ERR_FOLLOW_ERROR ext axis{} error: following error 跟随误差 检查增益、负载、饱和；验证反馈
11024 EXT_AXIS_ERR_TAG_POS_OVER ext axis{} error: target position out of range 目标位置超限 检查目标限制和回零
11025 EXT_AXIS_ERR_TAG_SPEED_OVER ext axis{} error: target speed out of range 目标速度超限 限制速度；检查轮廓设置
11026 EXT_AXIS_ERR_TAG_CURRENT_OVER ext axis{} error: target current out of range 目标电流超限 限制电流/扭矩；检查负载
11027 EXT_AXIS_ERR_COLLISION ext axis{} error: collision 碰撞 移除障碍物；检查扭矩/力限制
11028 EXT_AXIS_ERR_ADC_ZERO_OFFSET ext axis{} error: ADC zero offset ADC 零偏故障 重启；检查 ADC/电流传感器偏置
11029 EXT_AXIS_ERR_IPM_NTC ext axis{} error: IPM NTC fault IPM 温度传感器故障 检查功率模块温度传感
11030 EXT_AXIS_ERR_SHORT_CIRCUIT ext axis{} error: short circuit 短路 检查电机相线接线；绝缘测试
11031 EXT_AXIS_ERR_MOTOR_STALL ext axis{} error: motor stall 电机堵转 检查机械卡死/负载；减小加速；重启
11032 EXT_AXIS_ERR_ABS_MULTITURN ext axis{} error: abs encoder multiturn fault 绝对编码器多圈故障 检查绝对编码器电池/参数；重启
11033 EXT_AXIS_ERR_PHASE_LOST ext axis{} error: motor phase lost 电机缺相 检查相线接线/连接器；测量通断
11034 EXT_AXIS_ERR_BRAKE ext axis{} error: brake fault 制动故障 检查制动接线/电源；验证制动释放
11035 EXT_AXIS_ERR_REDUCER_OVER_TEMP ext axis{} error: reducer over temperature 减速机过温 检查减速机温度/冷却
11036 EXT_AXIS_ERR_REDUCER_NTC ext axis{} error: reducer NTC fault 减速机温度传感器故障 检查减速机温度传感器
11037 EXT_AXIS_ERR_FIRMWARE_UPDATE ext axis{} error: firmware update fault 固件更新故障 重试更新；检查电源稳定性
11038 EXT_AXIS_ERR_FLASH_OP ext axis{} error: flash operation fault Flash 操作故障 重试；如持续存在更换驱动器
11039 EXT_AXIS_ERR_EXT_ABS_ENC ext axis{} error: motor-side abs encoder comm fault 电机侧绝对编码器通信故障 检查外部绝对编码器链路/电源
11040 EXT_AXIS_ERR_DRIVE_FAULT ext axis{} error: drive fault 驱动器故障 检查驱动器报警代码；重启；如重复更换
11041 EXT_AXIS_ERR_OVERLOAD ext axis{} error: overload 过载 减小负载；检查机械和调谐
11042 EXT_AXIS_ERR_HARDWARE_LIMIT ext axis{} error: hardware limit triggered 硬件限位触发 移离限位；检查限位开关
11043 EXT_AXIS_ERR_SERVO_MODE_TIMEOUT ext axis{} error: switch servo mode timeout 切换伺服模式超时 检查模式转换和通信；重启
11044 EXT_AXIS_ERR_UVW_ABZ ext axis{} error: UVW/ABZ fault UVW/ABZ 故障 检查相线/编码器信号接线
11045 EXT_AXIS_ERR_BATTERY_LOW ext axis{} error: battery low 电池电量低 更换编码器电池；重启
11046 EXT_AXIS_ERR_PHASE_ALIGN ext axis{} error: phase align fail 相位对齐失败 重新相位对齐；检查电机参数
11047 EXT_AXIS_ERR_POS_DISCONTINUOUS ext axis{} error: position command discontinuous 位置命令不连续 检查轨迹生成和限制
11048 EXT_AXIS_ERR_POS_INIT ext axis{} error: position initialization failure 位置初始化失败 检查编码器初始化/回零程序
11049 EXT_AXIS_ERR_TORQUE_SENSOR ext axis{} error: torque sensor fault 扭矩传感器故障 检查扭矩传感器接线/校准
11050 EXT_AXIS_ERR_ABS_ENC_LOW_VOLT ext axis{} error: abs encoder low voltage 绝对编码器欠压 检查编码器供电电压和电缆
11051 EXT_AXIS_ERR_OFFLINE ext axis{} error: ext axis offline 外部轴离线 检查硬件和轴 ID；检查 EtherCAT 状态
11052 EXT_AXIS_ERR_BOOTLOADER ext axis{} error: ext axis in bootloader 外部轴处于引导模式 重试固件更新
11053 EXT_AXIS_ERR_SLAVE_OFFLINE ext axis slave{} error: slave offline 从站离线 检查从站硬件和 ID
11054 EXT_AXIS_ERR_SLAVE_BOOTLOADER ext axis slave{} error: slave in bootloader 从站处于引导模式 重试固件更新
11055 EXT_AXIS_ERR_EEPROM ext axis{} error: EEPROM/param store fault EEPROM/参数存储故障 检查 EEPROM/参数存储；重新上电
11056 EXT_AXIS_ERR_PARAM_CONFIG ext axis{} error: parameter/config fault 参数/配置故障 验证参数集；必要时恢复默认值
11057 EXT_AXIS_ERR_STO ext axis{} error: STO safety fault STO 安全故障 检查 STO 接线/安全链；重置安全
11058 EXT_AXIS_ERR_ENCRYPT_CHIP ext axis{} error: encrypt chip/key fault 加密芯片/密钥故障 检查加密芯片/密钥/固件兼容性
11059 EXT_AXIS_ERR_BRAKE_RES_OVERLOAD ext axis{} error: brake resistor overload 制动电阻过载 检查制动电阻/再生电路；占空比
11060 EXT_AXIS_ERR_POWER_LINE_OPEN ext axis{} error: motor power line open 电机动力线开路 检查电机动力电缆通断/连接器
11061 EXT_AXIS_ERR_HOMING ext axis{} error: homing fault 回零故障 检查回零传感器/原点程序；重试
11062 EXT_AXIS_ERR_TUNING_FAIL ext axis{} error: tuning fail 调谐失败 重新调谐；减小共振；检查机械
11063 EXT_AXIS_ERR_INERTIA_ID_FAIL ext axis{} error: inertia identification fail 惯量辨识失败 检查负载；重新惯量辨识；调整条件
11064 EXT_AXIS_ERR_FLYAWAY ext axis{} error: flyaway 飞车 急停；检查反馈极性/比例；检查驱动器参数
11065 EXT_AXIS_ERR_SPEED_PULSE_OVER ext axis{} error: feedback pulse overspeed 反馈脉冲超速 检查编码器反馈和比例；减速
11066 EXT_AXIS_ERR_CTRL_LOOP ext axis{} error: control loop/timeout fault 控制 loop/超时故障 检查采样/电流 loop/通信超时；重启

安全接口板错误 (20001 - 20027)

错误码 名称 描述 描述(中文) 建议
20001 IFB_ERR_ROBOTTYPE Robot error type! 机器人类型错误！
20002 IFB_ERR_ADXL_SENS Base Acceleration sensor error! 底座加速度传感器错误！
20003 IFB_ERR_EN_LINE Encoder line error! 编码器线路错误！
20004 IFB_ERR_ENTER_HDG_MODE Robot enter handguide mode! 机器人进入手导模式！
20005 IFB_ERR_EXIT_HDG_MODE Robot exit handguide mode! 机器人退出手导模式！
20006 IFB_ERR_MAC_DATA_BREAK MAC data break! MAC 数据中断！
20007 IFB_ERR_DRV_FIRMWARE_VERSION Motor driver firmware version error! 电机驱动器固件版本错误！
20008 INIT_ERR_EN_DRV Motor driver enable failed! 电机驱动器使能失败！
20009 INIT_ERR_EN_AUTO_BACK Motor driver enable auto back failed! 电机驱动器自动回零使能失败！
20010 INIT_ERR_EN_CUR_LOOP Motor driver enable current loop failed! 电机驱动器电流环使能失败！
20011 INIT_ERR_SET_TAG_CUR Motor driver set target current failed! 电机驱动器设置目标电流失败！
20012 INIT_ERR_RELEASE_BRAKE Motor driver release brake failed! 电机驱动器释放制动失败！
20013 INIT_ERR_EN_POS_LOOP Motor driver enable postion loop failed! 电机驱动器位置环使能失败！
20014 INIT_ERR_SET_MAX_ACC Motor set max accelerate failed! 电机设置最大加速度失败！
20015 SAFETY_ERR_PROTECTION_STOP_TIMEOUT Protective stop timeout! 保护停止超时！
20016 SAFETY_ERR_REDUCED_MODE_TIMEOUT Reduced mode timeout! 减速模式超时！
20017 SYS_ERR_MCU_COM Robot system error: mcu communication error! 机器人系统错误：MCU 通信错误！
20018 SYS_ERR_RS485_COM Robot system error: RS485 communication error! 机器人系统错误：RS485 通信错误！
20019 IFB_ERR_DISCONNECTED Interface board may be disconnected. Please check connection between IPC and Interface board. 接口板可能断开连接 检查 IPC 和接口板之间的连接
20020 IFB_ERR_PAYLOAD_ERROR Payload error. 负载错误
20021 IFB_OFFLINE ifaceboard error: ifaceboard may be offline 接口板可能离线 (a) 检查接口板硬件 (b) 检查接口板 ID
20022 IFB_ERR_BOOTLOADER ifaceboard error: The ifaceboard is in bootloader mode. Retry firmware update. 接口板处于引导模式 重试固件更新
20023 IFB_SLAVE_OFFLINE interface slave board error: interface slave board may be offline 从接口板可能离线 (a) 检查从接口板硬件 (b) 检查从接口板 ID
20024 IFB_SLAVE_ERR_BOOTLOADER interface slave board error: The interface slave board is in bootloader mode. Retry firmware update. 从接口板处于引导模式 重试固件更新
20025 IFB_TOOL_ERR_ADXL_SENS Tool Acceleration sensor error! 工具加速度传感器错误！
20026 HANDLE_OFFLINE handle error: handle may be offline 手柄错误：手柄可能已离线 (a) 检查手柄对应的硬件设备。(b) 检查手柄 ID。
20027 HANDLE_ERR_BOOTLOADER handle error: The handle is in bootloader mode. Retry firmware update. 手柄错误：手柄处于引导加载程序模式，请重新尝试固件升级。 重新尝试固件升级

运行时错误 (30001 - 30444)

错误码 名称 描述 描述(中文) 建议
30001 ROBOT_BE_PULLING Something is pulling the robot. 机器人运行时错误（保护停止、运动规划等） 请检查 TCP 配置、负载和安装设置
30002 PSTOP_ELBOW_POS Protective Stop: Elbow position close to safety plane limits. 保护停止：肘部位置接近安全平面限制 将机器人肘关节移离安全平面
30003 PSTOP_STOP_TIME Protective Stop: Exceeding user safety settings for stopping time. 保护停止：超出用户安全设置的停止时间 (a) 检查程序中的速度和加速度 (b) 检查 TCP/负载/质心使用 (c) 检查外部设备激活设置
30004 PSTOP_STOP_DISTANCE Protective Stop: Exceeding user safety settings for stopping distance. 保护停止：超出用户安全设置的停止距离 (a) 检查程序中的速度和加速度 (b) 检查 TCP/负载/质心使用 (c) 检查外部设备激活设置
30005 PSTOP_CLAMP Protective Stop: Danger of clamping between the Robot’s lower arm and tool. 保护停止：机器人前臂和工具之间有夹持危险 (a) 检查程序中的速度和加速度 (b) 检查 TCP/负载/质心使用 (c) 检查外部设备激活设置
30006 PSTOP_POS_LIMIT Protective Stop: Position close to joint limits 保护停止：位置接近关节限制
30007 PSTOP_ORI_LIMIT Protective Stop: Tool orientation close to limits 保护停止：工具方向接近限制
30008 PSTOP_PLANE_LIMIT Protective Stop: Position close to safety plane limits 保护停止：位置接近安全平面限制
30009 PSTOP_POS_DEVIATE Protective Stop: Position deviates from path 保护停止：位置偏离路径 检查负载、质心和加速度设置
30010 JOINT_CHK_PAYLOAD Joint {}: Check payload, center of gravity and acceleration settings. Log screen may contain additional information. 关节：检查负载、质心和加速度设置 日志屏幕可能包含更多信息
30011 PSTOP_SINGULARITY Protective Stop: Position in singularity. 保护停止：位置处于奇异点 使用 MoveJ 或更改运动
30012 PSTOP_CANNOT_MAINTAIN Protective Stop: Robot cannot maintain its position, check if payload is correct 保护停止：机器人无法保持位置 检查负载是否正确
30013 PSTOP_WRONG_PAYLOAD Protective Stop: Wrong payload or mounting detected, or something is pushing the robot when entering Freedrive mode 保护停止：检测到错误的负载或安装 验证所用安装中的 TCP 配置和安装是否正确
30014 PSTOP_JOINT_COLLISION Protective Stop: Collision detected by joint {} 保护停止：关节检测到碰撞 确保机器人路径上无障碍物，然后恢复程序
30015 PSTOP_POS_DISAGREE Protective stop: The robot was powered off last time due to a joint position disagreement. 保护停止：因关节位置分歧而断电 (a) 验证 3D 图形中的机器人位置是否与实际机器人匹配 (b) 如位置不正确需维修 (c) 如位置正确，勾选复选框并点击"机器人位置已验证"
30016 TARGET_JOINT_SPEED_EXCEED Target joint speed exceed limits 目标关节速度超限
30017 TARGET_POS_SUDDEN_CHG Sudden change in target position 目标位置突变
30018 SUDDEN_STOP Sudden stop. 突然停止 要中止运动，使用"stopj"或"stopl"脚本命令生成平滑减速后再使用"wait"
30019 ROBOT_STOP_ABNORMAL Robot has not stopped in the allowed reaction and braking time 机器人未在允许的反应和制动时间内停止
30020 PROG_INVALID_SETP Robot program resulted in invalid setpoint. 机器人程序导致无效设定点 检查程序中的路点
30021 BLEND_INVALID_SETP Blending failed and resulted in an invalid setpoint. 混合失败导致无效设定点 尝试更改混合半径或联系技术支持
30022 APPROACH_SINGULARITY Robot approaching singularity – Acceleration threshold failed. 机器人接近奇异点 – 加速度阈值失败 检查程序中的路点，在接近奇异点的位置尝试使用 MoveJ 代替 MoveL
30023 TSPEED_UNMATCH_POS Target speed does not match target position 目标速度与目标位置不匹配
30024 INCONSIS_TPOS_SPD Inconsistency between target position and speed 目标位置和速度不一致
30025 JOINT_TSPD_UNMATCH_POS Target joint speed does not match target joint position change – Joint {} 目标关节速度与关节位置变化不匹配
30026 FIELDBUS_INPUT_DISCONN Fieldbus input disconnected. 现场总线输入断开 检查现场总线连接（RTDE、ModBus、EtherNet/IP 和 Profinet）或在安装中禁用现场总线。检查 RTDE 看门狗功能。检查是否有 URCap 使用此功能。
30027 OPMODE_CHANGED Operational mode changed: {} 操作模式变更
30028 NO_KIN_CALIB No Kinematic Calibration found (calibration.conf file is either corrupt or missing). 未找到运动学校准 如需要改进运动学需重新校准，否则忽略
30029 KIN_CALIB_UNMATCH_JOINT Kinematic Calibration for the robot does not match the joint(s). 运动学校准与关节不匹配 如从不同机器人移动程序，重新校准第二个机器人
30030 KIN_CALIB_UNMATCH_ROBOT Kinematic Calibration does not match the robot. 运动学校准与机器人不匹配 检查机械臂序列号与控制箱是否匹配
30031 JOINT_OFFSET_CHANGED Large movement of the robot detected while it was powered off. The joints were moved while it was powered off, or the encoders do not function 检测到机器人在断电时大幅移动 关节在断电时被移动，或编码器不工作
30032 OFFSET_CHANGE_HIGH Change in offset is too high 偏移变化过高
30033 JOINT_SPEED_LIMIT Close to joint speed safety limit. 接近关节速度安全限制 检查程序速度和加速度
30034 TOOL_SPEED_LIMIT Close to tool speed safety limit. 接近工具速度安全限制 检查程序速度和加速度
30035 MOMENTUM_LIMIT Close to momentum safety limit. 接近动量安全限制 检查程序速度和加速度
30036 ROBOT_MV_STOP Robot is moving when in Stop Mode 机器人在停止模式下移动
30037 HAND_PROTECTION Hand protection: Tool is too close to the lower arm: {} meter. 手部保护：工具距离前臂太近 (a) 检查手腕位置 (b) 验证安装 (c) 完整重启 (d) 更新软件 (e) 联系当地 AUBO 服务提供商
30038 WRONG_SAFETYMODE Wrong safety mode: {} 错误的安全模式
30039 SAFETYMODE_CHANGED Safety mode changed: {} 安全模式变更
30040 JOINT_ACC_LIMIT Close to joint acceleration safety limit 接近关节加速度安全限制
30041 TOOL_ACC_LIMIT Close to tool acceleration safety limit 接近工具加速度安全限制
30042 JOINT_TEMPERATURE_LIMIT Joint {} temperature too high(>{}℃) 关节温度过高
30043 CONTROL_BOX_TEMPERATURE_LIMIT Control box temperature too high(>{}℃) 控制箱温度过高
30044 ROBOT_EMERGENCY_STOP Robot emergency stop 机器人急停
30045 ROBOTMODE_CHANGED Robot mode changed: {} 机器人模式变更
30046 ROBOTMODE_ERROR Wrong robot mode: {} 错误的机器人模式
30047 POSE_OUT_OF_REACH Target pose [{}] out of reach 目标位姿不可达
30048 TP_PLAN_FAILED Trajectory plan FAILED. 轨迹规划失败
30049 START_FORCE_FAILED Start force control failed, because force sensor does not exist. 启动力控失败，力传感器不存在
30050 OVER_SAFE_PLANE_LIMIT {} axis exceeds the safety plane limit (Move_type:{} id:{}). 轴超出安全平面限制 请将机器人移动到安全平面范围内
30051 POWERON_FAIL_VIOLATION Failed to power on because the robot safety mode is in violation 上电失败，机器人安全模式处于违规状态
30052 POWERON_FAIL_SYSTEMEMERGENCYSTOP Failed to power on because the robot safety mode is in system emergency stop 上电失败，机器人安全模式处于系统急停
30053 POWERON_FAIL_ROBOTEMERGENCYSTOP Failed to power on because the robot safety mode is in robot emergency stop 上电失败，机器人安全模式处于机器人急停 在机器人安全运动范围内弹出示教器上的红色急停按钮
30054 POWERON_FAIL_FAULT Failed to power on because the robot safety mode is in fault 上电失败，机器人安全模式处于故障状态
30055 STARTUP_FAIL_VIOLATION Failed to startup because the robot safety mode is in violation 启动失败，机器人安全模式处于违规状态 同上对应安全模式
30056 STARTUP_FAIL_SYSTEMEMERGENCYSTOP Failed to startup because the robot safety mode is in system emergency stop 启动失败，机器人安全模式处于系统急停
30057 STARTUP_FAIL_ROBOTEMERGENCYSTOP Failed to startup because the robot safety mode is in robot emergency stop 启动失败，机器人安全模式处于机器人急停 在机器人安全运动范围内弹出示教器上的红色急停按钮
30058 STARTUP_FAIL_FAULT Failed to startup because the robot safety mode is in fault 启动失败，机器人安全模式处于故障状态
30059 BACKDRIVE_FAIL_VIOLATION Failed to backdrive because the robot safety mode is in violation 回驱失败，机器人安全模式处于违规状态 同上对应安全模式
30060 BACKDRIVE_FAIL_SYSTEMEMERGENCYSTOP Failed to backdrive because the robot safety mode is in system emergency stop 回驱失败，机器人安全模式处于系统急停
30061 BACKDRIVE_FAIL_ROBOTEMERGENCYSTOP Failed to backdrive because the robot safety mode is in robot emergency stop 回驱失败，机器人安全模式处于机器人急停 在机器人安全运动范围内弹出示教器上的红色急停按钮
30062 BACKDRIVE_FAIL_FAULT Failed to backdrive because the robot safety mode is in fault 回驱失败，机器人安全模式处于故障状态
30063 SETSIM_FAIL_VIOLATION Switch sim mode failed because the robot safety mode is in violation 切换仿真模式失败因为... 同上对应安全模式
30064 SETSIM_FAIL_SYSTEMEMERGENCYSTOP Switch sim mode failed because the robot safety mode is in system emergency stop 切换仿真模式失败，机器人安全模式处于系统急停
30065 SETSIM_FAIL_ROBOTEMERGENCYSTOP Switch sim mode failed because the robot safety mode is in robot emergency stop 切换仿真模式失败，机器人安全模式处于机器人急停 在机器人安全运动范围内弹出示教器上的红色急停按钮
30066 SETSIM_FAIL_FAULT Switch sim mode failed because the robot safety mode is in fault 切换仿真模式失败，机器人安全模式处于故障状态
30067 FREEDRIVE_FAIL_VIOLATION Enable handguide mode failed because the robot safety mode is in violation 启用手导模式失败因为... 同上对应安全模式
30068 FREEDRIVE_FAIL_SYSTEMEMERGENCYSTOP Enable handguide mode failed because the robot safety mode is in system emergency stop 启用手导模式失败，机器人安全模式处于系统急停
30069 FREEDRIVE_FAIL_ROBOTEMERGENCYSTOP Enable handguide mode failed because the robot safety mode is in robot emergency stop 启用手导模式失败，机器人安全模式处于机器人急停 在机器人安全运动范围内弹出示教器上的红色急停按钮
30070 FREEDRIVE_FAIL_FAULT Enable handguide mode failed because the robot safety mode is in fault 启用手导模式失败，机器人安全模式处于故障状态
30071 UPFIRMWARE_FAIL_VIOLATION Firmware update failed because the robot safety mode is in violation 固件更新失败因为... 同上对应安全模式
30072 UPFIRMWARE_FAIL_SYSTEMEMERGENCYSTOP Firmware update failed because the robot safety mode is in system emergency stop 固件更新失败，机器人安全模式处于系统急停
30073 UPFIRMWARE_FAIL_ROBOTEMERGENCYSTOP Firmware update failed because the robot safety mode is in robot emergency stop 固件更新失败，机器人安全模式处于机器人急停 在机器人安全运动范围内弹出示教器上的红色急停按钮
30074 UPFIRMWARE_FAIL_FAULT Firmware update failed because the robot safety mode is in fault 固件更新失败，机器人安全模式处于故障状态
30075 SETPERSOSTENT_FAIL_VIOLATION Set persistent parameter failed because the robot safety mode is in violation 设置持久参数失败因为... 同上对应安全模式
30076 SETPERSOSTENT_FAIL_SYSTEMEMERGENCYSTOP Set persistent parameter failed because the robot safety mode is in system emergency stop 设置持久参数失败，机器人安全模式处于系统急停
30077 SETPERSOSTENT_FAIL_ROBOTEMERGENCYSTOP Set persistent parameter failed because the robot safety mode is in robot emergency stop 设置持久参数失败，机器人安全模式处于机器人急停 在机器人安全运动范围内弹出示教器上的红色急停按钮
30078 SETPERSOSTENT_FAIL_FAULT Set persistent parameter failed because the robot safety mode is in fault 设置持久参数失败，机器人安全模式处于故障状态
30079 SETPERSOSTENT_FAIL_PARAM_ERR Set persistent parameter failed 设置持久参数失败 (a) 检查参数格式，是否都是浮点数
30080 ROBOT_CABLE_DISCONN Robot cable not connected 机器人电缆未连接 (a) 确保控制箱和机械臂之间的电缆正确连接且无损坏 (b) 检查松动连接 (c) 完整重启 (d) 更新软件 (e) 联系当地 AUBO 服务提供商
30081 TP_TOO_SHORT The generated trajectory is ignored because it is too short 生成的轨迹被忽略因为太短 (a) 检查添加的路点是否重合 (b) 如是圆弧运动，检查三点是否共线
30082 INV_KIN_FAIL Inverse kinematics solution failed. The target pose may be in a singular position or exceed the joint limits 逆运动学解算失败 目标位姿可能在奇异位置或超出关节限制；更改目标位姿重试
30083 FREEDRIVE_ENABLED Freedrive status changed to {} 自由驱动状态变更
30084 TP_INV_FAIL_REFERENCE_JOINT_OUT_OF_LIMIT Inverse kinematics solution failed. Reference angle [{}] exceeds joint limit [{}]. 逆运动学解算失败，参考角度超出关节限制
30085 TP_INV_FAIL_NO_SOLUTION Inverse kinematics solution failed. The reference angle [{}] and the target angle [{}] are used as parameters. there is no solution in the calculation of the inverse solution process. 逆运动学解算失败，无解
30086 SERVO_FAIL_VIOLATION Switch servo mode failed because the robot safety mode is in violation 切换伺服模式失败，机器人安全模式处于违规状态
30087 SERVO_FAIL_SYSTEMEMERGENCYSTOP Switch servo mode failed because the robot safety mode is in system emergency stop 切换伺服模式失败，机器人安全模式处于系统急停
30088 SERVO_FAIL_ROBOTEMERGENCYSTOP Switch servo mode failed because the robot safety mode is in robot emergency stop 切换伺服模式失败，机器人安全模式处于机器人急停 在机器人安全运动范围内弹出示教器上的红色急停按钮
30089 SERVO_FAIL_FAULT Switch servo mode failed because the robot safety mode is in fault 切换伺服模式失败，机器人安全模式处于故障状态
30090 FREEDRIVE_FAIL_NO_RUNNING Enable handguide mode failed because the robot mode type is {}(not running) 启用手导模式失败，机器人模式未运行
30091 RUNTIME_MACHINE_ERROR The state of the running machine is {}, not {}. {} function execution failed because the state is wrong. 运行机器状态错误
30092 RESUME_FAR_PAUSE_PT Cannot resume from joint position [{}].\nToo far away from paused point [{}]. 无法从关节位置恢复，距离暂停点太远
30093 PAYLOAD_LIGHTER_ERROR The payload setting is too small! 负载设置太小！
30094 PAYLOAD_OVERLOAD_ERROR The payload setting is too large! 负载设置太大！
30095 PAUSE_FAIL_NOT_POSITION_PLAN_MODE This motion does not support the pause function. The motion is stopping. 此运动不支持暂停功能
30096 TP_PLAN_FAILED_CIRCULAR_WAYPOINTS_COINCIDE The planning failed because the three waypoints of the arc were determined to coincide. 规划失败，圆弧的三个路点被确定为重合 检查圆弧路点确保它们不同
30097 SERVO_WRONG_SAFETYMODE Switch servo mode failed because the robot safety mode is in {}. 切换伺服模式失败，安全模式错误 检查圆弧路点确保它们不同
30098 SET_PERSTPARAM_WRONG_SAFETYMODE Set persistent parameter failed because the robot safety mode is in {} 设置持久参数失败，安全模式错误
30099 SET_KINPARAM_WRONG_SAFETYMODE Set Kinematics Compensate parameters failed because the robot safety mode is in {} 设置运动学补偿参数失败，安全模式错误
30100 SET_ROBOT_ZERO_WRONG_SAFETYMODE Set current joint angles to zero failed because the robot safety mode is in {} 设置当前关节角度为零失败，安全模式错误
30101 UPFIRMWARE_WRONG_SAFETYMODE Firmware update failed because the robot safety mode is in {} 固件更新失败，安全模式错误
30102 POWERON_WRONG_SAFETYMODE Failed to power on because the robot safety mode is in {} 上电失败，安全模式错误
30103 STARTUP_WRONG_SAFETYMODE Failed to startup because the robot safety mode is in {} 启动失败，安全模式错误
30104 BACKDRIVE_WRONG_SAFETYMODE Failed to backdrive because the robot safety mode is in system emergency stop 回驱失败，安全模式错误
30105 SETSIM_WRONG_SAFETYMODE Switch sim mode failed because the robot safety mode is in violation 切换仿真模式失败，安全模式错误
30106 FREEDRIVE_WRONG_SAFETYMODE Enable handguide mode failed because the robot safety mode is in wrong safety mode: {} 启用手导模式失败，安全模式错误
30107 TP_PLAN_FAILED_JOINT_JUMP_BIGGER Inverse kinematics solution failed. The target point and the current point are in different robot configuration spaces. 逆运动学解算失败，目标点和当前点在不同的机器人构型空间 在目标点和当前点之间添加更多点
30108 RUN_PROGRAM_FAILED Run program {} failed. 运行程序失败
30109 FREEDRIVE_FAIL_WRONG_RTMSTATE Unable to enter the HandGuide mode as the robot is not currently in a stopped or paused state. 无法进入手导模式，机器人未处于停止/暂停状态
30110 SAFEGUARDSTOP_CONFIGURABLE_INPUT Configurable safety input is triggered. 可配置安全输入被触发
30111 SAFEGUARDSTOP_3PE 3PE is triggered. 3PE 被触发
30112 SAFEGUARDSTOP_SI SI0/SI1 is triggered. SI0/SI1 被触发
30200 ROBOT_TYPE_CHANGED Robot type changed to '{}', and robot subtype changed to '{}' 机器人类型变更
30201 LINKMODE_CHANGED Link mode changed to {} 链接模式变更
30301 ROBOT_SELF_COLLISION Detect risk of robot self collision 检测到机器人自碰撞风险
30302 CONSTANT_INVALID Joint torque constants are invalid. HandGuide will be disabled, and the collision protection may be triggered by mistake. 关节扭矩常数无效 手导模式将被禁用，碰撞保护可能误触发
30303 GRAVITY_INVALID Abnormal value of gravity acceleration sensor. HandGuide will be disabled, and the collision protection may be triggered by mistake. 重力加速度传感器值异常 手导模式将被禁用，碰撞保护可能误触发
30304 DYNAMICS_INVALID Robot dynamics parameters are invalid. HandGuide will be disabled, and the collision protection may be triggered by mistake. 机器人动力学参数无效 手导模式将被禁用，碰撞保护可能误触发
30305 FRICTION_INVALID Joint friction parameters are invalid. HandGuide will be disabled, and the collision protection may be triggered by mistake. 关节摩擦参数无效 手导模式将被禁用，碰撞保护可能误触发
30306 HANDGUIDE_UNDER_DEVELOP Robot type of {} function under development. HandGuide will be disabled, and the collision protection may be triggered by mistake. 机器人类型功能开发中 手导模式将被禁用，碰撞保护可能误触发
30307 SLOW_DOWN_INFO Slow down level changed to {}({}%) 减速级别变更
30308 WRONG_JOINT_DESIGNED_LIMIT Joint designed ranges exceeds ranges read from hardware interface. 关节设计范围超出硬件接口读取范围
30309 FREEDRIVE_IN_SIMULATION Enable handguide mode failed because the robot is in simulation mode. 启用手导模式失败，机器人处于仿真模式
30310 ROBOT_STOPPING_TIMEOUT Robot stopping timeout. 机器人停止超时
30311 PSTOP_INCORRECT_FORCE_OFFSET Protective Stop: Sudden change in force control target position. Force sensor offset may be incorrect or force sensor fault. 保护停止：力控目标位置突变 力传感器偏置可能不正确或力传感器故障
30312 WRONG_JOINT_SAFETY_LIMIT Joint safety ranges exceeds designed ranges. 关节安全范围超出设计范围
30401 PSTOP_TCP_PLANE_VIOLATION Protective Stop: TCP position close to safety plane limits. 保护停止：TCP 位置接近安全平面限制
30402 PSTOP_ELBOW_PLANE_VIOLATION Protective Stop: elbow position close to safety plane limits. 保护停止：肘部位置接近安全平面限制
30403 PSTOP_JOINT_TORQUE_VIOLATION Protective Stop: joint{} exceeds torque limit. 保护停止：关节超出扭矩限制
30404 PSTOP_JOINT_POSITION_VIOLATION Protective Stop: joint{} exceeds position limit. 保护停止：关节超出位置限制
30405 PSTOP_JOINT_SPEED_VIOLATION Protective Stop: joint{} exceeds speed limit. 保护停止：关节超出速度限制
30406 PSTOP_TCP_SPEED_VIOLATION Protective Stop: TCP speed close to safety limits. 保护停止：TCP 速度接近安全限制
30407 PSTOP_ELBOW_SPEED_VIOLATION Protective Stop: elbow speed close to safety limits. 保护停止：肘部速度接近安全限制
30408 PSTOP_TCP_FORCE_VIOLATION Protective Stop: TCP foece close to safety limits. 保护停止：TCP 力接近安全限制
30409 PSTOP_ELBOW_TORQUE_VIOLATION Protective Stop: elbow torque close to safety limits. 保护停止：肘部扭矩接近安全限制
30410 PSTOP_POWER_VIOLATION Protective Stop: robot power close to safety limits. 保护停止：机器人功率接近安全限制
30411 PSTOP_MOMENTUM_VIOLATION Protective Stop: robot momentum close to safety limits. 保护停止：机器人动量接近安全限制
30412 PSTOP_TCP_CUBE_VIOLATION Protective Stop: TCP position close to safety cube. 保护停止：TCP 位置接近安全立方体
30413 PSTOP_ELBOW_CUBE_VIOLATION Protective Stop: TCP position close to safety cube. 保护停止：肘部位置接近安全立方体
30414 REDUCE_ELBOW_PLANE_TRIGGER Reduce mode: elbow close to safety plane triggers reduction mode. 减速模式：肘部接近安全平面触发减速
30415 REDUCE_TCP_PLANE_TRIGGER Reduce mode: TCP close to safety plane triggers reduction mode. 减速模式：TCP 接近安全平面触发减速
30416 PSTOP_MOVE_OUT_RANGE Joint {} has exceeded the limit, please do not continue to move out of the range 关节已超出限制 请勿继续向外移动
30417 RESUME_PAUSE_FAILED Resume Failed: Safety mode type is {} 恢复失败：安全模式类型为 {}
30418 FIRMWARE_UPDATE_FAIL_EMERGENCYSTOP Failed to firmware update because the robot safety mode is in {} 固件更新失败，机器人安全模式处于急停 在机器人安全运动范围内释放急停
30419 TOOL_SENSOR_CHANGED Tool sensor type changed to {} 工具传感器类型变更
30420 TOOL_SENSOR_REMOVED Tool sensor is removed. 工具传感器已移除
30421 CAL_TARGET_CURRENT_ERR The calculation of the target current failed. Please try again later. 目标电流计算失败 请稍后重试
30422 CONVEYOR_MODE_CHANGED Conveyor{}: track mode changed to {}, track item id is {} 传送带模式/队列变更 根据具体项目 ID 和模式检查
30423 CONVEYOR_ENQUEUE Conveyor{}: the queue has been changed, item{} is enqueue 传送带 {} : 队列已变更，项目 {} 入队
30424 CONVEYOR_DEQUEUE_FINISH Conveyor{}: the queue has been changed, item{} dequeue due to track finished 传送带 {} : 队列已变更，项目 {} 因轨迹完成出队
30425 CONVEYOR_DEQUEUE_STARTWINDOW Conveyor{}: the queue has been changed, item{} dequeue due to exceeds startwindow 传送带 {} : 队列已变更，项目 {} 因超出启动窗口出队
30426 CONVEYOR_DEQUEUE_LIMIT Conveyor{}: the queue has been changed, item{} dequeue due to exceed limit area 传送带 {} : 队列已变更，项目 {} 因超出限制区域出队
30427 CONVEYOR_DEQUEUE_CLEAR Conveyor{}: item queue is cleared 传送带 {} : 项目队列已清空
30428 CONVEYOR_NEXT_TRACK Conveyor{}: item{} inside the start window that can be tracked 传送带 {} : 项目 {} 在可追踪的启动窗口内
30429 CONVEYOR_EXCEED_LIMIT Conveyor{}: item{} exceeds the limit area during tracking 传送带 {} : 项目 {} 在追踪期间超出限制区域
30430 WRONG_POWER_SAFETY_LIMIT Robot power safety value exceeds designed value. 机器人功率安全值超出设计值
30431 WRONG_POWER_DESIGNED_LIMIT Power designed value exceeds value read from hardware interface. 功率设计值超出硬件接口读取值
30432 TOOL_SENSOR_STATUS_CHANGED Tool sensor status changed to {} 工具传感器状态变更
30433 COLLISION_THRESHOLD_INVALID Robot collision threshold parameters are invalid.Please reidentify the threshold or modify the configuration to ensure that it does not cause accidental collisions. 机器人碰撞阈值参数无效 请重新识别阈值或修改配置确保不会引起意外碰撞
30434 GRIPPER_DISCONNECT The gripper {} is disconnected. 夹爪断开连接
30435 GRIPPER_UNKNOWN_FAULT There is an unknown fault with the gripper {} 夹爪未知故障
30436 GRIPPER_CURRENT_ANOMALY_FAULT There is an abnormal current fault with the gripper {} 夹爪电流异常故障
30437 GRIPPER_VOLTAGE_ANOMALY_FAULT There is an abnormal voltage fault with the gripper {} 夹爪电压异常故障
30438 GRIPPER_OVER_TEMPERATURE_FAULT There is an over-temperature fault with the gripper {} 夹爪过温故障
30439 GRIPPER_INTERNAL_FAULT There is an internal fault with the gripper {} 夹爪内部故障
30440 GRIPPER_COMMUNICATION_FAULT There is an communication fault with the gripper {} 夹爪通信故障
30441 GRIPPER_CONTROL_COMMAND_FAULT There is an control command fault with the gripper {} 夹爪控制命令故障
30442 GRIPPER_ENABLE_FAULT There is an enable fault with the gripper {} 夹爪使能故障
30443 WRIST_SINGULARITY_RISK Wrist singularity detected. Linear motion may cause excessive joint speed.Adjust robot posture to avoid J5 near 0° or 180°, or use joint motion instead of linear motion. 检测到手腕奇异点 线性运动可能导致关节超速。调整机器人姿态避免 J5 接近 0°或 180°，或使用关节运动代替线性运动
30444 PSTOP_PATH_OFFSET_OVER_LIMIT Protective Stop: the offset of the robot has exceeded the limit. 保护停止：机器人偏移量已超限

工具错误 (40001 - 40034)

错误码 名称 描述 描述(中文) 建议
40001 TOOL_FLASH_VERIFY_FAILED Flash write verify failed Flash 写入验证失败
40002 TOOL_PROGRAM_CRC_FAILED Program flash checksum failed during bootloading 引导加载期间程序 Flash 校验和失败
40003 TOOL_PROGRAM_CRC_FAILED2 Program flash checksum failed at runtime 运行时程序 Flash 校验和失败
40004 TOOL_ID_UNDIFINED Tool ID is undefined 工具 ID 未定义
40005 TOOL_ILLEGAL_BL_CMD Illegal bootloader command 非法引导加载命令
40006 TOOL_FW_WRONG Wrong firmware at the joint 关节固件错误
40007 TOOL_HW_INVALID Invalid hardware revision 无效硬件版本
40011 TOOL_SHORT_CURCUIT_H Short circuit detected on Digital Output: {} high side 数字输出高侧检测到短路
40012 TOOL_SHORT_CURCUIT_L Short circuit detected on Digital Output: {} low side 数字输出低侧检测到短路
40013 TOOL_AVERAGE_CURR_HIGH 10 second Average tool IO Current of {} A is outside of the allowed range. 10 秒平均工具 IO 电流超出允许范围
40014 TOOL_POWER_PIN_OVER_CURR Current of {} A on the POWER pin is outside of the allowed range. POWER 引脚电流超出允许范围
40015 TOOL_DOUT_PIN_OVER_CURR Current of {} A on the Digital Output pins is outside of the allowed range. 数字输出引脚电流超出允许范围
40016 TOOL_GROUND_PIN_OVER_CURR Current of {} A on the ground pin is outside of the allowed range. 接地引脚电流超出允许范围
40021 TOOL_RX_FRAMING RX framing error 接收帧错误
40022 TOOL_RX_PARITY RX Parity error 接收奇偶校验错误
40031 TOOL_48V_LOW 48V input is too low 48V 输入过低
40032 TOOL_48V_HIGH 48V input is too high 48V 输入过高
40033 TOOL_ERR_OFFLINE tool error: tool may be offline 工具可能离线 (a) 检查工具硬件 (b) 检查关节 ID
40034 TOOL_ERR_BOOTLOADER tool error: The tool is in bootloader mode. Retry firmware update. 工具处于引导模式 重试固件更新

工具扩展错误 (40101 - 40200)

错误码 名称 描述 描述(中文) 建议
40101 EX_TOOL_EC_LOW_VOLTAGE tool error: low voltage check tool power supply voltage
40102 EX_TOOL_EC_FORCESENSOR_COMM tool error: external force sensor communication error check external force sensor communication connection
40103 EX_TOOL_485_SENDFULL_COMM tool error: 485 transparent transmission buffer full check 485 communication load and transmission frequency
40104 EX_TOOL_FORCESENSOR_FILTER_ZERO tool error: force sensor filter parameter is zero check force sensor filter parameter configuration
40200 EX_TOOL_EC_UNKNOWN tool error: unknown error check controller logs and hardware status

基座错误 (50001 - 50003)

错误码 名称 描述 描述(中文) 建议
50001 PKG_LOST Lost package from pedestal 机器人底座相关错误
50002 PEDSTRAL_OFFLINE pedestal error: pedestal may be offline 底座可能离线 (a) 检查底座硬件 (b) 检查底座 ID
50003 PEDESTAL_ERR_BOOTLOADER pedestal error: The pedestal is in bootloader mode. Retry firmware update. 底座处于引导模式 重试固件更新

基座扩展错误 (50101 - 50200)

错误码 名称 描述 描述(中文) 建议
50101 EX_BASE_EC_LOW_VOLTAGE pedstral error: low voltage check power supply voltage and battery status
50102 EX_BASE_EC_OVER_TEMPERATURE_RES pedstral error: resistor over temperature check braking resistor temperature and cooling condition
50103 EX_BASE_EC_OVER_TARGET_BRAKE_OPEN_VOLT pedstral error: input voltage close to or exceeds regenerative brake activation voltage check input power voltage and regenerative braking configuration
50104 EX_BASE_EC_RES_BREAKAGE pedstral error: brake resistor breakage check whether the brake resistor is disconnected or damaged
50105 EX_BASE_EC_IMU_CALIBRATE pedstral error: IMU calibration required perform IMU calibration according to maintenance procedure
50106 EX_BASE_EC_TEMP_SENSOR_SHORT pedstral error: temperature sensor short circuit check temperature sensor wiring and solder joints for short circuit
50107 EX_BASE_EC_TEMP_SENSOR_BREAK pedstral error: temperature sensor open circuit check temperature sensor connection and cable continuity
50108 EX_BASE_EC_96V_INSTANT_OVER_VOLTAGE pedstral error: 96V instantaneous over voltage after regenerative braking check regenerative braking behavior and power bus voltage
50200 EX_BASE_EC_UNKNOWN pedstral error: unknown error check controller logs and hardware status

硬件接口错误 (60001 - 60080)

错误码 名称 描述 描述(中文) 建议
60001 HW_SCB_SETUP_FAILED Setup of Interface Board failed 接口板设置失败
60002 HW_PKG_CNT_DISAGEE Packet counter disagreements 数据包计数器不一致
60003 HW_SCB_DISCONNECT Connection to Interface Board lost 与接口板的连接丢失
60004 HW_SCB_PKG_LOST Package lost from Interface Board 丢失来自接口板的数据包
60005 HW_SCB_CONN_INIT_FAILED Ethernet connection initialization with Interface Board failed 与接口板的以太网连接初始化失败
60006 HW_LOST_JOINT_PKG Lost package from joint {} 丢失来自关节的数据包
60007 HW_LOST_TOOL_PKG Lost package from tool 丢失来自工具的数据包
60008 HW_JOINT_PKG_CNT_DISAGREE Packet counter disagreement in packet from joint {} 来自关节的数据包计数器不一致
60009 HW_TOOL_PKG_CNT_DISAGREE Packet counter disagreement in packet from tool 来自工具的数据包计数器不一致
60011 HW_JOINTS_FAULT {} joint entered the Fault State 关节进入故障状态
60012 HW_JOINTS_VIOLATION {} joint entered the Violation State 关节进入违规状态
60013 HW_TP_FAULT Teach Pendant entered the Fault State 示教器进入故障状态
60014 HW_TP_VIOLATION Teach Pendant entered the Violation State 示教器进入违规状态
60021 HW_JOINT_MV_TOO_FAR {} joint moved too far before robot entered RUNNING State 机器人进入运行状态前关节移动过远
60022 HW_JOINT_STOP_NOT_FAST Joint Not stopping fast enough 关节停止不够快
60023 HW_JOINT_MV_LIMIT Joint moved more than allowable limit 关节移动超出允许限制
60024 HW_FT_SENSOR_DATA_INVALID Force-Torque Sensor data invalid 力扭矩传感器数据无效
60025 HW_NO_FT_SENSOR Force-Torque sensor is expected, but it cannot be detected 预期有力扭矩传感器但无法检测到
60026 HW_FT_SENSOR_NOT_CALIB Force-Torque sensor is detected but not calibrated 检测到力扭矩传感器但未校准
60030 HW_RELEASE_BRAKE_FAILED Robot was not able to brake release, see log for details 机器人无法释放制动 查看日志获取详情
60040 HW_OVERCURR_SHUTDOWN Overcurrent shutdown 过流关机
60050 HW_ENERGEY_SURPLUS Energy surplus shutdown 能量过剩关机
60060 HW_IDLE_POWER_HIGH Idle power consumption to high 空闲功耗过高
60071 HW_ENTER_COLLISION_TIMEOUT Enter collision stop procedure timeout 进入碰撞停止程序超时
60072 HW_POWERON_TIMEOUT Poweron robot timeout 机器人上电超时
60073 HW_NO_NIC_FOUND No network cards found. 未找到网卡
60074 HW_IFB_NOT_FOUND No Interface Board found. 未找到接口板
60075 HW_IFB_BOOTLOAD The Interface Board is in bootloader mode. Update firmware firstly. 接口板处于引导模式 先更新固件
60076 HW_TOOL_NOT_FOUND No Tool Board found. 未找到工具板
60077 HW_BASE_NOT_FOUND No Base Board found. 未找到底板
60078 HW_BRINGUP_TIMEOUT Poweron robot timeout 机器人上电超时
60079 HW_COLLISION_RECOVERY_FAILED Collision recovery failed 碰撞恢复失败
60080 HW_TP_ENABLED Teach pendant enabled status changed to {} 示教器使能状态变更

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