Troubleshooting
This section explains the common issues while using the Trossen Arm and the corresponding solutions.
Connection Issues
Failed to connect to the arm controller’s TCP server: Connection refused
This warning messages indicates that the drivers is unable to connect to the Trossen Arm controller’s TCP server. This can happen for a few reasons:
Controller Not Powered On
If the controller is not powered on, the driver will not be able to connect to it. To resolve this, check that the controller is powered on and the status LED is solid green.
Controller Not Connected to the Network
If the controller is not connected to the network, the driver will not be able to connect to it. To resolve this, check that the controller is connected to the network and the network cable is plugged in on both ends.
Misconfigured Controller IP Address
If the controller’s IP address is not set correctly when configuring the driver, the driver will not be able to connect to it. To resolve this, check that the controller’s IP address is set correctly in the driver’s configuration.
Tip
You can use nmap to search for the controller’s IP address on the network.
For example, if the controller’s IP address is in the 192.168.1.X subnet, you can run the following command to scan that subnet for devices:
nmap -sn 192.168.1.0/24
Incompatible Driver Version
If the driver version is not compatible with the controller firmware version, the driver will not be able to connect to it. Driver and firmware versions are compatible if they have the same minor version number. See the guide on updating the controller firmware in Software Upgrade for more information.
Error Codes
Expected Error Handling Behavior
Depending on when the error occurs, the Trossen Arm exhibits different behaviors.
Timing of Error |
Expected Behavior |
|---|---|
At startup |
|
During operation |
|
Specific Error States
The next step is to identify and resolve the specific error state.
After carrying out the proposed solution, please do one of the following.
restart the controller (recommended)
clear the error at the driver’s
configure(...)call
If the problem persists, please submit a support ticket at Trossen Robotics Support.
Select the error code from the list below to view the description and solution:
0: None
Description: No error.
Solution: No action needed.
1: Ethernet Init Failed
Description: Controller’s Ethernet manager failed to initialize.
Solution: Check the network connection.
2: CAN Init Failed
Description: Controller’s CAN interface failed to initialize.
Solution: Check the controller to arm connection.
3: Joint Command Failed
Description: Controller’s CAN interface failed to send a message.
Solution: Check the controller to arm connection.
4: Joint Feedback Failed
Description: Controller’s CAN interface failed to receive a message.
Solution: Check the controller to arm connection.
5: Joint Clear Error Failed
Description: Joint clear error command failed.
Solution: Check the controller to arm connection.
6: Joint Enable Failed
Description: Joint enable command failed.
Solution: Check the controller to arm connection.
7: Joint Disable Failed
Description: Joint disable command failed.
Solution: Check the controller to arm connection.
8: Joint Set Home Failed
Description: Joint home calibration command failed.
Solution: Check the controller to arm connection.
9: Joint Disabled Unexpectedly
Description: Joint disabled unexpectedly.
Solution: Check the controller to arm connection.
10: Joint Overheated
Description: Joint overheated.
Solution: Turn off the controller to cool down the joint.
11: Invalid Mode
Description: Invalid mode command received.
Solution: Check that the driver version matches the controller firmware version.
12: Invalid Robot Command
Description: Invalid robot command indicator received.
Solution: Check that the driver version matches the controller firmware version.
13: Invalid Configuration Address
Description: Invalid configuration address.
Solution: Check that the driver version matches the controller firmware version.
14: Robot Input Mode Mismatch
Description: Robot input with modes different than configured modes received.
Solution: Verify that the sent joint inputs match the configured modes.
15: Joint Limit Exceeded
Description: Joint limit exceeded.
Solution: Check that the joint inputs are within the joint limits. Please refer to Joint Limits for how the joint limits work.
16: Robot Input Infinite
Description: Robot input with infinite values received.
Solution: Check that the joint inputs are finite. Possible causes are:
Incorrect scripting logic
The robot is close to a singular configuration while operating in Cartesian space