Troubleshooting
This section explains the common issues while using the Trossen Arm and the corresponding solutions.
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: UDP Init Failed
Description: Controller’s UDP interface 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 Enable Failed
Description: Joint enable command failed.
Solution: Check the controller to arm connection.
6: Joint Disable Failed
Description: Joint disable command failed.
Solution: Check the controller to arm connection.
7: Joint Set Home Failed
Description: Joint home calibration command failed.
Solution: Check the controller to arm connection.
8: Joint Disabled Unexpectedly
Description: Joint disabled unexpectedly.
Solution: Check the controller to arm connection.
9: Joint Overheated
Description: Joint overheated.
Solution: Turn off the controller to cool down the joint.
10: Invalid Mode
Description: Invalid mode command received.
Solution: Check that the driver version matches the controller firmware version.
11: Invalid Robot Command
Description: Invalid robot command indicator received.
Solution: Check that the driver version matches the controller firmware version.
12: Invalid Robot Command Size
Description: Robot command with unexpected size 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: Invalid Pending Command
Description: Invalid pending command.
Solution: Flash the controller firmware of a different version.
15: 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.
16: Robot Input Discontinuous
Description: Discontinuous robot input received.
Solution: Check that the joint inputs are continuous and are sent at higher than 300 Hz. For more details, please refer to continuity_factors.