Robotic Arm Anomaly Viewing and Handling Methods
When the robotic arm fails to execute a motion command, the corresponding exception information can be queried in the Python terminal. For example:
Reading Robot Status
Status Feedback Analysis
Normally, this interface returns ok. The robot status is read as follows:
from ultraArm_P1_lib import UltraArmP1
ua = UltraArmP1('COM3', 1000000) # Serial port connection communication
ua.get_error_information() # Read robot status
Returns:
ok
This indicates that the robot has no joints exceeding limits, no joint hardware errors, and no joint software errors. If there are any errors or exceptions, the corresponding error information will be returned.
```python from ultraArm_P1_lib import UltraArmP1
ua = UltraArmP1('COM3', 1000000) # Serial port connection communication
ua.get_error_information() # Read robot status
Returns:
```bash
ok
This indicates that the robot has no joints exceeding limits, no joint hardware errors, and no joint software errors. If there are any errors or exceptions, the corresponding error information will be returned.` ### Troubleshooting
Joint Exceeding Limits
When a joint exceeds its limits, one of the following solutions can be used:
- Execute the over-limit reset interface:
ua.forced_reset_zero() # The robot will return to its origin slowly
- Execute joint release, manually moving the joint within its limits
ua.set_joint_release(0)
Joint Hardware Errors
Most hardware errors can be recovered using exception handling.
ua.clear_error_status()
If this problem persists after using exception handling or restarting the robot, please contact our engineers.
Joint Errors
Detailed software error reports for each joint:
| Bit (1 byte) | Error Status |
|---|---|
| 0 | J1 Joint Overlimit (1-01-1) |
| 1 | J2 Joint Overlimit (1-01-2) |
| 2 | J3 Joint Overlimit (1-01-3) |
| 3 | J4 Joint Overlimit (1-01-4) |
| 4 | J1 Joint Collision (1-81-1) |
| 5 | J2 Joint Collision (1-81-2) |
| 6 | J3 Joint Collision (1-81-3) |
| 7 | J4 Joint Collision (1-81-4) |
| 8 | J1 Encoder Error (3-08-1) |
| 9 | J2 Encoder Error (3-08-2) |
| 10 | J3 encoder error (3-08-3) |
| 11 | J4 encoder error (3-08-4) |
| 12 | J1 joint dysfunction (3-09-1) |
| 13 | J2 joint dysfunction (3-09-2) |
| 14 | J3 joint dysfunction (3-09-3) |
| 15 | J4 joint dysfunction (3-09-4) |
| 16 | J1 drive board overheating (2-12-1) |
| 17 | J2 drive board overheating (2-12-2) |
| 18 | J3 drive board overheating (2-12-3) |
| 19 | J4 drive board overheating (2-12-4) |
| 20 | J5 (conveyor belt) drive board overheating (2-12-5) |
| 21 | J2, J3 coupling (1-50-0) |
| 22 | No solution for coordinates (1-32-0) |