50000

cannot load plugin:xxx

Internal plug-in loading error

Problems caused by incompatible update packages or broken installation packages

1. Obtain the update package or installation package again and update it
2. If the fault cannot be solved, contact the after-sales service

50001

resource exhaustion

The internal resources of the robot are exhausted

Program exception

1. If the fault cannot be solved, contact the after-sales service

50002

lua error

An internal lua call failed

Update packet exception

1. Obtain the update package or installation package again and update it
2. If the fault cannot be solved, contact the after-sales service

50100

map parse error

Map parsing error

50101

map load error

Map loading error

The exception map was pushed

1. Use Roboshop to edit the push map again. 2

50102

map is too large

Map area too large

The area of the map pushed is too large

1. Check the map area to make sure it is less than 200000 square meters
2. If the fault cannot be solved, contact the after-sales service

50103

map is empty

Map data is empty

The exception map was pushed

1. Re-edit the push map using Roboshop

50104

map meta error

Map metadata error

The map was modified by an external exception

1. Re-edit and upload maps using Roboshop

50105

map resolution is illegal

Illegal map resolution

The map is broken, or the map version is wrong

1. Use Roboshop to open and save the map, and then upload the map again
2. If the fault cannot be solved, contact the after-sales service

50106

map format invalid

Illegal map format

The map is broken, or the map version is wrong

1. Use Roboshop to open and save the map, and then upload the map again. 2. Unable to solve, please contact after-sales

50200

load mobilerobots lib error

Error loading mobilerobots

The problem is caused by the damaged update package or installation package

1. Obtain the update package or installation package again and update it
2. If the fault cannot be solved, contact the after-sales service

50201

Failed to initialize mobilerobots

mobilerobots initialization error

The problem is caused by the damaged update package or installation package

1. Obtain the update package or installation package again and update it
2. If the fault cannot be solved, contact the after-sales service

50202

mobilerobots register error

Error registering mobilerobots

The problem is caused by the damaged update package or installation package

1. Obtain the update package or installation package again and update it
2. If the fault cannot be solved, contact the after-sales service

50203

unsupported robot motion model

Unsupported robot motion model

Unsupported robot motion model

1. Use Roboshop to confirm whether the robot model is correct and upload the model file again
2. If the fault cannot be solved, contact the after-sales service

50204

can not find mobilerobots

No corresponding motion model can be found

No corresponding motion model can be found

1. Use Roboshop to confirm whether the chassis configuration in the robot model is correct and upload the model file again
2. Obtain the update package or installation package again and update it
3. If the fault cannot be solved, contact the after-sales service

50301

dsp firmware model can not get

The firmware did not get the underlying model file

The bottom plate is not connected, the bottom plate is disconnected, etc

1. Restart the VM
2. If the fault cannot be solved, contact the after-sales service

50304

firmware version too low

The firmware version is too low. Procedure

The firmware version is too low. Procedure

1. Upgrade the corresponding firmware version
2. If it cannot be updated or restored, contact after-sales personnel

50305

firmware model unreachable

Failed to obtain the model file. Procedure

The firmware does not match and the network is disconnected

1. Pull the model file again
2. Check whether the network interferes
3. Contact the customer

50401

battery too low and shutdown

The robot automatically shuts down when the battery is too low

The robot battery is low

1. Please charge it in time
2. Modify the battery error threshold in the model file

50402

temperature of battery is too high

Battery temperature is too high.

Battery temperature is too high.

1. Contact the battery supplier. 2. Modify the battery temperature threshold in the model file

52000

mode is not activated

Advanced motor models not activated (omni, steer, multisteer, etc.)

Activation failed and expired. Procedure

1. It is automatically deleted after being activated
2. If it is not activated, no action is required
3. Check whether the chassis type selected by chassis in the model file is activated.
4. Check whether the sent command contains inactive functions

52001

Failed to initialize mobilerobots

Failed to initialize the robot. Procedure

Activation fails, the activation expires, and the installation package is damaged

1. It is automatically deleted after being activated
2. If it is not activated, no action is required
3. Check whether the chassis type selected by chassis in the model file is activated.
4. Check whether the sent command contains inactive functions
5. The installation package is damaged

52010

robot model uninitialized

The robot model file is not initialized

1. When the baseplate does not communicate during startup, the model file is pushed

1. After an error is reported, check whether the alarm code is automatically cleared in 30 seconds. If it is automatically cleared, push the model file again
2. Check whether the communication between the mainboard is normal

52015

stations with the same id number in the map

The map site has the same id

It may appear when the map is updated

1. Use roboshop to check map format and whether there are points with the same id.
2. Upload the correct map and the error will be cleared.

52019

Detect less than 3 reflectors

Less than three reflectors detected

The number of reflectors seen at the current position is less than 3 when using reflectors for positioning

Make sure you have enough reflectors in the reflector area so that you see more than 3 reflectors at all times

52030

roller error

The Modbus controlled roller has an error

Drum error, generally may be caused by a sudden stop

After the emergency stop is triggered, clear the previous logic errors. After receiving a new control command, clear the previous logic errors
1: Available material of roller (feeding)
2: roll no material (blanking)
3: feeding timeout (30s)
4: blanking timeout (30s)
5: The material is too long
6: The left baffle action times out
7: The right baffle action times out
8: pre-feeding timeout

52031

roller or jack or hook disconnected

The peripheral (roller, jacking or traction) connection is disconnected

1. The configuration of the model file peripheral module is incorrect
2. The power supply or cable connection to the module is abnormal

1. Check whether the configuration of peripheral modules in the Roboshop robot model is correct
2. Check whether the peripheral module is correctly powered on
3. Check whether cables to the peripheral module are correctly connected
4. If the fault persists, contact the after-sales service

52034

ModbusJack error or
ModbusTractor error

There is an error on the Jack or Tractor controlled by Modbus

There is an error in Jack or Tractor feedback for Modbus control

1. Check the manual of the Modbus controller for error information
2. If the fault cannot be determined, contact the customer service

52039

hook error

Traction error

Navigation instruction error

1. Send new and reasonable traction commands
2. Press the emergency stop button and resume
3. If the fault persists, contact the after-sales service

52050

arm disconnected

Manipulator connection error

The communication between the manipulator and the car is disconnected

1. Check whether modbus TCP communication of the manipulator is normal
2. If the fault cannot be determined, contact the customer service

52051

Arm GraspLoad to/fromtarget
is illegal
or
Arm GraspLoad/Grasp Unload/Reset: The mb_arm_ctx is NULL
or
Arm GraspLoad/Grasp Unload/Reset timeout
or
Arm GraspLoad/Grasp Unload/Reset: XXXXXX

Manipulator internal error

Arm GraspLoad to/fromtarget
is illegal: To grab/drop an illegal object
Arm GraspLoad/Grasp Unload/Reset: The mb_arm_ctx is NULL: Failed to initialize the modbus connection
Arm GraspLoad/Grasp Unload/Reset timeout: Grasping/setting timeout of the manipulator
Arm GraspLoad/Grasp Unload/Reset: XXXXXX: Failed to read or write the modbus register of the manipulator

1. Check whether the relevant register of the manipulator can read and write normally
2. Check whether the manipulator operates normally
3. Check whether modbus TCP communication of the manipulator is normal
4. If the fault cannot be determined, contact the customer service

52098

cannot connect sick nano laser with same port

The two sick nano lasers in the model file are configured with the same port

1. The two sick nano lasers in the model file are configured with the same port

Use the laser upper computer to set the two laser ports to be different, and then set up a good push in the model file

52099

laser config param error

sick Laser data configuration error

Modified the default laser output range in sick laser upper computer sopas

Use sopas to restore the original laser data output range

52100

can't connect with laser

Laser communication is down

1. If this occurs during startup, check the laser type in the model file, or the laser ip address and port number are incorrect
2. The communication cable of the laser network port is loose, which may cause abnormal communication

1. Configure the correct laser type, ip address, and port. After saving the configuration, the model file can be restored
2. Reinsert the cable. If the cable can be restored, it indicates that the network port or cable is abnormal and needs to be replaced

52101

laser data invalid

All laser point data of the current frame laser are invalid points

The positioning plug-in detects that all laser point data of the current laser are invalid points. Usually, all laser points are considered as invalid points due to incorrect use of filtering parameters in parameter configuration.

Check the configuration parameters _ShadowMinAngle,_ ShadowMaxAngle, ShadowWindow, ShadowNeighbours, and save them as default parameters

52102

localization module cannot get laser data

Location plugin did not receive laser data

1. If this happens during startup, check the laser type in the model file, or the laser ip address and port number are incorrect. 2. The communication cable of the laser network port is loose, which may cause abnormal communication

1. Configure the correct laser type, ip address, and port. After saving the configuration, the model file can be restored
2. Reinsert the cable. If the cable can be restored, it indicates that the network port or cable is abnormal and needs to be replaced

52103

cannot receive laser data from udp

The main control cannot receive data sent by the laser through the udp port

1. If this happens during startup, check the laser type in the model file, or the laser ip address and port number are incorrect. 2. The communication cable of the laser network port is loose, which may cause abnormal communication

1. Configure the correct laser type, ip address, and port. After saving the configuration, the model file can be restored
2. Reinsert the cable. If the cable can be restored, it indicates that the network port or cable is abnormal and needs to be replaced

52104

please set front laser as use for localization

No check box before laser used for positioning

Use frontLaser is checked in the positioning configuration area, but the laser mounted on the front is not set as positioning laser in the model file

Check the engine laser useForLocalization in the model file.

52105

please set back laser as use for localization

No box is checked after laser is used for positioning

The use of backLaser is checked in the positioning configuration area, but the laser mounted on the rear of the car is not set as the positioning laser in the model file

Check the tailgate laser useForLocalization in the model file.

52106

odo data lost

Location plug-in cannot receive mileage data

Motor error or motor mismatch in model file

Check whether the motor communication is normal, or the correct type of motor is configured

52107

There is no corresponding SM point in the switched map

Toggle map in SM point, but no SM point is sent in the current map to be toggle

Check the sent SM points and configure the correct SM points

52110

Error in Gyro. No data received. Gyro.cpp doRun()

The gyroscope did not receive data

Gyroscope firmware is not written, and the gyroscope chip is damaged

Contact the after-sales personnel

52111

motor driver connection error

The driver connection failed and the communication timed out

Incorrect driver Settings, incorrect model configuration, electrical connection problems

1. Check whether the drive works properly, including the baud rate and ID
2. Check whether the driver is properly connected to the CAN bus. Note that the controller is integrated with a terminal resistor
3. Check whether the drive is correctly configured
4. Check whether the driver brand in the configuration of the robot model is correctly configured
5. Please refer to the drive error checking process document provided by our company
6. If it still cannot be recovered, contact the after-sales service

52112

ultrasonic error

Ultrasonic radar fault

Electrical connection or model configuration problem

1. Check whether the ultrasonic radar works normally
2. Check whether the ultrasonic radar is correctly connected
3. Check whether the ultrasonic radar is correctly configured
4. Check whether the ultrasonic radar type in the robot model configuration is correctly configured
5. If it still cannot be recovered, contact the after-sales service

52113

RFID reader error

The RFID reader is faulty

The electrical connection or configuration is faulty

1. Check whether the RFID works properly
2. Check whether the RFID connection is correct
3. Check whether the RFID is correctly configured
4. Check whether the RFID type in the robot model configuration is correctly configured
5. If it still cannot be recovered, contact the after-sales service

52114

magnetic 0 tracker error

The magnetic sensor 0 is faulty

Magnetic Stripe This topic describes the problems that may occur when a magnetic stripe is rolled

1. Check whether the magnetic track navigation sensor works properly
2. Check whether cables to the magnetic rail navigation sensor are correctly connected
3. Check whether the magnetic rail navigation sensor is correctly configured
4. Check whether the type of magnetic track navigation sensor in the robot model configuration is correctly configured
5. If it still cannot be recovered, contact the after-sales service

52115

magnetic 1 tracker error

Magnetic sensor 1 is faulty

Magnetic Stripe This topic describes the problems that may occur when a magnetic stripe is rolled

1. Check whether the magnetic track navigation sensor works properly
2. Check whether cables to the magnetic rail navigation sensor are correctly connected
3. Check whether the magnetic rail navigation sensor is correctly configured
4. Check whether the type of magnetic track navigation sensor in the robot model configuration is correctly configured
5. If it still cannot be recovered, contact the after-sales service

52116

controller net down

Controller network disconnection

Configuration model file process, the network switch is damaged

1. Check the network
2. Check the mopping chain
3. Contact after-sales personnel

52118

seer dio heart beat loss

The baseboard heartbeat packet is lost

The network is not good, the underlying firmware is faulty

If it cannot be automatically recovered, contact the after-sales service

52119

low task frequency

The controller task frequency is too low. Procedure

The controller has too many tasks, which usually occurs when the bus quality is poor and the model file is configured

If it cannot be automatically recovered, contact the after-sales service

52123

DSPChassis modbus IO error

The Modbus IO error occurs

The modbus address is incorrectly configured, the electrical connection is abnormal, and the network is abnormal

1. Check whether the Modbus IO expansion board works properly
2. Check whether cables to the Modbus IO expansion board are correctly connected
3. Check whether the Modbus IO expansion board is correctly configured
4. Check whether the IO configuration in the robot model configuration is correct
5. Please refer to the IO extension usage document provided by our company
6. If it still cannot be recovered, contact the after-sales service

52127

PGV connection error

The PGV connection is incorrect

Electrical connections, equipment configuration, model configuration issues

1. Check whether PGV works properly
2. Check whether cables to PGV are correctly connected
3. Check whether PGV is correctly configured
4. Check whether PGV-related configurations in the robot model configuration are correct
5. Please refer to the PGV usage documents provided by our company
6. If it still cannot be recovered, contact the after-sales service

52128

PGV info with mismatched device id

The pgv information is inconsistent with the device

Model configuration problems or device problems

Check the model configuration, corresponding id and pgv id

52135

motor error

Motor error, driver error, need to check the driver error code

For overcurrent and overvoltage, check with the driver manual

1. Please refer to the drive error checking process document provided by our company
2. If the fault persists, contact the drive supplier

52136

chassis new speed timeout

Speed instruction timeout

Internal problem

Contact the after-sales personnel

52137

steer angle overflow

Rudder Angle overflow

Internal problem

If it cannot be automatically recovered, contact the after-sales service

52138

fork encoder connection error

Fork encoder connection error

The configuration is incorrect or the electrical connection is faulty

Check the fork external encoder parameter configuration and electrical connection

52155

DSPChassis model config error

The underlying model file configuration problem

1.uart battery brand %s is not supported.The battery brand is not supported
2.rotation calibration velocity should not be 0. 2. Rotation calibration velocity should not be 0
3.Steer reductionRatio should not be zero. 3. Steer reductionratio should not be zero
4.rotation Motor does not support calibrate by driver currently. 4.Rotation motor does not support calibrate by driver currently

See the error prompt to modify the response model

52156

walking jack motor interlock

Walking jacking motor interlock

During the walking process, advance the jacking action

Change the WalkJackMotorInterlock parameter in the chassis configuration of robot parameters to false

52160

robot received an illegal speed

The speed command is not valid

The driver encoder value jumps out too much, causing the calculated speed to be too high

Contact the after-sales personnel

52161

Unload, But the destination has goods! Or The Goal has goods. Cannot unLoad!!

During unloading, the AGV detects the goods at the target point through the tail-in Di or identification, and reports an error

During unloading, the AGV detects the goods at the target point through the tail-in Di or identification, and reports an error

1. Check whether there are goods or articles at the target point leading to misidentification
2. Check the model filefork
institutionalforkTailDi
Whether it is triggered by mistake.
3. Check the model fileDISensor
In the organization, the type isgoodsDetect
Whether it is triggered by mistake
4. If the fault cannot be determined, contact the customer service

52162

ContactDi doesn't detect Goods!

During loading, the goods are dropped and the DI of the goods detection is not triggered

Or when the forklift is running, contactDi does not trigger and an error is reported.

1. Check whether the contactDi configuration in the fork mechanism of the model file is correct
2. Check whether the contactDi can be triggered by the goods
3. Whether the goods are dropped during the movement of the forklift truck
4. If the fault cannot be determined, contact the customer service

52163

Error in Velocity

Speed decomposition error due to model file configuration

1.cannot find motor in navSpeed message. 1. Cannot find motor in navspeed message
2.walk motor number is not 2 or 4!!! The number of traveling motors is incorrect
3.Steer Angle Range error.3. Steer Angle range error
4.steer motor number is not 2!!! The number of wheels in a double wheel is not 2
5.walk motor number is not 2!!! The number of walking motors with two steering wheels is not 2
6.steer motor number is not 1!!! The number of wheels in a single wheel is not 2
7.walk motor number is not 1!!! The number of traveling motors with single steering wheel is not 2

1.cannot find motor in navSpeed message. Check the model file
2.walk motor number is not 2 or 4!!! Check the model file and walk the motor clinker
3.Steer Angle Range error.Check the model file and the rudder Angle range configuration
4.steer motor number is not 2!!! Check model files, number of wheels
5.walk motor number is not 2!!! Check the model file and the number of walking motors
6.steer motor number is not 1!!! Check model files, number of wheels
7.walk motor number is not 1!!! Check the model file and the number of walking motors
8. If you cannot determine the specific fault, contact the after-sales service

52164

Fork Cannot Load Again. ContactDi is True

After the forklift cargo detection is triggered, the task is sent to pick up the goods. The forklift package fails to pick up the goods repeatedly.

Fork Cannot Load Again. ContactDi is True. Fork cannot load again. Contactdi is true.

1. Check whether the contactDi configuration in the fork mechanism of the model file is correct
2. Check whether the contractDi is touched by mistake
3. Check whether the goods are available, and send the task to pick up the goods
4. If the fault cannot be determined, contact the customer service

52165

Over Time

An error is reported when the forklift executes unloading or loading timeout

Over TimeAn error is reported when the forklift executes unloading or loading

1. Check the model filefork
Whether the lifting motor in the mechanism is correctly configured
2. Check files in the modulefork
institutionalunloadTime
andloadTime
Whether the configuration is correct
3. If the fault cannot be determined, contact the customer service

52166

DI TRUE BUT AWAY GOAL DIST

When the forklift truck picks up goods, the DI in place is triggered in advance

When the forklift is going to pick up the goods, the DI in position is triggered by mistake before the goods are reached.

1. Check that the forklift is in placecargoContactDI
Whether it was triggered by mistake
2. If the alarm is triggered intentionally, configure parameters properlyForkDiDist
The value of This value represents the cargoContactDI effective distance (m), if the distance from the end of the forklift is greater thanForkDiDist
An error is reported. ifForkDiDist
If the value is less than 0, any position takes effect and the error 52166 is never reported. In the actual project, adjust this parameter according to the actual situation. When this error occurs, you need to increaseForkDiDist
.
3. If the fault cannot be determined, contact the customer service

52167

REACH GOAL LOAD NO DI

The DI in position is not triggered when the forklift lifts goods

When the forklift truck is going to pick up the goods, the DI in place is not triggered when it reaches the target point.

1. Check that the forklift is in placecargoContactDI
Whether it is configured incorrectly
2. Check that the forklift is in placecargoContactDI
Whether it works properly
3. If the forklift identifies the cargo, check the parameter SettingsRecQRCode_BackLength
Check whether the forklift is configured too small. As a result, the forklift is not triggered to the DI position. You can scale this up.
4. If the fault cannot be determined, contact the customer service

52168

ContactDi doesn't detect Goods!

When picking up the goods, no goods. The DI of the goods detection is not triggered

When the forklift is picking up the load, the contactDi has not been triggered to report an error.

1. Check whether the contactDi configuration in the fork mechanism of the model file is correct
2. Check whether the contactDi can be triggered by the goods
3. If the fault cannot be determined, contact the customer service

52195

model config error

Chassis configuration problem of omni-directional vehicle or two-wheel differential module vehicle

1.no motors:The motor configuration in the chassis mechanism of the two-wheel differential module car model is wrong
2.P1 steer maxSpeed is too large. P1 steer maxspeed is too large
3.P2 steer maxSpeed is too large. P2 steer maxspeed is too large
4.walk motor number is not 4 and not 8!!! The number of wheels in an omnidirectional car is not 4, or 8

1.no motors:Check the motor configuration in the dual-wheel differential module model file chassis
2.P1 steer maxSpeed is too largeCheck the maximum steer motor speed in the two-wheel differential module model file motor device
3.P2 steer maxSpeed is too largeCheck the maximum steer motor speed in the two-wheel differential module model file motor device
4.walk motor number is not 4 and not 8!!! Check the number of walk motors in the Macrum Wheel model file motor equipment

52200

robot is blocked

Robot is blocked

Robot is blocked

1. Remove obstacles
2. Check whether the collision Di is triggered by mistake
3. Check whether the expansion width of lines, areas, and global configurations is appropriate
4. If the fault cannot be determined, contact the customer service

52201

robot out of path

The robot is off the line

If the agv is outside the line, the distance from the line is greater than that specified in parameter configurationOutPathDist
And an error was reported outside the lineOutPathError
.

1. Manually navigate the agv to the circuit
2. Or modify parameter SettingsOutPathDist
, andOutPathError
.

52202

Is one of the following

• can not open Recfile.

• charge failed. Out of time:

• openCharge is set. Out of waiting time:

• charge timeout:

• charge timeout: in rec stage.

• can not open Recfile.

• Read Charger in robot.model file

Errors encountered during charging of the robot.

Common problems include incorrect configuration of model files, failure to identify charging piles, and failure to power on charging piles at the point of arrival

1.can not open Recfile.Check and identify the filechargerspot
Check whether the configuration is correct.
2.charge failed. Out of time:There is no charge signal after the arrival of time. Check whether the agv touches the charging sheet and whether the charging pile is powered on. The charger of the model file is correctly configured. If there is no problem, contact the after-sales service.
3.openCharge is set. Out of waiting time:The DI is triggered, but there is no charging signal. Check whether the agv touches the charging sheet and whether the charging pile is powered on. The charger of the model file is correctly configured. If there is no problem, contact the after-sales service.
4.charge timeoutThe navigation task is timeout. Check whether the agv touches the charging sheet and whether the charging pile is powered on. The charger of the model file is correctly configured. If there is no problem, contact the after-sales service.
5.charge timeout: in rec stage.Identifying charging piles takes too long.
6.can not open Recfile.The identification file cannot be opened and needs to be reconfigured.
7.Read Charger in robot.model file Indicatesthat the file format is incorrect and cannot be opened. The identification file needs to be reconfigured.

52203

Charge device is not enable!

Charging mechanism is not configured

agv goes to point charging, but no charging device is configured in the model file. Reporting theCharge device is not enable!

1. Check the model filecharger
Whether the device is enabled.
2. If the fault cannot be determined, contact the customer service

52250

3D camera disconnected

The 3D camera communication is not connected

1. If this occurs during startup, check the camera type in the model file or whether the ip address and port number of the camera are correctly configured
2. Check whether the network cable of the camera network port is loose

1. Configure the correct camera type, ip and port, save and push the model file to restore
2. Reinsert the cable. If the cable can be restored, it indicates that the network port or cable is abnormal and needs to be replaced

52251

cannot receive IFM data

The main control can not receive the data of Yi Fu Men camera

1. If this occurs during startup, check the camera type in the model file or whether the ip address and port number of the camera are correctly configured
2. Check whether the network cable of the camera network port is loose

1. Configure the correct camera type, ip and port, save and push the model file to restore
2. Reinsert the cable. If the cable can be restored, it indicates that the network port or cable is abnormal and needs to be replaced

52253

cannot connect with locCamera

Qr code camera communication is not connected

1. This is usually caused by the camera type in the model file, or incorrect camera ip and port configurations
2. The network cable of the camera network port is loose, which may cause abnormal communication

1. Configure the correct camera type, ip and port, save and push the model file to restore
2. Reinsert the cable. If the cable can be restored, it indicates that the network port or cable is abnormal and needs to be replaced

52300

too low confidence of localization

The positioning confidence is too low and the robot reports an error stop

In the robot operating environment, the environment changes too much compared with the map construction, resulting in too low confidence during the robot traveling, or dynamic obstacles block the robot's field of vision, resulting in too low confidence

1. Manually control the robot to the place where the environment changes little, and then reposition the robot to restore the correct position to clear the error
2. Remove dynamic obstacles. After confidence level is restored, errors can be automatically eliminated

52301

Cannot detect tag after some distance

The QR code can not be seen for some distance, so we need to report an error and stop

In parameter configuration, it is configured by defaultWarningDistance
Is 2m, which means that when the robot uses the two-dimensional code to locate, the movement has exceededWarningDistance
, still don't see the QR code, so the error stop

1. If the gap between the two-dimensional code on site is large, exceeding 2m by default, it can be appropriately adjustedWarningDistance
Make the configuration larger and save it.
2. Push the robot to the position where the QR code can be seen to clear the error
3. Version 3.3.4 rbk supports manual control of the robot in case of error, so that the robot can see the two-dimensional code and clear the error.

52302

Cannot navigation before confirming localization

Ensure that the location is correct before navigation

A navigation task is delivered without confirming the location

1. After the location is confirmed by roboshop or api, the error will disappear.

52309

hook has an error

Traction mechanism is faulty

1. The Hook grab controlled bym_clampReachDI doesn't exits.Do is exits. DI is not configured
2.m_releaseReachDI doesn't exits.Do exits from Hook DI is not configured
3.Doesn't support hook type:indicates the unsupported Hook control mode
4.Hook has Goods. Cannot Clamp!There are goods on Hook, so we cannot grab the goods again
5.Release Hook Time Out!Hook release action, timed out.

1.m_clampReachDI doesn't exits.Hook model fileclampReachDI
Not configured correctly
2.m_releaseReachDI doesn't exits.Hook model filereleaseReachDI
Not configured correctly
3.Doesn't support hook type: indicatesthe Hook model fileclampReachDI
Not configured correctly
4.Hook has Goods. Cannot Clamp!The goods on the Hook need to be unloaded or checked firstclampReachDI
Whether it is triggered by mistake
5.Release Hook Time Out!Hook device in the model filereleaseDelayTime
Is it too short orreleaseReachDI
Check whether the configuration is correct.
6. If the fault cannot be determined, contact the customer service

52400

battery connect error during charging

There is a problem in the charging process of the agv

When the agv was on the way to CP, there was a battery alarm, resulting in an error.

agv is in the process of charging, if the robot at this time in the battery54001
The alarm will be reported54001
Error of As soon as the 54001 alarm is processed.

52500

disconnect from dispatching system

The connection to the dispatch system is disconnected

Network disconnection

1. Check the network status
2. After the network recovers, try to release and seize control
3. If errors occur frequently, you can contact the after-sales service after confirming that the network is in good condition

52502

Dispatching system command error

Dispatch system instruction error

Scheduling instruction writing error

1. Check scheduling instructions
2. If the fault cannot be determined, contact the customer service

52503

battery is too low to move

The robot battery is low

The battery capacity is lower than the model value

1. Please charge it in time
2. Modify the low alarm threshold of battery in the robot model

52600

low reach accuracy

The accuracy of arrival is too low, or the deviation of shelf position is too large

1.Shelf is outside the safe region.The deviation between the pallet and the agv center is too large
2. Theangle of Shelf is outside the safe region.The Angle of the pallet and the Angle of the hold are too far away.
3.Accuracy error is too large(xy). Accuracy error is too large(xy)
4.Accuracy error is too large(angle). Accuracy error is too large(Angle)

1.Shelf is outside the safe region.When the pallet is too far off center, you can have someone manually move the pallet to the correct position. Or to the parameter configurationSpinDs
Distance threshold,SpinTheta2
The Angle threshold is increased to an appropriate value.PGVFilterThreshold
Indicates the threshold of the number of errors reported for consecutive deviations from the range. If the noise is high, you can increase the value.
2. Theangle of Shelf is outside the safe region.When the difference from the expected Angle of the pallet is too large, you can have the pallet manually moved to the correct position. Or to the parameter configurationSpinTheta2
The Angle threshold is increased to an appropriate value.
3.Accuracy error is too large(xy), Accuracy error is too large(angle). Check whether the agv has been calibrated and whether the positioning is correct.

52700

can not find a feasible path

A passable path could not be found

The agv may not be able to find the route during fixed path navigation

1.can not find a feasible path. You need to check whether a feasible path exists
2.There is a loop in prepoints! Inthe map, there are points that are precursors to each other. You need to modify the map or check the target point of the instruction.
3. Do not find path tothe target point. You need to modify the map or check the target point of the instruction.
4. Forbidden direct goto. Do not find path toForbiddenDirectGo
If this parameter is set to true, the route to the destination is disabled. As a result, the route cannot be planned. You need to modify the map or check the target point of the instruction.

52701

can not find target id

Can't find the target point.

The id of the issued task instruction is not included in the map.

1. Check whether the map contains the target point.
2. Check whether the spelling of the target point is correct and the target point is case-sensitive.

52702

path plan failed

Path planning failure

1.path plan failed.Detour or free navigation path planning failed
2.target x is nullThe x coordinate of the target point around is not included in the task
3.target y is nullThe y coordinate of the target point around is not included in the task
4.target theta is nullThe circling target theta is not included in the task
5.no freeGoinstruction is missing the freeGo key
6.circle radius is null. The specified radius is missing
7.circle x is nullto go around the specified area, missing x for the given feasible circle
8.circle y is null. Circle y is null
9.circle is null. The specified circle is missing
10. robot is outsidethe circle. agv is outside the circle
11.Can not find collision path!!! Detour did not find the planned path
12.Movetasklist is not array:The format of the 3066 command is incorrect
13. The3066 command sent by the Parse movetask failcommand is in the wrong format, causing parsing errors
14.move_task_list size is zeroThe 3066 command sent is empty
15.task pool size is not equal to edge_lists size. The task pool size is not equal to edge_lists size.
16.source name is empty !!! Send command 3066, the source_name is less
17.Path planning failed. Cannot find Path between"17. Path planning failed. Cannot find path between
18.path percentage is smaller than previous one. cur_percentage:The current percentage is smaller than previous one.
19.path planning overRoute timeout

1.path plan failed. Check whether the obstacle is too close and whether the end point is too far from the starting point
2.target x is null, which needs to be checked
3.target y is null, which needs to be checked
4.target theta is null, which needs to be checked
5.no freeGodetour task instruction, need to check
6.circle radius is null, which needs to be checked
7.circle x is nullThis command must be checked
8.circle y is nullThe command is circled according to the specified area and needs to be checked
9.circle is nullThis command must be checked
10.robot is outside the circle. It needs to be checked if the robot is outside the circle
11.Can not find collision path!!! Check to see if the obstacle is too close and if the finish is too far from the start
12.Movetasklist is not array:Check 3066 for formatting errors
13.Parse movetask failchecks the 3066 command for incorrect format
14.move_task_list size is zeroChecks if the 3066 instruction contains nothing
15.task pool size is not equal to edge_lists size. Contact the after-sales service
16.source name is empty !!! Check the 3066 directive to see if it contains source_name
17.Path planning failed. Cannot find Path between"Command 3066 Check whether the source_name and id are on the same line
18.path percentage is smaller than previous one. cur_percentage:Check 3066 to see if the task percentage has decreased
19.path planning overthe route timed out. When the route planning is successful, the error will be cleared automatically. The timeout threshold is specified in the parameter configurationFG_PathPlanFailTime
.
20. If you cannot determine the specific error, contact the after-sales service

52703

unsupported navigation method

Navigation mode not supported

A single wheel vehicle delivers free navigation or obstacle circling instructions

Single wheel vehicles do not support free navigation or obstacle commands (such as setting the width of the road), and reassign other tasks.

52704

charge failed but not set pre-point

No front point is set for the charging point

In rbk versions earlier than 3.0, there is no front point for charging points under the map. For versions 3.2 and above, this error code is deprecated.

1. Check whether the charging point is configured with a front point in the map.

52705

motion planning failed

Motor planning failure

1. Please use only rotate function. Current cannot support zero rot_radiusIf the radius is 0
2.Dosn't Support Go With Spin and Avoid Obs!Detour in follow up mode
3.Cannot in AutoMode Without Location"Navigation task starts without location information
4.Cannot goto same point in rec mode. Please goto other points first!After recognition charging fails, recognition charging cannot be sent immediately.
5. Failure in motor planning

1.Please use only rotate function. Current cannot support zero rot_radius. 1. Please use only rotate function
2.Dosn't Support Go With Spin and Avoid Obs!Currently, detour in follow mode is not supported. The road width is set to 0
3.Cannot in AutoMode Without LocationCheck whether laser information exists through roboshop and whether laser is correctly configured in the model file.
4.Cannot goto same point in rec mode. Please goto other points first!After charging failure, it is necessary to return to the front point first, and then start the identification charging task.
5. If it still cannot be recovered, contact the after-sales service

52706

can not find magstripe

Couldn't find the magnetic strip

Magnetic Stripe This topic describes the problems that may occur when a magnetic stripe is rolled

1. Check whether the magnetic stripes are properly laid
2. Use Roboshop manual control to navigate the agv to the magnetic strip and eliminate errors
3. If the fault persists, contact the after-sales service

52708

destination has obstacles

There is an obstacle at the finish

In free navigation, there is an obstacle at the end

1. Check whether there are points on the map, no-go lines, close to no-go areas, or obstacles at the finish point
2. If the fault cannot be determined, contact the customer service.

52713

DO or DI area overlap

The DO or DI area overlaps

The diareas or doareas in the map overlap

1. Check whether Diareas or doareas in the map overlap
2. Errors can be eliminated using Roboshop manual control

52715

current pos has obstacles

There is an obstacle in the robot's current position

In free navigation, there is an obstacle in the current position of the agv

1. Check whether there are points on the map, forbidden lines, close to forbidden areas, or obstacles at the current position of the agv
2. If the fault cannot be determined, contact the customer service.

52716

charger hardware problem

The charging device hardware is faulty

This error will be reported when chargerspot is configured in the identification file of the agv charging point or in the identification file specified in the task instruction.

1. Check whether the state of the charging pile is normal
2. If the fault cannot be determined, contact the customer service.

52717

charger tcp connection problem

The tcp connection of the charging device is abnormal. Procedure

When chargerspot is configured in the agv charging point identification file or the identification file specified in the task instruction, this error is reported when the connection to the charging pile cannot be made over tcp.

1. Check the ip address or port of the chargerspot in the file.
2. Check whether the charging pile is on the same network segment as the agv and can be connected through tcp.
3. If the fault cannot be determined, contact the customer service.

52718

Detect Skid and stop

At present, the robot is in the state of skid, emergency stop

The robot's wheels got stuck, causing it to skid.

1. Check the wheel movement of the robot to ensure that the normal movement of the robot can eliminate the alarm

52800

jack or fork config error

The jacking or forklift motor is incorrectly configured

Jack byController Mode. Cannot Find Linear Motor. Jack bycontroller mode. Cannot find linear motor.Jacking motor configuration error
2.Fork byController Mode. Cannot Find Linear Motor:The fork motor is incorrectly configured

1. IfJack byController Mode. Cannot Find Linear Motor. The motorconfiguration file of jack mechanism needs to be checked
2. IfFork byController Mode. Cannot Find Linear Motor:Check the motor configuration in the fork configuration file
3. If the fault cannot be determined, contact the customer service

52801

module or motor control error

Task instruction error, or organization configuration error. Specific information needs to read the newspaper error behind the prompt

1. A message is displayedindicating that the parse errortask instruction is incorrect
2. TheAction Name is Wrong.The task instruction is incorrect
3. A messageis displayed indicating that The Skill name iswrong
4. PromptNo Jack Moduleto perform the jacking task but no jacking mechanism is available
5. Theinit model is nullmechanism initialization fails
6. TheAction Over Timetakes too long
7.Fork module's Motors are emptymodule The motor of the fork device is empty
8. Theoperation value of the fork device under the operation name errormodule mechanism is incorrect
9. Promptoperation should be string!!The operation value type of the fork device in the module mechanism is incorrect. Procedure
10. Promptno operation!!The operation of the fork device under the module mechanism is empty
11. Theall Motors are emptymodel file does not contain controllable motors
12.no motor or wrong commandis displayed
13. Promptno motor paramto send the motor execution instruction error
14. Promptmotor param is noneerror in delivering motor execution instruction
15. the messageis not in the robot model. Some mechanisms or devices are not in the robot model
16.All Motors are empty!Controllable motors are not included in the model file
17.pushMotor is empty!The model file is pushed directly under the mechanism without pushMotor
18. Thevalue is missing or wrong!The value type of the sent instruction is incorrect. Procedure
19.label: is not in the map" The label to which the command is sent is not in the map

1. Ifparse error, The Action Name is Wrong, The Skill name is wrong, The Skill name is wrong, operation name error, operation should be string!!! , no operation!!! , no motor or wrong command, no motor param, motor param is none, value is missing or wrong!, no motor or wrong command, no motor param, motor param is none, value is missing or wrong! , label: is not in the map You need to check the delivery command
2. Ifinit model is null, check whether the model file of the corresponding organization is enabled.
3.all Motors are empty, All Motors are empty!Check the model file for motor equipment
4. If the robot modelis not in the robot model, check the model file
5. ForpushMotor is empty!Need to check the model file push mechanismpushPositiveMotor
And whether the motor type in mtoor mechanism is reasonable.
6. If theAction Over Time valueis set, the organization execution times out. Check whether the configured execution time is normal. It needs to be confirmed whether the mechanism or motor is executed in place when the error is reported.
7. If the fault cannot be determined, contact the after-sales service

52802

upLimit or downLimit error

An error was reported on upper and lower limits

The upper and lower limits are triggered. Check whether the corresponding DI is properly installed

1. Check whether the model file is correct
2. Please check whether the upper and lower limits of the motor are triggered. If they are triggered or occur again, please contact the after-sales service

52900

third-party error: XXXXX

Third party error

Third party error set through API 4800

1. Determine the third-party error type and call 4801 to clear the error

52952

jack, rec, pgv adjsut config file error

Jacking mechanism, identification file, or PGV to adjust the configuration error

PGV Method Based On Code Doesn't Support pgv_adjust_dist paramter!!! PGV method based on code doesn't support pgv_adjust_dist paramter!! Adjusted by PGV, the task instruction is incorrect
2. The messageCannot open blinkDO:blinkDO cannot be opened
3. Themessage Plan PGV Adjust path failed!!!! is displayed pgv fails to adjust path planning
4. The system displays"Can't open Recfile." The identification filecannot be opened
5. TheError jack cmdModbus jacking command is displayed
6. connection error isdisplayed indicatingthat the Modbus jacking connection fails
7. A messageis displayed indicating unknown jack errorModbus jacking unknown error

1.PGV Method Based On Code Doesn't Support pgv_adjust_dist paramter!!! PGV adjustment instruction error, confirm the parameter configurationPGV_Method
, the default value should be 1. If it is set to 0, it cannot be included in the task instructionpgv_adjust_dist
.
2.Cannot open blinkDO:Check whether blinkDO in pgv is correctly configured in the model file or whether the DO function is normal.
3.Plan PGV Adjust path failed!!!! pgv failed to adjust path planning, and added a task commandpgv_adjust_dist
.
4.Can't open Recfile. You need to confirm the path of the cargo identification file
5.Error jack cmdoperation for Modbus jacking is supported onlyJackLoad
,JackUnload
,Wait
,JackHeight
,JackStop
Other operations are not supported.
6.connection errorCheck whether the Modubus is properly connected to the controller
7.unknow jack errorThe Modbus jacking position is incorrect
8. If you cannot determine the specific fault, contact the after-sales service

52954

motor calibrate timeout

Motor mark zero timeout

zeroDI of motor is damaged or installed incorrectly

1. Please check the zero switch of the motor
2. Please check the motor limit switch
3. Check whether the drive is enabled
4. If the fault persists, contact the after-sales service

52955

src can not switch mode while moving

The SRC controller cannot switch modes when it is moved

Switch control modes during motion

1. It can be cleared by switching modes at rest
2. If the fault persists, contact the after-sales service

52956

motor do not support 'driver protocol EMC'

The drive cannot be enabled in protocol mode

The driver model selection is incorrect

Replace a drive that supports protocol mode

52957

DOMotor calibrate timeout

The DOMotor motor marks zero timeout

DOMotor's zeroDI raises an exception

1. Check whether mark zero DI is correctly installed and triggered
2. If the fault persists, contact the after-sales service

52958

DOMotor limit DI triggered

DOMotor motor limit trigger

limit Di is triggered incorrectly. Procedure

Check the response limit DI

52959

distanceSensor connect timeout

The distance sensor communication timed out

The electrical connection or parameter configuration is faulty

52961

rec fail reach max times

Failed to recognize the goods, reached the maximum number of recognition

1.rec fail reach max timesThe task instruction is incorrect
2.adjust fail reach max timesTask instruction error

1. It is necessary to check the location of the goods and identification documents.
3. If the fault cannot be determined, contact the customer service.

52962

Spin motor's block di triggered in calibrating

The Spin motor is triggered by block DI during marking zero

Check whether the block DI configuration and electrical connection are abnormal

The DI configuration and electrical connection are abnormal

52963

The pallet is out of the right poistion.

The pallet is too far out to fork

When the forklift identifies the pallet and then picks up the cargo, it will report if the pallet is too far away52963
error

1. Check parameter SettingsRecPalletLateralErr
,RecPalletAngleErr
Whether it is reasonable. If it is too small, it can be increased appropriately
2. Check whether the configuration of the identification camera in the model file is reasonable, mainly to see whether the position coordinates are correct.
3. Check whether the actual goods are too far from the normal position.
4. If the fault cannot be determined, contact the customer service.

52997

Following error motors: [Motor a], [motor b],...

In the event that motor tracking is turned on (parameterFlagSetMotorFollowingError
buytrue
), in the parameterMotorFollowMonitorErrWin
The average tracking error of any motor exceeds the threshold parameter during the specified durationMotorFollowMonitorErrThres

1. Motor cannot rotate or encoder reading remains unchanged due to driver or motor failure;
2. The motor cannot rotate due to external obstacles;
3. The speed or acceleration of the instruction is too large, which exceeds the motor tracking capability;
4. The driver speed loop controller coefficient is too small or the load is too large, resulting in poor following characteristics.

The error is automatically cleared within a short time after the vehicle stops or the tracking error Narrows below the threshold. If you need to analyze the reasons:
1. Observe whether the vehicle moves after the motion instruction is issued, and eliminate possible hardware failures and external obstacles;
2. Observe whether the (angular) acceleration and (angular) velocity parameters are too high, and ensure that the (angular) acceleration and (angular) velocity of the motion instruction are within a reasonable range;
3. If this error still occurs during exercise, you can choose:
1. If the operation effect cannot meet the needs, it is necessary to check the response characteristics of the driver and the size of the vehicle load, and adjust accordingly;
2. If the operation effect can meet the requirements, you can adjust the parameter higherMotorFollowMonitorErrThres
, or will parameterFlagSetMotorFollowingError
buyfalse
To turn off tracing error reporting.

52998

Display the specific content according to the actual situation

Due torobot.model
The number of running motors in the file is abnormal, causing the motor tracking monitor to fail to initialize normally

1."No motor is found in the model file" 1. "No motor is found in the model file
2."No motor found in model file is walk motor" 2. "No motor found in model file is walk motor

According to the above instructions, modify the model file and upload it. The error can be cleared when the motor tracking monitor is rebuilt

52999

Display the specific content according to the actual situation

Since the model filerobot.model
Sum calibration filerobot.cp
Incorrect motor parameters defined in, resulting in odometer initialization failure

1."number of walk/steer motor is ..."The number of motors does not match the chassis type
2."..." is/are not (equal to) zero"Is /are not (equal to) zero"
3."... is/are not non-zero"The condition that the motor x/y coordinate is not zero as required by the model is not met
4."..." are of the same sign"The condition that the motor x/y coordinates of different numbers are not met
5."..." The condition that motor coordinates are identicalfor the model are not identical is not satisfied
6."..." are not identical"motor coordinates are not identical"
7."NOT all motor designated in chassis model are found in model file"/"... is NOT found in model file"Is not found in model file"
8."..." are NOT consistent"The x coordinates of each motor in the differential module are not consistent
9."Number of walk-steer motor pairs ... is less than 2"The number of steering motor pairs is less than 2"
10."Walk motors and steer motors are NOT in pairs by identical position"10. "Walk motors and steer motors are not in pairs by identical position"
11."rollAngle ... is inappropriate"omni wheel roll Angle parameter is inappropriate
12."..." which causes ambiguity to determine its roller direction"Which causes ambiguity to determine its roller direction" The motor falls on the x/y axis
13."Not ALL FOUR motors in FOUR sectors are found". "Not all four motors in four sectors are found"
14."Motors are not symmetric about x axis". "Motors are not symmetric about x axis"
15."Motors are not in treads". The y coordinates of one side wheel of the four-wheel differential car are inconsistent

According to the above instructions and constraints on the position of the walking mechanism of each vehicle type in the chapter of vehicle type introduction, the model file is modified and uploaded to the robot. The error can be cleared when the odometer is rebuilt

53000

Customization within the script

Errors defined by the script itself

This error code is reported only when executing the script.

1. "script_args error!" : The input parameter of the script is incorrect. You need to check whether the task instruction is incorrect
2.no script name: indicates that the script file name is empty. Check whether the task instruction is incorrect

53100

MinSignalLevelAvailable is smaller than MinSignalLevelKeep

The signal strength threshold (MinSignalLevelAvailable) of the new AP must be lower than the minimum signal strength (MinSignalLevelKeep) when switching an AP.

The active roaming parameter is incorrectly configured. MinSignalLevelAvailable < MinSignalLevelKeep

Set MinSignalLevelAvailable to a value greater than MinSignalLevelKeep

54000

joystick error

The handle controller is incorrectly connected

The system did not detect the handle

1. Check whether the handle is properly connected
2. If the fault cannot be automatically recovered, contact the after-sales service

54001

battery error

Battery communication error

Read that the battery is in an error state

1. Check whether the battery works properly
2. Check whether battery communication cables are correctly connected
3. Check whether batteries are correctly configured in the model configuration
4. Please refer to the battery adaptation document provided by our company
5. If the fault cannot be automatically recovered, contact the after-sales service

54002

temperature sensor error

Temperature sensor error

Temperature sensor failure

Contact the after-sales personnel

54004

controller emergency stop

The controller stops abruptly. Procedure

The controller's emergency stop button was photographed

1. Check the electrical connection of the emergency stop button on the controller

54008

little low task frequency

The controller task frequency is slightly lower

During the configuration of the model file, it will be cleared after a short period

No processing

54012

timestamp error

The time stamps of laser data and mileage data are too different during mapping

1. The laser or mileage data is abnormal

1. Restart the controller and scan the picture again
2. Contact the customer to check the controller

54013

driver emergency stop

Drive failure

Drive failure, excitation, snap stop, error

1. Check the driver enablement cable
2. Check whether an error occurs on the drive
3. Check the driver power cable

54014

jitter occurs when robot is stationary

The robot wobbles when it does not receive speed

Motor encoder wiring harness configuration error, motor pid is not adjusted properly

1. Check whether the motor jitter occurs
2. Please refer to the drive error checking process document provided by our company
3. If the fault cannot be automatically recovered, contact the after-sales service

54016

RS485 hardware error

RS485 hardware fault

485 Circuit breakdown

1. Please refer to the specification of SRC-2000 provided by our company
2. Check whether the device connected to the RS485 port on the controller is normal
3. If the fault persists, contact the after-sales service

54017

DO hardware error

The PDO hardware is faulty

PDO short circuit, overcurrent, damage

Contact the after-sales personnel

54018

reflectors in map not enough

When using reflectors for positioning, the number of reference reflectors in the reflector area is too small

When scanning the map, I didn't see enough reflectors. There were too few reflectors in the reflector area

1. Add a reflector to the area of the reflector, and then sweep the map again to generate a reflector and splice it into the original map
2. If the fault cannot be automatically recovered, contact the after-sales service

54019

Detect less than 3 reflectors

Less than three reflectors detected

1. The number of reflectors in the current position is less than three

1. Ensure a sufficient number of reflectors in the reflector area so that the number of reflectors seen all the time is greater than 3

54020

reflectors match failed, please set right init pose

The position of the reflector is incorrectly matched

1. When using the reflector for positioning, the initial positioning value is incorrectly set, resulting in incorrect positioning of the reflector

1. Use the relocation function to ensure that the detected position of the reflector corresponds correctly with that of the reflector on the map

54021

abnormal task frequency

The running period of firmware tasks is too long. Procedure

The running period of firmware tasks is too long, and the common problem is too many motors

1. If there are too many motors, please assign half of the motors to can1 and the other half to can2

54022

abnormal can data

CAN bus data is abnormal

The quality of can bus is poor

1. Use the twisted pair cable as the can communication cable
2. Match the terminal resistance
3. Check for electrical interference

54023

abnormal sonic data

Ultrasonic data anomaly

Abnormal ultrasonic data, time out, calibration error, etc

1. Check the ultrasonic configuration
2. Check the electrical connections