User Manual

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command; that is, the feedback is passive and not actively reported.
After the above error occurs, the robotic arm will stop working
immediately and discard the Control Box cache command. Users need to
clear these errors manually to allow normal operation. Please re-adjust
the motion planning of the robotic arm according to the reported error
message.
Software Error
Code
Error Handling
C1
The Emergency Stop Button on the Control Box is Pushed in to Stop
please release the Emergency Stop Button, and then click "Enable Robot"
C2
The Emergency IO of the Control Box is triggered
Please ground the 2 EIs of the Control Box, and then click "Enable Robot".
C3
The Emergency Stop Button of the Three-state Switch is pressed
Please release the Emergency Stop Button of the Three-state Switch, and
then click "Enable Robot".
C11-C17
Power on again.
C19
Gripper Communication Error
Please check if the Gripper is installed or the baud rate setting is correct, or
restart the xArm with the Emergency Stop Button on the xArm Control Box.
C21
Kinematic Error
Please re-plan the path.
C22
Self-collision Error, Please Re-plan the Path.
If the robotic arm continues to report self-collision errors, please go to the
"live control" interface to turn on the "manual mode" and drag the robotic
arm back to the normal position.
C23
Joints Angle Exceed Limit
Please go to the "Live Control" page and press the "ZERO POSITION" button
to let the robot back to the zero position.
C24
Speed Exceeds Limit
Please check if the xArm is at singularity point, or reduce the speed and
acceleration values.