# xArmSDK API code description [Contents](#xarmsdk-api-code-description) - [xArmSDK API code description](#xarmsdk-api-code-description) - [API Code](#api-code) - [Controller Warn Code](#controller-warn-code) - [Controller Error Code](#controller-error-code) - [Servo Error Code](#servo-error-code) - [Gripper Error Code](#gripper-error-code) - [Bio Gripper Error Code](#bio-gripper-error-code) - [Linear Motor Error Code](#linear-motor-error-code) - [Six-axis Force Torque Sensor Error Code](#six-axis-force-torque-sensor-error-code) ## API Code - -12: run blockly app exception - -11: convert blockly app to python exception - -9: emergency stop - -8: out of range - -7: joint angle limit - -6: cartesian pos limit - -5: reserved, no use - -4: command is not exist - -3: reserved, no use - -2: xArm is not ready, may be the motion is not enable or not set state - -1: xArm is disconnect or not connect - 0: success - 1: there are errors that have not been cleared - 2: there are warnings that have not been cleared - 3: get response timeout - 4: tcp reply length error - 5: tcp reply number error - 6: tcp protocol flag error - 7: tcp reply command and send command do not match - 8: send command error, may be network exception - 9: state is not ready to move - 10: the result is invalid - 11: other error - 12: parameter error - 20: host id error - 21: modbus baudrate not supported - 22: modbus baudrate not correct - 23: modbus reply length error - 31: trajectory read/write failed - 32: trajectory read/write timeout - 33: playback trajectory timeout - 34: playback trajectory failed - 41: wait to set suction cup timeout - 80: linear motor has error - 81: linear motor sci is low - 82: linear motor is not init - 100: wait finish timeout - 101: too many consecutive failed tests - 102: end effector has error - 103: end effector is not enabled - 129: (standard modbus tcp)illegal/unsupported function code - 130: (standard modbus tcp)illegal target address - 131: (standard modbus tcp)execution of requested data ## Controller Warn Code - 11: uxbus queue is full - 12: parameter error - 13: the instruction does not exist - 14: command has no solution - 15: modbus cmd full ## Controller Error Code - 1: The Emergency Stop Button is pushed - 2: The Emergency IO of the Control Box is triggered - 3: The Emergency Stop Button of the Three-state Switch is pressed - 10: Servo motor error - 11: Servo motor 1 error - 12: Servo motor 2 error - 13: Servo motor 3 error - 14: Servo motor 4 error - 15: Servo motor 5 error - 16: Servo motor 6 error - 17: Servo motor 7 error - 18: Force Torque Sensor Communication Error - 19: End Module Communication Error - 21: Kinematic Error - 22: Self-Collision Error - 23: Joints Angle Exceed Limit - 24: Speed Exceeds Limit - 25: Planning Error - 26: Linux RT Error - 27: Command Reply Error - 28: End Module Communication Error - 29: Other Errors - 30: Feedback Speed Exceeds limit - 31: Collision Caused Abnormal Current - 32: Three-point drawing circle calculation error - 33: Controller GPIO error - 34: Recording Timeout - 35: Safety Boundary Limit - 36: The number of delay commands exceeds the limit - 37: Abnormal movement in Manual Mode - 38: Abnormal Joint Angle - 39: Abnormal Communication Between Master and Slave IC of Power Board - 40: No IK available - 50: Six-axis Force Torque Sensor read error - 51: Six-axis Force Torque Sensor set mode error - 52: Six-axis Force Torque Sensor set zero error - 53: Six-axis Force Torque Sensor is overloaded or the reading exceeds the limit - 110: Robot Arm Base Board Communication Error - 111: Control Box External 485 Device Communication Error ## Servo Error Code - 10: Current Detection Error - 11: Joint Current Overlimit - 12: Joint Speed Overlimit - 14: Position Command Overlimit - 15: Joints Overheat - 16: Encoder Initialization Error - 17: Single Ring Encoder Error - 18: Multi-turn Encoder Error - 19: Low Battery Voltage - 20: Driver IC Hardware Error - 21: Driver IC Initialization Error - 22: Encoder Configuration Error - 23: Large Motor Position Deviation - 26: Joint N Positive Overrun - 27: Joint N Negative Overrun - 28: Joint Commands Error - 33: Drive Overloaded - 34: Motor Overload - 35: Motor Type Error - 36: Driver Type Error - 39: Joint Voltage Overload - 40: Joint Voltage Insufficient - 49: EEPROM Read and Write Error - 52: Motor Angle Initialization Error ## Gripper Error Code - 9: Gripper Current Detection Error - 11: Gripper Current Overlimit - 12: Gripper Speed Overlimit - 14: Gripper Position Command Overlimit - 15: Gripper EEPROM Read and Write Error - 20: Gripper Driver IC Hardware Error - 21: Gripper Driver IC Initialization Error - 23: Gripper Large Motor Position Deviation - 25: Gripper Command Over Software Limit - 26: Gripper Feedback Position Software Limit - 33: Gripper Drive Overloaded - 34: Gripper Motor Overload - 36: Gripper Driver Type Error ## Bio Gripper Error Code - 11: BIO Gripper Current Overlimit - 12: The object slipped from the BIO Gripper ## Linear Motor Error Code - 10: Linear Motor Current Detection Error - 11: Linear Motor Current Overlimit - 12: Linear Motor Speed Overlimit - 13: Linear Motor Large Motor Position Deviation - 14: Linear Motor Position Command Overlimit - 20: Linear Motor Driver IC Hardware Error - 21: Linear Motor Driver IC Initialization Error - 25: Linear Motor Command Over Software Limit - 26: Linear Motor Feedback Position Software Limit - 33: Linear Motor Drive Overloaded - 34: Linear Motor Motor Overload - 35: Linear Motor Type Error - 36: Linear Motor Driver Type Error - 39: Linear Motor over voltage - 40: Linear Motor Undervoltage - 49: Linear Motor EEPROM Read and Write Error ## Six-axis Force Torque Sensor Error Code - 64: Six-axis Force Torque Sensor Communication Failure - 65: The Data Collected by the Six-axis Force Torque Sensor is Abnormal - 66: Six-axis Force Torque Sensor X-direction Torque Exceeds Limit - 67: Six-axis Force Torque Sensor Y-direction Torque Exceeds Limit - 68: Six-axis Force Torque Sensor Z-direction Torque Exceeds Limit - 69: Six-axis Force Torque Sensor Tx Torque Exceeds Limit - 70: Six-axis Force Torque Sensor Ty direction Torque Exceeds Limit - 71: Six-axis Force Torque Sensor Tz direction Torque Exceeds Limit - 73: Six-axis Force Torque Sensor Failed to Initialize