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Errors

This page contains information on all functions present within error.py and aims to give a clear understanding both of what these functions do and the requirements for any data to be input into them.

These functions mostly relate to getting information for a variety of different errors and cleaning up errors when they have been dealt with.

Functions

arm_errors

Source code in actions\error.py 
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class arm_errors():

    def __init__(self, arm:XArmAPI):
        self.arm = arm

    def get_err_warn_code(self, show=False, lang='en'):
        """
        Get the controller error and warn code

        Args:
            show: show the detail info if True

            lang: show language, en/cn, degault is en, only available if show is True

        Returns:
            out (tuple[int, list]): tuple((code, [error_code, warn_code])), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.

            error_code (int): See the [Controller Error Code Documentation](./xarm_api_code.md#controller-error-code) for details.

            warn_code (int): See the [Controller Warn Code Documentation](./xarm_api_code.md#controller-warn-code) for details.
        """
        return self.arm.get_err_warn_code(show=show, lang=lang)

    def clean_error(self):
        """
        Clean the error, need to manually enable motion(arm.motion_enable(True)) and set state(arm.set_state(state=0)) after error cleaned

        Returns:
            code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.
        """
        return self.arm.clean_error()

    def get_c31_error_info(self):
        """
        Get collision error (C31) info

        Note:
            Only available if firmware_version >= 2.3.0

        Returns:
            out (tuple[int, list]): tuple((code, err_info)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.

            err_info (list): [servo_id, theoratival tau, actual tau]
        """
        return self.arm.get_c31_error_info()

    def get_c37_error_info(self, is_radian=None):
        """
        Get payload error (C37) info

        Note:
            Only available if firmware_version >= 2.3.0

        Returns:
            out (tuple[int, list]): tuple((code, err_info)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.

            err_info (list): [servo_id, angle]
        """
        return self.arm.get_c37_error_info(is_radian)

    def get_c23_error_info(self, is_radian=None):
        """
        Get joint angle limit error (C23) info

        Note:
            Only available if firmware_version >= 2.3.0

        Returns:
            out (tuple[int, list]): tuple((code, err_info)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.

            err_info (list): [[servo_id, angle], ...]
        """
        return self.arm.get_c23_error_info(is_radian)

    def get_c24_error_info(self, is_radian=None):
        """
        Get joint speed limit error (C24) info

        Note:
            Only available if firmware_version >= 2.3.0

        Returns:
            out (tuple[int, list]): tuple((code, err_info)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.

            err_info (list): [servo_id, speed]
        """
        return self.arm.get_c24_error_info(is_radian)

    def get_c60_error_info(self):
        """
        Get linear speed limit error (C60) info

        Note:
            1. Only available if firmware_version >= 2.3.0
            2. Only available in mode 1

        Returns:
            out (tuple[int, list]): tuple((code, err_info)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.

            err_info (list): [max_linear_speed, curr_linear_speed]
        """
        return self.arm.get_c60_error_info()

    def get_c38_error_info(self, is_radian=None):
        """
        Get joint hard angle limit error (C38) info

        Note:
            Only available if firmware_version >= 2.4.0

        Returns:
            out (tuple[int, list]): tuple((code, err_info)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.

            err_info (list): [(servo_id, angle), ...]
        """
        return self.arm.get_c38_error_info(is_radian)

    def get_c54_error_info(self):
        """
        Get Six-axis Force Torque Sensor collision error (C54) info

        Note:
            Only available if firmware_version >= 2.6.103

        Returns:
            out: tuple((code, err_info)), returned result is only corrent when code is 0.

            code: See the [API Code Documentation](xarm_api_code.md#api-code) for details.

            err_info: [dir, tau threshold, actual tau]
        """
        return self.arm.get_c54_error_info()

clean_error()

Clean the error, need to manually enable motion(arm.motion_enable(True)) and set state(arm.set_state(state=0)) after error cleaned

Returns:

Name Type Description
code int

See the API Code Documentation for details.
Source code in actions\error.py 
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def clean_error(self):
    """
    Clean the error, need to manually enable motion(arm.motion_enable(True)) and set state(arm.set_state(state=0)) after error cleaned

    Returns:
        code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.
    """
    return self.arm.clean_error()

get_c23_error_info(is_radian=None)

Get joint angle limit error (C23) info

Note

Only available if firmware_version >= 2.3.0

Returns:

Name Type Description
out tuple[int, list]

tuple((code, err_info)), returned result is only corrent when code is 0.
code int

See the API Code Documentation for details.
err_info list

[[servo_id, angle], ...]
Source code in actions\error.py 
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def get_c23_error_info(self, is_radian=None):
    """
    Get joint angle limit error (C23) info

    Note:
        Only available if firmware_version >= 2.3.0

    Returns:
        out (tuple[int, list]): tuple((code, err_info)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.

        err_info (list): [[servo_id, angle], ...]
    """
    return self.arm.get_c23_error_info(is_radian)

get_c24_error_info(is_radian=None)

Get joint speed limit error (C24) info

Note

Only available if firmware_version >= 2.3.0

Returns:

Name Type Description
out tuple[int, list]

tuple((code, err_info)), returned result is only corrent when code is 0.
code int

See the API Code Documentation for details.
err_info list

[servo_id, speed]
Source code in actions\error.py 
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def get_c24_error_info(self, is_radian=None):
    """
    Get joint speed limit error (C24) info

    Note:
        Only available if firmware_version >= 2.3.0

    Returns:
        out (tuple[int, list]): tuple((code, err_info)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.

        err_info (list): [servo_id, speed]
    """
    return self.arm.get_c24_error_info(is_radian)

get_c31_error_info()

Get collision error (C31) info

Note

Only available if firmware_version >= 2.3.0

Returns:

Name Type Description
out tuple[int, list]

tuple((code, err_info)), returned result is only corrent when code is 0.
code int

See the API Code Documentation for details.
err_info list

[servo_id, theoratival tau, actual tau]
Source code in actions\error.py 
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def get_c31_error_info(self):
    """
    Get collision error (C31) info

    Note:
        Only available if firmware_version >= 2.3.0

    Returns:
        out (tuple[int, list]): tuple((code, err_info)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.

        err_info (list): [servo_id, theoratival tau, actual tau]
    """
    return self.arm.get_c31_error_info()

get_c37_error_info(is_radian=None)

Get payload error (C37) info

Note

Only available if firmware_version >= 2.3.0

Returns:

Name Type Description
out tuple[int, list]

tuple((code, err_info)), returned result is only corrent when code is 0.
code int

See the API Code Documentation for details.
err_info list

[servo_id, angle]
Source code in actions\error.py 
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def get_c37_error_info(self, is_radian=None):
    """
    Get payload error (C37) info

    Note:
        Only available if firmware_version >= 2.3.0

    Returns:
        out (tuple[int, list]): tuple((code, err_info)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.

        err_info (list): [servo_id, angle]
    """
    return self.arm.get_c37_error_info(is_radian)

get_c38_error_info(is_radian=None)

Get joint hard angle limit error (C38) info

Note

Only available if firmware_version >= 2.4.0

Returns:

Name Type Description
out tuple[int, list]

tuple((code, err_info)), returned result is only corrent when code is 0.
code int

See the API Code Documentation for details.
err_info list

[(servo_id, angle), ...]
Source code in actions\error.py 
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def get_c38_error_info(self, is_radian=None):
    """
    Get joint hard angle limit error (C38) info

    Note:
        Only available if firmware_version >= 2.4.0

    Returns:
        out (tuple[int, list]): tuple((code, err_info)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.

        err_info (list): [(servo_id, angle), ...]
    """
    return self.arm.get_c38_error_info(is_radian)

get_c54_error_info()

Get Six-axis Force Torque Sensor collision error (C54) info

Note

Only available if firmware_version >= 2.6.103

Returns:

Name Type Description
out

tuple((code, err_info)), returned result is only corrent when code is 0.
code

See the API Code Documentation for details.
err_info

[dir, tau threshold, actual tau]
Source code in actions\error.py 
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def get_c54_error_info(self):
    """
    Get Six-axis Force Torque Sensor collision error (C54) info

    Note:
        Only available if firmware_version >= 2.6.103

    Returns:
        out: tuple((code, err_info)), returned result is only corrent when code is 0.

        code: See the [API Code Documentation](xarm_api_code.md#api-code) for details.

        err_info: [dir, tau threshold, actual tau]
    """
    return self.arm.get_c54_error_info()

get_c60_error_info()

Get linear speed limit error (C60) info

Note
  1. Only available if firmware_version >= 2.3.0
  2. Only available in mode 1

Returns:

Name Type Description
out tuple[int, list]

tuple((code, err_info)), returned result is only corrent when code is 0.
code int

See the API Code Documentation for details.
err_info list

[max_linear_speed, curr_linear_speed]
Source code in actions\error.py 
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def get_c60_error_info(self):
    """
    Get linear speed limit error (C60) info

    Note:
        1. Only available if firmware_version >= 2.3.0
        2. Only available in mode 1

    Returns:
        out (tuple[int, list]): tuple((code, err_info)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.

        err_info (list): [max_linear_speed, curr_linear_speed]
    """
    return self.arm.get_c60_error_info()

get_err_warn_code(show=False, lang='en')

Get the controller error and warn code

Parameters:

Name Type Description Default
show

show the detail info if True

 False
lang

show language, en/cn, degault is en, only available if show is True

 'en'

Returns:

Name Type Description
out tuple[int, list]

tuple((code, [error_code, warn_code])), returned result is only corrent when code is 0.
code int

See the API Code Documentation for details.
error_code int

See the Controller Error Code Documentation for details.
warn_code int

See the Controller Warn Code Documentation for details.
Source code in actions\error.py 
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def get_err_warn_code(self, show=False, lang='en'):
    """
    Get the controller error and warn code

    Args:
        show: show the detail info if True

        lang: show language, en/cn, degault is en, only available if show is True

    Returns:
        out (tuple[int, list]): tuple((code, [error_code, warn_code])), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](xarm_api_code.md#api-code) for details.

        error_code (int): See the [Controller Error Code Documentation](./xarm_api_code.md#controller-error-code) for details.

        warn_code (int): See the [Controller Warn Code Documentation](./xarm_api_code.md#controller-warn-code) for details.
    """
    return self.arm.get_err_warn_code(show=show, lang=lang)