5.3.3 Diagnostic Code Reference
This page lists diagnostic codes open to secondary development users, for parsing the diag_code field when subscribing to the /aima/hds/diag_code_list topic.
Diagnostic codes are pushed in real-time via HDS topic interfaces. See Fault Handling for field descriptions. See Fault Handling - Post-processing Signal for the full robot_sig value table.
How to Use This Table
After receiving a
diag_code, check the module segment to identify the module:0x32is PDU; for others, see the corresponding module section.If PDU, decompose by bit fields into joint segment and fault type segment, then look up the “Joint Segment Values” and “Fault Type Table” to locate the fault and solution.
For other modules, look up the diagnostic code directly in the corresponding module section.
Diagnostic code structure:
diag_codeis a 64-bit integer encoded asdiag_code = (module_id << 32) | code, where the module ID occupies the high bits and the module-level diagnostic numbercodeoccupies the low 32 bits. For example, PDU’smodule_id=0x32andcode=0x01combine to0x3200000001.
Alert Level Description
Level |
Meaning |
Impact |
|---|---|---|
H1-Fatal |
Fatal fault |
Core functions failed, fall risk, return to factory |
H2-Critical |
Critical fault |
Core functions failed, immediate action required |
H3-Error |
General fault |
Partial functions failed, possible fall |
H4-Warning |
Warning |
Partial functions affected, task execution unaffected |
H5-Trivial |
Trivial |
No functional impact |
H6-Reserve |
Reserved |
Gradual release, partially implemented |
Post-processing Signal (robot_sig)
robot_sig is the post-processing behavior signal automatically executed when the robot detects a fault, pushed via the /aima/hds/post_proc/signal topic. Different signal values represent different protective actions, such as stopping motion, upper-limb disable, damping fall protection, etc. See Fault Handling for the full value table.
For PDU joint motor faults, the robot_sig depends on the body part of the faulty joint:
Body Part |
Joint Segment Range |
Post-processing robot_sig |
Meaning |
|---|---|---|---|
Upper limb |
|
90 |
Motion control upper-limb disable (upper limb joints disabled, lower limb still available) |
Lower limb |
|
42 |
Motion control damping mode (fall risk, stop immediately) |
Waist |
|
42 |
Motion control damping mode (fall risk, stop immediately) |
Head |
|
0 |
No post-processing (head joint fault does not affect locomotion safety) |
Exception: first-level over-temperature faults (coil over-temp
0x0018, driver over-temp0x001a, MCU over-temp0x0024) have post-processing that varies by body part — lower limb is 131 (restrict high-load functions and performance, prohibit high-load actions), waist is 132 (same), upper limb and head are 0 (no automatic processing, user must pause use). If over-temperature persists and escalates to second-level, lower limb/waist escalate to 42 (motion control damping mode), upper limb escalates to 90 (motion control upper-limb disable); head over-temperature is always 0. See fault type table for details.
High-Risk Fault Overview
The following faults have high impact and risk (H1-Fatal or trigger damping/fall protection); close attention is recommended:
PDU Joint Motor High-Risk Fault Types
Fault Type Segment |
Fault Description |
Level |
Post-processing (by body part) |
Analysis and Action |
|---|---|---|---|---|
|
{joint} motor received invalid control mode |
H1-Fatal |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please pause use and contact after-sales |
|
{joint} motor module over-temperature |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} over-temperature, please reboot the robot and wait for recovery |
|
{joint} motor module motor overload |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} overload, please reboot the robot and wait for recovery |
|
{joint} motor not calibrated |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor supply overvoltage second-level fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} overvoltage, please reboot the robot and wait for recovery |
|
{joint} motor current overcurrent second-level fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} overcurrent, please reboot the robot and wait for recovery |
|
{joint} motor coil second-level over-temperature fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} over-temperature, please reboot the robot and wait for recovery |
|
{joint} motor driver second-level over-temperature fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} over-temperature, please reboot the robot and wait for recovery |
|
{joint} motor encoder CRC error |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor encoder dual-side verification error |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor encoder communication timeout |
H1-Fatal |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor undefined |
H1-Fatal |
0 No post-processing |
{joint} fault, please pause use and contact after-sales |
|
{joint} motor high-side encoder value jump |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor low-side encoder value jump |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor MCU second-level over-temperature |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} over-temperature, please reboot the robot and wait for recovery |
|
{joint} motor bus voltage self-check failed |
H3-Error |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor phase-loss anomaly |
H3-Error |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor hardware overcurrent (instantaneous) |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor phase current continuous overcurrent |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor phase current instantaneous overcurrent |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor memory fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor primary encoder communication fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor secondary encoder error |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor secondary encoder communication fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor driver fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor pole-pair count out of range |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor CAN bus overload (data loss) |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor CAN error passive mode |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor heartbeat offline (host offline) |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor recovered from bus-off state |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
|
{joint} motor module communication lost fault (CAN A) |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
PDU Self and Other Module High-Risk Faults
Diag Code |
Fault Description |
Level |
Post-processing |
Analysis and Action |
|---|---|---|---|---|
|
Main battery BMS communication verification error |
H1-Fatal |
0 No post-processing |
Main battery communication anomaly, please pause use and contact after-sales |
|
Main battery BMS communication lost |
H1-Fatal |
0 No post-processing |
Main battery communication anomaly, please pause use and contact after-sales |
|
Charging dock communication verification error |
H1-Fatal |
0 No post-processing |
Main battery communication anomaly, please pause use and contact after-sales |
|
Charging dock communication lost |
H1-Fatal |
0 No post-processing |
Main battery communication anomaly, please pause use and contact after-sales |
|
Main battery short circuit |
H1-Fatal |
0 No post-processing |
Main battery short circuit, please pause use and contact after-sales |
|
Main battery cell detected open circuit |
H1-Fatal |
0 No post-processing |
Main battery cell open circuit, please pause use and contact after-sales |
|
Main battery cannot charge |
H1-Fatal |
0 No post-processing |
Main battery cannot charge, please pause use and contact after-sales |
|
Wireless E-stop remote LoRa1 triggered E-stop |
H1-Fatal |
17 PMU E-stop |
E-stop activated, robot powered off |
|
Wireless E-stop remote LoRa2 E-stop recovery |
H1-Fatal |
18 SDCU E-stop recovering |
Robot E-stop recovering |
|
Wireless E-stop remote LoRa2 triggered E-stop |
H1-Fatal |
19 SDCU E-stop |
E-stop activated, robot powered off |
|
Wireless E-stop remote LoRa1 E-stop recovery |
H1-Fatal |
26 PMU E-stop recovery complete |
Robot E-stop recovering |
|
E-stop recovery complete |
H1-Fatal |
31 E-stop recovery complete |
Robot E-stop recovery complete |
|
PDU hardware high-temperature second-level fault |
H2-Critical |
42 Motion control damping mode |
System over-temperature, please reboot the robot and wait for recovery |
|
Waist total voltage overvoltage second-level fault |
H2-Critical |
42 Motion control damping mode |
System overvoltage, please reboot the robot and wait for recovery |
|
Waist total current overcurrent second-level fault |
H2-Critical |
42 Motion control damping mode |
System overcurrent, please reboot the robot and wait for recovery |
|
System voltage overvoltage second-level fault |
H2-Critical |
42 Motion control damping mode |
System overvoltage, please reboot the robot and wait for recovery |
|
System current overcurrent second-level fault |
H2-Critical |
42 Motion control damping mode |
System overcurrent, please reboot the robot and wait for recovery |
|
Lower limb total voltage overvoltage second-level fault |
H2-Critical |
42 Motion control damping mode |
System overvoltage, please reboot the robot and wait for recovery |
|
Lower limb total current overcurrent second-level fault |
H2-Critical |
42 Motion control damping mode |
System overcurrent, please reboot the robot and wait for recovery |
|
Leg power chip overcurrent anomaly |
H2-Critical |
42 Motion control damping mode |
System overcurrent, please reboot the robot and wait for recovery |
|
Waist power chip overcurrent anomaly |
H2-Critical |
42 Motion control damping mode |
System overcurrent, please reboot the robot and wait for recovery |
|
Leg power chip severe overcurrent anomaly |
H2-Critical |
42 Motion control damping mode |
System overcurrent, please reboot the robot and wait for recovery |
|
Waist power chip over-temperature anomaly |
H2-Critical |
42 Motion control damping mode |
System over-temperature, please reboot the robot and wait for recovery |
|
PDU I2C (I2C between all PDU MCUs) initialization failed |
H2-Critical |
42 Motion control damping mode |
I2C communication anomaly, please pause use and check the robot |
|
DDCU leg & waist motor power management chip IIC communication anomaly |
H2-Critical |
42 Motion control damping mode |
Lower limb main controller power controller anomaly, please check the robot |
|
DDCU leg & waist motor power management chip self-check failed |
H2-Critical |
42 Motion control damping mode |
Lower limb main controller power controller anomaly, please check the robot |
|
DDCU leg & waist motor power management chip power-on failed |
H2-Critical |
42 Motion control damping mode |
Lower limb main controller power controller anomaly, please check the robot |
|
DDCU leg & waist motor power management chip triggered overcurrent protection |
H2-Critical |
42 Motion control damping mode |
Lower limb main controller power controller anomaly, please check the robot |
|
DDCU leg & waist motor power management chip triggered severe overcurrent protection |
H2-Critical |
42 Motion control damping mode |
Lower limb main controller power controller anomaly, please check the robot |
|
PDU CAN3L (PDU MCU3/4 to left leg CAN) Bus Off |
H2-Critical |
42 Motion control damping mode |
Left leg communication anomaly, please check the robot |
|
PDU CAN3L (PDU MCU3/4 to left leg CAN) initialization failed |
H2-Critical |
42 Motion control damping mode |
Left leg communication anomaly, please check the robot |
|
PDU CAN3R (PDU MCU3/4 to right leg CAN) Bus Off |
H2-Critical |
42 Motion control damping mode |
Right leg communication anomaly, please check the robot |
|
PDU CAN3R (PDU MCU3/4 to right leg CAN) initialization failed |
H2-Critical |
42 Motion control damping mode |
Right leg communication anomaly, please check the robot |
|
PDU CAN4 (PDU MCU4 to waist motor CAN) Bus Off |
H2-Critical |
42 Motion control damping mode |
Waist communication anomaly, please check the robot |
|
PDU CAN4 (PDU MCU4 to waist motor CAN) initialization failed |
H2-Critical |
42 Motion control damping mode |
Waist communication anomaly, please check the robot |
|
HAL EtherCAT and DDCU disconnected |
H2-Critical |
42 Motion control damping mode |
Lower limb main controller ECAT slave anomaly, please stop use |
|
Fall alert |
H2-Critical |
52 Fall protection |
Robot has fall risk, please stop use immediately |
|
DDCU waist power management chip self-check failed |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip triggered overcurrent protection |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip over-temperature protection |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip bus voltage too low |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip MOS temperature too high |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip pre-power-on voltage anomaly |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip post-power-on voltage anomaly |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip voltage detection failed |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip voltage detection process differential anomaly |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip post-power-on differential anomaly |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
PMU bus power management chip self-check failed |
H3-Error |
42 Motion control damping mode |
Power main controller overcurrent protector anomaly, please check the robot |
|
PMU bus power management chip triggered overcurrent protection |
H3-Error |
42 Motion control damping mode |
Power main controller overcurrent protector anomaly, please check the robot |
|
DDCU actively powered off lower limb motors |
H4-Event |
42 Motion control damping mode |
Lower limb motors powered off, please pause use |
|
PMU bus power management chip detected RK3588 power loss |
H4-Event |
42 Motion control damping mode |
Power main controller overcurrent protector anomaly, please check the robot |
|
PMU bus power management chip detected DCU power loss |
H4-Event |
42 Motion control damping mode |
Power main controller overcurrent protector anomaly, please check the robot |
|
PMU bus power management chip over-temperature protection |
H4-Event |
42 Motion control damping mode |
Power main controller overcurrent protector anomaly, please check the robot |
PDU (Drive Control Unit)
PDU diagnostic codes consist of three segments:
Segment |
Bits |
Meaning |
|---|---|---|
Module segment |
Upper 8 bits |
Fixed |
Joint Segment |
Middle 16 bits |
Joint or sub-module ID (see table below) |
Fault Type Segment |
Lower 16 bits |
Fault event type (see fault type table) |
Full diagnostic code = module segment + joint segment + fault type segment. Example: joint segment
0x0011(left arm joint 1) + fault type segment0x0005(over-temperature) =0x3200110005.
Joint Segment Values
Joint Segment |
Corresponding Joint/Sub-module |
|---|---|
|
PDU self |
|
Upper limb main controller (power management chip) |
|
Lower limb & waist main controller (power management chip) |
|
PDU CAN2L (left arm CAN) |
|
PDU CAN2R (right arm CAN) |
|
Head CAN |
|
PDU CAN3L (left leg CAN) |
|
PDU CAN3R (right leg CAN) |
|
Waist CAN |
|
Chest status light |
|
Chest 6-axis IMU |
|
Left arm joints 1-5 |
|
Left arm pitch motors 1/2 |
|
Right arm joints 1-5 |
|
Right arm pitch motors 1/2 |
|
Head yaw |
|
Head pitch |
|
Left leg joints 1-6 |
|
Right leg joints 1-6 |
|
Waist yaw/pitch/roll |
Fault Type Table (Joint Motor Faults)
When the diagnostic code’s joint segment is a specific joint (i.e., not 0x0000), the fault type segment (lower 16 bits) corresponds to the following fault types. The “Analysis and Action” column in the table gives the suggested response when the robot detects the fault, where {joint} refers to the specific joint name (e.g. “left arm joint 1”). The post-processing robot_sig is annotated separately by body part (see “Post-processing Signal and Body Part Mapping” above for the correspondence). The “Applicable Joint Segments” column indicates which joint segments this fault type covers — “All joint segments” means all joints may be affected; otherwise only the listed segments can trigger it.
Fault Type Segment |
Fault Description |
Alert Level |
Post-processing (robot_sig) |
Analysis and Action |
Applicable Joint Segments |
|---|---|---|---|---|---|
|
{joint} motor received invalid control mode |
H1-Fatal |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please pause use and contact after-sales |
All joint segments |
|
{joint} motor supply overvoltage |
H2-Critical |
0 No post-processing |
{joint} overvoltage, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor supply undervoltage |
H2-Critical |
0 No post-processing |
{joint} undervoltage, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor driver overspeed |
H5-Trivial |
0 No post-processing |
{joint} motor overspeed |
All joint segments |
|
{joint} motor module over-temperature |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} over-temperature, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor module motor overload |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} overload, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor phase resistance out of range |
H3-Error |
0 No post-processing |
{joint} fault, please pause use and wait for recovery |
All joint segments |
|
{joint} motor phase inductance out of range |
H3-Error |
0 No post-processing |
{joint} fault, please pause use and wait for recovery |
All joint segments |
|
{joint} motor pole-pair count out of range |
H3-Error |
0 No post-processing |
{joint} fault, please pause use and wait for recovery |
All joint segments |
|
{joint} motor not calibrated |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor driver primary encoder error |
H2-Critical |
0 No post-processing |
{joint} motor anomaly |
All joint segments |
|
{joint} motor driver hybrid encoder error |
H2-Critical |
0 No post-processing |
{joint} motor anomaly |
All joint segments |
|
{joint} motor supply overvoltage first-level fault |
H2-Critical |
0 No post-processing |
{joint} overvoltage, please pause use and wait for recovery |
All joint segments |
|
{joint} motor supply overvoltage second-level fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} overvoltage, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor current overcurrent first-level fault |
H2-Critical |
0 No post-processing |
{joint} overcurrent, please pause use and wait for recovery |
All joint segments |
|
{joint} motor current overcurrent second-level fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} overcurrent, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor coil first-level over-temperature fault |
H2-Critical |
Upper limb: 0 No post-processing |
{joint} over-temperature, please pause use and wait for recovery |
All joint segments |
|
{joint} motor coil second-level over-temperature fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} over-temperature, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor driver first-level over-temperature fault |
H2-Critical |
Upper limb: 0 No post-processing |
{joint} over-temperature, please pause use and wait for recovery |
All joint segments |
|
{joint} motor driver second-level over-temperature fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} over-temperature, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor encoder CRC error |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor encoder dual-side verification error |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor encoder communication timeout |
H1-Fatal |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor undefined |
H1-Fatal |
0 No post-processing |
{joint} fault, please pause use and contact after-sales |
All joint segments |
|
{joint} motor high-side encoder value jump |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments except head |
|
{joint} motor low-side encoder value jump |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments except head |
|
{joint} motor fan speed anomaly |
H4-Warning |
0 No post-processing |
{joint} thigh fan anomaly, please check the robot after use |
|
|
{joint} motor MCU first-level over-temperature |
H2-Critical |
Upper limb: 0 No post-processing |
{joint} over-temperature, please reboot the robot and wait for recovery |
All joint segments except head |
|
{joint} motor MCU second-level over-temperature |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} over-temperature, please reboot the robot and wait for recovery |
All joint segments except head |
|
{joint} motor bus voltage self-check failed |
H3-Error |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments except head |
|
{joint} motor phase-loss anomaly |
H3-Error |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments except head |
|
{joint} encoder 1 signal error: master/slave track signal too strong or weak |
H2-Critical |
90 Motion control upper-limb disable |
{joint} fault, please pause use and contact after-sales |
Upper limb joint segments |
|
{joint} encoder 2 signal error: master/slave track signal too strong or weak |
H2-Critical |
90 Motion control upper-limb disable |
{joint} fault, please pause use and contact after-sales |
Upper limb joint segments |
|
{joint} encoder 1 RAM CRC error |
H2-Critical |
90 Motion control upper-limb disable |
{joint} fault, please pause use and contact after-sales |
Upper limb joint segments |
|
{joint} encoder 2 RAM CRC error |
H2-Critical |
90 Motion control upper-limb disable |
{joint} fault, please pause use and contact after-sales |
Upper limb joint segments |
|
{joint} encoder 1 EEPROM error |
H2-Critical |
90 Motion control upper-limb disable |
{joint} fault, please pause use and contact after-sales |
Upper limb joint segments |
|
{joint} encoder 2 EEPROM error |
H2-Critical |
90 Motion control upper-limb disable |
{joint} fault, please pause use and contact after-sales |
Upper limb joint segments |
|
{joint} encoder 1 multi-turn error |
H2-Critical |
90 Motion control upper-limb disable |
{joint} fault, please pause use and contact after-sales |
Upper limb joint segments |
|
{joint} encoder 2 multi-turn error |
H2-Critical |
90 Motion control upper-limb disable |
{joint} fault, please pause use and contact after-sales |
Upper limb joint segments |
|
{joint} encoder 1 dual-encoder consistency error |
H2-Critical |
90 Motion control upper-limb disable |
{joint} fault, please pause use and contact after-sales |
Upper limb joint segments |
|
{joint} encoder 2 dual-encoder consistency error |
H2-Critical |
90 Motion control upper-limb disable |
{joint} fault, please pause use and contact after-sales |
Upper limb joint segments |
|
{joint} encoder 1 signal frequency too high error |
H2-Critical |
90 Motion control upper-limb disable |
{joint} fault, please pause use and contact after-sales |
Upper limb joint segments |
|
{joint} encoder 2 signal frequency too high error |
H2-Critical |
90 Motion control upper-limb disable |
{joint} fault, please pause use and contact after-sales |
Upper limb joint segments |
|
{joint} second-level overload (I2T overload) |
H2-Critical |
90 Motion control upper-limb disable |
{joint} fault, please pause use and contact after-sales |
Upper limb joint segments |
|
{joint} motor hardware overcurrent (instantaneous) |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor phase current continuous overcurrent |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor phase current instantaneous overcurrent |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor memory fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor primary encoder communication fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor secondary encoder error |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor secondary encoder communication fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor stall |
H3-Error |
0 No post-processing |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor driver fault |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor pole-pair count out of range |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor CAN bus overload (data loss) |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor CAN error passive mode |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor heartbeat offline (host offline) |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor recovered from bus-off state |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} primary encoder structural air-gap anomaly (high-speed end) |
H2-Critical |
90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
Upper limb joint segments |
|
{joint} secondary encoder structural air-gap anomaly (low-speed end) |
H2-Critical |
90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
Upper limb joint segments |
|
{joint} motor module communication lost fault (CAN A) |
H2-Critical |
Upper limb: 90 Motion control upper-limb disable |
{joint} fault, please reboot the robot and wait for recovery |
All joint segments |
|
{joint} motor module communication lost fault (CAN B) |
H6-Reserve |
0 No post-processing |
{joint} fault, please check the robot after use |
|
PDU Self Faults (Joint Segment 0x0000)
Diagnostic codes with joint segment 0x0000 correspond to PDU module self faults (not joint motor faults), such as power, CAN bus, IMU, status lights, etc. Listed below.
Diag Code |
Fault Description |
Alert Level |
Post-processing (robot_sig) |
Analysis and Action |
|---|---|---|---|---|
|
System LoRa module signal strength too low |
H6-Reserve |
0 No post-processing |
E-stop signal strength low, please check E-stop remote |
|
System LoRa module communication address error |
H6-Reserve |
0 No post-processing |
E-stop communication anomaly, please pause robot and check E-stop remote |
|
PDU hardware high-temperature first-level fault |
H2-Critical |
0 No post-processing |
System over-temperature, please pause use and wait for recovery |
|
PDU hardware high-temperature second-level fault |
H2-Critical |
42 Motion control damping mode |
System over-temperature, please reboot the robot and wait for recovery |
|
Waist total voltage overvoltage first-level fault |
H2-Critical |
0 No post-processing |
System overvoltage, please pause use and wait for recovery |
|
Waist total current overcurrent first-level fault |
H2-Critical |
0 No post-processing |
System overcurrent, please pause use and wait for recovery |
|
Waist total voltage overvoltage second-level fault |
H2-Critical |
42 Motion control damping mode |
System overvoltage, please reboot the robot and wait for recovery |
|
Waist total current overcurrent second-level fault |
H2-Critical |
42 Motion control damping mode |
System overcurrent, please reboot the robot and wait for recovery |
|
System voltage overvoltage first-level fault |
H2-Critical |
0 No post-processing |
System overvoltage, please pause use and wait for recovery |
|
System current overcurrent first-level fault |
H2-Critical |
0 No post-processing |
System overcurrent, please pause use and wait for recovery |
|
System voltage overvoltage second-level fault |
H2-Critical |
42 Motion control damping mode |
System overvoltage, please reboot the robot and wait for recovery |
|
System current overcurrent second-level fault |
H2-Critical |
42 Motion control damping mode |
System overcurrent, please reboot the robot and wait for recovery |
|
Lower limb total voltage overvoltage first-level fault |
H2-Critical |
0 No post-processing |
System overvoltage, please pause use and wait for recovery |
|
Lower limb total current overcurrent first-level fault |
H2-Critical |
0 No post-processing |
System overcurrent, please pause use and wait for recovery |
|
Lower limb total voltage overvoltage second-level fault |
H2-Critical |
42 Motion control damping mode |
System overvoltage, please reboot the robot and wait for recovery |
|
Lower limb total current overcurrent second-level fault |
H2-Critical |
42 Motion control damping mode |
System overcurrent, please reboot the robot and wait for recovery |
|
Head power chip overcurrent anomaly |
H2-Critical |
0 No post-processing |
Head overcurrent, please reboot the robot and wait for recovery |
|
Arm power chip overcurrent anomaly |
H2-Critical |
90 Motion control upper-limb disable |
Upper limb overcurrent, please reboot the robot and wait for recovery |
|
Leg power chip overcurrent anomaly |
H2-Critical |
42 Motion control damping mode |
System overcurrent, please reboot the robot and wait for recovery |
|
Waist power chip overcurrent anomaly |
H2-Critical |
42 Motion control damping mode |
System overcurrent, please reboot the robot and wait for recovery |
|
UDCU actively powered off upper limb motors |
H4-Event |
90 Motion control upper-limb disable |
Upper limb motors powered off, please pause use |
|
DDCU actively powered off lower limb motors |
H4-Event |
42 Motion control damping mode |
Lower limb motors powered off, please pause use |
|
Leg power chip severe overcurrent anomaly |
H2-Critical |
42 Motion control damping mode |
System overcurrent, please reboot the robot and wait for recovery |
|
Arm power chip over-temperature anomaly |
H2-Critical |
90 Motion control upper-limb disable |
System over-temperature, please reboot the robot and wait for recovery |
|
Waist power chip over-temperature anomaly |
H2-Critical |
42 Motion control damping mode |
System over-temperature, please reboot the robot and wait for recovery |
|
PDU I2C (I2C between all PDU MCUs) Bus Light |
H4-Warning |
0 No post-processing |
I2C communication anomaly, please check the robot after use |
|
PDU I2C (I2C between all PDU MCUs) Bus Heavy |
H4-Warning |
0 No post-processing |
I2C communication anomaly, please check the robot after use |
|
PDU I2C (I2C between all PDU MCUs) Bus Off |
H2-Critical |
0 No post-processing |
I2C communication anomaly, please pause use and check the robot |
|
PDU I2C (I2C between all PDU MCUs) message bit error |
H3-Error |
0 No post-processing |
I2C communication anomaly, please pause use and check the robot |
|
PDU I2C (I2C between all PDU MCUs) message bit stuffing error |
H3-Error |
0 No post-processing |
I2C communication anomaly, please pause use and check the robot |
|
PDU I2C (I2C between all PDU MCUs) communication format error |
H3-Error |
0 No post-processing |
I2C communication anomaly, please pause use and check the robot |
|
PDU I2C (I2C between all PDU MCUs) communication CRC verification error |
H3-Error |
0 No post-processing |
I2C communication anomaly, please pause use and check the robot |
|
PDU I2C (I2C between all PDU MCUs) communication ACK error |
H3-Error |
0 No post-processing |
I2C communication anomaly, please pause use and check the robot |
|
PDU I2C (I2C between all PDU MCUs) initialization failed |
H2-Critical |
42 Motion control damping mode |
I2C communication anomaly, please pause use and check the robot |
|
PDU I2C (I2C between all PDU MCUs) send failed |
H2-Critical |
0 No post-processing |
I2C communication anomaly, please pause use and check the robot |
|
UDCU and RK3588 RS485 bus initialization failed |
H2-Critical |
90 Motion control upper-limb disable |
Upper limb RS485 communication anomaly, please pause use and check the robot |
|
UDCU and PMU RS485 initialization failed |
H2-Critical |
90 Motion control upper-limb disable |
Upper limb RS485 communication anomaly, please pause use and check the robot |
|
UDCU and RK3588 RS485 bus communication timeout |
H2-Critical |
0 No post-processing |
Upper limb RS485 communication anomaly, please pause use and check the robot |
|
UDCU and PMU RS485 communication timeout |
H2-Critical |
0 No post-processing |
Upper limb RS485 communication anomaly, please pause use and check the robot |
|
DDCU and RK3588 RS485 bus initialization failed |
H2-Critical |
0 No post-processing |
Lower limb RS485 communication anomaly, please pause use and check the robot |
|
DDCU and PMU RS485 initialization failed |
H2-Critical |
0 No post-processing |
Lower limb RS485 communication anomaly, please pause use and check the robot |
|
DDCU and RK3588 RS485 bus communication timeout |
H2-Critical |
0 No post-processing |
Lower limb RS485 communication anomaly, please pause use and check the robot |
|
DDCU and PMU RS485 communication timeout |
H2-Critical |
0 No post-processing |
Lower limb RS485 communication anomaly, please pause use and check the robot |
|
SDCU and RK3588 RS485 bus initialization failed |
H4-Warning |
0 No post-processing |
Lower limb RS485 communication anomaly, please pause use and check the robot |
|
SDCU and PMU RS485 initialization failed |
H4-Warning |
0 No post-processing |
Lower limb RS485 communication anomaly, please pause use and check the robot |
|
SDCU and LoRa2 RS485 initialization failed |
H4-Warning |
0 No post-processing |
Lower limb RS485 communication anomaly, please pause use and check the robot |
|
SDCU and RK3588 RS485 bus communication timeout |
H4-Warning |
0 No post-processing |
Lower limb RS485 communication anomaly, please pause use and check the robot |
|
SDCU and PMU RS485 communication timeout |
H4-Warning |
0 No post-processing |
Lower limb RS485 communication anomaly, please pause use and check the robot |
|
SDCU and LoRa2 RS485 communication timeout |
H4-Warning |
0 No post-processing |
Lower limb RS485 communication anomaly, please pause use and check the robot |
|
SDCU and RK3588 RS485 bus communication data anomaly |
H4-Warning |
0 No post-processing |
Lower limb RS485 communication anomaly, please pause use and check the robot |
|
SDCU and PMU RS485 communication data anomaly |
H4-Warning |
0 No post-processing |
Lower limb RS485 communication anomaly, please pause use and check the robot |
|
SDCU and LoRa2 RS485 communication data anomaly |
H4-Warning |
0 No post-processing |
Lower limb RS485 communication anomaly, please pause use and check the robot |
|
PMU and RK3588 RS485 bus initialization failed |
H2-Critical |
0 No post-processing |
Power RS485 communication anomaly, please pause use and check the robot |
|
PMU and LoRa1 RS485 initialization failed |
H3-Error |
0 No post-processing |
Power RS485 communication anomaly, please pause use and check the robot |
|
PMU and BMS RS485 initialization failed |
H2-Critical |
0 No post-processing |
Power RS485 communication anomaly, please pause use and check the robot |
|
PMU and e-ink display RS485 initialization failed |
H3-Error |
0 No post-processing |
Power RS485 communication anomaly, please pause use and check the robot |
|
PMU and RK3588 RS485 bus communication timeout |
H2-Critical |
0 No post-processing |
Power RS485 communication anomaly, please pause use and check the robot |
|
PMU and LoRa1 RS485 communication timeout |
H3-Error |
0 No post-processing |
Power RS485 communication anomaly, please pause use and check the robot |
|
PMU and BMS RS485 communication timeout |
H2-Critical |
0 No post-processing |
Power RS485 communication anomaly, please pause use and check the robot |
|
PMU and e-ink display RS485 communication timeout |
H3-Error |
0 No post-processing |
Power RS485 communication anomaly, please pause use and check the robot |
|
PMU and RK3588 RS485 bus communication data anomaly |
H2-Critical |
0 No post-processing |
Power RS485 communication anomaly, please pause use and check the robot |
|
PMU and LoRa1 RS485 communication data anomaly |
H3-Error |
0 No post-processing |
Power RS485 communication anomaly, please pause use and check the robot |
|
PMU and BMS RS485 detected anomaly |
H2-Critical |
0 No post-processing |
Power RS485 communication anomaly, please pause use and check the robot |
|
PMU and e-ink display RS485 detected anomaly |
H3-Error |
0 No post-processing |
Power RS485 communication anomaly, please pause use and check the robot |
|
User requested shutdown via body power button |
H4-Event |
0 No post-processing |
Robot is shutting down |
|
UDCU Flash initialization failed |
H2-Critical |
0 No post-processing |
Upper limb main controller Flash anomaly, please check the robot |
|
UDCU Flash readback data anomaly |
H2-Critical |
0 No post-processing |
Upper limb main controller Flash anomaly, please check the robot |
|
DDCU Flash initialization failed |
H2-Critical |
0 No post-processing |
Lower limb main controller Flash anomaly, please check the robot |
|
DDCU Flash readback data anomaly |
H2-Critical |
0 No post-processing |
Lower limb main controller Flash anomaly, please check the robot |
|
SDCU Flash initialization failed |
H4-Warning |
0 No post-processing |
Lower limb main controller Flash anomaly, please check the robot |
|
SDCU Flash readback data anomaly |
H4-Warning |
0 No post-processing |
Lower limb main controller Flash anomaly, please check the robot |
|
PMU Flash initialization failed |
H2-Critical |
0 No post-processing |
Power main controller Flash anomaly, please check the robot |
|
PMU Flash readback data anomaly |
H2-Critical |
0 No post-processing |
Power main controller Flash anomaly, please check the robot |
|
UDCU left/right arm power management chip self-check failed |
H3-Error |
90 Motion control upper-limb disable |
Upper limb main controller overcurrent protector anomaly, please check the robot |
|
UDCU left/right arm power management chip triggered overcurrent protection |
H3-Error |
90 Motion control upper-limb disable |
Upper limb main controller overcurrent protector anomaly, please check the robot |
|
UDCU left/right arm power management chip over-temperature protection |
H3-Error |
90 Motion control upper-limb disable |
Upper limb main controller overcurrent protector anomaly, please check the robot |
|
UDCU left/right arm power management chip bus voltage too low |
H3-Error |
90 Motion control upper-limb disable |
Upper limb main controller overcurrent protector anomaly, please check the robot |
|
UDCU left/right arm power management chip MOS temperature too high |
H3-Error |
90 Motion control upper-limb disable |
Upper limb main controller overcurrent protector anomaly, please check the robot |
|
UDCU left/right arm power management chip pre-power-on voltage anomaly |
H3-Error |
90 Motion control upper-limb disable |
Upper limb main controller overcurrent protector anomaly, please check the robot |
|
UDCU left/right arm power management chip post-power-on voltage anomaly |
H3-Error |
90 Motion control upper-limb disable |
Upper limb main controller overcurrent protector anomaly, please check the robot |
|
UDCU left/right arm power management chip voltage detection failed |
H3-Error |
90 Motion control upper-limb disable |
Upper limb main controller overcurrent protector anomaly, please check the robot |
|
UDCU left/right arm power management chip voltage detection process differential anomaly |
H3-Error |
90 Motion control upper-limb disable |
Upper limb main controller overcurrent protector anomaly, please check the robot |
|
UDCU left/right arm power management chip post-power-on differential anomaly |
H3-Error |
90 Motion control upper-limb disable |
Upper limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip self-check failed |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip triggered overcurrent protection |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip over-temperature protection |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip bus voltage too low |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip MOS temperature too high |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip pre-power-on voltage anomaly |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip post-power-on voltage anomaly |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip voltage detection failed |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip voltage detection process differential anomaly |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
DDCU waist power management chip post-power-on differential anomaly |
H3-Error |
42 Motion control damping mode |
Lower limb main controller overcurrent protector anomaly, please check the robot |
|
PMU bus power management chip self-check failed |
H3-Error |
42 Motion control damping mode |
Power main controller overcurrent protector anomaly, please check the robot |
|
PMU bus power management chip triggered overcurrent protection |
H3-Error |
42 Motion control damping mode |
Power main controller overcurrent protector anomaly, please check the robot |
|
PMU bus power management chip detected RK3588 power loss |
H4-Event |
42 Motion control damping mode |
Power main controller overcurrent protector anomaly, please check the robot |
|
PMU bus power management chip detected Orin power loss |
H4-Event |
0 No post-processing |
Power main controller overcurrent protector anomaly, please check the robot |
|
PMU bus power management chip detected HDU power loss |
H4-Event |
0 No post-processing |
Power main controller overcurrent protector anomaly, please check the robot |
|
PMU bus power management chip detected DCU power loss |
H4-Event |
42 Motion control damping mode |
Power main controller overcurrent protector anomaly, please check the robot |
|
PMU bus power management chip over-temperature protection |
H4-Event |
42 Motion control damping mode |
Power main controller overcurrent protector anomaly, please check the robot |
|
UDCU communication chip SPI initialization failed |
H2-Critical |
0 No post-processing |
Upper limb main controller ECAT slave anomaly, please check the robot |
|
UDCU communication chip EtherCAT OP state switch failed |
H2-Critical |
0 No post-processing |
Upper limb main controller ECAT slave anomaly, please check the robot |
|
DDCU communication chip SPI initialization failed |
H2-Critical |
0 No post-processing |
Lower limb main controller ECAT slave anomaly, please check the robot |
|
DDCU communication chip EtherCAT OP state switch failed |
H2-Critical |
0 No post-processing |
Lower limb main controller ECAT slave anomaly, please check the robot |
|
SDCU communication chip SPI initialization failed |
H4-Warning |
0 No post-processing |
Lower limb main controller ECAT slave anomaly, please check the robot |
|
SDCU communication chip EtherCAT OP state switch failed |
H4-Warning |
0 No post-processing |
Lower limb main controller ECAT slave anomaly, please check the robot |
|
DDCU leg & waist motor power management chip IIC communication anomaly |
H2-Critical |
42 Motion control damping mode |
Lower limb main controller power controller anomaly, please check the robot |
|
DDCU leg & waist motor power management chip self-check failed |
H2-Critical |
42 Motion control damping mode |
Lower limb main controller power controller anomaly, please check the robot |
|
DDCU leg & waist motor power management chip power-on failed |
H2-Critical |
42 Motion control damping mode |
Lower limb main controller power controller anomaly, please check the robot |
|
DDCU leg & waist motor power management chip triggered overcurrent protection |
H2-Critical |
42 Motion control damping mode |
Lower limb main controller power controller anomaly, please check the robot |
|
DDCU leg & waist motor power management chip triggered severe overcurrent protection |
H2-Critical |
42 Motion control damping mode |
Lower limb main controller power controller anomaly, please check the robot |
|
PDU CAN2L (PDU MCU2 to left arm CAN) Bus Light |
H4-Warning |
0 No post-processing |
Left arm communication anomaly, please check the robot |
|
PDU CAN2L (PDU MCU2 to left arm CAN) Bus Heavy |
H4-Warning |
0 No post-processing |
Left arm communication anomaly, please check the robot |
|
PDU CAN2L (PDU MCU2 to left arm CAN) Bus Off |
H2-Critical |
90 Motion control upper-limb disable |
Left arm communication anomaly, please check the robot |
|
PDU CAN2L (PDU MCU2 to left arm CAN) message bit error |
H3-Error |
0 No post-processing |
Left arm communication anomaly, please check the robot |
|
PDU CAN2L (PDU MCU2 to left arm CAN) message bit stuffing error |
H3-Error |
0 No post-processing |
Left arm communication anomaly, please check the robot |
|
PDU CAN2L (PDU MCU2 to left arm CAN) communication format error |
H3-Error |
0 No post-processing |
Left arm communication anomaly, please check the robot |
|
PDU CAN2L (PDU MCU2 to left arm CAN) communication CRC verification error |
H3-Error |
0 No post-processing |
Left arm communication anomaly, please check the robot |
|
PDU CAN2L (PDU MCU2 to left arm CAN) communication ACK error |
H3-Error |
0 No post-processing |
Left arm communication anomaly, please check the robot |
|
PDU CAN2L (PDU MCU2 to left arm CAN) initialization failed |
H2-Critical |
90 Motion control upper-limb disable |
Left arm communication anomaly, please check the robot |
|
PDU CAN2L (PDU MCU2 to left arm CAN) send failed |
H2-Critical |
0 No post-processing |
Left arm communication anomaly, please check the robot |
|
PDU CAN2R (PDU MCU2 to right arm CAN) Bus Light |
H4-Warning |
0 No post-processing |
Right arm communication anomaly, please check the robot |
|
PDU CAN2R (PDU MCU2 to right arm CAN) Bus Heavy |
H4-Warning |
0 No post-processing |
Right arm communication anomaly, please check the robot |
|
PDU CAN2R (PDU MCU2 to right arm CAN) Bus Off |
H2-Critical |
90 Motion control upper-limb disable |
Right arm communication anomaly, please check the robot |
|
PDU CAN2R (PDU MCU2 to right arm CAN) message bit error |
H3-Error |
0 No post-processing |
Right arm communication anomaly, please check the robot |
|
PDU CAN2R (PDU MCU2 to right arm CAN) message bit stuffing error |
H3-Error |
0 No post-processing |
Right arm communication anomaly, please check the robot |
|
PDU CAN2R (PDU MCU2 to right arm CAN) communication format error |
H3-Error |
0 No post-processing |
Right arm communication anomaly, please check the robot |
|
PDU CAN2R (PDU MCU2 to right arm CAN) communication CRC verification error |
H3-Error |
0 No post-processing |
Right arm communication anomaly, please check the robot |
|
PDU CAN2R (PDU MCU2 to right arm CAN) communication ACK error |
H3-Error |
0 No post-processing |
Right arm communication anomaly, please check the robot |
|
PDU CAN2R (PDU MCU2 to right arm CAN) initialization failed |
H2-Critical |
90 Motion control upper-limb disable |
Right arm communication anomaly, please check the robot |
|
PDU CAN2R (PDU MCU2 to right arm CAN) send failed |
H2-Critical |
0 No post-processing |
Right arm communication anomaly, please check the robot |
|
PDU CAN1 (MDC MCU1 to head pitch & yaw motor CAN) Bus Light |
H4-Warning |
0 No post-processing |
Head communication anomaly, please check the robot |
|
PDU CAN1 (MDC MCU1 to head pitch & yaw motor CAN) Bus Heavy |
H4-Warning |
0 No post-processing |
Head communication anomaly, please check the robot |
|
PDU CAN1 (MDC MCU1 to head pitch & yaw motor CAN) Bus Off |
H2-Critical |
0 No post-processing |
Head communication anomaly, please check the robot |
|
PDU CAN1 (MDC MCU1 to head pitch & yaw motor CAN) message bit error |
H3-Error |
0 No post-processing |
Head communication anomaly, please check the robot |
|
PDU CAN1 (MDC MCU1 to head pitch & yaw motor CAN) message bit stuffing error |
H3-Error |
0 No post-processing |
Head communication anomaly, please check the robot |
|
PDU CAN1 (MDC MCU1 to head pitch & yaw motor CAN) communication format error |
H3-Error |
0 No post-processing |
Head communication anomaly, please check the robot |
|
PDU CAN1 (MDC MCU1 to head pitch & yaw motor CAN) communication CRC verification error |
H3-Error |
0 No post-processing |
Head communication anomaly, please check the robot |
|
PDU CAN1 (MDC MCU1 to head pitch & yaw motor CAN) communication ACK error |
H3-Error |
0 No post-processing |
Head communication anomaly, please check the robot |
|
PDU CAN1 (MDC MCU1 to head pitch & yaw motor CAN) initialization failed |
H2-Critical |
0 No post-processing |
Head communication anomaly, please check the robot |
|
PDU CAN1 (MDC MCU1 to head pitch & yaw motor CAN) send failed |
H2-Critical |
0 No post-processing |
Head communication anomaly, please check the robot |
|
PDU CAN3L (PDU MCU3/4 to left leg CAN) Bus Light |
H4-Warning |
0 No post-processing |
Left leg communication anomaly, please check the robot |
|
PDU CAN3L (PDU MCU3/4 to left leg CAN) Bus Heavy |
H4-Warning |
0 No post-processing |
Left leg communication anomaly, please check the robot |
|
PDU CAN3L (PDU MCU3/4 to left leg CAN) Bus Off |
H2-Critical |
42 Motion control damping mode |
Left leg communication anomaly, please check the robot |
|
PDU CAN3L (PDU MCU3/4 to left leg CAN) message bit error |
H3-Error |
0 No post-processing |
Left leg communication anomaly, please check the robot |
|
PDU CAN3L (PDU MCU3/4 to left leg CAN) message bit stuffing error |
H3-Error |
0 No post-processing |
Left leg communication anomaly, please check the robot |
|
PDU CAN3L (PDU MCU3/4 to left leg CAN) communication format error |
H3-Error |
0 No post-processing |
Left leg communication anomaly, please check the robot |
|
PDU CAN3L (PDU MCU3/4 to left leg CAN) communication CRC verification error |
H3-Error |
0 No post-processing |
Left leg communication anomaly, please check the robot |
|
PDU CAN3L (PDU MCU3/4 to left leg CAN) communication ACK error |
H3-Error |
0 No post-processing |
Left leg communication anomaly, please check the robot |
|
PDU CAN3L (PDU MCU3/4 to left leg CAN) initialization failed |
H2-Critical |
42 Motion control damping mode |
Left leg communication anomaly, please check the robot |
|
PDU CAN3L (PDU MCU3/4 to left leg CAN) send failed |
H2-Critical |
0 No post-processing |
Left leg communication anomaly, please check the robot |
|
PDU CAN3LS (PDU SDCU to left leg joint motor CAN line diagnostics) Bus Light |
H6-Reserve |
0 No post-processing |
Left leg redundant communication anomaly, please check the robot |
|
PDU CAN3LS (PDU SDCU to left leg joint motor CAN line diagnostics) Bus Heavy |
H6-Reserve |
0 No post-processing |
Left leg redundant communication anomaly, please check the robot |
|
PDU CAN3LS (PDU SDCU to left leg joint motor CAN line diagnostics) Bus Off |
H6-Reserve |
0 No post-processing |
Left leg redundant communication anomaly, please check the robot |
|
PDU CAN3LS (PDU SDCU to left leg joint motor CAN line diagnostics) message bit error |
H6-Reserve |
0 No post-processing |
Left leg redundant communication anomaly, please check the robot |
|
PDU CAN3LS (PDU SDCU to left leg joint motor CAN line diagnostics) message bit stuffing error |
H6-Reserve |
0 No post-processing |
Left leg redundant communication anomaly, please check the robot |
|
PDU CAN3LS (PDU SDCU to left leg joint motor CAN line diagnostics) communication format error |
H6-Reserve |
0 No post-processing |
Left leg redundant communication anomaly, please check the robot |
|
PDU CAN3LS (PDU SDCU to left leg joint motor CAN line diagnostics) communication CRC verification error |
H6-Reserve |
0 No post-processing |
Left leg redundant communication anomaly, please check the robot |
|
PDU CAN3LS (PDU SDCU to left leg joint motor CAN line diagnostics) communication ACK error |
H6-Reserve |
0 No post-processing |
Left leg redundant communication anomaly, please check the robot |
|
PDU CAN3LS (PDU SDCU to left leg joint motor CAN line diagnostics) initialization failed |
H6-Reserve |
0 No post-processing |
Left leg redundant communication anomaly, please check the robot |
|
PDU CAN3LS (PDU SDCU to left leg joint motor CAN line diagnostics) send failed |
H6-Reserve |
0 No post-processing |
Left leg redundant communication anomaly, please check the robot |
|
PDU CAN3R (PDU MCU3/4 to right leg CAN) Bus Light |
H4-Warning |
0 No post-processing |
Right leg communication anomaly, please check the robot |
|
PDU CAN3R (PDU MCU3/4 to right leg CAN) Bus Heavy |
H4-Warning |
0 No post-processing |
Right leg communication anomaly, please check the robot |
|
PDU CAN3R (PDU MCU3/4 to right leg CAN) Bus Off |
H2-Critical |
42 Motion control damping mode |
Right leg communication anomaly, please check the robot |
|
PDU CAN3R (PDU MCU3/4 to right leg CAN) message bit error |
H3-Error |
0 No post-processing |
Right leg communication anomaly, please check the robot |
|
PDU CAN3R (PDU MCU3/4 to right leg CAN) message bit stuffing error |
H3-Error |
0 No post-processing |
Right leg communication anomaly, please check the robot |
|
PDU CAN3R (PDU MCU3/4 to right leg CAN) communication format error |
H3-Error |
0 No post-processing |
Right leg communication anomaly, please check the robot |
|
PDU CAN3R (PDU MCU3/4 to right leg CAN) communication CRC verification error |
H3-Error |
0 No post-processing |
Right leg communication anomaly, please check the robot |
|
PDU CAN3R (PDU MCU3/4 to right leg CAN) communication ACK error |
H3-Error |
0 No post-processing |
Right leg communication anomaly, please check the robot |
|
PDU CAN3R (PDU MCU3/4 to right leg CAN) initialization failed |
H2-Critical |
42 Motion control damping mode |
Right leg communication anomaly, please check the robot |
|
PDU CAN3R (PDU MCU3/4 to right leg CAN) send failed |
H2-Critical |
0 No post-processing |
Right leg communication anomaly, please check the robot |
|
PDU CAN3RS (PDU SDCU to right leg joint motor CAN line diagnostics) Bus Light |
H6-Reserve |
0 No post-processing |
Right leg redundant communication anomaly, please check the robot |
|
PDU CAN3RS (PDU SDCU to right leg joint motor CAN line diagnostics) Bus Heavy |
H6-Reserve |
0 No post-processing |
Right leg redundant communication anomaly, please check the robot |
|
PDU CAN3RS (PDU SDCU to right leg joint motor CAN line diagnostics) Bus Off |
H6-Reserve |
0 No post-processing |
Right leg redundant communication anomaly, please check the robot |
|
PDU CAN3RS (PDU SDCU to right leg joint motor CAN line diagnostics) message bit error |
H6-Reserve |
0 No post-processing |
Right leg redundant communication anomaly, please check the robot |
|
PDU CAN3RS (PDU SDCU to right leg joint motor CAN line diagnostics) message bit stuffing error |
H6-Reserve |
0 No post-processing |
Right leg redundant communication anomaly, please check the robot |
|
PDU CAN3RS (PDU SDCU to right leg joint motor CAN line diagnostics) communication format error |
H6-Reserve |
0 No post-processing |
Right leg redundant communication anomaly, please check the robot |
|
PDU CAN3RS (PDU SDCU to right leg joint motor CAN line diagnostics) communication CRC verification error |
H6-Reserve |
0 No post-processing |
Right leg redundant communication anomaly, please check the robot |
|
PDU CAN3RS (PDU SDCU to right leg joint motor CAN line diagnostics) communication ACK error |
H6-Reserve |
0 No post-processing |
Right leg redundant communication anomaly, please check the robot |
|
PDU CAN3RS (PDU SDCU to right leg joint motor CAN line diagnostics) initialization failed |
H6-Reserve |
0 No post-processing |
Right leg redundant communication anomaly, please check the robot |
|
PDU CAN3RS (PDU SDCU to right leg joint motor CAN line diagnostics) send failed |
H6-Reserve |
0 No post-processing |
Right leg redundant communication anomaly, please check the robot |
|
PDU CAN4 (PDU MCU4 to waist motor CAN) Bus Light |
H4-Warning |
0 No post-processing |
Waist communication anomaly, please check the robot |
|
PDU CAN4 (PDU MCU4 to waist motor CAN) Bus Heavy |
H4-Warning |
0 No post-processing |
Waist communication anomaly, please check the robot |
|
PDU CAN4 (PDU MCU4 to waist motor CAN) Bus Off |
H2-Critical |
42 Motion control damping mode |
Waist communication anomaly, please check the robot |
|
PDU CAN4 (PDU MCU4 to waist motor CAN) message bit error |
H3-Error |
0 No post-processing |
Waist communication anomaly, please check the robot |
|
PDU CAN4 (PDU MCU4 to waist motor CAN) message bit stuffing error |
H3-Error |
0 No post-processing |
Waist communication anomaly, please check the robot |
|
PDU CAN4 (PDU MCU4 to waist motor CAN) communication format error |
H3-Error |
0 No post-processing |
Waist communication anomaly, please check the robot |
|
PDU CAN4 (PDU MCU4 to waist motor CAN) communication CRC verification error |
H3-Error |
0 No post-processing |
Waist communication anomaly, please check the robot |
|
PDU CAN4 (PDU MCU4 to waist motor CAN) communication ACK error |
H3-Error |
0 No post-processing |
Waist communication anomaly, please check the robot |
|
PDU CAN4 (PDU MCU4 to waist motor CAN) initialization failed |
H2-Critical |
42 Motion control damping mode |
Waist communication anomaly, please check the robot |
|
PDU CAN4 (PDU MCU4 to waist motor CAN) send failed |
H2-Critical |
0 No post-processing |
Waist communication anomaly, please check the robot |
|
PDU CAN4S (PDU SDCU to waist three motors CAN line diagnostics) Bus Light |
H6-Reserve |
0 No post-processing |
Waist redundant communication anomaly, please check the robot |
|
PDU CAN4S (PDU SDCU to waist three motors CAN line diagnostics) Bus Heavy |
H6-Reserve |
0 No post-processing |
Waist redundant communication anomaly, please check the robot |
|
PDU CAN4S (PDU SDCU to waist three motors CAN line diagnostics) Bus Off |
H6-Reserve |
0 No post-processing |
Waist redundant communication anomaly, please check the robot |
|
PDU CAN4S (PDU SDCU to waist three motors CAN line diagnostics) message bit error |
H6-Reserve |
0 No post-processing |
Waist redundant communication anomaly, please check the robot |
|
PDU CAN4S (PDU SDCU to waist three motors CAN line diagnostics) message bit stuffing error |
H6-Reserve |
0 No post-processing |
Waist redundant communication anomaly, please check the robot |
|
PDU CAN4S (PDU SDCU to waist three motors CAN line diagnostics) communication format error |
H6-Reserve |
0 No post-processing |
Waist redundant communication anomaly, please check the robot |
|
PDU CAN4S (PDU SDCU to waist three motors CAN line diagnostics) communication CRC verification error |
H6-Reserve |
0 No post-processing |
Waist redundant communication anomaly, please check the robot |
|
PDU CAN4S (PDU SDCU to waist three motors CAN line diagnostics) communication ACK error |
H6-Reserve |
0 No post-processing |
Waist redundant communication anomaly, please check the robot |
|
PDU CAN4S (PDU SDCU to waist three motors CAN line diagnostics) initialization failed |
H6-Reserve |
0 No post-processing |
Waist redundant communication anomaly, please check the robot |
|
PDU CAN4S (PDU SDCU to waist three motors CAN line diagnostics) send failed |
H6-Reserve |
0 No post-processing |
Waist redundant communication anomaly, please check the robot |
|
Main battery BMS communication verification error |
H1-Fatal |
0 No post-processing |
Main battery communication anomaly, please pause use and contact after-sales |
|
Main battery BMS communication lost |
H1-Fatal |
0 No post-processing |
Main battery communication anomaly, please pause use and contact after-sales |
|
Charging dock communication verification error |
H1-Fatal |
0 No post-processing |
Main battery communication anomaly, please pause use and contact after-sales |
|
Charging dock communication lost |
H1-Fatal |
0 No post-processing |
Main battery communication anomaly, please pause use and contact after-sales |
|
Main battery charging overcurrent |
H2-Critical |
0 No post-processing |
Main battery overcurrent, please reboot the robot and wait for recovery |
|
Main battery discharging overcurrent |
H2-Critical |
0 No post-processing |
Main battery overcurrent, please reboot the robot and wait for recovery |
|
Main battery short circuit |
H1-Fatal |
0 No post-processing |
Main battery short circuit, please pause use and contact after-sales |
|
Main battery cell overvoltage |
H2-Critical |
0 No post-processing |
Main battery overvoltage, please reboot the robot and wait for recovery |
|
Main battery cell undervoltage |
H2-Critical |
0 No post-processing |
Main battery undervoltage, please reboot the robot and wait for recovery |
|
Main battery total overvoltage |
H2-Critical |
0 No post-processing |
Main battery overvoltage, please reboot the robot and wait for recovery |
|
Main battery total undervoltage |
H2-Critical |
0 No post-processing |
Main battery undervoltage, please reboot the robot and wait for recovery |
|
Main battery cell detected open circuit |
H1-Fatal |
0 No post-processing |
Main battery cell open circuit, please pause use and contact after-sales |
|
Main battery temperature sensor detected open circuit |
H3-Error |
0 No post-processing |
Temperature sensor anomaly, please check the robot after use |
|
Main battery cell temperature above discharge upper limit |
H2-Critical |
0 No post-processing |
Main battery over-temperature, please reboot the robot and wait for recovery |
|
Main battery cell temperature above charge upper limit |
H2-Critical |
0 No post-processing |
Main battery over-temperature, please reboot the robot and wait for recovery |
|
Main battery cell temperature below discharge lower limit |
H2-Critical |
0 No post-processing |
Main battery over-temperature, please reboot the robot and wait for recovery |
|
Main battery cell temperature below charge lower limit |
H2-Critical |
0 No post-processing |
Main battery over-temperature, please reboot the robot and wait for recovery |
|
Main battery cell maximum voltage difference exceeded upper limit |
H2-Critical |
0 No post-processing |
Battery voltage difference too large, please reboot the robot and wait for recovery |
|
Main battery MOSFET charging disabled |
H3-Error |
0 No post-processing |
Main battery charging prohibited |
|
Main battery MOSFET discharging disabled |
H3-Error |
0 No post-processing |
Main battery discharging prohibited |
|
Main battery MOSFET temperature exceeded operating upper limit |
H2-Critical |
0 No post-processing |
Main battery over-temperature, please reboot the robot and wait for recovery |
|
Main battery pack wire resistance exceeds upper limit |
H2-Critical |
0 No post-processing |
Main battery overload, please reboot the robot and wait for recovery |
|
Main battery cannot charge |
H1-Fatal |
0 No post-processing |
Main battery cannot charge, please pause use and contact after-sales |
|
Battery data anomaly |
H3-Error |
161 Battery anomaly reminder |
Battery display anomaly, please check battery wiring after use |
|
Battery level-1 overheat |
H2-Critical |
136 Battery first-level over-temperature (restrict high-load and performance) |
Battery over-temperature, please pause use and wait for recovery |
|
Battery level-2 overheat |
H2-Critical |
0 No post-processing |
Battery over-temperature, please reboot the robot and wait for recovery |
|
Chest status light signal open-circuit fault |
H4-Warning |
0 No post-processing |
Chest status light open circuit, please check the robot after use |
|
Chest status light signal short-circuit fault |
H4-Warning |
0 No post-processing |
Chest status light short circuit, please check the robot after use |
|
Chest status light SPI initialization failed |
H4-Warning |
0 No post-processing |
Chest status light anomaly, please check the robot after use |
|
Chest status light failed, unable to perform closed-loop detection |
H4-Warning |
0 No post-processing |
Chest status light anomaly, please check the robot after use |
|
Fan speed abnormal |
H4-Warning |
0 No post-processing |
Main controller fan anomaly, please check the robot after use |
|
5G module communication timeout |
H6-Reserve |
0 No post-processing |
4G/5G module anomaly |
|
Wireless E-stop remote LoRa1 communication anomaly |
H4-Warning |
0 No post-processing |
Wireless E-stop remote anomaly, please check the wireless E-stop remote |
|
Wireless E-stop remote LoRa2 communication anomaly |
H4-Warning |
0 No post-processing |
Wireless E-stop remote anomaly, please check the wireless E-stop remote |
|
Wireless E-stop remote disconnected |
H5-Trivial |
0 No post-processing |
Wireless E-stop remote not connected |
Health Management Module
Diag Code |
Fault Description |
Alert Level |
Post-processing (robot_sig) |
Analysis and Action |
|---|---|---|---|---|
|
Orin board CPU load exceeded threshold |
H6-Reserve |
0 No post-processing |
SoC0 load anomaly, please pause use and wait for recovery |
|
Orin board CPU temperature exceeded threshold |
H6-Reserve |
0 No post-processing |
SoC0 temperature anomaly, please pause use and wait for recovery |
|
Orin board CPU thermal throttling |
H6-Reserve |
0 No post-processing |
SoC0 temperature anomaly, please pause use and wait for recovery |
|
Orin board disk temperature exceeded threshold |
H6-Reserve |
0 No post-processing |
SoC0 temperature anomaly, please pause use and wait for recovery |
|
Orin board disk partition usage exceeded threshold |
H6-Reserve |
0 No post-processing |
SoC0 storage anomaly, please pause use and check the robot |
|
Orin board disk available spare space insufficient |
H6-Reserve |
0 No post-processing |
SoC0 storage anomaly, please pause use and contact after-sales |
|
Orin board disk available spare space exhausted |
H6-Reserve |
0 No post-processing |
SoC0 storage anomaly, please pause use and contact after-sales |
|
Orin board disk remaining write endurance insufficient |
H6-Reserve |
0 No post-processing |
SoC0 storage anomaly, please pause use and check the robot |
|
Orin board disk OE error |
H6-Reserve |
0 No post-processing |
SoC0 OE anomaly, please pause use and contact after-sales |
|
Orin board disk bad sectors (uncorrectable sector count non-zero) |
H6-Reserve |
0 No post-processing |
SoC0 storage anomaly, please pause use and check the robot |
|
Orin board GPU temperature exceeded threshold |
H6-Reserve |
0 No post-processing |
SoC0 temperature anomaly, please pause use and wait for recovery |
|
Orin board mainboard temperature exceeded threshold |
H6-Reserve |
0 No post-processing |
SoC0 temperature anomaly, please pause use and wait for recovery |
|
Orin board Ethernet cable disconnected |
H6-Reserve |
0 No post-processing |
SoC0 network cable disconnected, please pause use and check the robot |
|
Orin board Wi-Fi network disconnected |
H6-Reserve |
0 No post-processing |
SoC0 network disconnected, please pause use and check the robot |
|
Orin board mobile network disconnected |
H6-Reserve |
0 No post-processing |
SoC0 network disconnected, please pause use and check the robot |
|
Orin board USB device disconnected |
H6-Reserve |
0 No post-processing |
SoC0 USB disconnected, please pause use and check the robot |
|
Orin board display output cable disconnected |
H6-Reserve |
0 No post-processing |
SoC0 display cable disconnected, please pause use and check the robot |
|
Orin board CPU fan stopped and CPU temperature high |
H6-Reserve |
0 No post-processing |
SoC0 temperature anomaly, please pause use and check the robot |
|
HAL_EtherCAT process heartbeat abnormal |
H3-Error |
0 No post-processing |
Motion module heartbeat anomaly, please reboot and wait for recovery |
|
HAL_IMU process heartbeat abnormal |
H5-Trivial |
0 No post-processing |
IMU heartbeat anomaly, please reboot and wait for recovery |
|
HAL_PMU process heartbeat abnormal |
H5-Trivial |
0 No post-processing |
Hardware abstraction layer heartbeat anomaly, please reboot and wait for recovery |
|
HAL_485 process heartbeat abnormal |
H5-Trivial |
0 No post-processing |
Hardware abstraction layer heartbeat anomaly, please reboot and wait for recovery |
|
Motion control module process heartbeat anomaly |
H3-Error |
0 No post-processing |
Motion module heartbeat anomaly, please reboot and wait for recovery |
|
Remote control module process heartbeat abnormal |
H5-Trivial |
0 No post-processing |
Remote control module heartbeat anomaly, please reboot and wait for recovery |
|
SoC0 HDS slave module process heartbeat abnormal |
H5-Trivial |
0 No post-processing |
Module heartbeat anomaly, please reboot and wait for recovery |
|
State management module process heartbeat anomaly |
H5-Trivial |
0 No post-processing |
Module heartbeat anomaly, please reboot and wait for recovery |
|
SoC0 OTA module process heartbeat abnormal |
H5-Trivial |
0 No post-processing |
OTA module heartbeat anomaly, please reboot and wait for recovery |
|
RGBD camera process heartbeat abnormal |
H6-Reserve |
0 No post-processing |
Camera process heartbeat anomaly, please reboot and wait for recovery |
|
SoC1 HAL_Sensor process heartbeat abnormal |
H5-Trivial |
0 No post-processing |
Sensor module heartbeat anomaly, please reboot and wait for recovery |
|
SoC1 OTA module process heartbeat abnormal |
H5-Trivial |
0 No post-processing |
OTA module heartbeat anomaly, please reboot and wait for recovery |
|
SoC1 HDS slave module process heartbeat abnormal |
H5-Trivial |
0 No post-processing |
Module heartbeat anomaly, please reboot and wait for recovery |
|
Interaction slave module process heartbeat abnormal |
H5-Trivial |
0 No post-processing |
Interaction module heartbeat anomaly, please reboot and wait for recovery |
|
Agent module process heartbeat abnormal |
H5-Trivial |
0 No post-processing |
Interaction module heartbeat anomaly, please reboot and wait for recovery |
|
SoC2 HAL_Sensor process heartbeat abnormal |
H5-Trivial |
0 No post-processing |
Sensor module heartbeat anomaly, please reboot and wait for recovery |
|
SoC2 OTA module process heartbeat abnormal |
H5-Trivial |
0 No post-processing |
OTA module heartbeat anomaly, please reboot and wait for recovery |
|
SoC2 HDS slave module process heartbeat abnormal |
H5-Trivial |
0 No post-processing |
Module heartbeat anomaly, please reboot and wait for recovery |
|
HAL_Audio process heartbeat abnormal |
H5-Trivial |
0 No post-processing |
Interaction module heartbeat anomaly, please reboot and wait for recovery |
|
SLAM module process heartbeat abnormal |
H5-Trivial |
154 Stop navigation application |
SLAM module heartbeat abnormal, please reboot and wait for recovery |
|
Map management module process heartbeat anomaly |
H5-Trivial |
154 Stop navigation application |
Map management module heartbeat abnormal, please reboot and wait for recovery |
|
Perception module process heartbeat anomaly |
H5-Trivial |
154 Stop navigation application |
Perception module heartbeat anomaly, please reboot and wait for recovery |
|
PNC module process heartbeat abnormal |
H5-Trivial |
154 Stop navigation application |
Planning and control module heartbeat anomaly, please reboot and wait for recovery |
|
Task management module process heartbeat anomaly |
H5-Trivial |
0 No post-processing |
Module heartbeat anomaly, please reboot and wait for recovery |
|
Chest LiDAR publish frame rate anomaly |
H3-Error |
0 No post-processing |
LiDAR abnormal |
|
Chest LiDAR IMU published data frame rate abnormal |
H3-Error |
0 No post-processing |
LiDAR abnormal |
|
RK3588 board CPU load exceeded threshold |
H6-Reserve |
0 No post-processing |
SoC1 load anomaly, please pause use and wait for recovery |
|
RK3588 board CPU temperature exceeded threshold |
H6-Reserve |
0 No post-processing |
SoC1 temperature anomaly, please pause use and wait for recovery |
|
Leg joint state publish frame rate anomaly |
H3-Error |
0 No post-processing |
Hardware abstraction layer (ECAT) abnormal |
|
Arm joint state publish frame rate anomaly |
H3-Error |
0 No post-processing |
Hardware abstraction layer (ECAT) abnormal |
|
Waist joint state publish frame rate anomaly |
H3-Error |
0 No post-processing |
Hardware abstraction layer (ECAT) abnormal |
|
Chest IMU motion control subscription data frame rate abnormal |
H3-Error |
0 No post-processing |
Motion control module abnormal |
|
Pelvis IMU motion control subscription data frame rate abnormal |
H3-Error |
0 No post-processing |
Motion control module abnormal |
|
Leg joint state MC subscription data frame rate abnormal |
H3-Error |
0 No post-processing |
Motion control module abnormal |
|
Arm joint state MC subscription data frame rate abnormal |
H3-Error |
0 No post-processing |
Motion control module abnormal |
|
Waist joint state MC subscription data frame rate abnormal |
H3-Error |
0 No post-processing |
Motion control module abnormal |
|
Leg joint command MC publishing data frame rate abnormal |
H3-Error |
0 No post-processing |
Motion control module abnormal |
|
Arm joint command MC publishing data frame rate abnormal |
H3-Error |
0 No post-processing |
Motion control module abnormal |
|
Waist joint command MC publishing subscription data frame rate abnormal |
H3-Error |
0 No post-processing |
Motion control module abnormal |
|
Chest LiDAR SLAM subscription data frame rate abnormal |
H6-Reserve |
0 No post-processing |
SLAM module abnormal |
|
Chest IMU SLAM subscription data frame rate abnormal |
H6-Reserve |
0 No post-processing |
SLAM module abnormal |
|
Head front binocular RGB camera perception subscription data frame rate abnormal |
H6-Reserve |
0 No post-processing |
Perception module abnormal |
|
Head rear monocular RGB camera perception subscription data frame rate abnormal |
H6-Reserve |
0 No post-processing |
Perception module abnormal |
|
Head front RGBD camera perception subscription data frame rate abnormal |
H6-Reserve |
0 No post-processing |
Perception module abnormal |
|
RK3588S board CPU load exceeded threshold |
H6-Reserve |
0 No post-processing |
SoC2 load anomaly, please pause use and wait for recovery |
|
RK3588S board CPU temperature exceeded threshold |
H6-Reserve |
0 No post-processing |
SoC2 temperature anomaly, please pause use and wait for recovery |
|
License module unknown error |
H2-Critical |
0 No post-processing |
License module unknown error, robot cannot function normally, please contact after-sales |
|
License module file read failed |
H2-Critical |
0 No post-processing |
License module file read failed, robot cannot function normally, please contact after-sales |
|
License module file format error |
H2-Critical |
0 No post-processing |
License module file format error, robot cannot function normally, please contact after-sales |
|
License module dual-layer AEAD decryption failed |
H2-Critical |
0 No post-processing |
License module decryption failed, robot cannot function normally, please contact after-sales |
|
License module digital signature verification failed |
H2-Critical |
0 No post-processing |
License module digital signature verification failed, robot cannot function normally, please contact after-sales |
|
License module YAML parse failed |
H2-Critical |
0 No post-processing |
License module anomaly, robot cannot function normally, please contact after-sales |
|
License module field format invalid |
H2-Critical |
0 No post-processing |
License module field format invalid, robot cannot function normally, please contact after-sales |
|
License module required field missing |
H2-Critical |
0 No post-processing |
License module required field missing, robot cannot function normally, please contact after-sales |
|
License module system time rollback |
H2-Critical |
0 No post-processing |
License module system time rollback, robot cannot function normally, please contact after-sales |
|
License module LicenseID not configured |
H2-Critical |
0 No post-processing |
License module not configured, robot cannot function normally, please contact after-sales |
|
LicenseID mismatch |
H2-Critical |
0 No post-processing |
License module anomaly, robot cannot function normally, please contact after-sales |
|
License not authorized |
H2-Critical |
0 No post-processing |
Robot not authorized, please contact after-sales |
|
License expired |
H2-Critical |
0 No post-processing |
Robot authorization expired, please contact after-sales |
|
Robot has been locked |
H2-Critical |
0 No post-processing |
Robot usage has been locked, please contact business/AgiBot official to renew |
|
Wireless E-stop remote LoRa1 E-stop recovery |
H1-Fatal |
26 PMU E-stop recovery complete |
Robot E-stop recovering |
|
Wireless E-stop remote LoRa2 E-stop recovery |
H1-Fatal |
18 SDCU E-stop recovering |
Robot E-stop recovering |
|
Wireless E-stop remote LoRa1 triggered E-stop |
H1-Fatal |
17 PMU E-stop |
E-stop activated, robot powered off |
|
Wireless E-stop remote LoRa2 triggered E-stop |
H1-Fatal |
19 SDCU E-stop |
E-stop activated, robot powered off |
|
E-stop recovery complete |
H1-Fatal |
31 E-stop recovery complete |
Robot E-stop recovery complete |
|
Battery extremely low |
H2-Critical |
0 No post-processing |
Robot battery low, please charge soon to prevent lower limb loss of control |
|
Battery low |
H4-Warning |
0 No post-processing |
Robot battery low, please charge soon |
|
Orin board CPU usage abnormal - health diagnostics |
H4-Warning |
0 No post-processing |
SoC0 CPU usage abnormal, please pause use and wait for recovery |
|
Orin board memory usage abnormal - health diagnostics |
H4-Warning |
0 No post-processing |
SoC0 memory usage abnormal, please pause use and wait for recovery |
|
Orin board disk usage abnormal - health diagnostics |
H2-Critical |
0 No post-processing |
SoC0 disk usage abnormal, please pause use and clean disk |
|
Orin board GPU usage abnormal - health diagnostics |
H4-Warning |
0 No post-processing |
SoC0 GPU usage abnormal, please pause use and wait for recovery |
|
Front stereo left camera publish frame rate anomaly |
H3-Error |
0 No post-processing |
Head front binocular RGB camera abnormal |
|
Front stereo left camera info frame rate anomaly |
H3-Error |
0 No post-processing |
Head front binocular RGB camera abnormal |
|
Front binocular left camera JPEG publishing data frame rate |
H3-Error |
0 No post-processing |
Head front binocular RGB camera abnormal |
|
Front stereo right camera publish frame rate anomaly |
H3-Error |
0 No post-processing |
Head front binocular RGB camera abnormal |
|
Front stereo right camera info frame rate anomaly |
H3-Error |
0 No post-processing |
Head front binocular RGB camera abnormal |
|
Front binocular right camera JPEG publishing data frame rate abnormal |
H3-Error |
0 No post-processing |
Head front binocular RGB camera abnormal |
|
Front binocular camera IMU publishing data frame rate abnormal |
H3-Error |
0 No post-processing |
Head front binocular RGB camera abnormal |
|
Front binocular left camera publishing data frame rate abnormal (MC) |
H3-Error |
0 No post-processing |
Head front binocular RGB camera abnormal |
|
Front binocular left camera publishing info frame rate abnormal (MC) |
H3-Error |
0 No post-processing |
Head front binocular RGB camera abnormal |
|
Front binocular left camera JPEG publishing data frame rate (MC) |
H3-Error |
0 No post-processing |
Head front binocular RGB camera abnormal |
|
Front binocular right camera publishing data frame rate abnormal (MC) |
H3-Error |
0 No post-processing |
Head front binocular RGB camera abnormal |
|
Front binocular right camera publishing info frame rate abnormal (MC) |
H3-Error |
0 No post-processing |
Head front binocular RGB camera abnormal |
|
Front binocular right camera JPEG publishing data frame rate abnormal (MC) |
H3-Error |
0 No post-processing |
Head front binocular RGB camera abnormal |
|
Front binocular camera IMU publishing data frame rate abnormal (MC) |
H3-Error |
0 No post-processing |
Head front binocular RGB camera abnormal |
|
RK3588 board CPU usage abnormal - health diagnostics |
H4-Warning |
0 No post-processing |
SoC1 CPU usage abnormal, please pause use and wait for recovery |
|
RK3588 board memory usage abnormal - health diagnostics |
H4-Warning |
0 No post-processing |
SoC1 memory usage abnormal, please pause use and wait for recovery |
|
RK3588 board disk usage abnormal - health diagnostics |
H2-Critical |
0 No post-processing |
SoC1 disk usage abnormal, please pause use and clean disk |
|
Rear monocular camera publish frame rate anomaly |
H3-Error |
0 No post-processing |
Head rear monocular RGB camera abnormal |
|
Rear monocular camera info frame rate anomaly |
H3-Error |
0 No post-processing |
Head rear monocular RGB camera abnormal |
|
Rear monocular camera JPEG publishing data frame rate abnormal |
H3-Error |
0 No post-processing |
Head rear monocular RGB camera abnormal |
|
Rear monocular camera publishing data frame rate abnormal (MC) |
H3-Error |
0 No post-processing |
Head rear monocular RGB camera abnormal |
|
Rear monocular camera publishing info frame rate abnormal (MC) |
H3-Error |
0 No post-processing |
Head rear monocular RGB camera abnormal |
|
Rear monocular camera JPEG publishing data frame rate abnormal (MC) |
H3-Error |
0 No post-processing |
Head rear monocular RGB camera abnormal |
|
Rear monocular camera H265 publishing data frame rate abnormal (MC) |
H3-Error |
0 No post-processing |
Head rear monocular RGB camera abnormal |
|
RK3588S board CPU usage abnormal - health diagnostics |
H4-Warning |
0 No post-processing |
SoC2 CPU usage abnormal, please pause use and wait for recovery |
|
RK3588S board memory usage abnormal - health diagnostics |
H4-Warning |
0 No post-processing |
SoC2 memory usage abnormal, please pause use and wait for recovery |
|
RK3588S board disk usage abnormal - health diagnostics |
H2-Critical |
0 No post-processing |
SoC2 disk usage abnormal, please pause use and clean disk |
|
Front depth camera publish frame rate anomaly |
H3-Error |
0 No post-processing |
Head front RGBD camera abnormal |
|
Front depth camera info frame rate anomaly |
H3-Error |
0 No post-processing |
Head front RGBD camera abnormal |
|
Front depth camera JPEG publishing data frame rate abnormal |
H3-Error |
0 No post-processing |
Head front RGBD camera abnormal |
|
Front depth camera H265 publishing data frame rate abnormal |
H3-Error |
0 No post-processing |
Head front RGBD camera abnormal |
|
Front interaction camera publish frame rate anomaly |
H3-Error |
0 No post-processing |
Head front interaction camera abnormal |
|
Front interaction camera info frame rate anomaly |
H3-Error |
0 No post-processing |
Head front interaction camera abnormal |
|
Front interaction camera JPEG publishing data frame rate abnormal |
H3-Error |
0 No post-processing |
Head front interaction camera abnormal |
|
Front interaction camera H265 publishing data frame rate abnormal |
H3-Error |
0 No post-processing |
Head front interaction camera abnormal |
|
Chest IMU publishing data frame rate abnormal |
H3-Error |
0 No post-processing |
Chest IMU abnormal |
|
Pelvis IMU publishing data frame rate abnormal |
H3-Error |
0 No post-processing |
Pelvis IMU abnormal |
Hardware Abstraction Layer (ECAT, EtherCAT Joint Control)
Diag Code |
Fault Description |
Alert Level |
Post-processing (robot_sig) |
Analysis and Action |
|---|---|---|---|---|
|
MDC MCU1 ECAT slave failed to enter Pre-op state |
H3-Error |
0 No post-processing |
Power main controller ECAT slave anomaly, please stop use |
|
MDC MCU1 ECAT slave failed to enter op state |
H3-Error |
0 No post-processing |
Power main controller ECAT slave anomaly, please stop use |
|
MDC MCU1 ECAT slave enable failed |
H3-Error |
0 No post-processing |
Power main controller ECAT slave anomaly, please stop use |
|
MDC MCU1 ECAT slave error clear failed |
H3-Error |
0 No post-processing |
Power main controller ECAT slave anomaly, please stop use |
|
MDC MCU1 ECAT slave not responding |
H3-Error |
0 No post-processing |
Power main controller ECAT slave anomaly, please stop use |
|
MDC MCU1 ECAT slave TX PDO field mapping mismatch |
H3-Error |
0 No post-processing |
Power main controller ECAT slave anomaly, please stop use |
|
MDC MCU1 ECAT slave RX PDO field mapping mismatch |
H3-Error |
0 No post-processing |
Power main controller ECAT slave anomaly, please stop use |
|
MDC MCU2 ECAT slave failed to enter Pre-op state |
H3-Error |
0 No post-processing |
Upper limb main controller ECAT slave anomaly, please stop use |
|
MDC MCU2 ECAT slave failed to enter op state |
H3-Error |
0 No post-processing |
Upper limb main controller ECAT slave anomaly, please stop use |
|
MDC MCU2 ECAT slave enable failed |
H3-Error |
0 No post-processing |
Upper limb main controller ECAT slave anomaly, please stop use |
|
MDC MCU2 ECAT slave error clear failed |
H3-Error |
0 No post-processing |
Upper limb main controller ECAT slave anomaly, please stop use |
|
MDC MCU2 ECAT slave not responding |
H3-Error |
0 No post-processing |
Upper limb main controller ECAT slave anomaly, please stop use |
|
MDC MCU2 ECAT slave TX PDO field mapping mismatch |
H3-Error |
0 No post-processing |
Upper limb main controller ECAT slave anomaly, please stop use |
|
MDC MCU2 ECAT slave RX PDO field mapping mismatch |
H3-Error |
0 No post-processing |
Upper limb main controller ECAT slave anomaly, please stop use |
|
MDC MCU3 ECAT slave failed to enter Pre-op state |
H3-Error |
0 No post-processing |
Lower limb main controller ECAT slave anomaly, please stop use |
|
MDC MCU3 ECAT slave failed to enter op state |
H3-Error |
0 No post-processing |
Lower limb main controller ECAT slave anomaly, please stop use |
|
MDC MCU3 ECAT slave enable failed |
H3-Error |
0 No post-processing |
Lower limb main controller ECAT slave anomaly, please stop use |
|
MDC MCU3 ECAT slave error clear failed |
H3-Error |
0 No post-processing |
Lower limb main controller ECAT slave anomaly, please stop use |
|
MDC MCU3 ECAT slave not responding |
H3-Error |
0 No post-processing |
Lower limb main controller ECAT slave anomaly, please stop use |
|
MDC MCU3 ECAT slave TX PDO field mapping mismatch |
H3-Error |
0 No post-processing |
Lower limb main controller ECAT slave anomaly, please stop use |
|
MDC MCU3 ECAT slave RX PDO field mapping mismatch |
H3-Error |
0 No post-processing |
Lower limb main controller ECAT slave anomaly, please stop use |
|
MDC MCU4 ECAT slave failed to enter Pre-op state |
H6-Reserve |
0 No post-processing |
Lower limb redundant main controller ECAT slave anomaly, please stop use |
|
MDC MCU4 ECAT slave failed to enter op state |
H6-Reserve |
0 No post-processing |
Lower limb redundant main controller ECAT slave anomaly, please stop use |
|
MDC MCU4 ECAT slave enable failed |
H6-Reserve |
0 No post-processing |
Lower limb redundant main controller ECAT slave anomaly, please stop use |
|
MDC MCU4 ECAT slave error clear failed |
H6-Reserve |
0 No post-processing |
Lower limb redundant main controller ECAT slave anomaly, please stop use |
|
MDC MCU4 ECAT slave not responding |
H6-Reserve |
0 No post-processing |
Lower limb redundant main controller ECAT slave anomaly, please stop use |
|
MDC MCU4 ECAT slave TX PDO field mapping mismatch |
H6-Reserve |
0 No post-processing |
Lower limb redundant main controller ECAT slave anomaly, please stop use |
|
MDC MCU4 ECAT slave RX PDO field mapping mismatch |
H6-Reserve |
0 No post-processing |
Lower limb redundant main controller ECAT slave anomaly, please stop use |
|
HAL EtherCAT and DDCU disconnected |
H2-Critical |
42 Motion control damping mode |
Lower limb main controller ECAT slave anomaly, please stop use |
|
HAL EtherCAT and SDCU disconnected |
H2-Critical |
0 No post-processing |
Lower limb main controller ECAT slave anomaly, please stop use |
|
HAL EtherCAT and UDCU disconnected |
H2-Critical |
90 Motion control upper-limb disable |
Lower limb main controller ECAT slave anomaly, please stop use |
|
Left arm joint 1 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Left arm joint 2 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Left arm joint 3 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Left arm joint 4 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Left arm joint 5 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Left arm joint 6 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Left arm joint 7 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Right arm joint 1 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Right arm joint 2 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Right arm joint 3 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Right arm joint 4 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Right arm joint 5 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Right arm joint 6 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Right arm joint 7 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Head joint Yaw motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Head joint Pitch motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Left leg joint 1 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Left leg joint 2 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Left leg joint 3 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Left leg joint 4 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Left leg joint 5 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Left leg joint 6 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Right leg joint 1 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Right leg joint 2 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Right leg joint 3 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Right leg joint 4 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Right leg joint 5 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Right leg joint 6 motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Waist joint Yaw motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Waist joint Pitch motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
|
Waist joint Roll motor module motion exceeds soft limit |
H6-Reserve |
0 No post-processing |
Motion exceeds limit, please pause use |
Perception Module
Diag Code |
Fault Description |
Alert Level |
Post-processing (robot_sig) |
Analysis and Action |
|---|---|---|---|---|
|
Head front binocular RGB camera data lost |
H3-Error |
0 No post-processing |
Perception module abnormal |
|
Head rear monocular RGB camera data lost |
H3-Error |
0 No post-processing |
Perception module abnormal |
|
Head front RGBD camera data lost |
H3-Error |
0 No post-processing |
Perception module abnormal |
|
Head IMU data lost |
H3-Error |
0 No post-processing |
Perception module abnormal |
|
Head front binocular RGB camera data validity abnormal |
H3-Error |
0 No post-processing |
Perception module abnormal |
|
Head rear monocular RGB camera data validity abnormal |
H3-Error |
0 No post-processing |
Perception module abnormal |
|
Head front RGBD camera data validity abnormal |
H3-Error |
0 No post-processing |
Perception module abnormal |
|
Head IMU data validity abnormal |
H3-Error |
0 No post-processing |
Perception module abnormal |
|
Multi-sensor timestamps out of sync |
H3-Error |
0 No post-processing |
Perception module abnormal |
|
Head front binocular RGB camera glare |
H6-Reserve |
0 No post-processing |
Perception module abnormal |
|
Head rear monocular RGB camera glare |
H6-Reserve |
0 No post-processing |
Perception module abnormal |
|
Head front RGBD camera glare |
H6-Reserve |
0 No post-processing |
Perception module abnormal |
|
Head front binocular RGB camera occluded |
H6-Reserve |
0 No post-processing |
Perception module abnormal |
|
Head rear monocular RGB camera occluded |
H6-Reserve |
0 No post-processing |
Perception module abnormal |
|
Head front RGBD camera occluded |
H6-Reserve |
0 No post-processing |
Perception module abnormal |
|
Head front binocular RGB camera calibration abnormal |
H6-Reserve |
0 No post-processing |
Perception module abnormal |
|
Head rear monocular RGB camera calibration abnormal |
H6-Reserve |
0 No post-processing |
Perception module abnormal |
|
Head front RGBD camera calibration abnormal |
H6-Reserve |
0 No post-processing |
Perception module abnormal |
Hardware Abstraction Layer (Sensors)
Diag Code |
Fault Description |
Alert Level |
Post-processing (robot_sig) |
Analysis and Action |
|---|---|---|---|---|
|
Rear-head touch sensor open-circuit anomaly |
H3-Permanent |
0 No post-processing |
Head rear-head touch sensor anomaly |
|
Rear-head touch sensor short-circuit anomaly |
H3-Permanent |
0 No post-processing |
Head rear-head touch sensor anomaly |
|
Built-in microphone open-circuit anomaly |
H3-Error |
0 No post-processing |
Microphone abnormal |
|
Built-in microphone short-circuit anomaly |
H3-Error |
0 No post-processing |
Microphone abnormal |
|
Ring microphone array open-circuit anomaly |
H3-Permanent |
0 No post-processing |
Microphone abnormal |
|
Ring microphone array short-circuit anomaly |
H3-Permanent |
0 No post-processing |
Microphone abnormal |
|
Display open-circuit anomaly |
H3-Permanent |
0 No post-processing |
Display anomaly |
|
Display short-circuit anomaly |
H3-Permanent |
0 No post-processing |
Display anomaly |
|
Left speaker open-circuit anomaly |
H3-Permanent |
0 No post-processing |
Speaker anomaly |
|
Left speaker short-circuit anomaly |
H3-Permanent |
0 No post-processing |
Speaker anomaly |
|
Right speaker open-circuit anomaly |
H3-Permanent |
0 No post-processing |
Speaker anomaly |
|
Right speaker short-circuit anomaly |
H3-Permanent |
0 No post-processing |
Speaker anomaly |
|
Chest LiDAR communication anomaly |
H6-Reserve |
0 No post-processing |
LiDAR abnormal |
|
Front binocular camera communication abnormal |
H6-Reserve |
0 No post-processing |
Head front binocular RGB camera abnormal |
|
Rear monocular camera communication abnormal |
H6-Reserve |
0 No post-processing |
Head rear monocular RGB camera abnormal |
|
Front depth camera communication abnormal |
H6-Reserve |
0 No post-processing |
Head front RGBD camera abnormal |
|
Front interaction camera communication abnormal |
H6-Reserve |
0 No post-processing |
Head front interaction camera abnormal |
SLAM Module
Diag Code |
Fault Description |
Alert Level |
Post-processing (robot_sig) |
Analysis and Action |
|---|---|---|---|---|
|
LiDAR data loss |
H3-Error |
0 No post-processing |
SLAM module abnormal |
|
LiDAR data validity anomaly |
H3-Error |
0 No post-processing |
SLAM module abnormal |
|
Chest IMU data validity abnormal |
H3-Error |
0 No post-processing |
SLAM module abnormal |
|
LiDAR obstructed |
H6-Reserve |
0 No post-processing |
SLAM module abnormal |
|
LiDAR calibration anomaly |
H6-Reserve |
0 No post-processing |
SLAM module abnormal |
|
Chest IMU data lost |
H3-Error |
0 No post-processing |
SLAM module abnormal |
Navigation Module
Diag Code |
Fault Description |
Alert Level |
Post-processing (robot_sig) |
Analysis and Action |
|---|---|---|---|---|
|
Navigation cannot find the map |
H6-Reserve |
0 No post-processing |
Navigation module abnormal |
|
Navigation goal unreachable |
H6-Reserve |
0 No post-processing |
Navigation module abnormal |
|
Robot stuck by map or virtual wall |
H6-Reserve |
0 No post-processing |
Navigation module abnormal |
|
Robot outside map bounds |
H6-Reserve |
0 No post-processing |
Navigation module abnormal |
|
Goal outside map bounds |
H6-Reserve |
0 No post-processing |
Navigation module abnormal |
|
Goal blocked |
H6-Reserve |
0 No post-processing |
Navigation module abnormal |
Motion Control Module
Diag Code |
Fault Description |
Alert Level |
Post-processing (robot_sig) |
Analysis and Action |
|---|---|---|---|---|
|
Fall alert |
H2-Critical |
52 Fall protection |
Robot has fall risk, please stop use immediately |
|
LinkCraft motion file load failed |
H3-Error |
193 LinkCraft data anomaly |
LinkCraft file load failed, robot cannot respond, please retry |
|
LinkCraft motion file data parse error |
H2-Critical |
193 LinkCraft data anomaly |
LinkCraft file data anomaly, robot has fall risk, please stop use |
|
Chest IMU value jump |
H6-Reserve |
0 No post-processing |
Chest IMU abnormal |
|
Pelvis IMU value jump |
H6-Reserve |
0 No post-processing |
Pelvis IMU abnormal |
Interaction Module
Diag Code |
Fault Description |
Alert Level |
Post-processing (robot_sig) |
Analysis and Action |
|---|---|---|---|---|
|
Microphone hardware state anomaly |
H6-Reserve |
0 No post-processing |
Interaction module abnormal |
|
Camera state anomaly |
H6-Reserve |
0 No post-processing |
Interaction module abnormal |
|
Interaction camera occluded |
H4-Warning |
209 Interaction camera occluded |
Interaction module abnormal |
|
Built-in microphone channel anomaly |
H3-Error |
210 Built-in microphone anomaly |
Interaction module abnormal |
State Management Module
Diag Code |
Fault Description |
Alert Level |
Post-processing (robot_sig) |
Analysis and Action |
|---|---|---|---|---|
|
SM mode does not exist |
H3-Error |
0 No post-processing |
State management module abnormal |
|
SM mode switch failed |
H2-Critical |
0 No post-processing |
State management module abnormal |
|
SM mode rollback failed |
H2-Critical |
0 No post-processing |
State management module abnormal |
Mapping Module
Diag Code |
Fault Description |
Alert Level |
Post-processing (robot_sig) |
Analysis and Action |
|---|---|---|---|---|
|
Map read failed |
H3-Error |
0 No post-processing |
Mapping module abnormal |
|
Perception module frame rate anomaly |
H6-Reserve |
0 No post-processing |
Mapping module abnormal |
|
SLAM module frame rate abnormal |
H6-Reserve |
0 No post-processing |
Mapping module abnormal |
Localization Module
Diag Code |
Fault Description |
Alert Level |
Post-processing (robot_sig) |
Analysis and Action |
|---|---|---|---|---|
|
Localization lost |
H4-Warning |
0 No post-processing |
Localization module abnormal |
|
Localization state switched |
H6-Reserve |
0 No post-processing |
Localization module abnormal |
Hardware Abstraction Layer (Power)
Diag Code |
Fault Description |
Alert Level |
Post-processing (robot_sig) |
Analysis and Action |
|---|---|---|---|---|
|
HAL EtherCAT and PMU disconnected |
H2-Critical |
0 No post-processing |
Lower limb main controller ECAT slave anomaly, please stop use |