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Controller and servo error for joint 6

Open Di1113 opened this issue 3 years ago • 1 comments

Hi, I ran into the following error when trying to run the example code 2001-move_joint.py for xarm6 on ubuntu 20. Can you help me with this error please? I could not find any help or documentation online besides rebooting. Thank you in advance!

SDK_VERSION: 1.9.0
FIRMWARE_VERSION: v1.9.0, PROTOCOL: V1, DETAIL: 6,6,XI1203,XX0000,v1.9.0
change prot_flag to 3
ControllerError, code: 16
servo_error_code, servo_id=6, status=1, code=18
[motion_enable], xArm is not ready to move
[motion_enable], xArm is not ready to move
[motion_enable], xArm is not ready to move
[SDK][ERROR][2022-05-25 11:15:15][base.py:338] - - API -> move_gohome -> code=1, velo=0.3490658503988659, acc=8.726646259971648
[SDK][ERROR][2022-05-25 11:15:15][base.py:338] - - API -> set_servo_angle -> code=1, angles=[1.5707963267948966, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], velo=0.8726646259971648, acc=8.726646259971648, radius=None
(0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) (0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
[SDK][ERROR][2022-05-25 11:15:15][base.py:338] - - API -> set_servo_angle -> code=1, angles=[1.5707963267948966, 0.0, -1.0471975511965976, 0.0, 0.0, 0.0, 0.0], velo=0.8726646259971648, acc=8.726646259971648, radius=None
(0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) (0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
[SDK][ERROR][2022-05-25 11:15:15][base.py:338] - - API -> set_servo_angle -> code=1, angles=[1.5707963267948966, -0.5235987755982988, -1.0471975511965976, 0.0, 0.0, 0.0, 0.0], velo=0.8726646259971648, acc=8.726646259971648, radius=None
(0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) (0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
[SDK][ERROR][2022-05-25 11:15:15][base.py:338] - - API -> set_servo_angle -> code=1, angles=[0.0, -0.5235987755982988, -1.0471975511965976, 0.0, 0.0, 0.0, 0.0], velo=0.8726646259971648, acc=8.726646259971648, radius=None
(0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) (0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
[SDK][ERROR][2022-05-25 11:15:15][base.py:338] - - API -> set_servo_angle -> code=1, angles=[0.0, 0.0, -1.0471975511965976, 0.0, 0.0, 0.0, 0.0], velo=0.8726646259971648, acc=8.726646259971648, radius=None
(0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) (0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
[SDK][ERROR][2022-05-25 11:15:15][base.py:338] - - API -> set_servo_angle -> code=1, angles=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], velo=0.8726646259971648, acc=8.726646259971648, radius=None
(0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) (0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
[motion_enable], xArm is not ready to move
[motion_enable], xArm is not ready to move
[SDK][ERROR][2022-05-25 11:15:18][base.py:338] - - API -> move_gohome -> code=1, velo=0.8726646259971648, acc=8.726646259971648
[SDK][ERROR][2022-05-25 11:15:18][base.py:338] - - API -> set_servo_angle -> code=1, angles=[1.5707963267948966, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], velo=0.8726646259971648, acc=8.726646259971648, radius=None
(0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) (0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
[SDK][ERROR][2022-05-25 11:15:18][base.py:338] - - API -> set_servo_angle -> code=1, angles=[1.5707963267948966, 0.0, -1.0471975511965976, 0.0, 0.0, 0.0, 0.0], velo=0.8726646259971648, acc=8.726646259971648, radius=None
(0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) (0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
[SDK][ERROR][2022-05-25 11:15:18][base.py:338] - - API -> set_servo_angle -> code=1, angles=[1.5707963267948966, -0.5235987755982988, -1.0471975511965976, 0.0, 0.0, 0.0, 0.0], velo=0.8726646259971648, acc=8.726646259971648, radius=None
(0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) (0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
[SDK][ERROR][2022-05-25 11:15:18][base.py:338] - - API -> set_servo_angle -> code=1, angles=[0.0, -0.5235987755982988, -1.0471975511965976, 0.0, 0.0, 0.0, 0.0], velo=0.8726646259971648, acc=8.726646259971648, radius=None
(0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) (0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
[SDK][ERROR][2022-05-25 11:15:18][base.py:338] - - API -> set_servo_angle -> code=1, angles=[0.0, 0.0, -1.0471975511965976, 0.0, 0.0, 0.0, 0.0], velo=0.8726646259971648, acc=8.726646259971648, radius=None
(0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) (0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
[SDK][ERROR][2022-05-25 11:15:18][base.py:338] - - API -> set_servo_angle -> code=1, angles=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], velo=0.8726646259971648, acc=8.726646259971648, radius=None
(0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) (0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
[motion_enable], xArm is not ready to move
[motion_enable], xArm is not ready to move
[SDK][ERROR][2022-05-25 11:15:20][base.py:338] - - API -> move_gohome -> code=1, velo=0.8726646259971648, acc=8.726646259971648

Di1113 avatar May 25 '22 15:05 Di1113

Hi friend,

Please enter 'ip+:18333' to access UFactory Studio, and enter 'Settings-Advanced Tools-Debug Tools-Joint Debug', click 'clear Multi-turn Error' option, reboot the whole system.

If there are still problems, please download the log in 'Settings-System-log'.

Best, Minna

MinnaZhong avatar Jun 01 '22 07:06 MinnaZhong