Question UR error Communication with joint lost

Erik_Cornelsen 2019-04-25

Hi DoF,

I got the error below:
C4A17 - Communication with joint 5 lost.

Do you know which bits will be triggered in this event in the UR registers (e.g. VL Violation bit, FT Fault bit, etc)?

Thanks
Erik

Nicholas_Francoeur 2019-04-25

@Erik_Cornelsen, have a look at this post from UR.

Erik_Cornelsen 2019-04-25

Thanks @Nicholas_Francoeur, I'm using the Profinet communication instead of Modbus, just wanted to know which of the bits (e.g. VL Violation bit, FT Fault bit, etc) are triggered when the Robot has an error such as C4A17 - Communication with joint 5 lost...

Nicholas_Francoeur 2019-04-25

@Erik_Cornelsen, take a look at this post then.

Take a look at the pdf at the bottom of the page. I also attached it here.

Nicholas_Francoeur 2019-04-25

@Erik_Cornelsen, take a look at this post then.

Take a look at the pdf at the bottom of the page.

Erik_Cornelsen 2019-04-25

Yes, I think it will be one of the Status bits in the Safety UR__T2O_Safety section, but I'm still not sure which one of those that will be triggered in case of an Error, I suspect that is the VL or FT...

Nicholas_Francoeur 2019-04-25

It should be part of the group "Joints" on page 3.

Erik_Cornelsen 2019-04-25

I'm not sure the joints class (page 3) will give this error status information, as they are Float data types (position in rad, velocity in rad/s, current in A, temperature in deg C and the joint mode in uint)...

Nicholas_Francoeur 2019-04-25

The joint modes should be the equivalent of what you saw in the modbus page:

						List of Joint Modes
							JOINT_SHUTTING_DOWN_MODE = 236;
							JOINT_PART_D_CALIBRATION_MODE = 237;
							JOINT_BACKDRIVE_MODE = 238;
							JOINT_POWER_OFF_MODE = 239;
							JOINT_NOT_RESPONDING_MODE = 245;
							JOINT_MOTOR_INITIALISATION_MODE = 246;
							JOINT_BOOTING_MODE = 247;
							JOINT_PART_D_CALIBRATION_ERROR_MODE = 248;
							JOINT_BOOTLOADER_MODE = 249;
							JOINT_CALIBRATION_MODE = 250;
							JOINT_FAULT_MODE = 252;
							JOINT_RUNNING_MODE = 253;
							JOINT_IDLE_MODE = 255;

Erik_Cornelsen 2019-04-25

Ok, thanks @Nicholas_Francoeur I'll try them out...