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Erik_CornelsenErik_Cornelsen Posts: 16 Apprentice
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 

Comments

  • Nicholas_FrancoeurNicholas_Francoeur Posts: 93Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    @Erik_Cornelsen, have a look at this post from UR. 
    Nicholas Francoeur
    Co-Founder | Vanguard Robotics
    e:   [email protected]
    w:  vanguard-robotics.com
  • Erik_CornelsenErik_Cornelsen Posts: 16 Apprentice
    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_FrancoeurNicholas_Francoeur Posts: 93Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    @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
    Co-Founder | Vanguard Robotics
    e:   [email protected]
    w:  vanguard-robotics.com
  • Nicholas_FrancoeurNicholas_Francoeur Posts: 93Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    Nicholas Francoeur
    Co-Founder | Vanguard Robotics
    e:   [email protected]
    w:  vanguard-robotics.com
  • Erik_CornelsenErik_Cornelsen Posts: 16 Apprentice
    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_FrancoeurNicholas_Francoeur Posts: 93Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    It should be part of the group "Joints" on page 3.
    Nicholas Francoeur
    Co-Founder | Vanguard Robotics
    e:   [email protected]
    w:  vanguard-robotics.com
  • Erik_CornelsenErik_Cornelsen Posts: 16 Apprentice
    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_FrancoeurNicholas_Francoeur Posts: 93Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    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;
    Nicholas Francoeur
    Co-Founder | Vanguard Robotics
    e:   [email protected]
    w:  vanguard-robotics.com
  • Erik_CornelsenErik_Cornelsen Posts: 16 Apprentice
    Ok, thanks @Nicholas_Francoeur I'll try them out...
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