Common Data Structures
AbcErrorCode
Section titled “AbcErrorCode”The AbcErrorCode class is a system-level error code enumeration that defines execution result statuses for the robotic system, including modules such as the robotic arm, head, torso, sensors, and algorithms.
| Constant Member | Value | Description | |
|---|---|---|---|
| 0 | Success | |
| -1 | Unknown error | General Errors |
| -2 | Timeout | |
| -3 | Invalid handle | |
| -4 | Invalid state | |
| -5 | Not initialized | |
| -6 | Not implemented | |
| -7 | Invalid argument | |
| -50 | Parameter error | Parameter Errors |
| -51 | Parameter value out of range | |
| -100 | Robotic arm general error | Robotic Arm Errors |
| -101 | Controller returned false; likely incorrect parameters or arm state error. | |
| -102 | Failed to send data (communication error) | |
| -103 | Failed to receive data or controller timeout | |
| -104 | Failed to parse returned data (invalid or incomplete format) | |
| -105 | Current position device check failed (e.g., not a joint) | |
| -106 | Timeout waiting for response | |
| -107 | Robotic arm motion out of range | |
| -200 | Torso general error | Torso Errors |
| -201 | Torso CAN bus error | |
| -202 | Torso actuator error | |
| -206 | Timeout waiting for response | |
| -207 | Torso motion out of range | |
| -220 | Head general error | Head Errors |
| -221 | Head CAN bus error | |
| -222 | Head actuator error | |
| -226 | Timeout waiting for response | |
| -227 | Head motion out of range | |
| -300 | Sensor general error | Sensor Errors |
| -301 | Sensor not connected | |
| -302 | Sensor data error | |
| -400 | Chassis general error | Chassis Errors |
| -401 | Chassis initialization error | |
| -402 | Timeout waiting for response | |
| -900 | Algorithm general error | Algorithm Errors |
| -901 | Algorithm did not converge | |
The Pose class represents a 3D pose (position and orientation).
Attributes
Section titled “Attributes”| Attribute | Data Type | Description |
|---|---|---|
position | Position | Position (3D coordinates: x, y, z) |
quaternion | Quaternion | Orientation (rotation, represented as a quaternion: w, x, y, z) |
Set Position
Section titled “Set Position”-
Method:
set_position(self, arg0: float, arg1: float, arg2: float) -> Pose -
Parameters:
Parameter Description arg0、arg1、arg2XYZ-axis coordinate values -
Return Value:
Returns
selfto support method chaining.
Set Quaternion
Section titled “Set Quaternion”-
Method:
set_quaternion(self, arg0: float, arg1: float, arg2: float, arg3: float) -> Pose -
Parameters:
Parameter Description arg0、arg1、arg2、arg3w、x、y、z -
Return Value:
Returns
selfto support method chaining.
Position
Section titled “Position”The Position class represents a position in 3D space.
| Attribute | Data Type | Description |
|---|---|---|
x、y、z | float | XYZ-axis coordinate values |
Quaternion
Section titled “Quaternion”The Quaternion class represents a quaternion.
| Attribute | Data Type | Description |
|---|---|---|
w、x、y、z | float | Quaternion (w、x、y、z) |
The Euler class represents Euler angles.
| Attribute | Data Type | Description |
|---|---|---|
rx、ry、rz | float | Euler angles |
ArmCurrentStatus
Section titled “ArmCurrentStatus”The ArmCurrentStatus class defines an enumeration of status codes representing the current state of the robotic arm.
| Constant Member | Value | Description |
|---|---|---|
IDLE | 0 | Enabled but idle state |
MOVE | 1 | Moving state |
MOVE_THROUGH_JOINT | 2 | Angle pass-through state |
MOVE_THROUGH_POSE | 3 | Pose pass-through state |
MOVE_THROUGH_FORCE_POSE | 4 | Force-Controlled pass-through state |
MOVE_THROUGH_CURRENT | 5 | Current-loop pass-through state |
STOP | 6 | Emergency stop state |
SLOW_STOP | 7 | Slow stop state |
PAUSE | 8 | Pause state |
CURRENT_DRAG | 9 | Current-loop drag state |
SENSOR_DRAG | 10 | 6-DoF force drag state |
TECH_DEMONSTRATION | 11 | Teaching state |
AbcTorsoPose4D
Section titled “AbcTorsoPose4D”The AbcTorsoPose4D class represents the torso pose.
| Attribute | Data Type | Description |
|---|---|---|
height | float | Vertical height, in meters (m). |
forward | float | Front-back displacement, in meters (m). |
pitch | float | Pitch angle, in radians (rad). |
yaw | float | Waist rotation angle, in radians (rad). |
SensorStatus
Section titled “SensorStatus”The SensorStatus class is an enumerator that defines the states of sensors.
| Constant Member | Value | Description |
|---|---|---|
DISCONNECTED | 0 | Disconnected |
CONNECTED | 1 | Connected |
STREAMING | 2 | Data streaming in progress |
SENSOR_ERROR | 3 | Error state |
SensorType
Section titled “SensorType”The SensorType class is an enumerator that defines sensor types.
| Constant Member | Description |
|---|---|
CAMERA | Camera sensor |
DEPTH_CAMERA | Depth camera |
LIDAR | LiDAR |
IMU | Inertial Measurement Unit |
FORCE_TORQUE | Force sensor |
PROXIMITY | Proximity sensor |
OTHER | Other types of sensors |
Structured Fault Code
Section titled “Structured Fault Code”The fault code is defined as an unsigned integer with the int data type. Its bit layout is specified below.
| Bit | Field Name | Bit Count | Value Range | Description |
|---|---|---|---|---|
| 31 | permission | 1 | 0/1 | Visibility: 0 = internal, 1 = external (APP/Web) |
| 30~25 | category | 6 | 0~63 | System Category |
| 24~19 | subsystem | 6 | 0~63 | Subsystem Number |
| 18~16 | level | 3 | 0~7 | Fault Level |
| 15~0 | fault_id | 16 | 0~65535 | Fault ID |
FaultCategory
Section titled “FaultCategory”The FaultCategory class is an enumerator that defines the system categories of fault codes.
| Constant Member | Value | Description |
|---|---|---|
| POWER | 0 | Power System |
| MOTION | 1 | Motion System |
| PERCEPTION | 2 | Perception System (LiDAR/Camera/IMU/Force Sensor) |
| COMM | 3 | Communication System (4G/Wi-Fi/Bluetooth/CAN) |
| CONTROL | 4 | Control System (Main Controller/Motion Controller/Domain Controller) |
| SAFETY | 5 | Safety System (Emergency Stop/Edge Sensor) |
| ARM | 6 | Robotic Arm |
| GRIPPER | 7 | End Effector (Gripper/Dexterous Hand) |
| INTERACTION | 8 | Interaction System (Screen/Indicator Light/Speaker/Microphone) |
| ENVIRONMENT | 9 | Environment System (Fan/Temperature & Humidity Sensor) |
| SOFTWARE | 10 | Software System (Operating System) |
| UNKNOWN | 63 | Unknown Category |
FaultLevel
Section titled “FaultLevel”The FaultLevel class is an enumerator that defines the fault levels for fault codes.
| Constant Member | Value | Description |
|---|---|---|
| INFO | 0 | Informational: Minor event, logged only |
| WARNING | 1 | Warning: Potential risk, task can continue |
| FAULT | 2 | Fault: Core function failure, manual maintenance required |
| ESTOP | 3 | Emergency Stop: Safety risk, immediate operation abort required |
Subsystem Number
Section titled “Subsystem Number”| System Category | Subsystem Number | Subsystem Name |
|---|---|---|
| POWER(0) | 0 | Main Battery |
| 1 | Backup Battery | |
| 2 | Charging Port | |
| 3 | Power Management Board | |
| Others | Unknown | |
| MOTION(1) | 0 | Left Wheel Motor |
| 1 | Right Wheel Motor | |
| 2 | Left Front Wheel Motor | |
| 3 | Right Front Wheel Motor | |
| 4 | Left Rear Wheel Motor | |
| 5 | Right Rear Wheel Motor | |
| 6 | Leg Linear Actuator | |
| 7 | Lift Mechanism Motor 1 | |
| 8 | Lift Mechanism Motor 2 | |
| 9 | Lift Mechanism Motor 3 | |
| 10 | Lift Mechanism Motor 4 | |
| 11 | Neck Yaw Motor | |
| 12 | Neck Pitch Motor | |
| Others | Unknown | |
| PERCEPTION(2) | 0 | Chassis LiDAR-1 |
| 1 | Chassis LiDAR-2 | |
| 2 | Ultrasonic Sensor-1 | |
| 3 | Ultrasonic Sensor-2 | |
| 4 | Ultrasonic Sensor-3 | |
| 5 | Ultrasonic Sensor-4 | |
| 6 | Chassis Camera | |
| 7 | Head Vision Camera | |
| 8 | Chest Vision Camera | |
| 9 | Back Vision Camera | |
| 10 | IMU | |
| 11 | Left Arm 6‑Axis Force Sensor | |
| 12 | Right Arm 6‑Axis Force Sensor | |
| 13 | Left Hand Camera | |
| 14 | Right Hand Camera | |
| Others | Unknown | |
| COMM(3) | 0 | 4G/5G Module |
| 1 | Wi-Fi Module | |
| 2 | Bluetooth Module | |
| 3 | CAN Bus | |
| Others | Unknown | |
| CONTROL(4) | 0 | Robot Main Controller |
| 1 | Robot Motion Controller | |
| 2 | Chassis Controller | |
| 3 | Left Robotic Arm Controller | |
| 4 | Right Robotic Arm Controller | |
| 5 | Domain Controller | |
| Others | Unknown | |
| SAFETY(5) | 0 | Emergency Stop Button |
| 1 | Chassis Edge Sensor | |
| Others | Unknown | |
| ARM(6) | 0 | Left Arm Motor 1 |
| 1 | Left Arm Motor 2 | |
| 2 | Left Arm Motor 3 | |
| 3 | Left Arm Motor 4 | |
| 4 | Left Arm Motor 5 | |
| 5 | Left Arm Motor 6 | |
| 6 | Left Arm Motor 7 | |
| 7 | Right Arm Motor 1 | |
| 8 | Right Arm Motor 2 | |
| 9 | Right Arm Motor 3 | |
| 10 | Right Arm Motor 4 | |
| 11 | Right Arm Motor 5 | |
| 12 | Right Arm Motor 6 | |
| 13 | Right Arm Motor 7 | |
| Others | Unknown | |
| GRIPPER(7) | 0 | Gripper |
| 1 | Five-Finger Dexterous Hand | |
| 2 | Suction Cup | |
| Others | Unknown | |
| INTERACTION(8) | 0 | Screen |
| 1 | Chest Status Indicator | |
| 2 | Chassis Status Indicator | |
| 3 | Chest Speaker | |
| 4 | Microphone | |
| Others | Unknown | |
| ENVIRONMENT(9) | 0 | Cooling Fan |
| 1 | Temperature Sensor | |
| 2 | Humidity Sensor | |
| Others | Unknown | |
| SOFTWARE(10) | 0 | Operating System |
| Others | Unknown | |
| UNKNOWN(63) | Any | Unknown |
Core Methods
Section titled “Core Methods”Assemble Fault Code
Section titled “Assemble Fault Code”| Method | Description |
|---|---|
make_fault_code(permission: int, category: int, subsystem: int, level: int, fault_id: int) -> int | Assembles a fault code |
Parse Fault Code
Section titled “Parse Fault Code”| Method | Description |
|---|---|
fault_permission(arg0: int) -> int | Get visibility flag |
fault_category(arg0: int) -> int | Get System Category (enum value) |
fault_subsystem(arg0: int) -> int | Get Subsystem Number |
fault_level(arg0: int) -> int | Get Fault Level (enum value) |
fault_code_id(arg0: int) -> int | Get fault ID |
fault_level_enum(arg0: int) -> FaultLevel | Get Fault Level (enum constant) |
fault_category_enum(arg0: int) -> FaultCategory | Get System Category (enum constant) |
Check Visibility
Section titled “Check Visibility”| Method | Description |
|---|---|
fault_is_external(arg0: int) -> bool | Check if the fault is visible to external users (APP/Web) |
fault_is_internal(arg0: int) -> bool | Check if the fault is for internal use only |
Check Level
Section titled “Check Level”| Method | Description |
|---|---|
fault_is_info(arg0: int) -> bool | Check if the fault level is INFO |
fault_is_warning(arg0: int) -> bool | Check if the fault level is WARNING |
fault_is_fault(arg0: int) -> bool | Check if the fault level is FAULT |
fault_is_estop(arg0: int) -> bool | Check if the fault level is ESTOP |
fault_is_at_least(fc: int, min_level: FaultLevel) -> bool | Check if the fault level is greater than or equal to the specified minimum level |
Get Name
Section titled “Get Name”| Method | Description |
|---|---|
fault_level_name(arg0: int) -> str | Get fault level name (INFO/WARNING/FAULT/ESTOP) |
fault_category_name(arg0: int) -> str | Get system category name (e.g. POWER/MOTION/ARM) |
fault_subsystem_name(arg0: int) -> str | Get subsystem name |
Generate Description
Section titled “Generate Description”| Method | Description |
|---|---|
fault_description(arg0: int) -> str | Generate human-readable description. Format: 0xXXXXXXXX [ext/int|Category|Subsystem|Level|id=0xXXXX] |
Predefined Fault Code
Section titled “Predefined Fault Code”Robotic Arm
Section titled “Robotic Arm”Left Robotic Arm
| Fault Code Constant | Value（int） | Description |
|---|---|---|
ARM_LEFT1_OVER_LIMIT | 2348875784 | Left Arm Motor 1: Position limit exceeded |
ARM_LEFT1_OVER_VOLTAGE | 2348941316 | Left Arm Motor 1: Overvoltage |
ARM_LEFT1_UNDER_VOLTAGE | 2348941347 | Left Arm Motor 1: Undervoltage |
ARM_LEFT1_OVER_TEMP | 2348941314 | Left Arm Motor 1: Overtemperature |
ARM_LEFT1_STALL | 2348941319 | Left Arm Motor 1: Motor stall |
ARM_LEFT1_ENCODER_FAULT | 2348941317 | Left Arm Motor 1: Encoder fault |
ARM_LEFT1_HW_CHECK_FAIL | 2348941322 | Left Arm Motor 1: Hardware self-test failure |
ARM_LEFT2_OVER_LIMIT | 2349400072 | Left Arm Motor 2: Position limit exceeded |
ARM_LEFT2_OVER_VOLTAGE | 2349465604 | Left Arm Motor 2: Overvoltage |
ARM_LEFT2_UNDER_VOLTAGE | 2349465635 | Left Arm Motor 2: Undervoltage |
ARM_LEFT2_OVER_TEMP | 2349465602 | Left Arm Motor 2: Overtemperature |
ARM_LEFT2_STALL | 2349465607 | Left Arm Motor 2: Motor stall |
ARM_LEFT2_ENCODER_FAULT | 2349465605 | Left Arm Motor 2: Encoder fault |
ARM_LEFT2_HW_CHECK_FAIL | 2349465610 | Left Arm Motor 2: Hardware self-test failure |
ARM_LEFT3_OVER_LIMIT | 2349924360 | Left Arm Motor 3: Position limit exceeded |
ARM_LEFT3_OVER_VOLTAGE | 2349989892 | Left Arm Motor 3: Overvoltage |
ARM_LEFT3_UNDER_VOLTAGE | 2349989923 | Left Arm Motor 3: Undervoltage |
ARM_LEFT3_OVER_TEMP | 2349989890 | Left Arm Motor 3: Overtemperature |
ARM_LEFT3_STALL | 2349989895 | Left Arm Motor 3: Motor stall |
ARM_LEFT3_ENCODER_FAULT | 2349989893 | Left Arm Motor 3: Encoder fault |
ARM_LEFT3_HW_CHECK_FAIL | 2349989898 | Left Arm Motor 3: Hardware self-test failure |
ARM_LEFT4_OVER_LIMIT | 2350448648 | Left Arm Motor 4: Position limit exceeded |
ARM_LEFT4_OVER_VOLTAGE | 2350514180 | Left Arm Motor 4: Overvoltage |
ARM_LEFT4_UNDER_VOLTAGE | 2350514211 | Left Arm Motor 4: Undervoltage |
ARM_LEFT4_OVER_TEMP | 2350514178 | Left Arm Motor 4: Overtemperature |
ARM_LEFT4_STALL | 2350514183 | Left Arm Motor 4: Motor stall |
ARM_LEFT4_ENCODER_FAULT | 2350514181 | Left Arm Motor 4: Encoder fault |
ARM_LEFT4_HW_CHECK_FAIL | 2350514186 | Left Arm Motor 4: Hardware self-test failure |
ARM_LEFT5_OVER_LIMIT | 2350972936 | Left Arm Motor 5: Position limit exceeded |
ARM_LEFT5_OVER_VOLTAGE | 2351038468 | Left Arm Motor 5: Overvoltage |
ARM_LEFT5_UNDER_VOLTAGE | 2351038499 | Left Arm Motor 5: Undervoltage |
ARM_LEFT5_OVER_TEMP | 2351038466 | Left Arm Motor 5: Overtemperature |
ARM_LEFT5_STALL | 2351038471 | Left Arm Motor 5: Motor stall |
ARM_LEFT5_ENCODER_FAULT | 2351038469 | Left Arm Motor 5: Encoder fault |
ARM_LEFT5_HW_CHECK_FAIL | 2351038474 | Left Arm Motor 5: Hardware self-test failure |
ARM_LEFT6_OVER_LIMIT | 2351497224 | Left Arm Motor 6: Position limit exceeded |
ARM_LEFT6_OVER_VOLTAGE | 2351562756 | Left Arm Motor 6: Overvoltage |
ARM_LEFT6_UNDER_VOLTAGE | 2351562787 | Left Arm Motor 6: Undervoltage |
ARM_LEFT6_OVER_TEMP | 2351562754 | Left Arm Motor 6: Overtemperature |
ARM_LEFT6_STALL | 2351562759 | Left Arm Motor 6: Motor stall |
ARM_LEFT6_ENCODER_FAULT | 2351562757 | Left Arm Motor 6: Encoder fault |
ARM_LEFT6_HW_CHECK_FAIL | 2351562762 | Left Arm Motor 6: Hardware self-test failure |
ARM_LEFT7_OVER_LIMIT | 2352021512 | Left Arm Motor 7: Position limit exceeded |
ARM_LEFT7_OVER_VOLTAGE | 2352087044 | Left Arm Motor 7: Overvoltage |
ARM_LEFT7_UNDER_VOLTAGE | 2352087075 | Left Arm Motor 7: Undervoltage |
ARM_LEFT7_OVER_TEMP | 2352087042 | Left Arm Motor 7: Overtemperature |
ARM_LEFT7_STALL | 2352087047 | Left Arm Motor 7: Motor stall |
ARM_LEFT7_ENCODER_FAULT | 2352087045 | Left Arm Motor 7: Encoder fault |
ARM_LEFT7_HW_CHECK_FAIL | 2352087050 | Left Arm Motor 7: Hardware self-test failure |
ARM_LEFT_SINGULARITY | 2350448667 | Left arm singularity detected; target pose unreachable |
ARM_LEFT_FORCE_DATA_ABNORMAL | 2354708491 | Left arm 6-axis force sensor: Data abnormality |
ARM_LEFT_FORCE_OVERLOAD | 2354708496 | Left arm 6-axis force sensor: Overload |
ARM_LEFT_CTRL_COMM_INTERRUPT | 2283405324 | Left arm controller: Communication interruption |
ARM_LEFT_CTRL_HW_CHECK_FAIL | 2283405322 | Left arm controller: Hardware self-test failure |
Right Robotic Arm
| Fault Code Constant | Value（int） | Description |
|---|---|---|
ARM_RIGHT1_OVER_LIMIT | 2352545800 | Right Arm Motor 1: Position limit exceeded |
ARM_RIGHT1_OVER_VOLTAGE | 2352611332 | Right Arm Motor 1: Overvoltage |
ARM_RIGHT1_UNDER_VOLTAGE | 2352611363 | Right Arm Motor 1: Undervoltage |
ARM_RIGHT1_OVER_TEMP | 2352611330 | Right Arm Motor 1: Overtemperature |
ARM_RIGHT1_STALL | 2352611335 | Right Arm Motor 1: Motor stall |
ARM_RIGHT1_ENCODER_FAULT | 2352611333 | Right Arm Motor 1: Encoder fault |
ARM_RIGHT1_HW_CHECK_FAIL | 2352611338 | Right Arm Motor 1: Hardware self-test failure |
ARM_RIGHT2_OVER_LIMIT | 2353070088 | Right Arm Motor 2: Position limit exceeded |
ARM_RIGHT2_OVER_VOLTAGE | 2353135620 | Right Arm Motor 2: Overvoltage |
ARM_RIGHT2_UNDER_VOLTAGE | 2353135651 | Right Arm Motor 2: Undervoltage |
ARM_RIGHT2_OVER_TEMP | 2353135618 | Right Arm Motor 2: Overtemperature |
ARM_RIGHT2_STALL | 2353135623 | Right Arm Motor 2: Motor stall |
ARM_RIGHT2_ENCODER_FAULT | 2353135621 | Right Arm Motor 2: Encoder fault |
ARM_RIGHT2_HW_CHECK_FAIL | 2353135626 | Right Arm Motor 2: Hardware self-test failure |
ARM_RIGHT3_OVER_LIMIT | 2353594376 | Right Arm Motor 3: Position limit exceeded |
ARM_RIGHT3_OVER_VOLTAGE | 2353659908 | Right Arm Motor 3: Overvoltage |
ARM_RIGHT3_UNDER_VOLTAGE | 2353659939 | Right Arm Motor 3: Undervoltage |
ARM_RIGHT3_OVER_TEMP | 2353659906 | Right Arm Motor 3: Overtemperature |
ARM_RIGHT3_STALL | 2353659911 | Right Arm Motor 3: Motor stall |
ARM_RIGHT3_ENCODER_FAULT | 2353659909 | Right Arm Motor 3: Encoder fault |
ARM_RIGHT3_HW_CHECK_FAIL | 2353659914 | Right Arm Motor 3: Hardware self-test failure |
ARM_RIGHT4_OVER_LIMIT | 2354118664 | Right Arm Motor 4: Position limit exceeded |
ARM_RIGHT4_OVER_VOLTAGE | 2354184196 | Right Arm Motor 4: Overvoltage |
ARM_RIGHT4_UNDER_VOLTAGE | 2354184227 | Right Arm Motor 4: Undervoltage |
ARM_RIGHT4_OVER_TEMP | 2354184194 | Right Arm Motor 4: Overtemperature |
ARM_RIGHT4_STALL | 2354184199 | Right Arm Motor 4: Motor stall |
ARM_RIGHT4_ENCODER_FAULT | 2354184197 | Right Arm Motor 4: Encoder fault |
ARM_RIGHT4_HW_CHECK_FAIL | 2354184202 | Right Arm Motor 4: Hardware self-test failure |
ARM_RIGHT5_OVER_LIMIT | 2354642952 | Right Arm Motor 5: Position limit exceeded |
ARM_RIGHT5_OVER_VOLTAGE | 2354708484 | Right Arm Motor 5: Overvoltage |
ARM_RIGHT5_UNDER_VOLTAGE | 2354708515 | Right Arm Motor 5: Undervoltage |
ARM_RIGHT5_OVER_TEMP | 2354708482 | Right Arm Motor 5: Overtemperature |
ARM_RIGHT5_STALL | 2354708487 | Right Arm Motor 5: Motor stall |
ARM_RIGHT5_ENCODER_FAULT | 2354708485 | Right Arm Motor 5: Encoder fault |
ARM_RIGHT5_HW_CHECK_FAIL | 2354708490 | Right Arm Motor 5: Hardware self-test failure |
ARM_RIGHT6_OVER_LIMIT | 2355167240 | Right Arm Motor 6: Position limit exceeded |
ARM_RIGHT6_OVER_VOLTAGE | 2355232772 | Right Arm Motor 6: Overvoltage |
ARM_RIGHT6_UNDER_VOLTAGE | 2355232803 | Right Arm Motor 6: Undervoltage |
ARM_RIGHT6_OVER_TEMP | 2355232770 | Right Arm Motor 6: Overtemperature |
ARM_RIGHT6_STALL | 2355232775 | Right Arm Motor 6: Motor stall |
ARM_RIGHT6_ENCODER_FAULT | 2355232773 | Right Arm Motor 6: Encoder fault |
ARM_RIGHT6_HW_CHECK_FAIL | 2355232778 | Right Arm Motor 6: Hardware self-test failure |
ARM_RIGHT7_OVER_LIMIT | 2355691528 | Right Arm Motor 7: Position limit exceeded |
ARM_RIGHT7_OVER_VOLTAGE | 2355757060 | Right Arm Motor 7: Overvoltage |
ARM_RIGHT7_UNDER_VOLTAGE | 2355757091 | Right Arm Motor 7: Undervoltage |
ARM_RIGHT7_OVER_TEMP | 2355757058 | Right Arm Motor 7: Overtemperature |
ARM_RIGHT7_STALL | 2355757063 | Right Arm Motor 7: Motor stall |
ARM_RIGHT7_ENCODER_FAULT | 2355757061 | Right Arm Motor 7: Encoder fault |
ARM_RIGHT7_HW_CHECK_FAIL | 2355757066 | Right Arm Motor 7: Hardware self-test failure |
ARM_RIGHT_SINGULARITY | 2350972955 | Right arm singularity detected; target pose unreachable |
ARM_RIGHT_FORCE_DATA_ABNORMAL | 2355232779 | Right arm 6-axis force sensor: Data abnormality |
ARM_RIGHT_FORCE_OVERLOAD | 2355232784 | Right arm 6-axis force sensor: Overload |
ARM_RIGHT_CTRL_COMM_INTERRUPT | 2283929612 | Right arm controller: Communication interruption |
ARM_RIGHT_CTRL_HW_CHECK_FAIL | 2283929610 | Right arm controller: Hardware self-test failure |
| Fault Code Constant | Value（int） | Description |
|---|---|---|
TORSO_LIFT1_OVER_VOLTAGE | 2184839172 | Lift Mechanism Motor 1: Overvoltage |
TORSO_LIFT1_UNDER_VOLTAGE | 2184839203 | Lift Mechanism Motor 1: Undervoltage |
TORSO_LIFT1_OVER_TEMP | 2184839170 | Lift Mechanism Motor 1: Overtemperature |
TORSO_LIFT1_ENCODER_FAULT | 2184839173 | Lift Mechanism Motor 1: Encoder fault |
TORSO_LIFT1_BATTERY_VOLTAGE | 2184773638 | Lift Mechanism Motor 1: Encoder battery voltage abnormal |
TORSO_LIFT1_OVER_LIMIT | 2184773640 | Lift Mechanism Motor 1: Position limit exceeded |
TORSO_LIFT1_COMM_INTERRUPT | 2184839180 | Lift Mechanism Motor 1: Communication interruption |
TORSO_LIFT2_OVER_VOLTAGE | 2185363460 | Lift Mechanism Motor 2: Overvoltage |
TORSO_LIFT2_UNDER_VOLTAGE | 2185363491 | Lift Mechanism Motor 2: Undervoltage |
TORSO_LIFT2_OVER_TEMP | 2185363458 | Lift Mechanism Motor 2: Overtemperature |
TORSO_LIFT2_ENCODER_FAULT | 2185363461 | Lift Mechanism Motor 2: Encoder fault |
TORSO_LIFT2_BATTERY_VOLTAGE | 2185297926 | Lift Mechanism Motor 2: Encoder battery voltage abnormal |
TORSO_LIFT2_OVER_LIMIT | 2185297928 | Lift Mechanism Motor 2: Position limit exceeded |
TORSO_LIFT2_COMM_INTERRUPT | 2185363468 | Lift Mechanism Motor 2: Communication interruption |
TORSO_LIFT3_OVER_VOLTAGE | 2185887748 | Lift Mechanism Motor 3: Overvoltage |
TORSO_LIFT3_UNDER_VOLTAGE | 2185887779 | Lift Mechanism Motor 3: Undervoltage |
TORSO_LIFT3_OVER_TEMP | 2185887746 | Lift Mechanism Motor 3: Overtemperature |
TORSO_LIFT3_ENCODER_FAULT | 2185887749 | Lift Mechanism Motor 3: Encoder fault |
TORSO_LIFT3_BATTERY_VOLTAGE | 2185822214 | Lift Mechanism Motor 3: Encoder battery voltage abnormal |
TORSO_LIFT3_OVER_LIMIT | 2185822216 | Lift Mechanism Motor 3: Position limit exceeded |
TORSO_LIFT3_COMM_INTERRUPT | 2185887756 | Lift Mechanism Motor 3: Communication interruption |
TORSO_LIFT4_OVER_VOLTAGE | 2186412036 | Lift Mechanism Motor 4: Overvoltage |
TORSO_LIFT4_UNDER_VOLTAGE | 2186412067 | Lift Mechanism Motor 4: Undervoltage |
TORSO_LIFT4_OVER_TEMP | 2186412034 | Lift Mechanism Motor 4: Overtemperature |
TORSO_LIFT4_ENCODER_FAULT | 2186412037 | Lift Mechanism Motor 4: Encoder fault |
TORSO_LIFT4_BATTERY_VOLTAGE | 2186346502 | Lift Mechanism Motor 4: Encoder battery voltage abnormal |
TORSO_LIFT4_OVER_LIMIT | 2186346504 | Lift Mechanism Motor 4: Position limit exceeded |
TORSO_LIFT4_COMM_INTERRUPT | 2186412044 | Lift Mechanism Motor 4: Communication interruption |
| Fault Code Constant | Value（int） | Description |
|---|---|---|
HEAD_NECK_YAW_OVER_VOLTAGE | 2186936324 | Neck Yaw Motor: Overvoltage |
HEAD_NECK_YAW_UNDER_VOLTAGE | 2186936355 | Neck Yaw Motor: Undervoltage |
HEAD_NECK_YAW_OVER_TEMP | 2186936322 | Neck Yaw Motor: Overtemperature |
HEAD_NECK_YAW_ENCODER_FAULT | 2186936325 | Neck Yaw Motor: Encoder fault |
HEAD_NECK_YAW_BATTERY_VOLTAGE | 2186870790 | Neck Yaw Motor: Encoder battery voltage abnormal |
HEAD_NECK_YAW_OVER_LIMIT | 2186870792 | Neck Yaw Motor: Position limit exceeded |
HEAD_NECK_YAW_COMM_INTERRUPT | 2186936332 | Neck Yaw Motor: Communication interruption |
HEAD_NECK_PITCH_OVER_VOLTAGE | 2187460612 | Neck Pitch Motor: Overvoltage |
HEAD_NECK_PITCH_UNDER_VOLTAGE | 2187460643 | Neck Pitch Motor: Undervoltage |
HEAD_NECK_PITCH_OVER_TEMP | 2187460610 | Neck Pitch Motor: Overtemperature |
HEAD_NECK_PITCH_ENCODER_FAULT | 2187460613 | Neck Pitch Motor: Encoder fault |
HEAD_NECK_PITCH_BATTERY_VOLTAGE | 2187395078 | Neck Pitch Motor: Encoder battery voltage abnormal |
HEAD_NECK_PITCH_OVER_LIMIT | 2187395080 | Neck Pitch Motor: Position limit exceeded |
HEAD_NECK_PITCH_COMM_INTERRUPT | 2187460620 | Neck Pitch Motor: Communication interruption |
Chassis
Section titled “Chassis”| Fault Code Constant | Value（int） | Description |
|---|---|---|
CHASSIS_BATTERY_LOW | 2147483668 | Main battery: Low level |
CHASSIS_BATTERY_OVER_TEMP | 2147549186 | Main battery: Overtemperature |
MAIN_POWER_FAULT | 2147614733 | Main power supply: Fault |
MAIN_BATTERY_DEPLETED | 2147549205 | Main battery: Depleted |
POWER_BOARD_BMS_ABNORMAL | 2149187595 | Power board: BMS abnormal |
POWER_BOARD_OVER_VOLTAGE | 2149187588 | Power board: Overvoltage |
CHASSIS_CAMERA_DATA_ABNORMAL | 2217869323 | Chassis camera: Data abnormal |
CHASSIS_CAMERA_COMM_TIMEOUT | 2217803779 | Chassis camera: Communication timeout |
CHASSIS_CAMERA_HW_CHECK_FAIL | 2217869322 | Chassis camera: Hardware self-test failure |
CHASSIS_CAMERA_COMM_INTERRUPT | 2217869324 | Chassis camera: Communication interruption |
CHASSIS_LIDAR_DISCONNECT | 2214723599 | Chassis LiDAR: Connection abnormal |
CHASSIS_LIDAR_COMM_INTERRUPT | 2214723596 | Chassis LiDAR: Communication interruption |
CHASSIS_LIDAR_DATA_ABNORMAL | 2214723595 | Chassis LiDAR 1: Data abnormal |
IMU_DATA_ABNORMAL | 2219966475 | IMU: Data abnormal |
CHASSIS_CTRL_COMM_INTERRUPT | 2282881036 | Chassis controller: Communication interruption |
CHASSIS_SAFETY_EDGE_TRIGGER | 2315976729 | Chassis safety edge: Triggered |
End Effector
Section titled “End Effector”Gripper
| Fault Code Constant | Value（int） | Description |
|---|---|---|
GRIPPER_STALL | 2382495751 | Gripper: Motor stall |
GRIPPER_OVER_CURRENT | 2382495745 | Gripper: Overcurrent |
GRIPPER_OVER_TEMP | 2382495746 | Gripper: Overtemperature |
GRIPPER_OVER_VOLTAGE | 2382495748 | Gripper: Overvoltage |
GRIPPER_UNDER_VOLTAGE | 2382495779 | Gripper: Undervoltage |
GRIPPER_COMM_INTERRUPT | 2382495756 | Gripper: Communication interruption |
GRIPPER_HW_CHECK_FAIL | 2382495754 | Gripper: Hardware self-test failure |
Five‑Finger Dexterous Hand
| Fault Code Constant | Value（int） | Description |
|---|---|---|
DEXTEROUS_HAND_OVER_CURRENT | 2383020033 | Dexterous Hand: Overcurrent |
DEXTEROUS_HAND_OVER_VOLTAGE | 2383020036 | Dexterous Hand: Overvoltage |
DEXTEROUS_HAND_UNDER_VOLTAGE | 2383020067 | Dexterous Hand: Undervoltage |
DEXTEROUS_HAND_COMM_INTERRUPT | 2383020044 | Dexterous Hand: Communication interruption |
DEXTEROUS_HAND_HW_CHECK_FAIL | 2383020042 | Dexterous Hand: Hardware self-test failure |
Cameras
Section titled “Cameras”| Fault Code Constant | Value（int） | Description |
|---|---|---|
CHEST_CAMERA_COMM_TIMEOUT | 2218852355 | Chest vision camera: Communication timeout |
CHEST_CAMERA_HW_CHECK_FAIL | 2218917898 | Chest vision camera: Hardware self-test failure |
CHEST_CAMERA_DATA_ABNORMAL | 2218917899 | Chest vision camera: Data abnormal |
CHEST_CAMERA_COMM_INTERRUPT | 2218917900 | Chest vision camera: Communication interruption |
BACK_CAMERA_COMM_TIMEOUT | 2219376643 | Back vision camera: Communication timeout |
BACK_CAMERA_HW_CHECK_FAIL | 2219442186 | Back vision camera: Hardware self-test failure |
BACK_CAMERA_DATA_ABNORMAL | 2219442187 | Back vision camera: Data abnormal |
BACK_CAMERA_COMM_INTERRUPT | 2219442188 | Back vision camera: Communication interruption |
LEFT_HAND_CAMERA_COMM_TIMEOUT | 2221473795 | Left hand camera: Communication timeout |
LEFT_HAND_CAMERA_HW_CHECK_FAIL | 2221539338 | Left hand camera: Hardware self-test failure |
LEFT_HAND_CAMERA_DATA_ABNORMAL | 2221539339 | Left hand camera: Data abnormal |
LEFT_HAND_CAMERA_COMM_INTERRUPT | 2221539340 | Left hand camera: Communication interruption |
RIGHT_HAND_CAMERA_COMM_TIMEOUT | 2221998083 | Right hand camera: Communication timeout |
RIGHT_HAND_CAMERA_HW_CHECK_FAIL | 2222063626 | Right hand camera: Hardware self-test failure |
RIGHT_HAND_CAMERA_DATA_ABNORMAL | 2222063627 | Right hand camera: Data abnormal |
RIGHT_HAND_CAMERA_COMM_INTERRUPT | 2222063628 | Right hand camera: Communication interruption |
HEAD_CAMERA_COMM_TIMEOUT | 2218328067 | Head vision camera: Communication timeout |
HEAD_CAMERA_HW_CHECK_FAIL | 2218393610 | Head vision camera: Hardware self-test failure |
HEAD_CAMERA_DATA_ABNORMAL | 2218393611 | Head vision camera: Data abnormal |
HEAD_CAMERA_COMM_INTERRUPT | 2218393612 | Head vision camera: Communication interruption |
Communication
Section titled “Communication”| Fault Code Constant | Value（int） | Description |
|---|---|---|
COMM_4G5G_ABNORMAL | 2248278028 | 4G/5G Module: Communication abnormal |
COMM_WIFI_ABNORMAL | 2248802316 | Wi-Fi Module: Communication abnormal |
COMM_BT_ABNORMAL | 2249326604 | Bluetooth Module: Communication abnormal |
COMM_CAN_ABNORMAL | 2249850892 | CAN bus: Communication abnormal |
Interaction Devices
Section titled “Interaction Devices”| Fault Code Constant | Value（int） | Description |
|---|---|---|
UI_SCREEN_NOT_DETECTED | 2416050191 | Screen: Not detected |
UI_CHEST_INDICATOR_NOT_DETECTED | 2416574479 | Chest status indicator: Not detected |
UI_CHASSIS_INDICATOR_NOT_DETECTED | 2417098767 | Chassis status indicator: Not detected |
UI_SPEAKER_NOT_DETECTED | 2417623055 | Thorax speaker: Not detected |
UI_MICROPHONE_NOT_DETECTED | 2418147343 | Microphone: Not detected |
Emergency Stop Button
Section titled “Emergency Stop Button”| Fault Code Constant | Value（int） | Description |
|---|---|---|
ESTOP_BUTTON_TRIGGER | 2315452441 | Emergency Stop Button Pressed |