Cannot move xarm 6 anymore after crash

xArm/850 Troubleshooting
1

Hi,

I have a big problem, I hope you can solve it.
When I open xarm studio the robot state reads ‘stop’
After a crash when positioning I restarted the robot, you here the noise of motors so
everything looks normal.
Now the robot state reads ‘pause’
If I click on any of the buttons to move nothing hapens.
If I press ‘zero position’ the arm moves just a few millimeters.

The following comes out the python diagnostic program,

version_number: 1.6.1
get_err_warn_code, ret=(0, [0, 0])
************* GetServoDebugMsg, Status: 0 **************

  • Servo-1, Status: 0, Code: 0, Info: Normal
  • Servo-2, Status: 0, Code: 0, Info: Normal
  • Servo-3, Status: 0, Code: 0, Info: Normal
  • Servo-4, Status: 0, Code: 0, Info: Normal
  • Servo-5, Status: 0, Code: 0, Info: Normal
  • Servo-6, Status: 0, Code: 0, Info: Normal
  • Servo-7, Status: 0, Code: 0, Info: Normal
  • Gripper, Status: 0, Code: 0, Info: Normal

[clean_error], xArm is not ready to move
[motion_enable], xArm is not ready to move
[set_state], xArm is ready to move
get_state(): (0, 3)
get_err_warn_code(): (0, [0, 0])

It looks like the xarm is in stop mode, I checked all my wiring but this looks fine.
Can you help me futher to find the issue?

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All servos at 0V ? is this ok
All servos has current

Thanks,
Danny

2

Solved the problem, it was the stop wiring, I had a bad contact in my interface relais.
Happy again :slight_smile:

3

That’s great, thanks for your reply.

4

I have the same issue. What do you mean by “stop wiring”?

5

Maybe not same issue, what’s the firmware version of your robot, and how about send us a video about that issue?

6

Acctually I just noticed (looking for the “stop wiring” that one of the odd wires hanging off of the side of the controller (SI0 green wire) is not connected to anything else - it came loose. Is that a problem, and where do I find where these wires go?

7

It connect to the GND, you could check the user manual.

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image1687×1159 120 KB

8

Yes, it’s working now, thank you. These snag-able wires are a weak point

9

That’s true, we modify the way of wiring on the newly designed control box.