Error code S20 - Driver IC Hardware Error

xArm/850 Troubleshooting
1

We have two xArm 6 arms, for each of these arms, one of the servos has stopped working.

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image1419×816 102 KB

(The system does not let me upload two images, but the error for the second arm is identical, just on joint 3).

We tried:

  • Resetting the arm
  • Re-Enabling the arm
  • Unlocking the joint and trying to reposition it
  • Updating the firmware
  • Testing with a different controller
  • Testing different debugging commands

But to no avail - We fear it might be a hardware issue with the servo controller IC?

Any help will be greatly appreciated.
We will happily provide all necessary debugging information to resolve this issue.
If you can hop on a call we can also debug this together.

Thanks!

2

Hi Roy,

Please enter ‘Settings-General-Debugging Tools-Joint’, enter ‘D11’ and send, take a screenshot of the result to me.

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image1315×1006 38.2 KB

Best regards,
Minna

3

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image1600×830 63.9 KB

This is from our second arm (for the purposes of this discussion, I will refer to it as “Arm B”).

4

IMG-20250208-WA0019
IMG-20250208-WA00191280×639 26 KB

This is the output from Arm A (You can see the first joint is showing code 20).

5

Hi Roy,

We received your email as well, it is most likely a hardware issue, let’s proceed and discuss this by email directly.

Best regards,
Minna