My xArm 6 has died a few times after setting TCP payload settings in the UFactory client. It does not respond to neither UI Client nor python API. Only controller restart gets it back online.
[INFO][2022-05-20 16:40:51][base.py:336] - - API -> set_modbus_gripper_position(pos=72) -> code=0
[INFO][2022-05-20 16:41:56][base.py:336] - - API -> set_tcp_load -> code=0, weight=0.82, center=[0.0, 0.0, 48.0]
[INFO][2022-05-20 16:41:56][base.py:336] - - API -> save_conf -> code=0
[INFO][2022-05-20 16:41:56][base.py:336] - - API -> set_state(0) -> code=0, state=0
[INFO][2022-05-20 16:41:56][base.py:336] - - API -> save_conf -> code=0
[INFO][2022-05-20 16:42:00][base.py:336] - - API -> set_mode(2) -> code=0
[INFO][2022-05-20 16:42:00][base.py:336] - - API -> set_state(0) -> code=0, state=0
[ERROR][2022-05-20 16:45:24][base.py:1104] - - client timeout over 90s, disconnect
[ERROR][2022-05-20 16:45:26][base.py:338] - - API -> set_state(0) -> code=3, state=5
[ERROR][2022-05-20 16:45:26][decorator.py:63] - - xArm is not connected
[ERROR][2022-05-20 16:45:26][decorator.py:39] - - xArm is not connected
[ERROR][2022-05-20 16:45:26][decorator.py:39] - - xArm is not connected
[ERROR][2022-05-20 16:45:26][decorator.py:63] - - xArm is not connected
[ERROR][2022-05-20 16:45:26][decorator.py:39] - - xArm is not connected
[ERROR][2022-05-20 16:45:26][decorator.py:39] - - xArm is not connected
[ERROR][2022-05-20 16:45:26][decorator.py:63] - - xArm is not connected
[ERROR][2022-05-20 16:45:26][decorator.py:39] - - xArm is not connected
[ERROR][2022-05-20 16:45:26][decorator.py:39] - - xArm is not connected
Also here it goes wait busy task which might be blocking any new requests (I cut the log):
[756] 1h45m 8s:397ms: 77us:205ns set load Mass(kg): 0.820000
[757] 1h45m 8s:397ms: 94us:233ns set load center of Mass(mm): 0.000000 0.000000 48.000000
[758] 1h45m 8s:411ms:241us:376ns write_to_file()
[759] 1h45m 8s:412ms:794us:509ns current runing = 2, set_runing = 0
[760] 1h45m 8s:466ms:920us:795ns write_to_file()
[761] 1h45m12s:207ms:796us:442ns current runing_mode = 0, set_runing_mode = 2
[762] 1h45m12s:207ms:808us:754ns current runing = 2, set_runing = 5
[763] 1h45m12s:208ms:826us:700ns current runing = 5, set_runing = 0
[764] 1h45m12s:234ms: 25us:257ns src/motor/motor_proc.cc UservoFun::into_curr_mods()
[765] 1h47m24s: 55ms:740us:620ns current runing = 2, set_runing = 5
[766] 1h47m24s: 64ms:613us:546ns current runing_mode = 2, set_runing_mode = 0
[767] 1h47m24s: 66ms: 65us:531ns src/motor/motor_proc.cc UservoFun::into_pos_mods(), prev_mode: 2, now: 0, state_now: 5, kalman_static_: 31
[768] 1h47m24s: 66ms:674us:566ns current runing = 5, set_runing = 0
[769] 1h47m24s: 66ms:685us:882ns wait busy: task: (0, 0), step: (1, 0), motor: (0, 0)
[770] 1h47m24s: 70ms:729us:718ns wait busy: task: (0, 0), step: (1, 0), motor: (0, 0)
[771] 1h47m24s: 74ms:776us:925ns wait busy: task: (0, 0), step: (1, 0), motor: (0, 0)
[772] 1h47m24s: 78ms:865us:953ns wait busy: task: (0, 0), step: (1, 0), motor: (0, 0)
[773] 1h47m24s: 82ms:947us:349ns wait busy: task: (0, 0), step: (1, 0), motor: (0, 0)
[774] 1h47m24s: 87ms: 87us:256ns wait busy: task: (0, 0), step: (1, 0), motor: (0, 0)
[775] 1h47m24s: 91ms:168us:880ns wait busy: task: (0, 0), step: (1, 0), motor: (0, 0)
[776] 1h47m24s: 95ms:202us:264ns wait busy: task: (0, 0), step: (1, 0), motor: (0, 0)
[777] 1h47m24s: 99ms:269us:608ns wait busy: task: (0, 0), step: (1, 0), motor: (0, 0)
[778] 1h47m24s:103ms:333us:303ns wait busy: task: (0, 0), step: (1, 0), motor: (0, 0)
[779] 1h47m24s:107ms:380us:415ns wait busy: task: (0, 0), step: (1, 0), motor: (0, 0)
[780] 1h47m24s:111ms:405us:387ns wait busy: task: (0, 0), step: (1, 0), motor: (0, 0)
...
[15033] 1h49m 6s:399ms:346us:498ns wait busy: task: (0, 0), step: (1, 0), motor: (0, 0)
Last UX bus logs
[4418] 1h45m 3s:159ms: 52us:288ns remain: 0 port:3 data: 4028 2 1 2
[4419] 1h45m 8s:396ms:765us:817ns remain: 0 port:3 data: 393 3 17 36 85 eb 51 3f 00 00 00 00 00 00 00 00 00 00 40 42
[4420] 1h45m 8s:411ms:368us: 36ns remain: 0 port:3 data: 394 3 1 40
[4421] 1h45m 8s:412ms:815us:113ns remain: 0 port:3 data: 395 3 2 12 00
[4422] 1h45m 8s:413ms:251us: 0ns remain: 0 port:3 data: 396 3 1 13
[4423] 1h45m 8s:467ms: 80us:587ns remain: 0 port:3 data: 397 3 1 40
[4424] 1h45m 9s:369ms:952us:757ns remain: 0 port:3 data: 398 3 1 53
[4425] 1h45m12s:207ms:828us:110ns remain: 0 port:3 data: 399 3 2 19 02
[4426] 1h45m12s:225ms:371us:234ns remain: 0 port:3 data: 400 3 2 12 00
[4427] 1h45m12s:226ms: 17us: 73ns remain: 0 port:3 data: 401 3 1 13
[4428] 1h45m23s:157ms:620us:939ns remain: 0 port:3 data: 4029 2 1 2
[4429] 1h45m42s:259ms:838us:208ns remain: 0 port:3 data: 402 3 1 13
[4430] 1h45m43s:158ms:518us:918ns remain: 0 port:3 data: 4030 2 1 2
[4431] 1h46m 3s:158ms:532us:727ns remain: 0 port:3 data: 4031 2 1 2
[4432] 1h46m 3s:627ms:661us:588ns remain: 0 port:3 data: 403 3 1 14
[4433] 1h46m23s:157ms:595us: 94ns remain: 0 port:3 data: 4032 2 1 2
[4434] 1h46m33s:674ms:615us: 52ns remain: 0 port:3 data: 404 3 1 13
[4435] 1h46m43s:158ms:824us:332ns remain: 0 port:3 data: 4033 2 1 2
[4436] 1h47m 3s:158ms:624us:769ns remain: 0 port:3 data: 4034 2 1 2
[4437] 1h47m 3s:682ms:761us:531ns remain: 0 port:3 data: 405 3 1 13
[4438] 1h47m17s:848ms:835us:879ns remain: 0 port:3 data: 4035 2 1 2
[4439] 1h47m24s: 53ms:695us:344ns remain: 0 port:3 data: 4036 2 1 13
[4440] 1h47m24s: 55ms:309us:629ns remain: 0 port:3 data: 4037 2 17 36 66 66 66 3f 00 00 00 00 00 00 00 00 00 00 00 00
[4441] 1h47m24s: 62ms:543us:838ns remain: 0 port:3 data: 4038 2 1 13
[4442] 1h47m24s: 64ms:657us:478ns remain: 0 port:3 data: 4039 2 2 19 00