Unexpected stop while moving (servo_error_code, servo_id=6, status=1, code=23)

xArm/850 Troubleshooting
1

We have a picking/placing application with XArm6 (payload about 100-200g). At some moment the arm started to stop with:
" ControllerError, code: 16
servo_error_code, servo_id=6, status=1, code=23
[SDK][ERROR][2021-08-31 05:06:43][base.py:278] - - wait_move, xarm has error, error=16"

After that error the only way to make it work further is to HW reset XArm.

What can cause these errors?

2

A bit more information:

the problem happens sometimes in a super simple move when no payload is connected to the arm and I use the following Python SDK function:

                    if abs(angles[5]) > 180.0:
                        logging.info("prepare, angle5 is " + str(angles[5]))
                        angles[5] = 0
                        arm.set_servo_angle(angle=angles, speed=180, wait=True)

angles - are current joint states, which means that I just rotate only 6th joint to its zero position

3

Hi Vasily,

Do you set TCP payload correctly in your application via set_tcp_load? As when you pick/place the item, the payload will change.

And what is the current firmware and studio version?

Best regards.
Minna

4

Dear Vasily,

Please also try ‘xArmStudio-Settings-Advanced Tools-Joint Tools-Joint Debug-Modify Speed Threshold’.

5

I don’t use Studio in general. Need some time to install and check ‘xArmStudio-Settings-Advanced Tools-Joint Tools-Joint Debug-Modify Speed Threshold’.

XArm firmware is 1.7.2, xarm python SDK 1.6.10

6

Hi Vasily,

Okay, wait for your further feedback. I have sent an email to you, any problem you can contact me directly.