xArm 5 Code S17 on Joint ID 1

1

I started recieving this error on the xArm 5 today. This did sit in storage for an extended time but worked fine when we pulled it out and began using it.
The software is:
FW version 2.0.1
Studio Version 2.0.3.

Can you assist with resolving the error please.

Thanks

2

Hi Karroll,

Would you please share the SN of the xArm to support@ufactory.cc?
Can you take a screenshot of the error code? There should be a status code, we need it to troubleshoot the problem, thanks.

Best regards,
Minna

3

Minna,
I am seeing the error on Joint 1 and 3 this morning. Resetting resolved joint 3 but joint 1 remains issue still exists.
The status code after the reset remains Status code:[16]
image

Thanks in advance,
Karroll

4

Just wanted to add that I ran the update tool.
image

5

Hi Karroll,

Please follow the below steps to clear this error S17 error with status code 16.

  1. press down E-stop button and then release
  2. enter into ‘Settings-General-Debugging Tools-Joint’, send ‘H101 D0104 V1 I*’ to unlock joint*, manually move joint* a little bit, and then send ‘H101D0813V2I*’, press down E-stop button. (This step will reset the zero position, so you need to mark the original position of J* before moving)
  3. release the E-stop button, move Joint* to the original position, send ‘D13 I*’, press down E-stop button.
  4. Try to enable the robot again.
  • stands for Joint id, It can be 1-7, form your picture, you need to do the same steps for joint1 and joint3.

Best regards,
Minna

6

Minna,
Thanks for the instructions on clearing the error. Everything is now working.
Just curious what does the command H101D0813V2I* do? I would like to document the fix in our local instructions so our technicians will understand the procedure.

Thanks in advance,
Karroll

7

Hi Karroll,

It is a reset IC command, you can consider it will reset the current encoder data, and ‘D13 I*’ is used to set the zero point of the encoder.

Best regards,
Minna

8

Minna,
Thank you for the information.

Karroll