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故障信息

参数

名称 类型 说明
StateInfo OnRobotListner Robot status

示例

JavaScript
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axRobot.subscribeRealState({
  onStateChanged: state => {
      chassisErrors: Array
      // {
      //    "type":0,   type=0 Pass-through chassis alerts；type=1 Route calculation-related errors；type=2 py service Errors       
      //    "code":xxxx,  
      //    "level":0, 0 - error，1 - warning
      //    "message":"messageXXXXX",
      //    "priority":true  true -  High priority, needs to be addressed immediately，false - Normal priority, doesn't need immediate attention，If this field is not provided, it defaults to false
      // }
  }
});
Fault Code Status Troubleshooting Method
0002 Failed to fetch map Restart the robot or restart the chassis service.
0003 Starting point outside map Adjust the starting point position on the mapping platform to ensure it is within the map.
0004 Endpoint outside map Adjust the endpoint position on the mapping platform to ensure it is within the map.
0005 Starting point not in traversable area Check if virtual walls are blocking the map information.
0006 Endpoint not in traversable area Check if virtual walls are blocking the map information.
0007 Starting point and endpoint are the same Redefine the starting and ending points.
0008 Global route expansion information failed Check if there is a virtual wall blocking the route
0009 Road is not connected Check if there is a virtual wall blocking the route
0010 Pathfinding timeout Retry
0011 No global route available Reset the starting and ending points
0012 Failed to grab the starting point on the global route Reset the starting point
0013 Failed to grab the ending point on the global route Reset the ending point
0014 Pathfinding has been unsuccessful for a long time Retry
0015 Pathfinding succeeded, but obstacle avoidance failed for a long time Retry
0016 Local obstacle avoidance map data error, current obstacle sensor data is abnormal
500 Invalid shelf detection point
501 Shelf not recognized
502 Exceeded retry count for docking
503 Shelf location occupied by another robot
504 Unable to reach unloading point
505 Shelf has moved significantly
506 Lift is in raised state Lower the shelf
507 Invalid shelf area ID
508 No shelf in the shelf area Place the shelf
510 No shelf detected in the current area, please confirm and retry Retry
511 Shelf detected in the area but docking failed
512 All shelf positions in the area are occupied
513 There are empty shelf positions in the area, but placing goods failed
0100 Exceeded retry attempts for charging Check for obstacles around the charging station and observe if the robot docks with it.
0101 Charging base not recognized Ensure the charging station is powered and the robot is correctly docked.
0102 Did not receive successful signal from charging station Ensure the charging station is powered and unobstructed.
1000 System error Restart the service.
1001 Request for control service abnormal Restart the service
1002 Route control failed Restart the service
1003 Map server not running Restart the service
1004 Mapping failed Restart the robot
1005 During positioning or mapping, no obstacle avoidance map /maps/5cm message for more than 1s Restart the robot
1007 Wheel speed is 0 for more than 15 seconds alarm 1. Obstacles block all passageways; 2. Robot positioning lost, push charging pile for charging pile reset
1008 Robot moves for more than 1 minute without exceeding 1 meter range alarm Same as 1007
1012 Detected falling risk ahead, correct robot position or create necessary virtual walls
2002 Please check if there are foreign objects tangled in the wheels causing overload, check and then click continue task button
2006 Wheel overload
2008 Detected robot wheel slipping, check and then click continue task button
3001 Odom not running Restart the robot
3002 Odom message frequency abnormal Restart the robot
4001 Imu not running Restart the robot
4002 Imu message frequency abnormal Restart the robot
4003 Imu angular velocity abnormal Restart the robot
4004 Vertical angle abnormal Restart the robot
4008 Detected robot tipping, please manually clear the fault code
5001 Lidar not running Restart the robot
5002 Lidar message frequency abnormal Restart the robot
5003 Lidar scan time abnormal Restart the robot
5007 Point cloud is empty data
5008 Lidar is blocked by foreign objects at the indicated position, please check and clean the foreign objects
6010 Detected system abnormal shutdown
7001 Localization anomaly 1. Click the manual reset button to manually drag the robot icon on the map to set the pose; 2. Push back to the charging pile for reset
7002 Inaccurate localization quality Same as 7001
7003 Localization mapping message frequency abnormal Same as 7001
7004 Pose information unreliable
8004 Battery communication disconnected, failed to read battery level
100001 No available floors 1. Check if the business bound to the robot has a map; 2. Create a new map and update it to the chassis after marking
100002 No station data Same as 100001
12005 Detected shelf offset, please straighten the shelf and retry, or perform the lifting action again
20020 Chassis link disconnected
20009 Abnormal automatic door or gate
20012 No available elevator
20015 Lift timeout, retrying…
20021 Elevator occupied, rebooking elevator...
20022 Elevator occupied, rebooking elevator...
35021 Task execution failed, selected charging pile is not within the current map, please select again in the settings
35022 Task execution failed, selected standby point is not within the current map, please select again in the settings
35023 Task execution failed, selected destination is not within the current map, please select a point within the current map
38001 Not deployed Please bind this robot SN to the business
38023 Cross-floor charging pile Select the charging pile of the current floor in the settings
38023 Cross-floor standby point Select the standby point of the current floor in the settings
34006 Websocket connection timeout The head and chassis are disconnected. If the error persists after restarting the entire machine, check if the Ethernet cable is loose between them
35008 Invalid task ID Often occurs when cloud tasks initiated from multiple ends (e.g., mini programs) are not synchronized to the chassis. Check if the vehicle's network is normal, ensure normal network operation, and recreate the cloud task
38006 Failed to create task Same as 35008
38008 Failed to cancel task Same as 35008
38011 Failed to end task Same as 35008
38016 Failed to update task Same as 35008
38017 Failed to execute task Same as 35008
6010 Abnormal shutdown 1. Client clicks "I know"
8007 Lost laser radar 1. Client waits for countdown 60 seconds to recover automatically; 2. Restart the robot to attempt recovery
11007 Depth camera's power-off guard needs to be powered off for Juyou Same as 8007
11012 Depth camera's power-off guard may need to be powered off for ihawk Same as 8007
9016 Lifting device error
9017 Sensor fusion node /optical_flow_fusion_node not running
9018 Rack detection node /rack_detector_node not running
9501 Debug node opened
9502 ax-cache has .params.yaml, this configuration file is deprecated
9503 Detected optical flow hardware, but not configured to use
10001 Exceeded retry attempts on pile, no touch signal detected
10002 Charging dock not recognized
10003 Exceeded retry attempts on pile, no current received after touch
11001 camera_node Juyou node not running
11002 /depth_camera/forward message frequency abnormal (deprecated)
11003 /depth_camera/downward message frequency abnormal (deprecated)
11004 /depth_camera/forward reported error (deprecated)
11005 /depth_camera/downward reported error (deprecated)
11006 Depth camera hardware not found (deprecated)
11007 Juyou depth camera reported error
11008 RGB camera hardware not found
11009 /rgb_camera_node node not running
11010 RGB camera other errors
11011 ihawk_node node not running
11012 ihawk depth camera reported error
9017 Sensor fusion node /optical_flow_fusion_node not running
9018 Rack detection node /rack_detector_node not running
9501 Debug node opened
9502 ax-cache has .params.yaml, this configuration file is deprecated
9503 Detected optical flow hardware, but not configured to use
10001 Exceeded retry attempts on pile, no touch signal detected
10002 Charging dock not recognized
10003 Exceeded retry attempts on pile, no current received after touch
11001 camera_node Juyou node not running
11002 /depth_camera/forward message frequency abnormal (deprecated)
11003 /depth_camera/downward message frequency abnormal (deprecated)
11004 /depth_camera/forward reported error (deprecated)
11005 /depth_camera/downward reported error (deprecated)
11006 Depth camera hardware not found (deprecated)
11007 Juyou depth camera reported error
11008 RGB camera hardware not found
11009 /rgb_camera_node node not running
11010 RGB camera other errors
11011 ihawk_node node not running
11012 ihawk depth camera reported error
11013 ihawk depth camera depth value abnormal, possibly obscured (reserved)
11501 Depth camera not calibrated
11013 ihawk depth camera depth value abnormal, possibly obscured (reserved)
11501 Depth camera not calibrated
51000 Area has no link, cannot calculate the route by the shortest distance
51001 Map data incomplete (missing elevator points, connection points, elevator points), area not connected
51002 Area route calculation failed, generally caused by unconnected links
51003 Too few task points, unable to calculate the route (less than 2 points for loop tasks, less than 1 point for non-loop tasks)
51004 Charging pile across floors
51005 Standby point across floors
51006 Destination across floors
51007 Failed to obtain online elevator for cross-floor tasks
51008 No online elevator for cross-floor tasks
51009 Online elevator for cross-floor task occupied by another robot
51010 Other error
51011 Missing task points
51012 Missing return point
51013 Missing patrol route
51014 Robot position lost
51015 Task instruction creation failed
51016 Task canceled
51017 Failed to return to charging station while charging, execution failed
51018 In emergency stop mode, no task execution
51019 In manual mode, no task execution
51020 In remote control mode, no task execution
51021 In mapping mode, no task execution
51022 No robot status obtained, task not executed
51023 Battery less than 15%, task not executed
51024 Chassis map not set, task not executed
51032 Failed to return to charging station while charging, execution failed