diff --git a/include/ur_client_library/ur/error_code_texts.h b/include/ur_client_library/ur/error_code_texts.h index 221cf0890..e8742f2f7 100644 --- a/include/ur_client_library/ur/error_code_texts.h +++ b/include/ur_client_library/ur/error_code_texts.h @@ -38,7 +38,7 @@ * or directly: * scripts/generate_error_codes.py --overlay scripts/error_code_overrides.json --output * - * Source: UR ErrorCodes JSON v40.121.0 + * Source: UR ErrorCodes JSON v42.0.0 */ //---------------------------------------------------------------------- @@ -54,7 +54,7 @@ namespace primary_interface { /// Version of the UR ErrorCodes JSON this header was generated from. -constexpr std::string_view ERROR_CODE_JSON_VERSION = "40.121.0"; +constexpr std::string_view ERROR_CODE_JSON_VERSION = "42.0.0"; /// Returns a static map from packed (code, arg) keys to human-readable /// error texts sourced from the UR ErrorCodes JSON. @@ -355,13 +355,13 @@ inline const std::unordered_map& getErrorCodeTexts() { UINT64_C(0x0000009F00000005), "Position deviates from path: Wrist 3. The user specified payload is 0kg, please make sure this is correct." }, // C159 arg=5 { UINT64_C(0x000000A0FFFFFFFF), "The robot was powered off last time due to a joint position disagreement" }, // C160 no arg { UINT64_C(0x000000A1FFFFFFFF), "Large movement of the robot detected while it was powered off. The joints were moved while it was powered off, or the encoders do not function" }, // C161 no arg - { UINT64_C(0x000000A2FFFFFFFF), "The protective stop was likely caused by incorrectly specified payload mass and/or center of gravity." }, // C162 no arg - { UINT64_C(0x000000A300000000), "More than 50 Protective Stops are detected on the same joint within 8 hours of operation.: Base joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty." }, // C163 arg=0 - { UINT64_C(0x000000A300000001), "More than 50 Protective Stops are detected on the same joint within 8 hours of operation.: Shoulder joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty." }, // C163 arg=1 - { UINT64_C(0x000000A300000002), "More than 50 Protective Stops are detected on the same joint within 8 hours of operation.: Elbow joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty." }, // C163 arg=2 - { UINT64_C(0x000000A300000003), "More than 50 Protective Stops are detected on the same joint within 8 hours of operation.: Wrist 1 joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty." }, // C163 arg=3 - { UINT64_C(0x000000A300000004), "More than 50 Protective Stops are detected on the same joint within 8 hours of operation.: Wrist 2 joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty." }, // C163 arg=4 - { UINT64_C(0x000000A300000005), "More than 50 Protective Stops are detected on the same joint within 8 hours of operation.: Wrist 3 joint. Something is wrong in the application. Recurring protective stops should be resolved, ignoring it can void warranty." }, // C163 arg=5 + { UINT64_C(0x000000A2FFFFFFFF), "The robot stop was likely caused by incorrectly specified payload mass and/or center of gravity." }, // C162 no arg + { UINT64_C(0x000000A300000000), "More than 50 Robot Stops are detected on the same joint within 8 hours of operation.: Base joint. Something is wrong in the application. Recurring robot stops should be resolved, ignoring it can void warranty." }, // C163 arg=0 + { UINT64_C(0x000000A300000001), "More than 50 Robot Stops are detected on the same joint within 8 hours of operation.: Shoulder joint. Something is wrong in the application. Recurring robot stops should be resolved, ignoring it can void warranty." }, // C163 arg=1 + { UINT64_C(0x000000A300000002), "More than 50 Robot Stops are detected on the same joint within 8 hours of operation.: Elbow joint. Something is wrong in the application. Recurring robot stops should be resolved, ignoring it can void warranty." }, // C163 arg=2 + { UINT64_C(0x000000A300000003), "More than 50 Robot Stops are detected on the same joint within 8 hours of operation.: Wrist 1 joint. Something is wrong in the application. Recurring robot stops should be resolved, ignoring it can void warranty." }, // C163 arg=3 + { UINT64_C(0x000000A300000004), "More than 50 Robot Stops are detected on the same joint within 8 hours of operation.: Wrist 2 joint. Something is wrong in the application. Recurring robot stops should be resolved, ignoring it can void warranty." }, // C163 arg=4 + { UINT64_C(0x000000A300000005), "More than 50 Robot Stops are detected on the same joint within 8 hours of operation.: Wrist 3 joint. Something is wrong in the application. Recurring robot stops should be resolved, ignoring it can void warranty." }, // C163 arg=5 { UINT64_C(0x000000A400000000), "Wrist position close to safety plane limits: Wrist 1 is too close to safety plane" }, // C164 arg=0 { UINT64_C(0x000000A400000001), "Wrist position close to safety plane limits: Wrist 2 is too close to safety plane" }, // C164 arg=1 { UINT64_C(0x000000A400000002), "Wrist position close to safety plane limits: Wrist 3 is too close to safety plane" }, // C164 arg=2 @@ -577,7 +577,7 @@ inline const std::unordered_map& getErrorCodeTexts() { UINT64_C(0x000000CE00000005), "Sanity check failed: Target joint speed does not match target joint position change - Wrist 3" }, // C206 arg=5 { UINT64_C(0x000000CFFFFFFFFF), "Fieldbus input disconnected" }, // C207 no arg { UINT64_C(0x000000D0FFFFFFFF), "Debug Assertion failed" }, // C208 no arg - { UINT64_C(0x000000D1FFFFFFFF), "A protective stop was triggered (for test purposes only)" }, // C209 no arg + { UINT64_C(0x000000D1FFFFFFFF), "A robot stop was triggered (for test purposes only)" }, // C209 no arg { UINT64_C(0x000000D2FFFFFFFF), "Socket is read-only when the robot is in local (Teach pendant) control" }, // C210 no arg { UINT64_C(0x000000D300000000), "Operational mode changed: Disabled" }, // C211 arg=0 { UINT64_C(0x000000D300000001), "Operational mode changed: Automatic" }, // C211 arg=1 @@ -947,6 +947,10 @@ inline const std::unordered_map& getErrorCodeTexts() { UINT64_C(0x0000011B000000DF), "Safety system: The angular velocity of {float} rad/s is outside the limits of the active scanner monitoring case" }, // C283 arg=223 { UINT64_C(0x0000011B000000E6), "Safety system: Mismatch on Safety Field Configuration CRC between the safety system and the configuration" }, // C283 arg=230 { UINT64_C(0x0000011B000000E7), "Safety system: Audio/visual motion warning violation" }, // C283 arg=231 + { UINT64_C(0x0000011B000000EE), "Safety system: Operational mode disabled is not allowed" }, // C283 arg=238 + { UINT64_C(0x0000011B000000EF), "Safety system: Teach Pendants without a 3-Position Enabling Device are not allowed" }, // C283 arg=239 + { UINT64_C(0x0000011B000000F0), "Safety system: The robot turned without indicating the turn" }, // C283 arg=240 + { UINT64_C(0x0000011B000000F4), "Safety system: This system does not support hot pluggable teach pendant." }, // C283 arg=244 { UINT64_C(0x0000011C00000000), "Brake Release: Critical error" }, // C284 arg=0 { UINT64_C(0x0000011C00000015), "Brake Release: Brake release count reached limit" }, // C284 arg=21 { UINT64_C(0x0000011C00000016), "Brake Release: Brake release count is close to the limit, remaining brake releases: {unsigned}" }, // C284 arg=22 @@ -974,6 +978,11 @@ inline const std::unordered_map& getErrorCodeTexts() { UINT64_C(0x0000012100000010), "Tool Connector: The M8-power current exceeded the the allowed limit of {float}A for more than 2 seconds during the last 10 seconds" }, // C289 arg=16 { UINT64_C(0x0000012100000011), "Tool Connector: The zero current of the IO M8 power current sensor exceeds maximum allowed offset. The measured offset was {float}A" }, // C289 arg=17 { UINT64_C(0x0000012100000012), "Tool Connector: The zero current of the IO M8 digital output current sensor exceeds maximum allowed offset. The measured offset was {float}A" }, // C289 arg=18 + { UINT64_C(0x0000012100000013), "Tool Connector: Current of {float} A on the tool connector supply pins is outside of the allowed limited range." }, // C289 arg=19 + { UINT64_C(0x0000012100000014), "Tool Connector: The momentary M8-power current of {float}A exceeded the allowed limited current." }, // C289 arg=20 + { UINT64_C(0x0000012100000015), "Tool Connector: Voltage limit exceeded for the Power M8 PSU when the PSU should be off, but measured voltage was {float}V." }, // C289 arg=21 + { UINT64_C(0x0000012100000016), "Tool Connector: Voltage limit exceeded for the Power M8 PSU when the voltage is set to 24V, but measured was {float}V" }, // C289 arg=22 + { UINT64_C(0x0000012100000017), "Tool Connector: Voltage limit exceeded for the Power M8 PSU when the voltage is set to 48V, but measured was {float}V" }, // C289 arg=23 { UINT64_C(0x0000012400000000), "Online RAM test: Critical error" }, // C292 arg=0 { UINT64_C(0x0000012600000000), "ADC: Critical error" }, // C294 arg=0 { UINT64_C(0x000001260000000C), "ADC: The single ended ADC calibration timed out" }, // C294 arg=12 @@ -1109,6 +1118,7 @@ inline const std::unordered_map& getErrorCodeTexts() { UINT64_C(0x0000015400000002), "Energy Monitoring: Energy burst period exceeded, average power: {float}W" }, // C340 arg=2 { UINT64_C(0x0000015400000003), "Energy Monitoring: The Energy Removal Device peak power exceeded" }, // C340 arg=3 { UINT64_C(0x0000015400000004), "Energy Monitoring: The Energy Removal Device drew too much power over a period" }, // C340 arg=4 + { UINT64_C(0x0000015400000008), "Energy Monitoring: Voltage Limiter on-time exceeded, duty cycle: {float}%" }, // C340 arg=8 { UINT64_C(0x0000015500000000), "Motor encoder: Critical error" }, // C341 arg=0 { UINT64_C(0x0000015500000009), "Motor encoder: The scheduled motor encoder SPI package transfer did not complete before the deadline." }, // C341 arg=9 { UINT64_C(0x000001550000000A), "Motor encoder: CRC error in CH0 transfer, frame: {hex}" }, // C341 arg=10 @@ -1306,6 +1316,12 @@ inline const std::unordered_map& getErrorCodeTexts() { UINT64_C(0x0000017500000005), "Power Interface Board: Power Interface Board revision {unsigned} is not supported" }, // C373 arg=5 { UINT64_C(0x0000017700000000), "Motor encoder: Critical error" }, // C375 arg=0 { UINT64_C(0x0000017900000000), "Charging system: The motors are active while charging is enabled" }, // C377 arg=0 + { UINT64_C(0x0000017A00000000), "Robot Cable: Failed to measure the robot cable resistance, current too low during measurement" }, // C378 arg=0 + { UINT64_C(0x0000017A00000001), "Robot Cable: The measured robot cable resistance of {float} Ohm is too high" }, // C378 arg=1 + { UINT64_C(0x0000017A00000002), "Robot Cable: The maximum allowed robot cable resistance is {float} Ohm" }, // C378 arg=2 + { UINT64_C(0x0000017B00000001), "Robot powered off: Robot power button being pressed" }, // C379 arg=1 + { UINT64_C(0x0000017B00000002), "Robot powered off: PC S5 indicating shutdown" }, // C379 arg=2 + { UINT64_C(0x0000017B00000003), "Robot powered off: Robot powered off." }, // C379 arg=3 { UINT64_C(0x00000190FFFFFFFF), "Elbow position close to safety plane limits" }, // C400 no arg { UINT64_C(0x00000191FFFFFFFF), "Exceeding user safety settings for stopping time" }, // C401 no arg { UINT64_C(0x00000192FFFFFFFF), "Exceeding user safety settings for stopping distance" }, // C402 no arg