UFactory xArm Manual

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12
8003-force_control.cc
5. 6 Axis Force Torque Sensor Error Code
Software Error Code
Error Handling
C50
Six-axis Force Torque Sensor Error
Please check the sensor error code, locate the problem, and power on
again. If it cannot be resolved, please contact technical support.
C51
Six-axis Force Torque Sensor Mode Setting Error
Please make sure that the robotic arm is not in Manual Mode, check
whether the given value of this command is 0/1/2
C52
Six-axis Force Torque Sensor Zero Setting Error
Please check the sensor communication wiring and whether the power
is normal.
C53
Six-axis Force Torque Sensor Overload
Please reduce the payload or applied external force.
SDK Error Code
Error Handling
40
Six-axis Force Torque Sensor Communication Failure
Please check whether the wire between the Data Collector and the
Six-axis Force Torque Sensor is connected properly
41
The Data detected by the Six-axis Force Torque Sensor is Abnormal
Please contact technical support
42
Six-axis Force Torque Sensor X-direction Torque Exceeds Limit
Please reduce the force applied in the X direction
43
Six-axis Force Torque Sensor Y-direction Torque Exceeds Limit
Please reduce the force applied in the Y direction
44
Six-axis Force Torque Sensor Z-direction Torque Exceeds Limit
Please reduce the force applied in the Z direction

UFactory xArm Specifications

General

Payload	5 kg
Repeatability	±0.1 mm
Programming Language	Python, C++, ROS
Communication Interface	Ethernet
Operating Temperature	0°C to 45°C