Mobile Industrial Robots MiR Series Bedienungsanleitung

Error codes and solutions

Troubleshooting guide (en)

Date: 07/2020

Revision: 1.1

Valid for: All MiR robots

This document lists all current error codes that MiR robots can report. The robot error codes are categorized

into the following groups:

•Mission errors are errors that require manual intervention to resolve or the implementation of a

Try/Catch action to provide the robot with an alternative action. Mission errors occur if the robot cannot

complete an action in its current mission. These errors can often be resolved by changing your mission or

modifying the robot's work environment, for example, by moving an obstacle.

•Hardware errors are internal errors that occur when the system detects discrepancies or unexpected

results from the robot components. These issues can sometimes resolve themselves, for example, if a

connection is reestablished.If the issue persists, you have to address the issue by determining the cause of

the issue. Often, the issue is caused by faulty cable connections or broken components. Before inspecting

the robot's internal parts, it is a good idea to see if restarting the robot resolves the issue automatically.

•Environmental errors are errors that continue to occur due to the environment the robot operates in and

cannot be remedied without changing the work environment. These are errors such as localization errors

or stall and slip detection errors. You cannot use Try/Catch actions to provide an alternative approach to

these errors since they indicate that the robot is operating in an unsuitable work environment or with

incorrect settings.

You can see short description of each error code and possible solutions for solving the error. If the suggested

solutions do not remove the error, you can try using the troubleshooting guides on the Distributor site to see if

the issue you are experiencing is described there. Otherwise, contact Technical Support for assistance with

your case.

Safety

Before beginning this troubleshooting guide, refer to the safety chapter in your MiR product's user guide or

operating guide.

WARNING

To troubleshoot your robot effectively, you may need to investigate the internal or external

parts while the robot is turned on. You will be exposed to electrical and mechanical hazards.

•Only connect the battery in the steps where it is necessary for the robot to be active.

•Disconnect the battery in the steps where it is not necessary for the robot to be active.

•Only qualified personnel may perform the steps in this troubleshooting guide.

Contacting Technical Support

If you are asked to contact Technical Support in a step or solution in this guide, or if the solution you reach at

the end of the guide does not remedy the issue, you can create a support request through the Distributor site

under Contact Support.

Before creating a support request, it is highly recommended to update to the latest

recommended software, as this may resolve the issue. It will also enable your robot to generate

a more detailed error log, providing Technical Support with more information to troubleshoot

the issue correctly.

In your support request, describe the problem you are experiencing and your observations for each step in the

guide you have completed. To document this, download the troubleshooting documentation sheet with the

same title as this guide from the Distributor site.

To ensure that Technical Support can diagnose and solve the issue correctly, attach an error log retrieved

from the robot. It is important that the error log is generated as described in the guide How to generate an

error log found on the Distributor site. To assist Technical Support further, include any reported error codes,

images, or videos of the issue.

How to check cable connections

Most faults in the connectivity across cables occur in the connectors. To determine where the fault is in a

cable, we therefore recommend to start by checking the connectors.

There are two steps in checking the connectors:

•Check that the cable is properly connected to its end connectors.If hey are visible, verify that each wire is

connected to a connector pin by pulling each wire gently (approximately 10N). Avoid pulling harder than

necessary, as this may damage the connection between the wire and connector. When checking a wire, it

should only be able to move 0.5 mm from its original position at most.

•If the cable and connector are securely fixed together, ensure that the connector is correctly plugged into

its socket. The connector is loose if it can be pulled out of the socket easily. To ensure that the connector is

correctly plugged in, gently push the connector into its socket. If a connector has a lock or screws, check

that you cannot unplug it without unlocking or unscrewing it.

Cables are occasionally labeled incorrectly or are missing labels. To locate the correct cable, it

is a good idea to refer to the images shown in the guide or the wiring diagrams found on the

Distributor site.

MiR100 and MiR200

Error code Error type Description Solution

101, "CPU load

is too HIGH -

Above 90% for

more than 3

minutes"

Hardware

error.

Can resolve

itself.

An issue has occurred in

the robot software,

requiring unusual

amounts of processing

power.

Reboot the robot. If the problem

persists, and you have not updated to

the latest software, it is recommended

to update your robot. this may solve

the issue.

If the issue occurred after a software

update to the latest version, try to roll

back to a functioning software version

and report the issue to Technical

Support.

201, "Free

Memory is

VERY low"

Hardware

error.

Can resolve

itself.

An issue has occurred in

the robot software.

Reboot the robot. If the problem

persists, and you have not updated to

the latest software, it is recommended

to update your robot. this may solve

the issue.

If the issue occurred after a software

update to the latest version, try to roll

back to a functioning software version

and report the issue to Technical

Support.

301, "No

ethernet

adapter found"

Hardware

error.

Can resolve

itself.

An issue has occurred in

the robot computer.

Reboot the robot. If this does not solve

the issue, contact Technical Support.

Error code Error type Description Solution

302, "Ethernet

is not

connected"

Hardware

error.

Can resolve

itself.

The connection between

the robot computer and

the router is faulty.

Replace the Ethernet cable from the

robot computer and the router with an

Ethernet cable you are certain is

functional.

If the issue persists, swap the port the

Ethernet cable connects to in the

router. If a new error is shown,

replace the router. If the error

remains the same, contact Technical

Support as described in Contacting

Technical Support on page4.

401, "Very low

free space on

harddrive"

Hardware

error.

Requires

interaction.

The hard drive memory

is almost filled up.

Begin by deleting old backups stored

on the robot.this can be done through

the robot interface under System

>Backups.

If the issue persists, execute a

USBrestore. See the guide How to USB

restore MiR100/MiR200, found on the

Distributor site.

501, "Battery

MIR 100/200:

Battery is TOO

low."

Hardware

error.

Requires

interaction.

The robot has only 5%

power left.

Recharge the robot.

503, "Battery

MIR 100/200:

Missing

charging status

message"

Hardware

error.

Can resolve

itself.

The CAN bus connection

from the battery

management system is

faulty.

Check wire 194 that connects the MiR

board to the battery. If the wire is

correctly connected and the issue

persists, replace the wire or the MiR

board.

Error code Error type Description Solution

504, "Battery

MIR 100/200:

Unable to

detect

hardware

configuration."

Hardware

error.

Can resolve

itself.

There is an error in the

robot software that

prevents it from

determining the

hardware configuration.

Reboot the robot. If the problem

persists, and you have not updated to

the latest software, it is recommended

to update your robot. this may solve

the issue.

If the issue occurred after a software

update to the latest version, try to roll

back to a functioning software version

and report the issue to Technical

Support.

If the issue persists, execute a

USBrestore. See the guide How to USB

restore MiR100/MiR200, found on the

Distributor site.

601, "Teensy:

Gyroscope data

timed out - Last

Gyroscope

message

received %

(seconds)d

seconds ago"

Hardware

error.

Can resolve

itself.

The MiR board is not

receiving data from the

gyroscope.

Try rebooting the robot.If the issue

persists, check cable 110 that connects

the robot computer to the MiR board

(see Figure 1.1 and Figure 1.2). If the

cable is correctly connected, try to

replace the cable or the MiR board.

602, "Teensy:

Gyroscope data

is jumping

ALOT!"

Hardware

error.

Can resolve

itself.

See error 601, "Teensy:

Gyroscope data timed

out - Last Gyroscope

message received %

(seconds)d seconds ago"

above.

650, "Unable to

find

LightController

MCU"

Hardware

error.

Can resolve

itself.

The connection from the

robot computer to the

MiR board is faulty.

Try rebooting the robot.If the issue

persists, check cable 110 that connects

the robot computer to the MiR board

(see Figure 1.1 and Figure 1.2). If the

cable is correctly connected, try to

replace the cable or the MiR board.

Error code Error type Description Solution

650, "Unable to

get version of

LightController

MCU"

Hardware

error.

Can resolve

itself.

See the error above.

650,

"Connecting to

Lightcontroller

MCU failed"

Hardware

error.

Can resolve

itself.

See the error above.

650, "No

firmware

available for

this

Lightcontroller

MCU"

Hardware

error.

Can resolve

itself.

The MiR board is

missing its software.

Reboot the robot. If the problem

persists, and you have not updated to

the latest software, it is recommended

to update your robot. this may solve

the issue.

If the issue occurred after a software

update to the latest version, try to roll

back to a functioning software version

and report the issue to Technical

Support.

If the issue persists, execute a

USBrestore. See the guide How to USB

restore MiR100/MiR200, found on the

Distributor site.

650,

"Upgrading

firmware

failed"

Hardware

error.

Can resolve

itself.

This error may occur if

the MiR board failed to

update during a

software update.

Try rebooting the robot.You can also

try upgrading the software again.

If the issue persists, execute a

USBrestore. See the guide How to USB

restore MiR100/MiR200, found on the

Distributor site.

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