UFactory XARM User Manual page 219

Abnormal Motion in Manual Mode
C37
Please check whether the TCP payload setting of the robotic arm and the
installation method of the robotic arm match the actual settings.
Abnormal Joint Angle
C38
Please stop the xArm by pressing the Emergency Stop Button on the Control
Box.
Control Box Power Board Master and Slave IC Communication Error
C39
Please contact technical support.
Six-axis Force Torque Sensor Error
Please check the sensor error code, locate the problem, and power on again.
C50
If it cannot be resolved, please contact technical support.
Six-axis Force Torque Sensor Mode Setting Error
Please make sure that the robotic arm is not in Manual Mode, check whether
C51
the given value of this command is 0/1/2
Six-axis Force Torque Sensor Zero Setting Error
Please check the sensor communication wiring and whether the power is
C52
normal.
Six-axis Force Torque Sensor Overload
C53
Please reduce the payload or applied external force.
Robot Arm Base Board Communication Error.
C110
Please contact technical support.
Control Box External 485 Device Communication Error
C111
Please contact technical support.
For alarm codes that are not listed in the above table: Power on again. If the problem remains
unsolved after power on/off for multiple times, please contact technical support.
1.2.2 Control Box Error Code
The error does not affect the normal operation of the robotic arm, but it
may affect the user's program operation. Once the warning occurs, the
arm will set the warning flag and return it together in the command
reply. Otherwise, no other operations will be performed. The robotic arm
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