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Fault codes
Fault code from machine..
| Fault Message | Description | Action |
| Above maximum pump speed. Please check valve posistions. Stopping operations. | Pump is working harder than it should | Check that valve positions are correct, and that filters are clean. |
| All sensors are within range. Resuming operations. | Information that the robot has automaticly resumed operations after a halt | |
| Battery voltage low: 46.4 V. Please charge robot! | Low battery voltage | Start generator and charge robot |
| Below minimum pump speed. Please check filters and valve positions. Stopping operations. | The pressure in the system is higher than the pump speed should indicate. | Make sure all the filters are clean, and that the valves are in the right configuration. |
| Boom elevator safety stop triggered! Please check the status of the boom elevator | One of the safety stop buttons is pressed, robot will not drive until depressed | Release safety stop buttons, if this is safe. |
| Camera lost connection | Lost connection to ca camera | Restart robot, Contact Support |
| Did not receive any new frames from camera, trying to reconfigure. | Failed to configure camera | Restart robot, Contact Support |
| Disk space is nearing max capacity, turning off image saving | Disk has too low space to save images | Contact support, robot will continue to work |
| Failed to configure Elmo motor drivers, shutting down | Motor Controller setup failed | Contact support (Check emegency buttons/bumper) |
| Failed to recover nmt state to operational | Motor Controller setup failed | Contact support |
| Failed to turn on autonomous: No RTK fix. Try to move the robot to a clear spot before turning on autonomous. | GPS position estimate is not accurate enough for autonomous operations | If you have RTK float solution: Move the robot to a spot with better view of the sky. If not RTK signal, check ntrip credentials |
| Generator stopped or unplugged! Pausing operations | Generator stopped, usually out of gas. | If this happens with gas still in the tank, refer to Generators manual. Contact support |
| Height measurement has been out of range for too long, stopping operations | Robot has stopped due to too low height on boom. | Check that no plants are sticking up towards the height sensor of the Spray Module. |
| Inference failed for model /ros2_ws/output/models/fejka/config.json. Unloading classifier. | AI model fault | Restart robot, contact support |
| Left motor emergency received: | Fault detected in motor controller | Restart robot, contact support |
| Lost connection with classifier, stopping operations. Please verify image classification | AI model fault | Restart robot, contact support |
| Motor controller refuses to boot when bumper or safety stop active | Bumper or safety stop active on boot, motor controllers refusing to give power to motors | Release safety stop buttons, make sure bumper magnet is aligned with sensor. |
| No GPS messages received in a while, waiting for more GPS message before continuing | ||
| No GPS msgs received, turning off autonomous | ||
| No RTK Fix found: Try to move the robot to a clear spot before turning on autonomous. | GPS position estimate is not accurate enough for autonomous operations | Move the robot to a spot with better GPS reception, or try and give it some time to regain RTK fix. |
| No connection with spray modules: X. Please check Diagnostics. | Lost connection to spray module | Restart robot, contact support |
| No height measurements received in a while, stopping operations | Lost height sensor data | Restart robot, contact support |
| No movement detected, stopping operations | Robot is at a stand still even it it should be moving | Restart robot, contact support |
| No system pressure received in a while. Stopping operations. | System pressure reading has timed out | Restart robot, contact support |
| Not all sensors are within range. Halting until all sensor data is acceptable | Some sensor readings are halting operations until they are within correct range. | This can happen, robot will pause until every sensor is OK. |
| Pausing operations due to strong wind | Too strong wind, pausing operation | The wind is stronger than the limit set. |
| Please select a route before turning on autonomous! | Robot will not drive autonomously if has no path to follow | Select a route |
| Rejecting goal: Cannot transform from base_link to utm | Something is wrong with the pose estimation of the robot | Restart robot, contact support |
| Rejecting goal: Error in segment with index X. A segment requires two or more waypoints | Cannot create segment with less than two waypoint | Add more waypoints to the segment |
| Right motor emergency received: | Fault detected in motor controller | Restart robot, contact support |
| Robot stopped due to motor failure, fault code: left:safety_stop_active right:safety_stop_active . Stopping autonomous | Robot has stopped due to safety stop | |
| Route successfully completed! Robot has stopped | Robot is finished with the route | Maybe take it to another field? |
| Safety stop! Bumper in the front hit something! | Bumper in the front has hit something and robot has stopped | If you havent hit anythin, check the alignment of the magnet and the sensor on the bumprt |
| Safety stop! One or more of the emergency buttons have been pressed | ||
| Stopped as planned | Robot has stopped as planned | |
| Stopped. Left motor reported critical fault: Communication timed out | Lost connection to motor controller | Restart robot, contact support |
| Stopped. Right motor reported critical fault: Communication timed out | Lost connection to motor controller | Restart robot, contact support |
| Stopped. Set speed 0 to continue. Left motor reported fault: | Motor controller has reported a fault that requires you to stop the robot. | Try driving it after a stop, contact support |
| System pressure is outside the accepted range: 0 Bar [0.9 - 1.1]. Pausing operations. | System pressure is outside of accepted range | If it is too low, usually the tank is empty. If the pump draws air, the pressure cannot be maintained. Fill the tank. |
| Tank level is getting low: 3.15048 liters. | Herbicide tank level is low | Fill the herbicide tank. If the tank is not empty, contact support. Either there is a leakage around one of the pressure sensors, or you need to calibrate the tank level estimation. |
| The robot has halted for too long. Please verify all sensors before starting autonomous | The robot has halted so long that an operator must start it manually | |
| The robot is not between the selected start and end point. Please move the robot closer to a line segment before turning on autonomous. | Robot is not placed correctly to start autonomous operation | Move closer to the segment you are starting at. If this happens during operation refer to: INSERT LINK |
| Too far from row, please move the robot closer before turning on autonomous. | Robot is too far from row. | Move closer to the segment you are starting at. If this happens during operation refer to: INSERT LINK |
| Too windy! Halting operations | Paused due to strong wind | |
| Wind has been too strong for too long, stopping operations | The robot has halted so long that an operator must start it manually | |
| boom_height: Invalid sensor data for too long, stopping operations | Error in sensor reading | Restart robot, contact support |
| boom_height: No sensor data received for 4000ms | Error in sensor reading | Restart robot, contact support |
| charge_state: No sensor data received for 4000ms stopping operations! | Error in sensor reading | Restart robot, contact support |
| boom_height: Out of range. | ||
| charge_state: No sensor data received for 4000ms | Error in sensor reading | Restart robot, contact support |
| motor_left Communication timed out | Motor controller fault | Restart robot, contact support |
| motor_left Failed to start motor | Motor controller fault | Restart robot, contact support |
| motor_left Heartbeat timeout | Motor controller fault | Restart robot, contact support |
| motor_left motor emergency received: Heartbeat timeout (81300011) | Motor controller fault | Restart robot, contact support |
| motor_left: Changing from motor state: MS_Operation_Enable to: MS_Fault, possible fault. No error codes found. Sending recover command. | Motor controller fault | Restart robot, contact support |
| motor_left: NMT error, should be in state, NMT_OPERATIONAL, got state NMT_STOPPED. Trying to reset motor. | Motor controller fault | Restart robot, contact support |
| motor_left: NMT error: expected NMT_OPERATIONAL, got state NMT_PREOPERATIONAL. Attempting to go operational. | Motor controller fault | Restart robot, contact support |
| motor_right Communication timed out | Motor controller fault | Restart robot, contact support |
| motor_right Heartbeat timeout | Motor controller fault | Restart robot, contact support |
| motor_right motor emergency received: Failed to start motor (ff100081) | Motor controller fault | Restart robot, contact support |
| motor_right: Changing from motor state: MS_Operation_Enable to: MS_Quick_Stop_Active, possible fault. Sending recover command. | Motor controller fault | Restart robot, contact support |
| motor_right: NMT error, should be in state, NMT_OPERATIONAL, got state NMT_STOPPED. Trying to reset motor. | Motor controller fault | Restart robot, contact support |
| relative_humidity: No sensor data received for 4000ms | Error in sensor reading | Restart robot, contact support |
| system_pressure: No sensor data received for 10000ms | Error in sensor reading | Restart robot, contact support |
| system_pressure_raw: No sensor data received for 10000ms | Error in sensor reading | Restart robot, contact support |
| system_voltage: No sensor data received for 4000ms | Error in sensor reading | Restart robot, contact support |
| temperature: No sensor data received for 4000ms | Error in sensor reading | Restart robot, contact support |
| wind_speed: Invalid sensor data and is halting autonomous until valid data is received | Error in sensor reading | Restart robot, contact support |