6.1.5: update exception

6-SDKDevelopment/6.1-Python/6.1.5-ExceptionHandling.md

@@ -1,10 +1,75 @@
-## Robotic Arm Exception Handling Methods
-
-When the robotic arm fails to execute a motion command successfully, corresponding error information can be queried in the Python terminal, for example:
+# Robot Arm Exception Inspection and Handling Methods
 
-## 1.Motion Exceptions
+When the robot arm fails to execute motion commands successfully, corresponding exception information can be queried in the Python terminal：<br/>
 
-### Controlling the Robotic Arm to an Out-of-Range Position
+## 1 Check Robot Status
+
+### 1.1 Status Feedback Analysis
+
+Normally, this interface returns all zeros, indicating no issues. The robot status can be read, with feedback differing between the left and right arms, as detailed below:<br/>
+
+#### Read Robot Status
+***
+	m.get_robot_status()  # Read robot status
+
+#### Status Explanation
+`[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]` means:<br/>
+The robot is not moving, with no joint limit violations, hardware errors, or software errors.<br/>
+
+Each value corresponds to the following explanation:<br/>
+`[Reserved, Movement Status, J1 Limit Violation, J2 Limit Violation, J3 Limit Violation, J4 Limit Violation, J5 Limit Violation, J6 Limit Violation, J7 Limit Violation, J1 Hardware Error, J2 Hardware Error, J3 Hardware Error, J4 Hardware Error, J5 Hardware Error, J6 Hardware Error, J7 Hardware Error, J1 Software Error, J2 Software Error, J3 Software Error, J4 Software Error, J5 Software Error, J6 Software Error, J7 Software Error]`
+
+**Examples:**<br/>
+`[0,1,0,0,0,0,0,0,0,0,0,0,3,0,0,0,0,0,0,0,0,0,0]` represents:<br/>
+The robot encountered a control error on J4 while moving.:<br/>
+
+`[0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]` represents::<br/>
+Robot J2 overlimit:<br/>
+
+`[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0]` represents::<br/>
+Robot J5 circuit anomaly - reception error:<br/>
+
+### 1.2 Error Resolution
+#### Joint Overlimit
+When a joint exceeds its limit, one of the following methods can be used to resolve it:<br/>
+##### Perform overlimit return to zero:
+ The robot will return to the origin at a slower speed.<br/>
+**** 
+	m.over_limit_return_zero() 
+##### Release the joint and manually move it back within the limit:
+
+****
+	m.release_all_servo() 
+#### Joint Hardware Error
+Most hardware errors can be recovered using an exception recovery method:<br/>
+****
+	m.servo_restore(ID) 
+If the issue persists after using exception recovery or rebooting the robot, please contact our engineers. For detailed joint hardware errors, refer to Figure 1:<br/>
+<img src="../../resources/6-SDKDevelopment/6.1-Python/6.1.5/6-1-5-1.2-001.png" alt="pic" width="500" height="400"/><br/>
+
+#### Joint Software Error
+Software errors mainly include: circuit anomalies, CAN module anomalies, encoder anomalies, loss of enable, etc.<br/>
+
+When there is a loss of enable, use the following to re-enable the servo before continuing movement:<br/>
+****
+	m.focus_all_servo() 
+For other anomalies, please contact our engineers. Detailed joint software errors can be found in Figures 2 and 3:<br/>
+<img src="../../resources/6-SDKDevelopment/6.1-Python/6.1.5/6-1-5-1.2-002.png" alt="pic" width="500" height="400"/>
+<img src="../../resources/6-SDKDevelopment/6.1-Python/6.1.5/6-1-5-1.2-003.png" alt="pic" width="500" height="400"/>
+
+#### Robot in Motion State, but Unable to Move
+
+If the robot is in a motion state and does not respond to new motion commands, first stop the robot's motion:<br/>
+***
+	m.stop() 
+	m.resume() 
+If the robot still cannot move, please contact our engineers.<br/>
+
+## 2 Check the feedback of executing motion commands
+
+### 2.1 Motion Exceptions
+
+#### Controlling the Robotic Arm to an Out-of-Range Position
     form pymycobot import Mercury
     m = Mercury('/dev/ttyAMA1')
 
@@ -15,10 +80,10 @@ At this point, the robotic arm will stop at the limit position and display the f
 
 **Error: Joint 1 is close to the limit, current angle is 45.535, angle range: -165.0 ~ 45.0**
 
-#### Solution: Avoid software limit by following the indicated angle range.
+##### Solution: Avoid software limit by following the indicated angle range.
 ****
 
-### Cartesian Motion
+#### Cartesian Motion
 
     m.send_angles([0.0, 0.0, 0.0, -90.0, 0.0, 89.999, 0.0], 10) # Move the robotic arm to the initial posture
 
@@ -28,9 +93,7 @@ At this point, the robotic arm stops mid-motion and displays the following messa
 
 **Error: Joint 2 is close to the limit, current angle is -49.967, angle range: -50.0 ~ 120.0**
 
-
-
-#### Solution: Avoid software limit by following the indicated angle range.
+##### Solution: Avoid software limit by following the indicated angle range.
 ****
 
     m.send_coord(3,500,10) # Move the robotic arm to the coordinate position z = 500
@@ -39,7 +102,7 @@ At this point, the robotic arm stops mid-motion and displays the following messa
 
 **Error: No adjacent solution for linear motion. Check if the arm span is near the limit. Current arm span is 370, maximum arm span is 440  **
 
-#### Solution: Retract the robotic arm.
+##### Solution: Retract the robotic arm.
 
 ****
     m.send_angles([0.0, 0.0, 0.0, -90.0, 0.0, 0, 0.0], 10) # Change initial posture
@@ -49,7 +112,7 @@ At this point, the robotic arm does not respond to the command and displays the
 
 **Error: Singular position, no solution found. Use send_angles() method to leave this position. Singularity detected at joint 6: 0.0 degrees**
 
-#### Solution: Move out of the singular position as instructed.
+##### Solution: Move out of the singular position as instructed.
 ****
 
     m.send_angle(6,90,10) # Use joint motion to move out of the singular position
@@ -59,10 +122,10 @@ At this point, the robotic arm does not respond to the command and displays the
 
 **Error: Sent coordinate data is out of range**
 
-#### Solution: Send coordinate values within the limit.
+##### Solution: Send coordinate values within the limit.
 ****
 
-## 2.Motor Exceptions
+### 2.2 Motor Exceptions
 
 In firmware version V1.0, when a motor exception occurs, the robotic arm does not respond to motion commands, and corresponding error codes are displayed in the terminal, such as: