Fault Status

The packed FAULT STATUS byte (byte 2 of the status block).

Members

Classes
class	FaultStatus
	The FAULT STATUS byte (byte 2 of the status block). More...
Enumerations
enum class	GripperFault : uint8_t { ... }
enum class	ControllerFault : uint8_t { ... }
enum class	FaultSeverity : uint8_t { ... }
	How serious a fault is, per the gripper manual. More...
Functions
constexpr FaultSeverity	severity (GripperFault fault)
	Classify a gripper fault code by severity. More...
constexpr FaultSeverity	severity (ControllerFault fault)
	Classify a controller fault code by severity. More...
constexpr std::string_view	toString (GripperFault fault)
constexpr std::string_view	toString (ControllerFault fault)
constexpr std::string_view	toString (FaultSeverity faultSeverity)
std::string	toString (FaultStatus fault)

Enumerations

ControllerFault

enum class Robotiq::ControllerFault : uint8_t

strong

Enumeration values

None	No fault detected (= 0x00)
Supply24VNotDetected	WARNING - 24V not detected (reconfiguration through USB is possible) (= 0x04)
NoDeviceDetected	WARNING - No device detected (= 0x05)
CommunicationNotReady	MINOR FAULT (red LED continuous) - Communication is not ready (= 0x09)
EmergencyStop	Major Fault (red LED blinking) – Reset is required - Emergency stop triggered (= 0x0C)
Overcurrent	Major Fault (red LED blinking) – Reset is required - Overcurrent protection triggered (Gripper) (= 0x0E)

The optional Robotiq controller's fault code (kFLT, high nibble of the FAULT STATUS byte).

FaultSeverity

enum class Robotiq::FaultSeverity : uint8_t

strong

How serious a fault is, per the gripper manual.

Enumeration values

None	no fault
Warning	informational; clears on its own
Minor	degraded operation; clears on its own
Major	needs a reset (rACT rising edge) to clear

The manual labels the Warning tier "priority faults"; a Major fault needs a reset (a rising edge on rACT) to clear — see recoverFromFault().

GripperFault

enum class Robotiq::GripperFault : uint8_t

strong

Enumeration values

None	No fault (solid blue LED) (= 0x00)
ActionDelayed	Action delayed, the activation (re-activation) must be completed prior to performing the action (= 0x05)
ActivationRequired	The activation bit must be set prior to performing the action (= 0x07)
OverTemperature	Maximum operating temperature exceeded (≥ 85 °C internally), let cool down (below 80 °C) (= 0x08)
NoCommunication	No communication during at least 1 second (= 0x09)
UnderVoltage	Under minimum operating voltage (= 0x0A)
AutomaticReleaseInProgress	Automatic release in progress (= 0x0B)
InternalFault	Internal fault; contact support@robotiq.com (= 0x0C)
ActivationFault	Activation fault, verify that no interference or other error occurred (= 0x0D)
Overcurrent	Overcurrent triggered (= 0x0E)
AutomaticReleaseComplete	Automatic release completed (= 0x0F)

The gripper's own fault code (gFLT, low nibble of the FAULT STATUS byte).

Functions

severity()

constexpr FaultSeverity Robotiq::severity ( GripperFault fault )

constexpr

Classify a gripper fault code by severity.

Parameters

fault

The gripper's own fault code, from FaultStatus::gripperFault().

Returns

The fault's severity. Unrecognized codes report Major so an unknown fault is never mistaken for harmless.

severity()

constexpr FaultSeverity Robotiq::severity ( ControllerFault fault )

constexpr

Classify a controller fault code by severity.

Parameters

fault

The controller's fault code, from FaultStatus::controllerFault().

Returns

The fault's severity. Unrecognized codes report Major so an unknown fault is never mistaken for harmless.

toString()

constexpr std::string_view Robotiq::toString ( GripperFault fault )

constexpr

Parameters

fault

gFLT, from FaultStatus::gripperFault().

Returns

The manual's mnemonic name for fault.

toString()

constexpr std::string_view Robotiq::toString ( ControllerFault fault )

constexpr

Parameters

fault

kFLT, from FaultStatus::controllerFault().

Returns

The manual's mnemonic name for fault.

toString()

constexpr std::string_view Robotiq::toString ( FaultSeverity faultSeverity )

constexpr

Parameters

faultSeverity

A fault's severity, from severity(GripperFault) or severity(ControllerFault).

Returns

A short name for faultSeverity.

toString()

std::string Robotiq::toString ( FaultStatus fault )

Parameters

fault

The packed FAULT STATUS byte to render.

Returns

fault as the manual's mnemonics (gFLT, kFLT), each decoded to its named fault.

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