---
title: Whiz Notification Support
description: Welcome to the Whiz Notification Support page.
---

[![Softbank_Robotics](https://us.softbankrobotics.com/hubfs/SoftBank_Robotics_February2019%20Theme/Images/logo.png) ](https://us.softbankrobotics.com?hsLang=en)

# Whiz Support

![whiz-google-banner_1600x400-2](https://us.softbankrobotics.com/hubfs/whiz-google-banner_1600x400-2.png)

## Whiz Notification Lookup

Please enter the **Code** or **Notification Message** below.

OR

 or [CLEAR ALL](https://us.softbankrobotics.com/pmg-test-for-error-codes?hsLang=en)

 0 - %1 SYSTEM ERROR

**Description:** SYSTEM ERROR

**Resolution:**  
1. Please reboot the machine.   
2. If the problem persists, contact customer service.

 604 - BATTERY IS TOO LOW

**Description:** Primary battery low

**Resolution:**  
Change the main battery. Do NOT leave the battery slot empty for more than 3min.

 604+608 - BATTERY IS TOO LOW

**Description:** Primary battery low

**Resolution:**  
Secondary battery is too low. Turn off the machine and change the main battery.

 603 - BATTERY MISSING

**Description:** Primary Battery state unknown

**Resolution:**  
Insert a main battery into the robot. Do NOT leave the battery slot empty for more than 3 min

 609 - BATTERY MISSING

**Description:** Primary battery is disconnected

**Resolution:**  
Insert a main battery into the robot. Do NOT leave the battery slot empty for more than 3 min

 608 - BATTERY SYSTEM CHECK

**Description:** Secondary battery is low

**Resolution:**  
1. Do not swap the main battery.   
2. Continue use, message will auto dismiss when the check is complete.

 607 - SECONDARY BATTERY OFF

**Description:** Secondary battery is disconnected

**Resolution:**  
Do NOT remove the main battery, unless the machine is powered off.

 605 - DUSTBAG FULL

**Description:** Dust bag is full detected

**Resolution:**  
Inspect and replace the dustbag.

 602 - BUMPER STUCK

**Description:** Bumper response has timed out

**Resolution:**  
1. Inspect machine for damage or debris.   
2. Using two hands, pull the bumper forward. 3. Press the blue button to resume.

 500 - EMERGENCY BUTTON PRESSED

**Description:** Emergency stop has been pressed

**Resolution:**  
1. Inspect the robot and environment.   
2. If clear, release the emergency stop button

 29999-20002 - SAVE ERROR

**Description:** ROUTE_TOO_SHORT

**Resolution:**  
Route is too short. Return home and reteach a longer route.

 29999-20003 - SAVE ERROR

**Description:** IMU_ERROR

**Resolution:**  
1. IMU sensor error. Please reboot the machine and restart your route.   
2. If the problem persists, contact customer service.

 29999-20004 - SAVE ERROR

**Description:** ROUTE_IS_BACKWARDS

**Resolution:**  
Make sure to not pull the robot backwards more than 20cm at a time while teaching a route.

 29999-20005 - SAVE ERROR

**Description:** LIDAR_DELAY

**Resolution:**  
1. Sensor Error. Clean the bottom sensor.   
2. Reboot the machine. If problem persists, contact customer service.

 29999-20006 - SAVE ERROR

**Description:** ROUTE_CANNOT_CONNECT

**Resolution:**  
Return home to restart teaching a route.

 29999-20007 - SAVE ERROR

**Description:** ROUTE_FAILED

**Resolution:**  
Return home to restart teaching a route.

 29999-20008 - SAVE ERROR

**Description:** ROUTE_ENDPOINTS_EMPTY

**Resolution:**  
Return home to restart teaching a route.

 29999-20009 - SAVE ERROR

**Description:** IMU_ZERO

**Resolution:**  
1. IMU sensor error. Please reboot the machine and restart your route.   
2. If the problem persists, contact customer service.

 103 - ROBOT IS STUCK

**Description:** robot is stuck

**Resolution:**  
1. Make sure the robot’s path is clear or push past any obstacles.   
2. Press the blue button to start.

 104 - PATH IS BLOCKED

**Description:** Path is blocked

**Resolution:**  
1. Make sure the robot’s path is clear or push past any obstacles.   
2. Press the blue button to start.

 302 - PATH IS BLOCKED

**Description:** no non-colliding move

**Resolution:**  
1. Make sure the robot’s path is clear or push past any obstacles.   
2. Press the blue button to start.

 303 - PATH IS BLOCKED

**Description:** no move along the path

**Resolution:**  
1. Make sure the robot’s path is clear or push past any obstacles.   
2. Press the blue button to start.

 304 - PATH IS BLOCKED

**Description:** robot is colliding

**Resolution:**  
1. Make sure the robot’s path is clear or push past any obstacles.   
2. Press the blue button to start.

 305 - PATH IS BLOCKED

**Description:** path is too close

**Resolution:**  
1. Make sure the robot’s path is clear or push past any obstacles.   
2. Press the blue button to start.

 306 - PATH IS BLOCKED

**Description:** too close to obstacles

**Resolution:**  
1. Make sure the robot’s path is clear or push past any obstacles.   
2. Press the blue button to start.

 307 - PATH IS BLOCKED

**Description:** robot touches obstacle

**Resolution:**  
1. Make sure the robot’s path is clear or push past any obstacles.   
2. Press the blue button to start.

 308 - ROBOT IS STUCK

**Description:** can not decide (not really blocked, but should probably go here)

**Resolution:**  
1. Make sure the robot’s path is clear or push past any obstacles.   
2. Press the blue button to start.

 309 - ROBOT IS STUCK

**Description:** path is behind

**Resolution:**  
1. Make sure the robot’s path is clear or push past any obstacles.   
2. Press the blue button to start.

 106 - ROBOT FAILED TO RECOVER

**Description:** failed to find path during recovery

**Resolution:**  
1. Follow the arrow and push the robot towards the red path.   
2. When correct, the path will turn blue. 3. Press blue button to start.

 300 - ROBOT IS TOO FAR FROM PATH

**Description:** path is too far

**Resolution:**  
1. Follow the arrow and push the robot towards the red path.   
2. When correct, the path will turn blue. 3. Press blue button to start.

 301 - ROBOT IS OFF PATH

**Description:** no path given

**Resolution:**  
1. Follow the arrow and push the robot towards the red path.   
2. When correct, the path will turn blue. 3. Press blue button to start.

 10001 - ROBOT CANNOT RESUME FROM HERE

**Description:** failed to resume

**Resolution:**  
1. Follow the arrow and push the robot towards the red path.   
2. When correct, the path will turn blue. 3. Press blue button to start.

 10000 - ROBOT LOST

**Description:** delocalization

**Resolution:**  
1. Return the robot to home location.   
2. Restart the route.

 6000 - BOTTOM SENSOR ERROR

**Description:** Dirty Planar Lidar

**Resolution:**  
1. Inspect and clean the bottom sensor.   
2. Reboot the machine. If the problem persists, contact customer service.

 6002 - FRONT CAMERA ERROR

**Description:** Front Camera Error

**Resolution:**  
1. Inspect and clean the sensors.   
2. Reboot the machine. If the problem persists, contact customer service.

 8100 - %1 SYSTEM ERROR

**Description:** Planar lidar: Delay/Disconnect 初期不良の可能性大

**Resolution:**  
Lidar connection error. 1. Please reboot the machine.   
2. If the problem persists, contact customer service.

 8700 - %1 SYSTEM ERROR

**Description:** Depth Camera: Delay/Disconnect

**Resolution:**  
DEPTH CAMERA connection error. 1. Please reboot the machine.   
2. If the problem persists, contact customer service.

 601 - CLIFF DETECTED

**Description:** Cliff sensor has been triggered

**Resolution:**  
1. Make sure the machine is not operating near stairs or escalators.   
2. Press the blue button to resume.

 606 - %1 SYSTEM ERROR

**Description:** VCU Disconnected 初期不良の可能性大

**Resolution:**  
Failed to connect to VCU. 1. Please reboot the machine.   
2. If the problem persists, contact customer service.

 610 - %1: %2 FIRMWARE ERROR

**Description:** Fatal VCU Fault

**Resolution:**  
Robot encountered a fatal firmware fault. 1. Please reboot the machine.   
2. If the problem persists, contact customer service.

 700 - %1 COMMUNICATION ERROR

**Description:** Shining Disconnected

**Resolution:**  
1. Please reboot the machine.   
2. If the problem persists, contact customer service.

 701 - %1 COMMUNICATION ERROR

**Description:** Shining Connection Timeout

**Resolution:**  
1. Please reboot the machine.   
2. If the problem persists, contact customer service.

 702 - %1 COMMUNICATION ERROR

**Description:** Shining Connection Timeout

**Resolution:**  
1. Please reboot the machine.   
2. If the problem persists, contact customer service.

 703 - %1 COMMUNICATION ERROR

**Description:** Shining Connection Timeout

**Resolution:**  
1. Please reboot the machine.   
2. If the problem persists, contact customer service.

 705 - AUTONOMY DISABLED

**Description:**

**Resolution:**  
All functions disabled. Please contact customer service.

 30000 - %1 COMMUNICATION ERROR

**Description:** Route failed to upload to ROC

**Resolution:**  
1. Please reboot the machine.   
2. If the problem persists, contact customer service.

 30001 - %1 COMMUNICATION ERROR

**Description:** Failed to get route from ROC

**Resolution:**  
1. Failed to load route data. Please retry.   
2. If the problem persists, contact customer service."

 612 - BUMPER STUCK

**Description:** Bumper Erratic

**Resolution:**  
1. Inspect machine for damage or debris.   
2. Using two hands, pull the bumper forward. 3. Press the blue button to resume.

 614 - MACHINE BACKUP ERROR

**Description:** Backup Command Limit Exceeded

**Resolution:**  
1.Please inspect the machine's environment and remove any obstacles.   
2. Press the blue button to resume.

 615 - MACHINE BACKUP ERROR

**Description:** Backup Distance Limit Exceeded

**Resolution:**  
1.Please inspect the machine's environment and remove any obstacles.   
2. Press the blue button to resume.

 613 - DUSTBAG SENSOR ERROR

**Description:** Bag Sensor Erratic

**Resolution:**  
Please contact customer service.

 616 - MACHINE IS RUNNING TOO HOT

**Description:** VCU is over temperature limit

**Resolution:**  
1. Please wait 15 minutes to let the temperature decrease.   
2. Press the blue button to resume.

 617 - PAGER CONNECTION ERROR

**Description:** Pager Delocalized

**Resolution:**  
1. Bring pager back to the machine.   
2. Press and hold the main button on the pager for 6 seconds. 3. Dock the pager and reboot the machine. If connection fails, please contact customer service.

 619 - %1 SYSTEM ERROR

**Description:** Local ROC cache timeout

**Resolution:**  
ROCD connection error. 1. Please reboot the machine.   
2. If the problem persists, contact customer service.

 29999-20011 - SAVE ERROR

**Description:**

**Resolution:**  
Unknown mapping error

 29999-20012 - SAVE ERROR

**Description:**

**Resolution:**  
Problem with lidar pitched down

 704 - UI ERROR

**Description:**

**Resolution:**  
1. Please contact customer service and report about this.   
2. Please reboot the machine.

 706 - APP STATE CRITICAL ERROR

**Description:**

**Resolution:**  
1. Please contact customer service and report about this.   
2. Please reboot the machine.

 1 - FAULT_ISR_RESET

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 2 - FAULT_ISR_NMI

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 3 - FAULT_ISR_HARDFAULT

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 4 - FAULT_ISR_MEM_MANAGE

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 5 - FAULT_ISR_BUS_FAULT

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 6 - FAULT_ISR_USAGE_FAULT

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 7 - FAULT_ISR_RESERVED8

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 8 - FAULT_ISR_RESERVED9

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 9 - FAULT_ISR_RESERVED10

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 10 - FAULT_ISR_RESERVED11

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 11 - FAULT_ISR_SV_CALL

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 12 - FAULT_ISR_DEBUG_MONITOR

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 13 - FAULT_ISR_RESERVED13

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 14 - FAULT_ISR_PEND_SV

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 15 - FAULT_ISR_SYS_TICK

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 16 - FAULT_WINDOW_WATCHDOG_TRIPPED

**Description:** Watchdog tripped. If it is not pet every 10 ms then it will fire. If this only happens very occasionally then unit is probably fine, recommend rebooting. If this happens many times, RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 17 - FAULT_ISR_PVD

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 18 - FAULT_ISR_TAMP_STAMP

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 19 - FAULT_ISR_RTC_WKUP

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 20 - FAULT_ISR_FLASH

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 21 - FAULT_ISR_RCC

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 22 - FAULT_ISR_EXTI0

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 23 - FAULT_ISR_EXTI1

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 24 - FAULT_ISR_EXTI2

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 25 - FAULT_ISR_EXTI3

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 26 - FAULT_ISR_EXTI4

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 27 - FAULT_ISR_DMA1_STREAM0

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 28 - FAULT_ISR_DMA1_STREAM1

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 29 - FAULT_ISR_DMA1_STREAM2

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 30 - FAULT_ISR_DMA1_STREAM3

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 31 - FAULT_ISR_DMA1_STREAM4

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 32 - FAULT_ISR_DMA1_STREAM5

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 33 - FAULT_ISR_DMA1_STREAM6

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 34 - FAULT_ISR_ADC

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 35 - FAULT_ISR_CAN1_TX

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 36 - FAULT_ISR_CAN1_RX0

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 37 - FAULT_ISR_CAN1_RX1

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 38 - FAULT_ISR_CAN1_SCE

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 39 - FAULT_ISR_EXTI9_5

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 40 - FAULT_ISR_TIM1_BRK_TIM9

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 41 - FAULT_ISR_TIM1_UP_TIM10

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 42 - FAULT_ISR_TIM1_TRG_COM_TIM11

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 43 - FAULT_ISR_TIM1_CC

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 44 - FAULT_ISR_TIM2

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 45 - FAULT_ISR_TIM3

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 46 - FAULT_ISR_TIM4

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 47 - FAULT_ISR_I2C1_EV

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 48 - FAULT_ISR_I2C1_ER

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 49 - FAULT_ISR_I2C2_EV

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 50 - FAULT_ISR_I2C2_ER

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 51 - FAULT_ISR_SPI1

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 52 - FAULT_ISR_SPI2

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 53 - FAULT_ISR_USART1

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 54 - FAULT_ISR_USART2

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 55 - FAULT_ISR_USART3

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 56 - FAULT_ISR_EXT15_10

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 57 - FAULT_ISR_RTC_ALARM

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 58 - FAULT_ISR_OTG_FS_WKUP

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 59 - FAULT_ISR_TIM8_BRK_TIM12

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 60 - FAULT_ISR_TIM8_UP_TIM13

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 61 - FAULT_ISR_TIM8_TRG_COM_TIM14

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 62 - FAULT_ISR_TIM8_CC

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 63 - FAULT_ISR_DMA1_STREAM7

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 64 - FAULT_ISR_FSMC

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 65 - FAULT_ISR_SDIO

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 66 - FAULT_ISR_TIM5

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 67 - FAULT_ISR_SPI3

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 68 - FAULT_ISR_UART4

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 69 - FAULT_ISR_UART5

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 70 - FAULT_ISR_TIM6_DAC

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 71 - FAULT_ISR_TIM7

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 72 - FAULT_ISR_DMA2_Stream0

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 73 - FAULT_ISR_DMA2_Stream1

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 74 - FAULT_ISR_DMA2_Stream2

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 75 - FAULT_ISR_DMA2_Stream3

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 76 - FAULT_ISR_DMA2_Stream4

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 77 - FAULT_ISR_ETH

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 78 - FAULT_ISR_ETH_WKUP

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 79 - FAULT_ISR_CAN2_TX

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 80 - FAULT_ISR_CAN2_RX0

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 81 - FAULT_ISR_CAN2_RX1

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 82 - FAULT_ISR_CAN2_SCE

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 83 - FAULT_ISR_OTG_FS

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 84 - FAULT_ISR_DMA2_Stream5

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 85 - FAULT_ISR_DMA2_Stream6

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 86 - FAULT_ISR_DMA2_Stream7

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 87 - FAULT_ISR_USART6

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 88 - FAULT_ISR_I2C3_EV

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 89 - FAULT_ISR_I2C3_ER

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 90 - FAULT_ISR_OTG_HS_EP1_OUT

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 91 - FAULT_ISR_OTG_HS_EP1_IN

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 92 - FAULT_ISR_OTG_HS_WKUP

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 93 - FAULT_ISR_OTG_HS

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 94 - FAULT_ISR_DCMI

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 95 - FAULT_ISR_CRYP

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 96 - FAULT_ISR_HASH_RNG

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 97 - FAULT_ISR_FPU

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 98 - FAULT_ISR_RESERVED

**Description:** STM32F4 Chip failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 108 - FAULT_ADC1_INIT_FAILED

**Description:** Stm32F4 Chip level problem: ADC failed to initialize. RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 110 - FAULT_ADC3_INIT_FAILED

**Description:** Stm32F4 Chip level problem: ADC failed to initialize. RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 111 - FAULT_ADC_INIT_INVALID_CHANNEL_ID

**Description:** Probable firmware bug; update firmware and reboot.

**Resolution:**  
Contact Brain to update the firmware and reboot the robot.

 112 - FAULT_ADC_INIT_CHANNEL_FAILED

**Description:** Hardware didn't init; probably RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 113 - FAULT_ADC1_INIT_DMA_FAILED

**Description:** Stm32F4 Chip level problem: ADC failed to initialize. RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 115 - FAULT_ADC3_INIT_DMA_FAILED

**Description:** Stm32F4 Chip level problem: ADC failed to initialize. RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 122 - FAULT_ENCODER0_INIT_FAILED

**Description:** Stm32F4 Chip level problem: Encoder driver failed to initialize. RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 123 - FAULT_ENCODER1_INIT_FAILED

**Description:** Stm32F4 Chip level problem: Encoder driver failed to initialize. RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 124 - FAULT_ENCODER0_SYNC_FAILED

**Description:** Hardware didn't init; probably RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 125 - FAULT_ENCODER1_SYNC_FAILED

**Description:** Hardware didn't init; probably RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 126 - FAULT_ETHERNET_MEMORY_ALLOC_FAILED

**Description:** Stm32F4 Chip level problem:Ethernet driver failure. RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 128 - FAULT_IMU_I2C_INIT_FAILED

**Description:** Stm32F4 Chip level problem: I2C driver Init failure. RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 130 - FAULT_IMU_BOSCH_INIT_FAILED

**Description:** IMU failure. If rare, try re-booting VCU. If this happens many times RMA VCU

**Resolution:**  
If rare, try re-booting VCU. If this happens many times RMA VCU

 132 - FAULT_L6235_PWM_TIMER_INIT_FAILED

**Description:** Stm32F4 Chip level problem: PWM timer Init failure. RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 133 - FAULT_L6235_PWM_TIMER_SYNC_FAILED

**Description:** Stm32F4 Chip level problem: PWM failure. RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 134 - FAULT_L6235_LT_PWM_CFG_FAILED

**Description:** Stm32F4 Chip level problem: PWM failure. RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 135 - FAULT_L6235_RT_PWM_CFG_FAILED

**Description:** Stm32F4 Chip level problem: PWM failure. RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 136 - FAULT_L6235_SWEEPER_PWM_CFG_FAILED

**Description:** Stm32F4 Chip level problem: PWM failure. RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 137 - FAULT_L6235_BREAK_DEAD_TIME_CFG_FAILED

**Description:** Hardware didn't init; probably RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 138 - FAULT_MCU_VREF_OUT_OF_RANGE

**Description:** VCU hardware failure: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 139 - FAULT_HOST_PACKET_CHECKSUM_FAILED

**Description:** Ethernet communication issue. Try rebooting the machine and see if this resolves.

**Resolution:**  
Reboot the machine

 141 - FAULT_INVALID_TRACTION_SPEED_COMMANDED

**Description:** FW received a drive command at too high of a speed. Could be a bug in SW or FW. Please notify Brain if this error is seen. Should clear on a reboot.

**Resolution:**  
Reboot the robot, if error persists contact Brain to troubleshoot as a potential SW issue.

 142 - FAULT_INVALID_DRIVE_COMMAND_TYPE

**Description:** FW received an invalid drive command. Could be a bug in SW or FW. Please notify Brain if this error is seen. Should clear on a reboot.

**Resolution:**  
Reboot the robot, if error persists contact Brain to troubleshoot as a potential SW issue.

 144 - FAULT_REQUEST_PACKET_CHECKSUM_FAILED

**Description:** LBCM gave a bad checksum; try rebooting LBCM

**Resolution:**  
Reboot the robot

 149 - FAULT_DRIVE_SPEED_ABOVE_LIMIT

**Description:** FW received a drive command at too high of a speed. Could be a bug in SW or FW. Please notify Brain if this error is seen. Should clear on a reboot.

**Resolution:**  
Reboot the robot, if error persists contact Brain to troubleshoot as a potential SW issue.

 150 - FAULT_DRIVE_SPEED_BELOW_LIMIT

**Description:** FW received a drive command at too low of a speed. Could be a bug in SW or FW. Please notify Brain if this error is seen. Should clear on a reboot.

**Resolution:**  
Reboot the robot, if error persists contact Brain to troubleshoot as a potential SW issue.

 151 - FAULT_DRIVE_THROTTLE_ABOVE_LIMIT

**Description:** Internal throttle setting issue. Try rebooting.

**Resolution:**  
Reboot the robot

 152 - FAULT_DRIVE_THROTTLE_BELOW_LIMIT

**Description:** Internal throttle setting issue. Try rebooting.

**Resolution:**  
Reboot the robot

 153 - FAULT_DRIVE_MOTOR_OVER_CURRENT

**Description:**

**Resolution:**

 154 - FAULT_UNALIGNED_MEMORY

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 162 - FAULT_UNKNOWN_LEGACY_CODE

**Description:** Software bug; update firmware and reboot.

**Resolution:**  
Contact Brain to update the firmware and reboot the robot.

 163 - FAULT_CAN_INIT_FAILED

**Description:** VCU chip error: Can bus failed in initialize. RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 164 - FAULT_CAN_FILTER_CFG_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 165 - FAULT_CAN_INVALID_NUMBER_OF_FIFOS

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 167 - FAULT_PERIPHERAL_CLOCK_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 168 - FAULT_SYSTEM_CLOCK_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 169 - FAULT_TIMESTAMP_TIMER_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 170 - FAULT_ERROR_INTERRUPT_HANDLER_CALLED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 171 - FAULT_PVD_HANDLER_CALLED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 172 - FAULT_SRAM_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 174 - FAULT_RTC_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 181 - FAULT_WINDOW_WATCHDOG_CFG_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 182 - FAULT_IND_WATCHDOG_CFG_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 183 - FAULT_FAIL_SAFE_POR

**Description:**

**Resolution:**

 184 - FAULT_UNKNOWN_EXCEPTION

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 185 - FAULT_SYSTEM_ABORT

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 186 - FAULT_SYSTEM_EXIT

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 187 - FAULT_SYSTEM_KILL

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 188 - FAULT_SYSTEM_STACK_CHECK_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 189 - FAULT_SYSTEM_RAISE

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 190 - FAULT_SYSTEM_ASSERT

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 191 - FAULT_BAD_CLIFF_SENSOR

**Description:** Cliff sensor is disconnected or cabling is bad. Will trigger on bootup, requires RMA and fix of cliff sensors.

**Resolution:**  
RMA the robot and replace the cliff sensors

 204 - FAULT_INVALID_CONTROL_MODE

**Description:**

**Resolution:**  
Reboot the robot, it error persists RMA robot to repair depot and have HW inspected.

 213 - FAULT_MOTOR_INTERNAL_FAULT

**Description:**

**Resolution:**  
Reboot the robot, it error persists RMA robot to repair depot and have HW inspected.

 215 - FAULT_HARD_CMD_TIMEOUT

**Description:** LBCM is communicating way too slow to drive safely. Reboot.

**Resolution:**  
Reboot the robot

 217 - FAULT_ESTOP_DEASSERTION_COUNT

**Description:** Robot stuck in a software Emergency Stop

**Resolution:**  
Release the emergency stop button, reboot the robot.

 219 - FAULT_PAGER_LOCALIZATION_FAILED

**Description:** Did not receive an acknowledgement back on setting localization

**Resolution:**  
Re-pair the pager

 221 - FAULT_F3_UART_INIT_FAILED

**Description:** STM32 chip-level initialization failure

**Resolution:**  
Contact Brain to troubleshoot

 223 - FAULT_ENCODERS_DISCONNECTED

**Description:** Triggers if encoder is completely disconnected

**Resolution:**  
Verify cabling to the encoders, replace encoder if issues persists consistently

 226 - FAULT_F3_HEARTBEAT_NOT_DETECTED

**Description:**

**Resolution:**  
Contact Brain to troubleshoot

 229 - FAULT_F3_SAFETY_STATE_MISMATCH

**Description:**

**Resolution:**  
Contact Brain to troubleshoot

 230 - FAULT_F3_HARD_FAULT

**Description:**

**Resolution:**  
Contact Brain to troubleshoot

 237 - FAULT_SINGLE_MOTOR_FAILURE

**Description:**

**Resolution:**  
Reboot the robot, it error persists RMA robot to repair depot and have HW inspected.

 242 - FAULT_ENCODER_BACKWARDS

**Description:**

**Resolution:**  
Contact Brain to troubleshoot

 244 - FAULT_F3_PROGRAM_FAIL_EXCEEDED_ALLOWABLE_RETRIES

**Description:**

**Resolution:**  
Contact Brain to troubleshoot

 245 - FAULT_CODE_F4_CHIP_OVERTEMP

**Description:** STM F4 Over-temperature Warning

**Resolution:**  
1. Please wait 15 minutes to let the temperature decrease.   
2. Press the blue button to resume.

 246 - FAULT_CODE_TEMP1_OVERTEMP

**Description:** Thermistor 1 Over-temperature Warning

**Resolution:**  
1. Please wait 15 minutes to let the temperature decrease.   
2. Press the blue button to resume.

 247 - FAULT_CODE_TEMP2_OVERTEMP

**Description:** Thermistor 2 Over-temperature Warning

**Resolution:**  
1. Please wait 15 minutes to let the temperature decrease.   
2. Press the blue button to resume.

 513 - FAULT_CODE_DIFFERENTIAL_DRIVE_TASK_CREATE_FAIL

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 515 - FAULT_CODE_DIFFERENTIAL_DRIVE_LOOP_TIME_ERROR_FATAL

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 516 - FAULT_CODE_DIFFERENTIAL_DRIVE_COMM_ERROR

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 517 - FAULT_CODE_DIFFERENTIAL_DRIVE_SENSOR_READ_ERROR

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 518 - FAULT_CODE_DIFFERENTIAL_DRIVE_DIAG_FAULT_ERROR

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 519 - FAULT_CODE_DIFFERENTIAL_DRIVE_DIAG_FAULT_READ_ERROR

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 525 - FAULT_CODE_DIFFERENTIAL_DRIVE_GET_STATS_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 769 - FAULT_CODE_FAULT_HANDLER_MAJOR_FAULT_Q_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 770 - FAULT_CODE_FAULT_HANDLER_CRITICAL_FAULT_Q_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 771 - FAULT_CODE_FAULT_HANDLER_FATAL_FAULT_Q_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 772 - FAULT_CODE_FAULT_HANDLER_INOPERABLE_FAULT_Q_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 1282 - FAULT_CODE_ANALOG_REGISTER_PARAM_ERROR

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 1283 - FAULT_CODE_ANALOG_OPEN_ERROR

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 1284 - FAULT_CODE_ANALOG_TOO_MANY_ADCS

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 2049 - FAULT_CODE_IO_SERVICE_SW_ESTOP_OPEN_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 2050 - FAULT_CODE_IO_SERVICE_BLUE_BUTTON_OPEN_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 2051 - FAULT_CODE_IO_SERVICE_ESTOP_BUTTON_OPEN_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 2052 - FAULT_CODE_IO_SERVICE_WATCHDOG_RELEASE_OPEN_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 2053 - FAULT_CODE_IO_SERVICE_MOTOR_STOP_OPEN_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 2561 - FAULT_CODE_LEFT_BUMPER_DEVICE_OPEN_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 2562 - FAULT_CODE_RIGHT_BUMPER_DEVICE_OPEN_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 2817 - FAULT_CODE_POWER_MANAGER_IO_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 3073 - FAULT_CODE_PRIMARY_BATTERY_MANAGER_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 3585 - FAULT_CODE_VACUUM_CONTROLLER_IO_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 3588 - FAULT_CODE_VACUUM_CONTROLLER_MOTOR_DRIVER_FAULT

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 4615 - FAULT_CODE_SWEEPER_MOTOR_DRIVER_DIAG_FAULT

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 4865 - FAULT_CODE_SWEEPER_CONTROLLER_IO_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 5121 - FAULT_CODE_SMI_FOPEN_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 5122 - FAULT_CODE_SMI_READ_SAFETY_TAKEOVER_STATUS_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 5123 - FAULT_CODE_SMI_READ_SAFETY_HARD_FAULT_INDICATOR_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 5124 - FAULT_CODE_SMI_FD_NOT_VALID

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 5125 - FAULT_CODE_SMI_COMM_FOPEN_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 5126 - FAULT_CODE_SMI_SET_AUTONOMY_STATUS_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 5127 - FAULT_CODE_SMI_SET_ESTOP_STATUS_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 5133 - FAULT_CODE_SMI_DRIVER_REGISTER_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 5134 - FAULT_CODE_SMI_READ_BUFFER_OVERFLOW

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 5136 - FAULT_CODE_SMI_NULL_DEVICE_PTR

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 5377 - FAULT_CODE_TEMPERATURE_MONITOR_IO_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 5889 - FAULT_CODE_HW_VERSION_OPEN_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 5890 - FAULT_CODE_HW_VERSION_READ_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 7681 - FAULT_CODE_CLIFF_SENSOR_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 7682 - FAULT_CODE_CLIFF_SENSOR_USED_BEFORE_INIT

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 8195 - FAULT_CODE_EXCEPTION_ASSERT

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 8705 - FAULT_CODE_OBSTACLE_RESPONSE_SENSOR_INDEX_NOT_FOUND

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 9473 - FAULT_CODE_IMU_DRIVER_REGISTER_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 9474 - FAULT_CODE_IMU_DEVICE_INIT_FAILED

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 9478 - FAULT_CODE_IMU_BNO055_I2C_DEVICE_UNAVAILABLE

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 9479 - FAULT_CODE_IMU_DRIVER_INSUFFICENT_MEMORY

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 9481 - FAULT_CODE_IMU_DRIVER_NULL_PATH

**Description:** VCU chip error: RMA VCU

**Resolution:**  
Reboot robot. If error persists, RMA VCU

 100 - FAULT_CLIFF_RESPONSE_TIMED_OUT

**Description:** Cliff response timeout

**Resolution:**  
Reboot the robot, if error persists RMA robot to repair depot and have cliff sensors inspected.

 221 -

**Description:** F3 UART initialization failed. Action: Fatal fault. A reboot will be required.

**Resolution:**  
Reboot the robot

 227 -

**Description:** F3 major version mismatch. Action: Fatal fault. A reboot will be required.

**Resolution:**  
Reboot the robot, if error persists contact Brain to troubleshoot.

 226 -

**Description:** The processor was stuck and the watchdog could not be reset. Action: Safety Processor resets and the main processor asserts an estop

**Resolution:**  
Reboot the robot

 228 -

**Description:** F3 minor version mismatch. Action: Fatal fault. A reboot will be required.

**Resolution:**  
Reboot the robot

 229 -

**Description:** F3 Safety state mismatch. Action:Fatal fault. A reboot will be required.

**Resolution:**  
Reboot the robot

 230 -

**Description:** F3 hard fault or UART overflow error. Action:Fatal fault. A reboot will be required.

**Resolution:**  
Reboot the robot

 237 -

**Description:** Single motor failure. Action:Fatal fault. Robot is inoperable. Call customer support.

**Resolution:**  
Contact Brain to troubleshoot

 242 -

**Description:** Encoder backwards. Action: Fatal fault. Robot is inoperable. Call customer support.

**Resolution:**  
Contact Brain to troubleshoot

 400 -

**Description:** Left encoder readings and left tachometer readings have a disparity > 10% for 1s. Action: Estop, Send message to main processor about the fault.

**Resolution:**  
Hit the E-stop button after the issue occurs, leave the machine online with the ROC icon lit up. Contact Brain to troubleshoot and provide information such as timestamp of E-stop press

 401 -

**Description:** Right encoder readings and right tachometer readings have a disparity > 10% for 1s.. Action: Estop, Send message to main processor about the fault.

**Resolution:**  
Hit the E-stop button after the issue occurs, leave the machine online with the ROC icon lit up. Contact Brain to troubleshoot and provide information such as timestamp of E-stop press

 402 -

**Description:** The safety processor was unable to start the PWM module responsible for driving the motor for either of the motors, in the process of gaining control during a cliff detected event. Action:Estop, Send message to main processor about the fault.

**Resolution:**  
Hit the E-stop button after the issue occurs, leave the machine online with the ROC icon lit up. Contact Brain to troubleshoot and provide information such as timestamp of E-stop press

 403 -

**Description:** The safety processor was unable to stop the PWM module responsible for driving the motor for either of the motors in the process of handing back control to the main processor.. Action: Estop, Send message to main processor about the fault.

**Resolution:**  
Hit the E-stop button after the issue occurs, leave the machine online with the ROC icon lit up. Contact Brain to troubleshoot and provide information such as timestamp of E-stop press

 404 -

**Description:** All three values for a safety-type variable are different or an attempt has been made to read a safety-variable that hasn't been initialized yet. Action: Estop, Send message to main processor about the fault.

**Resolution:**  
Hit the E-stop button after the issue occurs, leave the machine online with the ROC icon lit up. Contact Brain to troubleshoot and provide information such as timestamp of E-stop press

 406 -

**Description:** Any of the following peripherals were not configured properly: Oscillator System Clock DMA modules for cliff sensors ADC modules for cliff sensors Action: Estop, Send message to main processor about the fault.

**Resolution:**  
Hit the E-stop button after the issue occurs, leave the machine online with the ROC icon lit up. Contact Brain to troubleshoot and provide information such as timestamp of E-stop press

 500 -

**Description:** Coder Error- Tachometer was being read before initialization. Action: Estop, Send message to main processor about the fault.

**Resolution:**  
Hit the E-stop button after the issue occurs, leave the machine online with the ROC icon lit up. Contact Brain to troubleshoot and provide information such as timestamp of E-stop press

 501 -

**Description:** An increment operator was used on a safety- variable. Action: Estop, Send message to main processor about the fault.

**Resolution:**  
Hit the E-stop button after the issue occurs, leave the machine online with the ROC icon lit up. Contact Brain to troubleshoot and provide information such as timestamp of E-stop press

 502 -

**Description:** User was trying to access an invalid Tachometer, Encoder or DMA module. Action: Estop, Send message to main processor about the fault.

**Resolution:**  
Hit the E-stop button after the issue occurs, leave the machine online with the ROC icon lit up. Contact Brain to troubleshoot and provide information such as timestamp of E-stop press

 195 - FAULT_ROBOT_IS_SPEEDING

**Description:** Robot was unable to control speed to remain below the maximum speed. For certain earlier versions of firmware, this error occurs spuriously when the user pushes the robot.

**Resolution:**  
Contact Brain to troubleshoot

##### Couldn't find what you were looking for?

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{
  "@context" : "https://schema.org",
  "@type" : "WebPage",
  "description" : "Welcome to the Whiz Notification Support page. ",
  "id" : "https://us.softbankrobotics.com/whiz-notification-support",
  "name" : "Whiz Notification Support",
  "publisher" : {
    "@type" : "Organization",
    "logo" : {
      "@type" : "ImageObject",
      "url" : "https://usinfo.softbankrobotics.com/hubfs/SBRobotics_Logo-blkgry-1.png"
    },
    "name" : "SoftBank Robotics America, Inc"
  }
}
```