Hero-2000 Robot System Error Codes

The Hero-2000 contains a number of internal diagnostic tests which show up as system errors (SE) in the display. When a system error occurs, the value in register AX is displayed o the 7-segment displays: The routine enables interrupts and does a halt. The error codes and their meanings are shown below.

Error Code	Description
0080	Right wrist motor took too long to complete homing. This happens when the continue command is issued and the motor does not get back on the cam fast enough.
0081	Same as 0080, but for the left wrist motor.
0082	One of the arm motors did not complete a command soon enough.
0083	Time out error talking to the left base motor from the monitor move commands.
0084	Time out error talking to the right base motor from the monitor move commands.
0085	Time out error talking to a motor controller during the save position routine before going to sleep.
0086	Time out error trying to initialize a motor controller.
0087	Left wrist is off the cam.
0088	Right wrist is off the cam.
0089	Left wrist is off the cam (from BASIC-PITCH/ROLL).
008A	Same as 0089, but for the right wrist.
008B	Tried to move a motor from BASIC while in the Manual Test Mode (except BASE motors). Normally produces an NH (Not Homed) error.
008C	Gripper is not responding properly.
FFFF	Wild interrupt.