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Source: https://support.unitree.com/home/en/G1_developer/common_istakes_and_definitions
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| Source of failure | Error code | Wrong definition | |
|---|---|---|---|
| Total device status information | 0x1 | Upper control command error | |
| 0x2 | Lower layer feedback data timeout | ||
| 0x4 | imu feedback data timeout | ||
| 0x8 | Motor feedback data timeout | ||
| 0x10 | Battery feedback data timeout | ||
| 0x20 | Yushu entity remote control feedback data timeout | ||
| 0x40 | Battery model error | ||
| 0x80 | Soft-start error | ||
| 0x100 | Motor state error | ||
| 0x200 | motor overcurrent protection, trigger low limit protection. | ||
| 0x400 | Motor undervoltage protection, trigger high limit protection | ||
| 0x800 | Motor overcurrent protection, trigger high limit protection | ||
| 0x1000 | Soft emergency stop switch is pressed | ||
| 0x2000 | SN error | ||
| 0x4000 | Upper model error | ||
| 0x8000 | Lower model error | ||
| 0x10000 | USB device error | ||
| 0x40000 | Crotch IMU data timeout | ||
| 0x80000 | Motherboard judgment battery undervoltage protection error | ||
| 0x100000 | Motherboard judge motor undervoltage protection error |
| Motor status information | 0x1 | Overcurrent | |
| 0x2 | Transient overvoltage | ||
| 0x4 | Sustained overpressure | ||
| 0x8 | Transient undervoltage | ||
| 0x10 | Chip overheating | ||
| 0x20 | MOS overheating/cooling | ||
| 0x40 | MOS temperature anomaly | ||
| 0x80 | Shell overheat/undercooling | ||
| 0x100 | Shell temperature anomaly | ||
| 0x200 | Winding overheating | ||
| 0x400 | Rotor encoder 1 error | ||
| 0x800 | Rotor encoder 2 error | ||
| 0x1000 | Output encoder error | ||
| 0x2000 | Calibration /BOOT data error | ||
| 0x4000 | Abnormal reset | ||
| 0x800 | Rotor encoder 2 error | ||
| 0x1000 | Output encoder error | ||
| 0x2000 | Calibration /BOOT data error | ||
| 0x4000 | Abnormal reset | ||
| 0x8000 | Motor locked, master authentication error | ||
| 0x10000 | Chip validation error | ||
| 0x20000 | Calibration mode warning | ||
| 0x40000 | Communication verification error | ||
| 0x80000 | driver version too low | ||
| 0x40000000 | Motor determines that PC connection timeout | ||
| 0x80000000 | PC interpretation, motor disconnection timeout |