It was reported at start-up when commanding the arms to unstow, the customer experienced 1403-50-0-0 ethercat fault followed by 804 e-stop fault.This occurred upon multiple reboots and attempts.The physician aborted case, switched to manual scope but the target was too far so the case was not completed.
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The risk of a prolonged or delayed procedure is documented in 105-000363-00, rev h, dfmea arms & idms, platform 2.A review of the usage logs source s3: studydata/2022-08-17/system120102_man/{8c858405-765a-4bdd-84c0-8aeea32549ce} confirmed the reported issue of customer experiencing multiple 1403 faults.A 1403 fault indicates a ethercat communication fault.There was no communication between the ethercat chain and the slave application (two power distribution units, one staging motor, and two robotic arms).This could be due to multiple reasons- umbilical cable between the tower and cart is damaged or not plugged in, firmware defect or hardware defect in one of the slave devices, interplay between hardware and firmware.Hardware malfunction could be introduced by external factors like temperature changes, high frequency noise in the alternating current (ac) input of the power supply.The issue is typically resolved after a hard power cycle is performed.The 1403 fault was followed by an 804 or e-stop fault.Because of the interruption in communication (ethercat) chain between the tower and cart that triggered the 804 e-stop fault.The system normally would need to be rebooted when an 804 fault occurs to resolve the issue.The system behaved as intended.As indicated in the sr, the fse was not able to replicate the fault.As such, a cause could not be determined.
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