# Error Handling and Recovery

## Policy

In the common interface, a failed operation returns `False`; details are available through `error_description` or `get_current_error_info()`.

The current implementation does not directly obtain an RC8-style list of error codes from SDU Robotics `RTDEReceiveInterface`. Instead, it combines the last exception with the current safety status to construct synthetic error information.

## error_code

```python
robot.error_code
```

Return 0 during normal operation, or a negative synthetic code on error.

## error_description

```python
robot.error_description
```

Return the current error description.

## get_current_error_info()

```python
info = robot.get_current_error_info()
```

Example:

```python
{
    "code": -9006,
    "description": "...",
    "state": {...},
}
```

## reset_error()

```python
robot.reset_error()
```

Attempt to release a UR safety stop.

When Dashboard is enabled, perform the following for a Protective Stop:

- `closeSafetyPopup()`  
- `unlockProtectiveStop()`  

Execute `restartSafety()` for `fault` or `violation` only when `UR_ALLOW_RESTART_SAFETY=True`.

## turn_on_motor()

```python
robot.turn_on_motor()
```

Call Dashboard `powerOn()` and `brakeRelease()`.

## turn_off_motor()

```python
robot.turn_off_motor()
```

Call Dashboard `powerOff()`.

## Caution

`reset_error()` is not equivalent to COBOTTA's `ClearError`. Recovery procedures differ for UR Protective Stops, Emergency Stops, and Faults.

Do not automatically recover from a safety stop without first identifying its cause.