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头文件：device_health | 返回值 | Level | 错误说明 | 处理方式 | |
| System | BaseComponentErrorTypeSystemEmergencyStop | 2049 | Error | 急停按下 | 松开急停按键后错误消失 |
BaseComponentErrorTypeSystemTemperatureHigh | 2050 | Warn | 温度过高 | ||
| BaseComponentErrorTypeSystemTemperatureLow | 2051 | Warn | 温度过低 | ||
BaseComponentErrorTypeSystemWatchDogOverFlow | 2052 | Error | 响应超时 | ||
BaseComponentErrorTypeSystemCtrlBusDisconnected | 2053 | Warn | 底盘内部系统连接断开 | ||
| BaseComponentErrorTypeSystemSlamwareRebooted | 2054 | Error | 底盘软件异常重启 | 重新加载地图及机器人 pose 后继续运行 | |
BaseComponentErrorTypeSystemBrakeReleased | 2055 | Error | 刹车释放 | 松开刹车释放按键后错误消失 | |
| BaseComponentErrorTypeSystemSlamwareRelocalizationFailed | 2056 | Error | 重定位失败 | 1）清除错误后重新调用重定位； 2）清除错误后直接加载地图及机器人 pose | |
| Power | BaseComponentErrorTypePowerControllerDown | 3073 | Fatal | 电源控制模块异常 | |
| BaseComponentErrorTypePowerPowerLow | 3074 | Warn | 系统电量过低 | 返回充电桩充电 | |
BaseComponentErrorTypePowerOverCurrent | 3075 | Error | 过流 | ||
| Motion | BaseComponentErrorTypeMotionControllerDown | 4097 | Fatal | 电机断连 | |
| BaseComponentErrorTypeMotionMotorAlarm | 4098 | Warn | 电机报警 | ||
| BaseComponentErrorTypeMotionMotorDown | 4099 | Fatal | 电机异常 | ||
| Sensor | BaseComponentErrorTypeSensorControllerDown | 5121 | Error | 传感器板连接异常 | |
| BaseComponentErrorTypeSensorBumperDown | 5122 | Error | 碰撞传感器异常 | ||
| BaseComponentErrorTypeSensorCliffDown | 5123 | Error | 跌落传感器异常 | ||
| BaseComponentErrorTypeSensorSonarDown | 5124 | Error | 超声波传感器异常 | ||
| BaseComponentErrorTypeSensorMagTapeTriggered | 5128 | Error | 磁传感器触发 | 将机器推离触发区域，清除错误后可继续工作 | |
BaseComponentErrorTypeSensorMagSelfTestFailed | 5129 | Error | 磁传感器自检失败 | ||
| BaseComponentErrorTypeSensorIMUDown | 5130 | Error | IMU异常 |
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