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Information regarding Triton diagnostics (errors, warnings, information messages, active modes) and HMI LEDs.
Related Products
Triton Floor-LOC
TLOC100-100 TRITON FLOOR LOCALIZ. SYSTEM
TLOC100-100
Table of Contents
1. Intended use
Triton Diagnostics gives the user information about which modes are active, and if there are warnings or errors. This article explains how to get the Triton Diagnostics message (ROS, C++ API), how to read the Diagnostics message and introduces the various warnings and errors,
⚠️
Diagnostics should not be considered a health monitor.
Warnings will not automatically indicate something is wrong with the sensor/setup.
It should be used as a diagnostic. That means; if something is wrong,
you can use these to identify a probable cause.
3.1. From integer values to modes, warnings, errors and statuses
Although the ROS message and CLI provide strings describing modes, warnings, errors
and statuses, the API and UDP protocol uses single integers to describe them.
We will now explain how to retrieve the information from each specific
mode/warning/error/status from that single integer.
Example 1: Active modes based on integer
As an example we will take the Modes field, but the same approach applies to the
other fields. Suppose we read that the ‘modes’ integer has value 136:
...
modes_code: 136
...
For ROS and C++ users first we go from decimal to binary representation
(UDP users need to translate the hexadecimal value to binary representation):
modes = 136 = 00000000 10001000₂
This means bits at position 7 and 3 are set (read from right to left,
bit starts from 0). Using the table in Section 3.2. Modes,
we can see that the following modes are active:
Bit 7 → "line following"
Bit 3 → "localization"
Example 2: Active warnings based on integer
The same principle holds for warnings and errors. For example, if we read that the
‘warnings’ integer has value 32:
...
warnings_code: 32
...
Which in binary representation is:
warnings = 32 = 00000000 00100000₂
From this we read that bit 5 is set. As we see in
Section 3.3. Warnings, this corresponds to “Low Brightness Cam”.
In the next sections we will learn what these modes, warnings, errors
and statuses mean.
3.2. Modes
Bit
Name
Description
0
idle
Reduces power consumption to <6W
1
mapping
Self-explanatory
2
internal
Let Triton combine corrections and its own odometry instead of relying on
external reference.
3
localization
Triton actively tries to match the camera images against the floor map.
4
recording raw data
Record a raw video (for debugging purposes)
5
aruco marker detection
Allow to detect Aruco markers.
6
expert
Allows the user to have mode localization and mapping mode enabled.
7
line following
Line-following mode provides the closest point to the selected cluster.
8
buffered recovery
Buffered recovery mode is searching for a match.
9
continuous signature updating
Signature descriptions are updated if changes are detected.
10
multi code detection
Not supported.
(11 t/m 15 not in use)
3.3. Errors
Bit
Name
Description/root cause(s)
Possible Resolution(s)
0
License error
→
Contact Accerion.
1
No SD card error
→
Contact Accerion.
2
SD card not mounted error
→
Contact Accerion.
3
Kernel patch error
→
Contact Accerion.
4
Corrupted map error
Map got corrupted during map transfer,
or the map sent to Triton was corrupt.
Reboot the Triton. If problem persists,
contact Accerion.
(5 to 15 not in use)
3.4. Warnings
Bit
Name
Description / root cause(s)
Possible Resolution(s)
0
Too Fast For Mapping
The sensor is moving too fast to keep up, which may result in gaps in the map.
Drive slower.
1
Low Throughput Read
Thrown when the throughput drops below the threshold. Caused by CPU usage,
high search radius, loading of the map, line follower mode, or other intensive tasks.
Can be ignored during startup; only a concern if frequent.
If lowering search radius has no impact, contact Accerion.
2
Low Throughput Track
Same as bit 1 — throughput below threshold due to CPU load or other
resource-heavy tasks.
If lowering search radius has no impact, contact Accerion.
3
Low Throughput Main
Same as bit 1 — throughput drops below threshold.
If lowering search radius has no impact, contact Accerion.
4
Low Memory
Free/available memory is lower than 10%. Mostly caused by large maps,
but may have other causes. Does not necessarily indicate a problem.
Only contact Accerion if actual sensor performance is degraded.
5
Low Brightness Cam
Camera detected a frame with brightness lower than 40. Only a concern
if occurring continuously. Poor brightness in key frames can affect performance.
Ensure adequate floor lighting or remove dark artifacts if present.
6
High Brightness Cam
Frame brightness above 170. Similar considerations as bit 5 — excessive brightness
may degrade detection reliability.
Reduce excessive lighting or glare in the detection area.
7
Tracking Failed
Sensor could not perform relative tracking between frames. Can occur due to
floor artifacts (paint, tape, etc.) or high speeds. Only concerning if frequent.
Reduce speed or remove interfering floor artifacts.
8
Infrequent or no external reference input
No external reference provided, or reference frequency lower than 5 Hz
(only when Internal Mode is disabled).
Provide external reference updates at sufficient frequency.
(9 to 15 not in use)
4. Triton’s HMI Status LED’s explained
Triton has human-machine interface (HMI) LED's which provide the status of the sensor:
Color
LED
Description
Solid purple
No mode active
Solid blue
Mapping mode active
Solid green
Localization mode active
White (intermittent)
Triton recognized floor, drift correction sent
Short purple blink
Idle mode active
Solid red
Error
Solid yellow
Triton is booting / no software running
Keywords: Triton, Floor-LOC, diagnostics, HMI LEDs, warnings, errors, active modes
