Difference between revisions of "Error Codes"
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{{MC-Basic/ErrorCode|16040|Root : Boot message, displays firmware version and boot time.|Boot message, displays firmware version and boot time.|ASYNC|Information|}} | {{MC-Basic/ErrorCode|16040|Root : Boot message, displays firmware version and boot time.|Boot message, displays firmware version and boot time.|ASYNC|Information|}} | ||
}} | }} | ||
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== Motion bus (19000 through 19009) == | == Motion bus (19000 through 19009) == | ||
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{{MC-Basic/ErrorCode|19004|Drive reports error.|Drive got fault: SERCOS: look into C1D, EtherCAT/CAN: look into SDO 0x603F|SYNC|Error|}} | {{MC-Basic/ErrorCode|19004|Drive reports error.|Drive got fault: SERCOS: look into C1D, EtherCAT/CAN: look into SDO 0x603F|SYNC|Error|}} | ||
{{MC-Basic/ErrorCode|19005|Cannot enable axis: System Enable property is off.|Sys.Enable is 0|SYNC|Error|}} | {{MC-Basic/ErrorCode|19005|Cannot enable axis: System Enable property is off.|Sys.Enable is 0|SYNC|Error|}} | ||
− | {{MC-Basic/ErrorCode|19006|Drive reports warning.|Drive has warning.| | + | {{MC-Basic/ErrorCode|19006|Drive reports warning.|Drive has warning.|ASYNC|Note|}} |
− | {{MC-Basic/ErrorCode|19007|Bus fault.|Most probable that cable is disconnected.| | + | {{MC-Basic/ErrorCode|19007|Bus fault.|Most probable that cable is disconnected.|ASYNC|Error|}} |
{{MC-Basic/ErrorCode|19008|Invalid value.|Provided value for parameter of flag is not valid.|SYNC|Error|}} | {{MC-Basic/ErrorCode|19008|Invalid value.|Provided value for parameter of flag is not valid.|SYNC|Error|}} | ||
{{MC-Basic/ErrorCode|19009|Property value can not be changed while drive is enabled.|Cannot change while enabled.|SYNC|Error|}} | {{MC-Basic/ErrorCode|19009|Property value can not be changed while drive is enabled.|Cannot change while enabled.|SYNC|Error|}} | ||
{{MC-Basic/ErrorCode|19010|Duplicated address.|Attempt to assign the same physical address to more than one axis.|SYNC|Error|}} | {{MC-Basic/ErrorCode|19010|Duplicated address.|Attempt to assign the same physical address to more than one axis.|SYNC|Error|}} | ||
− | {{MC-Basic/ErrorCode|19011|Node is not a | + | {{MC-Basic/ErrorCode|19011|Node is not a servo drive.|Attempt to assign a physical address of I/O module to axis.driveaddress property.|SYNC|Error|}} |
{{MC-Basic/ErrorCode|19012|Cannot enable axis/group.|Cannot enable axis or group of axes. Usually occurs due to missing/inverted drive's hardware enable signal, or one of axis has wrong or zero drive address axis.dadd property.|SYNC|Error|}} | {{MC-Basic/ErrorCode|19012|Cannot enable axis/group.|Cannot enable axis or group of axes. Usually occurs due to missing/inverted drive's hardware enable signal, or one of axis has wrong or zero drive address axis.dadd property.|SYNC|Error|}} | ||
{{MC-Basic/ErrorCode|19013|Cannot clear fault on drive.|Fault on drive persists.|SYNC|Error|}} | {{MC-Basic/ErrorCode|19013|Cannot clear fault on drive.|Fault on drive persists.|SYNC|Error|}} |
Revision as of 15:12, 23 June 2020
Movement is crossing limit switch
Language: | English • 中文(简体) |
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Contents
- 1 Introduction
- 2 Error Handler (1 through 999)
- 3 Built In Test (1000 through 1999)
- 4 Run Time Scheduler (2000 through 2999)
- 5 Motion (3000 through 3999)
- 6 File System (4000 through 4999)
- 7 Entry Station (5000 through 5999)
- 8 Loader (6000 through 6999)
- 9 Translator (7000 through 7999)
- 10 Interpreter (8000 through 8999, 22000 through 22999)
- 11 Recorder (9000 through 9999)
- 12 Event Handler (10000 through 10999)
- 13 Backend Processor (11000 through 11999)
- 14 SERCOS (12000 through 12999)
- 15 ROBOT (13000 through 13999)
- 16 Root Process (16000 through 16999)
- 17 Motion bus (19000 through 19009)
- 18 User Error codes (20000 through 20999)
- 19 I/O Module (21000 through 21999)
Introduction
The softMC usually communicates error codes by means of a text message via the serial port to the host. Some error codes are also transmitted to the status display. The same message is saved in the EEPROM under an error history log (FLTHIST, ERR) so nothing is lost when power is removed. Not all errors reflect a message back to the host. In these cases, the no-message errors communicate only to the status display.
Error Handler (1 through 999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
1 | CPU Divide error | Generated by the CPU if the divisor is zero or the quotient overflows the result register. | ASYNC | Fatal Fault | Watchdog |
2 | CPU Debug | Generated by the CPU after each instruction if Trap Flag is set. | ASYNC | Fatal Fault | Watchdog |
3 | CPU NMI | Generated by the CPU when the input to the NMI pin is asserted | ASYNC | Fatal Fault | Watchdog |
4 | CPU Breakpoint | Generated by one-byte breakpoint instruction. | ASYNC | Fatal Fault | Watchdog |
5 | CPU Detected Overflow | Generated by the CPU if Overflow Flag is set. | ASYNC | Fatal Fault | Watchdog |
6 | CPU Bound range exceed | Generated by BOUND instruction when the value to be tested is less than the indicated lower bound or greater than the indicated upper bound. | ASYNC | Fatal Fault | Watchdog |
7 | Invalid opcode | Generated when the CPU attempts to execute an invalid operation. | ASYNC | Fatal Fault | Watchdog |
8 | CPU extension not available | Generated if a co-processor instruction is encountered and a co-processor is not installed. | ASYNC | Fatal Fault | Watchdog |
9 | CPU: double exception detected | Generated when multiple exceptions occur on one CPU instruction or in an exception handler. | ASYNC | Fatal Fault | Watchdog |
10 | CPU Coprocessor overrun | Generated if the co-processor attempts to access memory outside a segment boundary. | ASYNC | Fatal Fault | Watchdog |
11 | CPU Invalid Task State Segment | Automatically generated by the CPU during task switch if the new TSS specified by the task gate is invalid. | ASYNC | Fatal Fault | Watchdog |
12 | CPU segment not present | Generated when loading a segment register of the CPU if the segment descriptor indicates that the segment is not currently in memory. | ASYNC | Fatal Fault | Watchdog |
13 | CPU Stack fault | Generated on a stack overflow, underflow or if an inter-level transition or task switch references a stack segment marked "not present". | ASYNC | Fatal Fault | Watchdog |
14 | CPU General protection fault | Generated when the CPU detects a protection violation that does not fit under another category having a separate interrupt. This error is generated on an 80486 protected- mode floating-point protection fault. | ASYNC | Fatal Fault | Watchdog |
15 | CPU Page fault | Generated when attempting to access a 4 K memory page whose page table entry has the "present" bit cleared. | ASYNC | Fatal Fault | Watchdog |
16 | CPU Coprocessor fault | Generated if the co-processor attempts to access memory outside a segment boundary. It may occur at any arbitrary time after the coprocessor instruction is issued. | ASYNC | Fatal Fault | Watchdog |
17 | CPU Alignment error | Automatically generated by the CPU if memory is misaligned. | ASYNC | Fatal Fault | Watchdog |
18 | Invalid FPU operation | Program error (e.g., an out-of-range argument to trigonometric functions, SQRT of negative operand, logarithm of zero or negative operand). | ASYNC | Error | Idle Task |
19 | FPU: Unnormalized operand | Generated when an instruction attempts to operate on an operand that is not normalized. The result may have reduced significance due to lost low-order bits. | ASYNC | Error | Idle task |
20 | FPU divide by zero | Generated when an instruction attempts to divide by zero. | ASYNC | Error | Idle Task |
21 | FPU overflow | Occurs if the magnitude of the rounded true result exceeds the magnitude of the largest finite number in the destination format. | ASYNC | Error | Idle Task |
22 | FPU Underflow | Two related events can contribute to this error: 1) creation of a very small operand which can cause some other exception later, and 2) overflow upon division producing an inexact result. | ASYNC | Error | Idle Task |
23 | FPU Precision lost | Occurs when the result of an operation is not exactly representable in the destination format. For example, 1/3 cannot be precisely represented in binary form. This exception occurs frequently and indicates that some (generally acceptable) exception has been lost. Most applications mask this exception. | ASYNC | Error | Idle task |
24 | FPU Stack fault | Generated on the FPU due to stack overflow or underflow. | ASYNC | Error | Idle Task |
25 | Invalid FPU operation | Program error (e.g., out-of-range argument to trigonometric functions, SQRT of negative operand, logarithm of zero or negative operand). System Context | ASYNC | Fatal Fault | Watchdog |
26 | FPU: Unnormalized operand | When an instruction attempts to operate on a non-normalized operand, the result may have reduced significance due to lost low-order bits. Most applications mask this exception since a non-normalized operand will be normalized to the extended-real format when loaded to the FPU. System Context | ASYNC | Fatal Fault | Watchdog |
27 | FPU Zero divide | Generated when an instruction attempts to divide a finite non-zero operand by zero. System Context. | ASYNC | Fatal Fault | Watchdog |
28 | FPU Overflow | Occurs if the magnitude of the rounded true result exceeds the magnitude of the largest finite number in the destination format. | ASYNC | Fatal Fault | Watchdog |
29 | FPU Underflow | Two related events contribute to this error: 1) creation of a very small operand which can cause some other exception later, and 2) overflow upon division producing an inexact result. | ASYNC | Fatal Fault | Watchdog |
30 | FPU Precision lost | Occurs when the result of an operation is not exactly representable in the destination format. For example, 1/3 cannot be precisely represented in binary form. This exception occurs frequently and indicates that some (generally acceptable) exception has been lost. Most applications mask this exception. | ASYNC | Fatal Fault | Watchdog |
31 | FPU Stack fault | Generated on the FPU due to stack overflow or underflow. | ASYNC | Fatal Fault | Watchdog |
32 | Unknown module ID | Internal error. Unregistered code of the module encountered in the error code. | ASYNC | Fatal Fault | Watchdog |
33 | Failed to create Logger message queue | Internal system resource cannot be allocated | ROOT | Fatal Fault | Watchdog |
34 | Failed to create logger task | Internal error. Contact technical support. | ROOT | Fatal Fault | Watchdog |
35 | Failed to write logger file | An error occurred while writing to the log file. This can happen if many errors are generated simultaneously. | ASYNC | Error | None |
36 | Invalid logger message queue ID | Internal error. Contact technical support. | ASYNC | Fatal Fault | Watchdog |
37 | Failed to create logger mutex | Internal error. Contact technical support. | ROOT | Fatal Fault | Watchdog |
38 | Invalid logger mutex | Internal error. Contact technical support. | ASYNC | Fatal Fault | Watchdog |
39 | Task does not exist | Generated in response to ERROR or ERRORNUM task query when task does not exist. | SYNC | Note | None |
40 | Invalid message queue | Invalid message queue ID | SYNC/ ASYNC | Fatal Fault | Watchdog |
41 | Failed to create Error Handler task | Internal error. Contact technical support. | ROOT | Fatal Fault | Watchdog |
42 | Failed to create Error Handler message queue | Internal error. Contact technical support. | ROOT | Fatal Fault | Watchdog |
43 | Error message queue overflow | The error flow too intense. Some error messages may be lost. | ASYNC | Error | None |
44 | Logger message queue overflow | The error message flow is too numerous. Some error messages may be lost. | ASYNC | Error | None |
46 | Could not stop Interpreter | User process cannot be stopped by the default system error handler. | ASYNC | Fatal Fault | Watchdog |
47 | Cannot proceed user error handler | Internal error. Contact technical support. | ASYNC | Fatal Fault | Watchdog |
48 | Error code with invalid severity | Internal error. Contact technical support. | ASYNC | Fatal Fault | Watchdog |
49 | Error code with invalid context info | Internal error. Contact technical support. Invalid context value recognized by the Error Handler state machine. | ASYNC | Fatal Fault | Watchdog |
50 | Cannot open logger file | A file system error occurred while opening Logger file. | ASYNC | Error | None |
51 | User error handler cannot be created. | An error occurred while spawning user error handler task. Add memory. | SYNC | Error | None |
52 | User error handler message queue failed | Internal error. Contact technical support. | SYNC | Fatal Fault | Watchdog |
53 | User error handler stack allocation failed. | Could not create internal data structure. Add memory or unload unnecessary tasks. | SYNC | Error | None |
54 | Recurring attempt to define user system error handler | Only one instance of the user system error handler may exist. | SYNC | Error | Idle Task |
55 | Unsuccessful OnSystemError kill | User error handler cannot run. | ASYNC | Error | Idle Task |
56 | Bad exception handle | Bad exception handle bad handle | SYNC | Error | Idle Task |
57 | Bad exception number | Bad exception number | SYNC | Error | Idle Task |
58 | Exception number is already used | Exception number is already used | SYNC | Error | Idle Task |
59 | No memory | Out of memory | SYNC | Error | Idle Task |
60 | Too many user defined exceptions | Too many user defined exceptions | SYNC | Error | Idle Task |
61 | Invalid error print level | Invalid error print level | SYNC | Error | Idle Task |
62 | Unknown error | The error code cannot be recognized by the error handler. | ASYNC | Fatal Fault | Watchdog |
63 | On System Error queue is full | On System Error queue is full | SYNC | Error | Idle Task |
64 | Fault.log file was invalid see Fault.bak file | Fault.log file was invalid see Fault.bak file | SYNC | Error | Idle Task |
65 | Error occurred in the attached motion element. | In case of any unhanded error in the system, all tasks that have attached motion elements stop with this error. | ASYNC | Error | Idle Task |
66 | CPU overload. | User task entered busy loop for more then 4 seconds. Put some sleep. | ASYNC | Error | Idle Task |
69 | Failed to enable feature. | Missing or incorrect license code for software component(s). | ASYNC | Error |
Built In Test (1000 through 1999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
1001 | Internal error. Contact technical support. | Internal error. Contact technical support. | ROOT | Fatal Fault | Watchdog |
1002 | Internal error. Contact technical support. | Internal error. Contact technical support. | ROOT | Fatal Fault | Watchdog |
1003 | System memory exhausted: unload tasks or add memory. | The Bit task verifies at least 200k bytes of contiguous memory are unavailable. Unload unnecessary tasks or add memory. | ASYNC | Note | |
1004 | Out of memory: add more memory or unload unnecessary tasks. | Out of memory. Bit is not able to allocate needed amount of RAM for the new handle. This can occur in response to the WDINIT() function. Add more memory or unload unnecessary tasks. | SYNC | Error | Idle Task |
1005 | Invalid BIT handle. | Internal error. Bit task received an invalid handle (pointer). The handle is generated in response to the WdInit() function, and must be specified in the WdCycle() function | SYNC | Error | Idle Task |
1006 | Task stuck. | One of the tasks that should report to Bit has not done so. A task tells Bit that it will report to INIT when it executes WDINIT. Thereafter, the task must execute WDCYCLE periodically. | ASYNC | Fatal Fault | Watchdog |
1015 | Error reading to SERCON DPRAM. | Internal error. Hardware power-up tests failed reading from the SERCON chip Dual Port RAM | ASYNC | Error | |
1016 | Error writing to SERCON DPRAM. | Internal error. Hardware power-up tests failed writing to the SERCON chip Dual Port RAM | ASYNC | Error | |
1020 | TaskUnlock() failure | Internal error, returned by diagnostic code. Not applicable for application. | ASYNC | Fatal Fault | Watchdog |
1021 | TaskLock() failure. | Internal error, returned by diagnostic code. Not applicable for application. | ASYNC | Fatal Fault | Watchdog |
1023 | WatchDog failure. | Internal error, returned by diagnostic code. Not applicable for application. | ASYNC | Fatal Fault | Watchdog |
Run Time Scheduler (2000 through 2999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
2001 | Unknown error. Contact tech support. | Internal error: unrecognized error code | ASYNC | Fatal Fault | |
2002 | Internal error. Contact tech support. | Internal error: failed to allocate data structure for MutEx semaphore. | ROOT | Fatal Fault | |
2003 | Internal error. Contact tech support. | Internal error: failed to allocate data structure for synchronization semaphore | ROOT | Fatal Fault | |
2004 | Overlap error. | Not enough system resources to run all mandatory system tasks. | ASYNC | Error | |
2005 | Internal error. Contact technical support. | Internal error: cannot perform scheduling operation over unregistered RTS element. | ASYNC | Fatal Fault | |
2006 | Internal error. Contact technical support. | Internal error: Semaphore cannot be taken. | ASYNC | Fatal Fault | |
2007 | Internal error. Contact technical support. | Internal error: the task received invalid request for operation. | ASYNC | Fatal Fault | |
2008 | Out of memory. | Internal error: not enough memory to allocate internal data. | ASYNC | Fatal Fault | |
2009 | Internal error. Contact technical support. | Internal error: failure while spawning the Reatime Scheduler task | ROOT | Fatal Fault |
Motion (3000 through 3999)
Motion (3000 through 3100)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
3001 | Maximum number of groups in the system exceeded | Tried to define more groups in the system than are allowed. The system supports up to 32 groups. The error can also occur during the SYNCSTART command when more elements than allowed are entered. | SYNC | Error | |
3002 | Non-existent axis | Internal error. An unknown axis number was given. This error can be caused only through an invalid input from the interpreter. | SYNC | Fatal Fault | Watchdog |
3003 | Non-existent group | Internal error. An unknown group number was given. Invalid group handle was entered. This error can be caused only through an invalid group address in the interpreter. | SYNC | Fatal Fault | Watchdog |
3004 | Too many axes in group | Tried to define a group with too many axes. The number of the axes in the group is limited to 32. | SYNC | Error | |
3005 | Non-existent group or axis | Internal error. Invalid group or axes handle was entered. Handles are used for both groups and axes. When it is not clear if an axes or a group was accessed and the handle points to a non-existent element, the error is returned. | SYNC | Fatal Fault | Watchdog |
3006 | Element is already attached to a task | The element is already attached to a task. The error occurs in the ATTACH command or in any command that needs the attachment permission. | SYNC | Error | Idle Task |
3007 | Invalid mode | Internal Error. Invalid mode given. The mode can have only certain values depending on the command issued (MOT_MODAL, MOT_NODAL, MOT_IMMEDIATE). | SYNC | Fatal Fault | Watchdog |
3008 | Velocity out of range | The value of the velocity is not in the allowed range for this system variable (max. velocity, cruise velocity, final velocity, ...). For example, A1.VMAX?'"`UNIQ--nowiki-00000001-QINU`"'?-1 | SYNC | Error | Idle Task |
3009 | Time value out of range | Invalid time duration value given. The time value (usually a time interval) is not in the allowed range. | SYNC | Error | Idle Task |
3010 | Wrong parameter value. | Invalid command value supplied. In all motion commands the appropriate value of the command parameters is checked (STOPTYPE, PROCEEDTYPE,....) | SYNC | Error | |
3011 | Not available nodal package. | Internal Error. The variable is currently not available. Nodal variables can be queried, although this feature is not supported by the user command set. The nodal package is not always available. | SYNC | Fatal Fault | Watchdog |
3012 | Acceleration out of range | The value of the acceleration is not in the range of allowed acceleration values. For example, A1.ACC?'"`UNIQ--nowiki-00000002-QINU`"'?-1 | SYNC | Error | |
3013 | Deceleration out of range | The value of the deceleration is not in the range of allowed deceleration values. For example, A1.DEC?'"`UNIQ--nowiki-00000003-QINU`"'?-1 | SYNC | Error | |
3014 | Jerk out of range | The value of the jerk is not in the range of allowed jerk values. For example, A1.JERK?'"`UNIQ--nowiki-00000004-QINU`"'?-1 | SYNC | Error | |
3015 | Velocity override out of range | The value of the velocity override is out of the range of allowed values. For example, A1.VELOCITYOVERRIDE ?'"`UNIQ--nowiki-00000005-QINU`"'? -1 | SYNC | Error | |
3016 | Group envelope error | The position error of the group is greater than the allowed error, as specified by PEMAX. | ASYNC | Error | Motion is stopped |
3017 | Axis following error: | The position error of the axis is greater than the allowed error, as specified by PEMAX. | ASYNC | Error | Motion is stopped |
3018 | Wrong position value. | Invalid position value given. The given position is out of the defined position range for that axis. | SYNC | Error | |
3019 | Axis belongs to a group. | Internal error. Cannot delete an axis that belongs to a group. | SYNC | Fatal Fault | Watch dog |
3020 | The element is moving | This error is returned when attempting to enter three MOVE commands from the monitor. Only two MOVE commands are buffered from the monitor. The error is also returned when attempting to enable gearing or camming when the axis is already in motion. | SYNC | Error | |
3021 | At axis. Input switch might have been dedicated to an other function | This note is returned , when the input switch mode functionality is changed | SYNC | Note | None |
3022 | Homing maximum distance exceeded - aborting homing procedure | During homing the max homing travel limit is exceeded | SYNC | Error | |
3023 | The action is not allowed in this CONMODE | N/A for MC | N/A | N/A | |
3024 | Unknown mechanical model | Invalid model type was given. The model type is used to specify the mechanical structure. | SYNC | Error | |
3025 | Axis active in a group. | The axis of a group cannot be attached or detached independently from the group. | SYNC | Error | |
3026 | Motion inhibited: Set Motion flag to ON | Motion on the specified element is inhibited by the MOTION property. | SYNC | Error | |
3027 | Circle can be done in 2 or 3D | The CIRCLE command cannot be executed on the groups with fewer than 2 axes or 3 axes. | SYNC | Error | |
3028 | Not available at this state | N/A for MC | SYNC | Error | |
3029 | The group cannot be synchronized with its axes. | The group and its axes cannot be synchronized. | SYNC | Error | |
3030 | Attachment Error : Different motion types | The group can only be attached or moved when their axes have the same motion type. Axis motion type can be LINEAR or ROTARY. | SYNC | Error | |
3031 | This command is not allowed during AI | Certain commands (like CIRCLE, DELAY, WAITFORMOTION, ...) can not be used during Advanced Interpolation. | SYNC | Error | |
3032 | Axis specified more than once in group | The group cannot consist of multiple instances of one axis. | SYNC | Error | |
3033 | SYNC flag not set. Set STARTTYPE to SYNC | The SYNCSTART command was issued upon an element for which the StartType is not defined as SYNC. | SYNC | Error | |
3035 | Synchronized movement is pending. Clear sync using SYNCCLEAR command | There exists a pending synchronized movement for the motion element. The motion element cannot be moved until the SYNCSTART command has been issued, or the synchronization has been cleared using SYNCCLEAR. | SYNC | Error | |
3036 | Automatic braking | The element is being automatically stopped. This can occur when the final velocity is nonzero and there are no pending motion commands. | ASYNC | Error | |
3037 | Not stopped. | The proceed command given to an element that was not stopped. | SYNC | Error | |
3038 | The element is stopped from another task | Cannot define gearing or camming when the element is stopped by another task. The STOP command also inhibits motion in this case. | SYNC | Error | |
3039 | Only the task can Proceed | The element has been stopped by a task. The PROCEED command must be issued from a task, not from the terminal. | SYNC | Error | |
3040 | Only the monitor can Proceed | A motion element that has been stopped by a STOP command from the terminal can be started only by a PROCEED command from the terminal, not from another task. | SYNC | Error | |
3041 | Nothing to proceed | The PROCEED command has been issued on an element that has not been stopped. | SYNC | Note | |
3042 | Proceed in progress. | There are certain restrictions for the PROCEED and STOP commands. See the Reference Manual for details. | SYNC | Error | |
3043 | Cannot execute move. Element is stopped by another task. | When an element has been stopped with the STOP command, it is not possible to MOVE it until the same task that executed the STOP command issues a PROCEED command. | SYNC | Error | |
3044 | Jog is not allowed on group: specify axis name | Jog can only be done on a single axis. | SYNC | Error | |
3045 | Wrong speed override value. | The percentage given to the VELOCITYOVERRIDE function is limited. Refer to the Reference Manual for the allowed range. | SYNC | Error | |
3046 | Smooth factor out of range | Smoothing value given is not in range. Refer to the Reference Manual for the allowed range. | SYNC | Error | |
3047 | Excessive Jerk/Acceleration ratio: decrease jerk or increase accel and decel | The Jerk-to-Acceleration ratio defines the time needed to achieve maximum acceleration. If this time is shorter then 5 motion samples, it is not accepted. The ratio is limited by 0.9*PI/(5T), where T is the cycle time in milli seconds. Thus, the limit is 282.74 when the cycle time is 2 msec, and 141.37 when the cycle time is 4 msec. Use a SMOOTHFACTOR from 0 through 100 to get around the JERK limitations. | SYNC | Error | |
3048 | Proceed command may be entered from monitor | If the task that stopped the motion was killed or terminated without giving the PROCEED command, the PROCEED command is allowed from the terminal. | SYNC | Note | |
3049 | Group is stopped: at least one of its axes is disabled or in following mode | The group was stopped because one (or more) of its axes has been disabled or entered following mode. | SYNC | Note | |
3050 | The movement has been recalculated | There is a change in the status of the motion, between the time movement calculation started, but before that movement could be executed. | SYNC | Note | |
3051 | The current operation mode doesn't allow this action | N/A for MC | SYNC | Error | |
3052 | Circle plane out of range: must be 0, 1 or 2 | A CIRCLE command may be executed in the XY plane, the YZ plane or the XZ plane. In the CIRCLE command, these planes are specified using the values 0, 1 and 2 respectively. | SYNC | Error | |
3053 | Wrong master declaration. | Wrong definition of master type. Check for recursion of mastersource assignments. | SYNC | Error | |
3054 | Invalid slave specification | This error occurs when attempting to specify a group as a slave axis, for example G1.MasterSource ?'"`UNIQ--nowiki-00000006-QINU`"'? A1.PCMD. A group cannot be declared as a slave. It also occurs when the master/slave specification is out of range. For example, A1.SLAVE ?'"`UNIQ--nowiki-00000007-QINU`"'? 3. | SYNC | Error | |
3055 | The element is already a slave | Cannot declare a master or a slave type (gear or cam) when the axis is already a slave. | SYNC | Error | |
3056 | One of the axes in the group is a slave: absolute motion not allowed | An absolute position motion on a group is not allowed if one of the axes is set up as a slave axis. | SYNC | Error | |
3057 | Absolute move not allowed on slave axis | Occurs when attempting to execute an absolute move command on a slave axis. Only incremental moves are allowed on the slave axis. | SYNC | Error | |
3058 | The drive is disabled or in the following mode; no motion allowed | Movement cannot be commanded if the drive is disabled or the axis is in a following mode. | SYNC | Error | |
3059 | Master axis unknown: specify master source | Generated when a master declaration is missing. Existence of a master is checked when an axis is declared as a slave. | SYNC | Error | |
3060 | Invalid cam index | Internal error. This error appears when there is a cam query and the cam is not recognized. | SYNC | Fatal Fault | |
3061 | Can't declare more cam tables. | Cam table cannot be defined. Only 256 cam tables can be defined. | SYNC | Error | |
3062 | Wrong cam table size | Cam table size must be modulo 16. This error is returned when loading a cam file using the LOADCAMDATA command. | SYNC | Error | |
3063 | Problem reading cam data file: verify file size and existence. | Problem reading data from the file. The number of data items that were read from the file does not match the file size or the file does not exist. | SYNC | Error | |
3064 | No NEXT cam table: camming terminated and slave axis stopped | The end of the cam table has been reached and there is no next cam table. The axis stops and is taken out of slave mode. | ASYNC | Note | |
3065 | No PREVIOUS cam table: camming terminated and slave axis stopped | The beginning of the cam table has been reached and there is no previous cam table. The axis stops and is taken out of slave mode. | ASYNC | Note | |
3066 | Two identical master values inside cam table: change cam table | Two identical master values were found inside the cam table when monotonicity was checked. | SYNC | Error | |
3067 | The cam table is not monotonic | Cam table must be monotonic (up or down). Monotonicity is checked when an axis is declared as a slave or when a file is loaded into a cam table. | SYNC | Error | |
3068 | Cam offset not found in the cam table | The specified CAMOFFSET is not found in the cam table. The value of the CAMOFFSET must be given as one of the master position values in the cam table. | SYNC | Error | |
3069 | The cam table is already linked: unlink table before changing it | File cannot be loaded into the cam table if it is chained. The cam table cannot be deleted if it is chained. | SYNC | Error | |
3070 | Not calibrated. | Internal error | SYNC | Error | |
3071 | Already calibrated/configured | N/A for MC | N/A | N/A | |
3072 | Enabled. | Can not issue configgroup command if the element is enabled, and al other actions that are not allowed while the drives are enabled. | SYNC | Error | |
3073 | Time cannot be negative. | TIME must be positive. | SYNC | Error | |
3074 | Cam table is empty. | The cam table is checked when loading a file or when an axis is declared as a slave (camming mode) | SYNC | Error | |
3075 | Gear ratio out of range | The gear ratio is out of range. Refer to the GEARRATIO axis property in the Reference Manual. | SYNC | Error | |
3076 | Value could not be queried in a single cycle time. | When querying real-time vector variables it is necessary to obtain all coordinate values form one sample period. If the system is overloaded this could not be possible. | SYNC | Error | |
3077 | The Cam data array is in use | When the cam data array is in use, operations on it are limited: 1) loading a file into the data array, 2) storing the array, 3) re-create the data array , 4) writing slave or master values into the array. A cam data array is in use when that array is the active cam of the axis. | SYNC | Error | |
3078 | Cam cycles out of range | The specified number of cam cycles is out of range. Refer to the CYCLE cam property description in the Reference Manual. | SYNC | Error | |
3079 | No active cam. | No cam is defined for the axis. This error is returned when the following axis property queries are issued: ACTIVECAM, CAMCYCLE, CAMINDEX. | SYNC | Error | |
3080 | Wrong file extension: must be .cam | The cam file extension must be .CAM | SYNC | Error | |
3081 | Cam chain is not connected correctly. | When the axis is moving to the next or previous table, the connection between the tables is checked. If the connection is not correct, the axis stops and is taken out of slave mode. | ASYNC | Error | |
3082 | Feedback velocity is out of limit | The actual velocity is limited by the VELOCITYOVERSPEED property. When the actual velocity exceeds the VELOCITYOVERSPEED, the motion is stopped. | ASYNC | Error | Motion is stopped |
3083 | Feedback velocity is out of limit when motion is stopped: drive disabled | The actual velocity is limited by the VELOCITYOVERSPEED property. When the actual velocity exceeds the VELOCITYOVERSPEED, the motion is stopped. If this happens when motion is already stopped, then the drive is disabled. This may indicate a drive tuning problem or a noise problem. | ASYNC | Error | Drive is disabled |
3084 | SYNC | Error | |||
3085 | Incorrect parameter value | General error returned when user-given parameter is not in an allowed parameter's range. | SYNC | Error | |
3086 | Incorrect number of point coordinates given to this movement | Target points given to motion commands like: MOVE,MOVES,... on a given group (Not to be confused with joints) must have exact number of coordinates (equals the number of axes in the group) | SYNC | Error | |
3087 | SYNC | Error | |||
3088 | Wrong factor value : specify a positive value | Some values can not be negative. (PFAC, AFAC, VFAC, ....) | SYNC | Error | |
3089 | Property value cannot be changed while drive is enabled | Some properties, such as conversion factors, cannot be changed while the drive is enabled. Refer to the Reference Manual for limitations on instruction execution. | SYNC | Error | Idle Task |
3090 | Can not execute syncstart without any pending move command | Error in SYncStart no motions defined | SYNC | Error | |
3091 | Drive mode failure (unable to set drive-mode) | N/A for MC | N/A | N/A | |
3092 | Property can not be changed while cam is active : disable cam before changing it | Certain cam property can not be changed while cam table is active. | SYNC | Error | |
3093 | Invalid hard limit switch state | N/A for MC | N/A | N/A | |
3094 | Hard limit switch was detected | N/A for MC | N/A | N/A | |
3095 | The cruise velocity can not be reached | during concatenation (vifnal is nonzero) | SYNC | Note | |
3096 | Minimum position limit must be less than the maximum limit | PMIN has to be less then PMAX | SYNC | Error | |
3097 | Data structure is not defined. | Compensation or cam table not defined | SYNC | Error | |
3098 | VelocityMax exceeds the max number of counts per motion sample. Reduce VelocityMax or change PositionFactor - VelocityFactor settings. | SYNC | Error | ||
3099 | Cannot execute InPosition | The INPOSITION value of the STARTTYPE has no meaning when the previous movement is with nonzero final velocity. | SYNC | Note | |
3100 | Configuration switch. | N/A for MC | N/A | N/A |
Motion (3101 through 3200)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
3101 | Time jog is meaningless | TimeJog can not be zero. | SYNC | Note | |
3102 | The index is out of the table range. | The index is out of the cam table range. This error is returned when attempting to access a value in the cam table, where the index is greater than the number of points in the table. | SYNC | Error | |
3103 | Given value will cause cam table to be non-monotonic: value not accepted. | The cam table is chained, but the data are not in use. The given value for the master would cause the table to be non-monotonic, so the value is not accepted. | SYNC | Note | |
3104 | The movement will be calculated until the position limit | SYNC | Note | ||
3105 | Blending is not provided with non-zero final velocity motions and jog movements | vfinal ?'"`UNIQ--nowiki-00000008-QINU`"'? .. and cp ?'"`UNIQ--nowiki-00000009-QINU`"'? … can not work together | SYNC | Error | |
3106 | Invalid Quaternion. | internal error, mostly in SCARA &DELTA kinematics when orientation with non-zero yaw and pitch is obtained | SYNC | Error | |
3107 | Initialized the velocity to its maximum | If Vcruise > vmax the vmax will be taken. | ASYNC | Note | |
3109 | Wrist configuration at the target point differs from the wrist configuration of the start! | during movement path passes wrist singular and the wrist changes its flip value, therefore the target position can differ from its pre-computed value and a recalculation note can occur | ASYNC | Note | |
3110 | Wrong Phaser definition. | phaser parameters are invalid | SYNC | Error | |
3111 | Wrist Singularity encountered. Motion has been stopped. Try with different movement type | untreatable wrist singularity | ASYNC | Note | |
3112 | Initialized the acceleration to its maximum | If acc > amax the amax will be taken. | ASYNC | Note | |
3113 | Initialized the deceleration to its maximum | If dec > dmax the dmax will be taken. | ASYNC | Note | |
3114 | Initialized the jerk to its maximum | If jerk> jmax the jmax will be taken. | ASYNC | Note | |
3115 | Element entered into following mode, all motions aborted | An active motion was aborted due to element's disable | SYNC | Error | |
3116 | The configuration flags can not be specified together with joint target position. | giving both joint target coordinates and configuration flags is not possible. | SYNC | Error | |
3117 | Point too close. The target coordinates are too close to the robot's Cartesian space origin point. | the target point is inside Rmin sphere (or XY circle only in case of PUMA) | SYNC | Error | |
3118 | MOVES can not interpolate these orientation angels. Try with different orientation interpolation or change the target to location. | Some orientation path can not be proportionally interpolated together with the translational part as the joint angles needed for translation conflicts the given orientation component. | SYNC | Error | |
3119 | Point too far. Outside of the working envelope. The target coordinates are too far from the robot's Cartesian space origin point. | the target point is outside Rmax sphere | SYNC | Error | |
3120 | Not a robot. | Certain properties are fro robot models only and do not exist in regular groups | SYNC | Error | |
3121 | The target point is not reachable. | Target coordinate exceed [pmin,pmax] segment | SYNC | Error | |
3122 | Motion can not be executed due to the unsolvable configuration change. | During straight line motion some start and target configuration flags can not differ (ABOVE, BELOW) | SYNC | Error | |
3123 | Unreachable target orientation. | Internal checking of quaternion. In some robot models (SCARA, DELTA< ….) NDOF of orientation representation is limited therefore the quaternion of target orientation ahs to obey certain restrictions. Normally user can not produce this error. | SYNC | Error | |
3124 | Crossing unreachable region. | For example in SCARA straight line motion that crosses Rmin sphere is not allowed | SYNC | Error | |
3125 | Wrong point type. | Location point type does not fit to the given command/property. | SYNC | Error | |
3126 | Can not de-select orientation coordinates. Check the selectaxis property | N/A for MC | N/A | N/A | |
3127 | Both final velocities(rotary & translation) must be zero or non zero | vtranfinal and vrotfinal can either be both zero or both non-zero. | SYNC | Error | |
3128 | Error in Closed-Chain Kinematics. Point is not reachable | joint coordinates do not close the close-chain kinematics (happens only in certain models s: SCISSOR, CSE, …) | ASYNC | Error | |
3129 | Task start failure. | Internal Error. Cannot start the task. The error is returned from the operating system. | SYNC | Fatal Fault | |
3130 | Task end failure. | Internal Error. Cannot end the task. The error is returned from the operating system. | SYNC | Fatal Fault | |
3131 | Invalid semaphore ID or time-out elapsed. | Internal Error. Invalid semaphore ID. The error is returned from the operating system. | SYNC | Fatal Fault | |
3132 | Invalid message. | Internal Error. Invalid message received by the motion manager. The motion manager is a message-driven task. Receiving an invalid message is a fatal system fault. | SYNC | Fatal Fault | |
3133 | Invalid element handle. | Internal Error. Invalid element handle encountered during the real time execution. The error is identical to the MOT_ERR_IELEMENT but this time the source is internal (not the interpreter) | ASYNC | Fatal Fault | |
3134 | No memory. | Internal Error. No more free memory in the system. The memory of the system is exhausted. The memory for the motion should always be available. | SYNC | Fatal Fault | |
3135 | Invalid pointer. | Internal Error. Invalid pointer encountered during the real-time execution. A zero pointer was found in the RTK or MM task. | SYNC | Fatal Fault | |
3136 | Corrupted task data. | Internal Error. Invalid task data. Each attached task is represented by a block of data. If these data are corrupt, a fatal system error occurs. | SYNC | Fatal Fault | |
3137 | Task mismatch. | Internal Error. A task tried to add an axis to the group that it did not create. Group creation is a process of several steps and during this process only the task that started creation of the group can end it. | SYNC | Fatal Fault | |
3138 | Bad dimension. | Internal Error. The element dimension (number of axes) is invalid. Each motion package contains the size (dimension) of the group. If a copy of two packages with different dimensions was ordered, this fatal error is generated. | SYNC | Fatal Fault | |
3139 | Corrupted data | Internal Error. During the element deletion procedure, corrupt data were encountered. When the element data are de-allocated, a number of checks are conducted. Among the checks is verification that all allocated motion packages are deleted. If not, the error is set. | SYNC | Fatal Fault | |
3140 | RTS blocked. | Internal Error. The RTS did not release the semaphore. The RTS releases this semaphore periodically, but if the semaphore is not released after two time periods, this error is set. It indicates the RTS is not functioning properly or that the interrupt handler stopped. | ASYNC | Fatal Fault | |
3141 | Bad profile data. | Internal Error. Profiler error. Invalid data for the profile calculation given. | SYNC | Fatal Fault | |
3142 | RTS element add failed. | Internal Error. The RTS failed to add an element. The RTS refused to add new element in its table. | SYNC | Fatal Fault | |
3144 | RTS clear motion failed. | Internal Error. The RTS failed to clear the motion enable flag. The error can occur during the RTK initialization or during the suspend-resume transitions. | ASYNC | Fatal Fault | |
3145 | RTS set motion failed. | Internal Error. The RTS failed to set the motion enable flag. The error can occur during the RTK initialization or during the suspend-resume transitions. | ASYNC | Fatal Fault | |
3146 | RTS overrun clear failed. | Internal Error. The RTS failed to clear the overrun flag. Occurs only in run time. | SYNC | Fatal Fault | |
3147 | RTS delete failed. | Internal Error. The RTS failed to delete an element. At the end of the deletion task, the system failed to delete the RTS entry. Recovery action is not needed because the task is dead. | SYNC | Fatal Fault | |
3148 | Computing too late | The pre-computation is late. For immediate motion changes such as immediate move or speed override, a pre-computation time delay is assumed. Normally, this delay should be sufficient to complete computation. This error generally indicates that the system is too heavily loaded. | ASYNC | Error | |
3149 | Unable to create system resource. | Internal Error. The operating system is unable to create the resource (Queue, Semaphore, ...) Possible cause: No more memory, operating system down. | SYNC | Fatal Fault | |
3150 | Invalid profiler parameters. | Internal Error. Invalid profiler parameters. | Sync | Fatal Fault | |
3151 | Profiler in motion. | Internal Error. Certain profiler settings can only be set when the acceleration is zero. | SYNC | Fatal Fault | |
3152 | Invalid profiler status. | Internal Error. The profiler is state driven. If an invalid status is encountered, this error occurs. | SYNC | Fatal Fault | |
3153 | RTK continuously interrupting. | Internal Error. The RTK is in a continuously repeating stop state. | ASYNC | Fatal Fault | |
3154 | Maximum Position reached. | Maximum axis limit reached. Usually by a JOG command. | SYNC | Error | |
3155 | Minimum position reached | Axis minimum limit reached. Usually by a JOG command. | SYNC | Error | |
3156 | No previous package. | Internal Error. In the pre-calculation process a pointer of the previous package in the m.p. ring is needed. | SYNC | Fatal Fault | |
3157 | Supper-immediate movements can be executed with the trapezoidal velocity profile only. | with starttype ?'"`UNIQ--nowiki-0000000B-QINU`"'? 5 smooth must be equal 0 | SYNC | Error | |
3158 | Property value cannot be changed while drive is disabled | Certain properties (slave, ...) can not be changed to certain values if the drives are disabled. Same with certain commands (proceed, move, ...) . | SYNC | Error | |
3159 | No memory for group/axis definition | No more free memory in the system. The memory of the system is exhausted. | SYNC | Error | |
3160 | Wrong PLS index. | Wrong PLS index. | SYNC | Error | |
3161 | Can't declare more PLS's | A maximum of 65536 PLS can be declared. | SYNC | Error | |
3162 | PLS property cannot be set while PLS is enabled | Certain PLS properties cannot be set while the PLS is enabled. First, disable the PLS, then change the property value. | SYNC | Error | |
3163 | PLS value cannot be accessed before the PLS data are created | In order to operate on a PLS, the PLS must be defined (COMMON SHARED ... AS PLS), and the PLS data must be created (CREATEPLSDATA). | SYNC | Error | |
3164 | PLS position index out of range | This error is returned when attempting to access a non-existent PLS position. The number of PLS positions is set when creating the PLS data structure (CREATEPLSDATA). | SYNC | Error | |
3165 | PLS position data must be monotonic | The data in the PLS data structure must be arranged in ascending order. The order is verified when attempting to enable the PLS. | SYNC | Error | |
3166 | PLS output polarity must be binary (0 / 1) | The PLS output polarity must be binary(0 or 1). | SYNC | Error | |
3167 | Wrong value for the repetition interval. | Wrong value for the repetition interval. | SYNC | Error | |
3168 | PLS Enable must be binary ( 0 or 1 ) | The PLS Enable must be binary (0 or 1). | SYNC | Error | |
3169 | Fatal Fault, the error number is not defined by the programmer | Internal error | SYNC | Fatal Fault | Watch dog |
3170 | PLS Hysteresis must be positive | The value specified for the PLS, hysteresis must be positive. | SYNC | Error | |
3171 | PLS cannot be deleted while it is enabled | PLS cannot be deleted while it is enabled. First disable the PLS using the PLSENABLE property. | SYNC | Error | |
3172 | Wrong output index. | Wrong output index. | SYNC | Error | |
3173 | Cannot attach element. Element is stopped by another task: issue PROCEED command | The STOP command is used both to stop motion and to inhibit further motion. If the STOP command has been issued from the terminal or a task, then the motion element cannot be attached by another task until the PROCEED command has been issued. | SYNC | Error | |
3174 | Current property cannot be changed for a Master axis | Current property of an axis that is defined as a master axis cannot be changed. First disable the master/slave by setting the slave property of the slave axis to OFF. | SYNC | Error | |
3175 | Wrong index for location. | Querying coordinates of location variables like here,setpoint, tool, etc. an index outside [1,NDOF] was given. | SYNC | Error | |
3176 | PLS value will is scaled to be at the range 0-100%. | N/A for MC | N/A | N/A | |
3177 | Cannot execute the move command while the axis is active in a group | Axis can not be moved separately if its' group is attached. For example MOVE AX1 ... is not allowed if G1 having AX1 is attached. | SYNC | Error | |
3178 | Cannot execute the stop command while the axis is active in a group | Axis can not be stopped independently from its group. | SYNC | Error | |
3179 | Cannot move immediate. Need to proceed motion | Element that was stopped can not executed immediate motion (StartType?'"`UNIQ--nowiki-0000000C-QINU`"'?1) until it is proceeded. | SYNC | Error | |
3181 | Index out of range | Link[] or Axis[] wrong index | SYNC | Error | |
3182 | Disable time out expired: NETWORK SHUTDOWN | Disable timeout of the drives expired | SYNC | Error | |
3183 | Settling time expired | Timeout for achieving position expired | SYNC | Error | |
3184 | Maximum trial time to settle is less than settling time | Maximum trial time to settle is less than settling time | SYNC | Error | |
3185 | Ambiguous configuration flags. Can not determine the joint coordinates. | N/A for MC | N/A | N/A | |
3186 | Motion Buffer Full | There are already two motions pending in the motion buffer. | SYNC | Error | |
3187 | Could not interpolate in Cartesian space with this target point. Try to re-write the target point or change the motion. | A straight line movement with joint target values did not reach the given target joint coordinates, most probably there is an issue with orientation angels. | ASYNC | Error | |
3188 | Insufficient points during dynamic AI | Not enough point for Advanced Interpolation | SYNC | Error | |
3191 | Pipe Mode operation failed. | Error reading values during the pipe mode | ASYNC | Error | |
3192 | Element is not attached | Trying from a task to change a property or to move an element that is not attached to that task. | SYNC | Error | |
3193 | The user limit can not exceed the max/min limits. | N/A for MC | N/A | N/A | |
3194 | The max/min limits can not be set within the user limits. | N/A for MC | N/A | N/A | |
3195 | Element Pipe Mode is declared or system Pipe Mode is disabled. | SYNC | Error | ||
3196 | Wrong factor value: specify a non zero value | Wrong factor value: specify a non zero value | SYNC | Error | |
3197 | Displacement cannot be set if PLS enabled. | SYNC | Error | ||
3199 | Value can't be changed from terminal | slave?'"`UNIQ--nowiki-00000010-QINU`"'?5 can be given from program only | SYNC | Error | |
3200 | This motion interpolation type must have a non-zero translation part | in CIRCLE motion type motions with only orientation part are not allowed. | SYNC | Error |
Motion (3201 through 3300)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
3201 | At circular movement first 2 axes must be linear. Check value of PositionRollOverEnable | if issuing circle on XY tables (for examples) rollover must be disabled | SYNC | Error | |
3202 | The group is not coupled | N/A | N/A | ||
3203 | The coupled matrix has been changed or its inverse doesn't exist | N/A | N/A | ||
3204 | Inverse matrix can not be calculated | When giving circle motion using three points or when defining coupling matrix | SYNC | Error | |
3205 | Memory allocation for matrix failed | When giving circle motion using three points or when defining coupling matrix | SYNC | Error | |
3206 | Wrong matrix dimension | When giving circle motion using three points or when defining coupling matrix | SYNC | Error | |
3207 | Property valid for Group only | Some properties are not defined for axes | SYNC | Error | |
3208 | Blending omitted due to stopped motion | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-00000011-QINU`"'?1 only | ||
3209 | Blending omitted due to braking motion | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-00000012-QINU`"'?1 only | ||
3210 | Blending omitted due to short path | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-00000013-QINU`"'?1 only | ||
3211 | Blending omitted due to missing cruise phase | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-00000014-QINU`"'?1 only | ||
3212 | Blending omitted due to different motion types | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-00000015-QINU`"'?1 only | ||
3213 | Blending omitted due to extremely short motion duration | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-00000016-QINU`"'?1 only | ||
3214 | Blending: acceleration decreased due to exceeding total acceleration | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-00000017-QINU`"'?1 only | ||
3215 | Blending: velocity decreased due to exceeding total velocity | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-00000018-QINU`"'?1 only | ||
3216 | Blending: velocity decreased due to profiler following | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-00000019-QINU`"'?1 only | ||
3217 | Blending: acceleration decreased due to profiler following | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-0000001A-QINU`"'?1 only | ||
3218 | Blending: jerk decreased due to profiler following | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-0000001B-QINU`"'?1 only | ||
3219 | Blending: acceleration decreased due to short braking distance | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-0000001C-QINU`"'?1 only | ||
3220 | Blending: jerk decreased due to short braking distance | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-0000001D-QINU`"'?1 only | ||
3221 | Blending: velocity & jerk decreased for adjusting to the profiler following | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-0000001E-QINU`"'?1 only | ||
3222 | Blending: Second velocity reduced | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-0000001F-QINU`"'?1 only | ||
3223 | Blending: First velocity reduced | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-00000020-QINU`"'?1 only | ||
3224 | Blending: First marker set | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-00000021-QINU`"'?1 only | ||
3225 | Blending: Second marker set | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-00000022-QINU`"'?1 only | ||
3226 | Blending omitted due to inability to adjust velocity for the given blending distance and cruise velocity | SYNC | Note, activated using sys.motionassistance ?'"`UNIQ--nowiki-00000023-QINU`"'?1 only | ||
3227 | Wrong moving frame index | Translator givens an non-existent handle, or generic moving frame is not defined | SYNC | Error | |
3228 | There isn't any moving frame linked | No moving frame is linked to the robot. | SYNC | Error | |
3229 | Can't declare more moving frames | Maximum number of moving frames in the system exceeded | SYNC | Error | |
3230 | Invalid index or ndf. Moving frame NDOF range is 1 to element NDOF | SYNC | Error | ||
3231 | The element is already in tracking mode | N/A for MC | N/A | N/A | |
3232 | The moving frame is already linked to an element | Certain actions of setting moving frame properties are not allowed while the moving frame is linked to a robot | SYNC | Error | |
3233 | Robot type and moving frame type must be the same | same robot type of the moving frame and the robot is mandatory | SYNC | Error | |
3234 | No more triggers can be inserted | Max number of triggers exceeded | SYNC | Error | |
3235 | The moving frame must be linked to a Robot. | Certain actions are not allowed if the moving frame is not linked to a robot | SYNC | Error | |
3236 | Working window limits are too close - check upmaster & downmaster values | SYNC | Error | ||
3237 | No more triggers in the buffer. | this error is caused when applying NextItem command when there is nothing in the conveyorTracking buffer | SYNC | Error | |
3238 | Item missed. The item has left the working-window area. | SYNC | Error | ||
3239 | Blending: CP of the first movement reduced due to the big velocity ratio | N/A | N/A | ||
3240 | Property valid for axis only | Some motion element properties are valid for axes only. Examples are PFAC, PEXT. | SYNC | Error | |
3241 | Delay cannot be used with the StartType set to Immediate. | The DELAY command is subject to the STARTTYPE of the motion element being delayed. However, using STARTTYPE Immediate with the DELAY command is not allowed. Change STARTTYPE before executing the DELAY command. | SYNC | Error | |
3242 | No possibility for blending of different profile types | CP blending of trapezoidal velocity and sine profile is not allowed | SYNC | Error | |
3243 | Stop in progress. | Certain very special cases of motion are not allowed to be given while motion is stopping. | SYNC | Error | |
3244 | Cannot change following mode while homing is in progress | mode can be set only while motion is stopped | SYNC | Error | |
3245 | Error in homing procedure | ASYNC | Error | ||
3246 | Axis position after homing is subjected to the axis displacement | N/A for MC | N/A | N/A | |
3247 | System Motion property can be set only from the terminal | The default system error handler sets the system motion flag low. Once this happens, the MOTION property can be set high only when SYSTEM.MOTION?'"`UNIQ--nowiki-00000024-QINU`"'?ON is issued form the terminal. | SYNC | Error | |
3248 | This motion interpolation type is not allowed. | The given interpolation type is not allowed. (joint interpolation during conveyor tracking, MOVESKD on certain robot models, jointEnable property is false ... | SYNC | Error | |
3249 | System automatic braking | The velocity is not zero. The element is stopped by the system. This can occur when a slave axis has passed its position limits. The axis is then stopped by the system. | ASYNC | Fatal Fault | |
3250 | Different motion type in group | The group can only be defined if the axes are of the same type. The error occurs during the group definition or when the system or user tries to attach the group. Motion types are LINEAR or ROTARY. | SYNC | Error | |
3251 | RTS set motion failed in initialization. | Internal error. The RTS failed to set the motion enable flag. The error occurs during the RTK initialization or during the suspend-resume transitions. | ASYNC | Fatal Fault | |
3252 | RTS clear motion failed in initialization. | Internal error. The RTS failed to clear the motion enable flag. The error occurs during the RTK initialization or during the suspend-resume transitions. | ASYNC | Fatal Fault | |
3253 | Following error when motion is stopped: drive disabled. | There is no motion commanded, but there is a position error. The maximum position error (PEMax) may be set too low, or the axis may be moved by an external force, or the drive may not be tuned properly. | ASYNC | Error | |
3254 | Envelope error when motion is stopped: drives disabled. | There is no motion commanded, but there is an envelope error. The maximum position error (PEMAX) may be set too low, the axis may be moved by an external force, or the drive may not be tuned properly. | ASYNC | Error | |
3255 | Fatal experience | should never happen | SYNC | Fatal Fault | |
3256 | The acceleration/deceleration time is not achieved | tacc/tdec values not achieved | SYNC | Note | |
3257 | Homing is not allowed on a slaved axis | SYNC | Error | ||
3258 | No home input assigned | SYNC | Error | ||
3259 | Drive parameters are zeroed | N/A for MC | N/A | N/A | |
3260 | Value assigned was rounded up to nearest integer | N/A | N/A | ||
3261 | Invalid moving frame parameters. | zero radius, zero angle or identical up & down points | SYNC | Error | |
3262 | Compensation table table is empty. | SYNC | Error | ||
3263 | Can't declare more compensation tables. | Maximum number of compensation tables exceeded | SYNC | Error | |
3264 | Invalid compensation table index | Compensation Handle received from translator is invalid, either internal interpreter error or usage of generic compensation table that is not defined | SYNC | Error | |
3265 | Compensation table active value must be set to 0 or 1. | 0/1 only allowed here | SYNC | Error | |
3266 | Compensation table can not be changed while in use: value not accepted. | SYNC | Error | ||
3267 | Load the compensation table data and set the axes(function compset) first. | SYNC | Error | ||
3268 | Number of axes does not match the mechanical model | Robot models can be defined only with certain number of axes | SYNC | Error | |
3269 | Position command might be lost by this action | N/A for MC | N/A | N/A | |
3270 | Velocity rate initialized to its limit | rate values allowed in [0.1,100] percents range only | SYNC | Note | |
3271 | Acceleration rate initialized to its limit | rate values allowed in [0.1,100] percents range only | SYNC | Note | |
3272 | Deceleration rate initialized to its limit | rate values allowed in [0.1,100] percents range only | SYNC | Note | |
3273 | Jerk rate initialized to its limit | rate values allowed in [0.1,100] percents range only | SYNC | Note | |
3274 | After digital torque command only supper immediate movement is allowed | N/A for MC | N/A | N/A | |
3275 | The property can not be queried if no tracking (slave <>0) has been established. | SYNC | Error | ||
3276 | Element is detached by the system in order to avoid endless error messaging. | In certain case (error in closed chain kinematics induced by joint angles) the group is detached automatically | ASYNC | Note | detach |
3277 | Absolute motion not allowed | AbsEnable is zero | SYNC | Error | |
3278 | Wrong buffer size. | AI: Pass command with an array bigger then AI buffer | SYNC | Error | |
3279 | The correct setting is: passbuffermin < passbuffermax < passbuffersize. | AI: Check PassBufferMin, PassBufferMax, …. | SYNC | Error | |
3280 | Wrong stretch factor value. | percents inside [0.1,100] allowed only | SYNC | Error | |
3281 | Wrong size of stretch factor vector or user parameter vector. | AI: Pass command with an array bigger then AI buffer | SYNC | Error | |
3282 | Wrong relationship between passfrom and passupto properties. | passfrom must be always less than passupto | SYNC | Error | |
3283 | No more points to interpolate. | DOPASS issued on an empty buffer. | SYNC | Note | |
3284 | Wrong blend method. | AI is not allowed with CP or SP blending | SYNC | Error | |
3285 | Advance interpolation/Conveyor tracking cannot be used with starttype immediate. | AI is not allowed with CT | SYNC | Error | |
3286 | Advance interpolation - points have been lost. | Point buffer cleared (stop, reset of BlendingMethod property) no proceed of the stopped motion possible | Note | Error | |
3287 | Excessive master-slave deviation | SYNC | Error | stop | |
3288 | Number of axes does not match the given compensation table dimensions. | SYNC | Error | ||
3289 | Action not allowed while compensation table is active. | SYNC | Error | ||
3290 | Compensation table: Limit mismatch. | SYNC | Error | ||
3291 | This compensation table has been already set. | SYNC | Error | ||
3292 | No more space for compensation tables. | SYNC | Error | ||
3293 | Compensation table: Invalid row. | SYNC | Error | ||
3294 | Velocity Safety Limit exceeded! | A drastic increase(jump) of pcmd during one sample exceeds the VelocitySafetyLimit of that axis. The VelocitySafetyLimit should be set at least to a 10*Vmax of the same axis. See: VelocitySafetyLimit . | ASYNC | Fatal Fault | |
3295 | Extremely low velocity. | JOG 0 is not allowed | SYNC | Error | |
3296 | Additive torque value is over threshold limit | TorqueAddCommand > Tmax | ASYNC | Error | stop |
3297 | Additive torque value is over threshold limit when motion is stopped: drive disabled | TorqueAddCommand > Tmax | ASYNC | Error | disable |
3298 | The pls positions are too close to each other and/or the velocity is too high for output to toggle | ASYNC | Error | ||
3299 | Hardware Assistance is true but not available due to wrong CPU/FPGA/etc. | SYNC | Error | ||
3300 | Excessive master-slave deviation when the motion is stopped: drive disabled | ASYNC | Error | disable |
Motion (3301 through 3999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
3301 | This Kinematic model is not fully supported yet. | SYNC | Error | ||
3302 | Axis was disabled due to an error. | ASYNC | Note | disable | |
3303 | Axis was disabled due to a master-slave connection. | ASYNC | Note | disable | |
3304 | Axis was disabled due to a group connection. | ASYNC | Note | disable | |
3305 | Torque error - drive is disabled. | ASYNC | Error | disable | |
3306 | Torque error - motion is stopped | ASYNC | Error | stop | |
3307 | Velocity exceeds its maximum during blending. | ASYNC | Note | ||
3308 | Velocity exceeds its maximum during CT. | ASYNC | Note | ||
3309 | Velocity exceeds its maximum. | ASYNC | Note | ||
3310 | Acceleration exceeds its maximum during blending | ASYNC | Note | ||
3311 | Acceleration exceeds its maximum during CT. | ASYNC | Note | ||
3312 | Acceleration exceeds its maximum. | ASYNC | Note | ||
3313 | Velocity exceeds its maximum during AI. | ASYNC | Note | ||
3314 | Trapezoidal Acceleration does not support on-line VORD change. Vord change will be postponed until the start of next movement. | SYNC | Note | ||
3315 | Can't operate more PLS using WithPls command. | SYNC | Error | ||
3316 | PLS source from type PathTime relevant only to profiler based on time. | SYNC | Error | ||
3317 | Drive PCMD (AT/MT)is not supported. | SYNC | Error | ||
3318 | Kinodynamic movement is not supported by the given motion profile. | Kino-Dynamic movements can be used only with Trapezoidal Acceleration profile (?'"`UNIQ--nowiki-00000025-QINU`"'? | SYNC | Error | |
3319 | This motion profile does not support immediate starttype. | Certain interpolation types(MOVESKD) do not support start-type immediate option. | ASYNC | Note | |
3320 | Acceleration exceeds its maximum during AI. | ASYNC | Note | ||
3321 | Trapezoidal Acceleration: only zero final & initial velocity allowed. | ASYNC | Error | ||
3322 | Trapezoidal Acceleration: excitation control looping! | SYNC | Error | ||
3323 | Marginal acceleration limit exceeded, element is stopped. | ASYNC | Error | ||
3324 | PLS - I/O error | SYNC | Error | ||
3325 | PLS propagation delay cannot be larger then position error delay. | SYNC | Error | ||
3326 | End of program without issuing detach command, motion was stopped and the element detached. | SYNC | Note | ||
3327 | Torque command valid to axis only. | SYNC | Error | ||
3328 | Command is executed not in the right operation mode. | SYNC | Note | ||
3329 | Kinodynamic movement is not supported by the CP blending. | SYNC | Note | ||
3330 | Movement can't be synchronized due its type or its velocity final. | SYNC | Error | ||
3331 | Movement can't be stopped with the defined StopType. | SYNC | Error | ||
3332 | PLS is not defined to this element. | SYNC | Error | ||
3333 | This property is not allowed in nodal assignment. | SYNC | Error | ||
3334 | Invalid Proceed Sequence. | SYNC | Error | ||
3335 | Limit switch is engaged. | ASYNC | Error | ||
3336 | Limit switch engaged. Axis must reverse direction. | ASYNC | Error | ||
3337 | Advance Interpolation BlendingMethod 3 not allowed from terminal context. | SYNC | Error |
File System (4000 through 4999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
4001 | Error opening file for Retrieve | Error opening file for RETRIEVE | SYNC | Error | |
4002 | Error opening the file for Send | Error opening the file for SEND | SYNC | Error | |
4003 | Internal error. Contact technical support. | Internal Error. Creating message pipe for upload. | SYNC | Error | |
4004 | Internal error. Contact technical support. | Internal error. Creating message pipe for download. | SYNC | Error | |
4005 | Internal error. Contact technical support. | Internal error. Removing message pipe for upload. | ASYNC | Error | |
4006 | Internal error. Contact technical support. | Internal error. Removing message pipe for download. | ASYNC | Error | |
4007 | Internal error. Contact technical support. | Internal error Upload task exists. | SYNC | Error | |
4008 | Internal error. Contact technical support. | Internal error. Download task exists. | SYNC | Error | |
4009 | Internal error. Contact technical support. | Internal error. Creating upload task. | SYNC | Error | |
4010 | Creating download task | Internal error. | SYNC | Error | |
4011 | Internal error. Contact technical support. | Internal error. Cannot create RAM drive device. | ROOT | Fatal Fault | Watchdog |
4012 | Internal error. Contact technical support. | Internal error. Bad initialization option. | SYNC | Error | |
4013 | No memory for RAM drive volume | There is not enough memory to create the RAM disk. Add more memory or delete unneeded files. | SYNC | Error | |
4014 | Time-out during file transfer | Host has interrupted file transfer operation. | ASYNC | Note | |
4015 | No disk space | File operation could not be accomplished due to the lack of disk space. | SYNC | Error | |
4016 | File not found | Cannot locate the file. | SYNC | Error | |
4017 | Error opening file | Error opening file. | SYNC | Error | |
4018 | Error closing file | Error closing file. | SYNC | Error | |
4019 | Disk full | There is no free disk space on the file device. | SYNC | Error | |
4020 | Invalid device name | Invalid device name specified for the file operation. | ROOT | Fatal Fault | Watchdog |
4021 | Cannot delete file. | There is no permission to delete the file. | SYNC | Error | |
4022 | Cannot delete directory. Use RMDIR. | Trying to delete directory. | SYNC | Error | |
4023 | Cannnot delete directory - it is not empty or in use. | Cannot delete directory because it is not empty | SYNC | Error | |
4024 | Error reading directory | An error occurred while executing DIR | SYNC | Error | |
4025 | Cannot create directory - it already exists or access is denied. | Cannot create directory. | SYNC | Error | |
4026 | Closing directory | An error occurred during execution of the DIR command | SYNC | Error | |
4027 | Memory allocation error. | Cannot allocate internal data structure. Add more memory or unload tasks that are not needed. | SYNC | Error | |
4028 | Error writing into file | Error writing into a file. | SYNC | Error | |
4029 | Error reading from file | Error reading from a file. | SYNC | Error | |
4030 | Bad access to the file | Invalid pointer to the file handle. | SYNC | Error | |
4031 | Unknown file extension. | Only specific file extensions are recognized. These are PRG for programs, REC for record files CAM for cam files. | SYNC | Error | |
4032 | Cannot access this type of file | Access to this type of file is not permitted by the system. | SYNC | Error | |
4033 | File does not exist | This message is given when trying to operate on (RETRIEVE, DELETE, LOAD) a file that does not exist on the flash disk. | SYNC | Error | |
4034 | Root directory is full | The number of files in the root directory has reached the maximum number of files allowed. | SYNC | Error | |
4035 | Invalid semaphore ID | Invalid semaphore ID. The semaphore guards linked list of the files. | SYNC | Fatal Fault | |
4036 | Password file is broken. | Failed to initiate the password list – password file is not valid. | ASYNC | Error | |
4037 | Invalid password. | Invalid password entered. | SYNC | Error | |
4038 | Password protected | The file cannot be deleted or retrieved because it is protected by a password. Use the PROGRAMPASSWORD command to remove the protection. | SYNC | Error | |
4039 | Error setting the password | Cannot write into the system password's log. | SYNC | Error | |
4040 | File in use. Access denied. | A file with same name already has been opened. If it was open for reading you cannot open it for writing. | SYNC | Error | |
4041 | No available file descriptors | No file descriptors available at the current directory. | SYNC | Error | |
4042 | Illegal name | The file name is illegal from the File system's point of view. | SYNC | Error | |
4043 | Cannot rename. Files are on different devices. | File rename failed – the extension is allocated to a different device (RAM drive or system devices). | SYNC | Error | |
4044 | Cannot rename. Destination file already exists. | File rename failed – a duplicate file name exists. | SYNC | Error | |
4045 | Cannot rename file. | File rename failed – file in use. | SYNC | Error | |
4048 | Directory does not exist. | Internal error: directory does not exist. | SYNC | Error | |
4049 | Cannot create sub-directory - only 17 levels are allowed. | Cannot create sub-directory - only 17 levels are allowed. | SYNC | Error | |
4050 | Volume unavailable. | Volume not available. | SYNC | Error | |
4051 | Internal file system error | Internal error. | SYNC | Error | |
4052 | Error opening directory. | An error occurred while accessing a directory. | SYNC | Error | |
4053 | Firmware upgrade failure - current firmware version is not the new one. | Upgrade failed - either cannot delete or cannot rename files. File(s) may be write protected | SYNC | Error | |
4054 | Firmware restoration failed - current firmware version is not the previous one. | Cannot copy backup file. Possibly not enough disk space or file(s) is write protected. | SYNC | Error | |
4055 | Error creating a contiguous boot file. | There is not enough space on Flash or hard disk for contiguous bootrom. | SYNC | Error | |
4056 | Error creating TFFS block device. | Not used | N/A | N/A | |
4057 | Cannot install file system driver. | Not used | N/A | N/A | |
4058 | No memory to create disk cache. | Out of RAM | ROOT | Fatal Fault | |
4059 | No memory to create file system device. | Out of RAM | ROOT | Fatal Fault | |
4060 | NVRAM data checksum error. | Data on the NVRAM is corrupted. Perform NVRAMFORMAT to overcome this problem. | SYNC | Error | |
4061 | Error creating semaphore. | Internal error. Failure to create Semaphore during initialization of the NVRAM module. | ASYNC | Error | |
4062 | Variables indexes exceed the size of NVRAM. | NVRAMFORMAT command failed while trying to define an NVRAM array that is larger than the NVRAM size. | SYNC | Error | |
4063 | Value is out of range. | Index value is out of range. | SYNC | Error | |
4064 | NVRAM does not exist. | The controller does not have an NVRAM device. | SYNC | Error | |
4065 | Unknown error | An unknown error code was generated while the file system was in operation. | SYNC | Fatal Fault |
Entry Station (5000 through 5999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
5001 | Internal error. Contact technical support. | Internal error. Contact technical support. | ROOT | Fatal Fault | Watchdog |
5002 | Failed to create output pipe: add more memory. | Failed to create pipe. Add more memory. | ROOT | Fatal Fault | Watchdog |
5003 | Internal error. Contact technical support. | Internal error. Contact technical support. | ROOT | Fatal Fault | Watchdog |
5004 | Failed to create input task: add more memory. | Not enough memory to create task. Add more memory | ROOT | Fatal Fault | Watchdog |
5005 | Failed to create output task: add more memory. | Not enough memory to create task. Add more memory | ROOT | Fatal Fault | Watchdog |
5006 | Failed to create semaphore: add more memory. | Failed to create sync semaphore. Add more memory. | ROOT | Fatal Fault | Watchdog |
5007 | Internal error. Contact technical support. | Internal error. Contact technical support | ROOT | Fatal Fault | Watchdog |
5008 | Internal error. Contact technical support. | Internal error. Contact technical support | ROOT | Fatal Fault | Watchdog |
5009 | Serial communication error; Bad BCC. Try again | Failed to match Block control character in message. | ASYNC | Error | |
5010 | Serial communication error; Bad protocol data. Try again | Failed to detect new line in message. | ASYNC | Error | |
5011 | Serial communication error; Bad protocol data format: try again | Failed to format output message. | ASYNC | Error | |
5012 | Failed to write translator input. | Memory exhausted on RAM drive. Add memory or delete REC files. | Terminal | Error | |
5013 | Internal error. Contact technical support | Internal error. Contact technical support | Terminal | Error | |
5014 | Internal error. Contact technical support | Internal error. Contact technical support | Terminal | Error | |
5015 | Failed to create semaphore: add more memory | Failed to create mutex for active context. Add more memory. | ROOT | Fatal Fault | Watchdog |
5016 | Internal error. Contact technical support | Internal error. Contact technical support | Terminal | Error | |
5017 | Internal error. Contact technical support | Internal error. Contact technical support | Terminal | Error | |
5018 | Internal error. Contact technical support | Internal error. Contact technical support. | Terminal | Error | |
5019 | Internal error. Contact technical support | Internal error. Contact technical support | Terminal | Error | |
5020 | Failed to create internal file: add more memory. | Failed to create back-end output file. Add more memory. | ROOT | Fatal Fault | Watchdog |
5021 | Internal error. Contact technical support | Failed to create memory device. | ROOT | Fatal Fault | Watchdog |
5022 | Virtual input index out of range | Virtual input is out of range. Refer to SYS.VIN in Reference Manual. | SYNC/ ASYNC | Error | Idle Task |
5023 | Virtual output index out of range | Virtual output is out of range. Refer to SYS.VOUT in Reference Manual. | SYNC/ ASYNC | Error | Idle Task |
5024 | Fast data available for axes 1 through 8 only | Fast Data may be enabled only for axes 1 through 8. | SYNC | Error | Idle Task |
5025 | Fast data array index out of range. | Index specified for fast data must be within the range. Refer to fast data properties in Reference Manual. | SYNC | Error | Idle Task |
5026 | Incorrect fast data check sum. | Fast data are not initialized. The host must write valid data before the softMC reads it. | SYNC | Error | Idle Task |
5027 | Internal error. Contact technical support | Internal error. Contact technical support. | SYNC/ ASYNC | Fatal Fault | Watchdog |
5028 | Device is blocked for safety reasons. | N/A for MC | N/A | N/A | |
5029 | No such device. | N/A for MC | N/A | N/A | |
5030 | Unknown error | Internal error. Contact technical support | Terminal | Fatal Fault | Watchdog |
5031 | Internal error. Contact technical support. | Could not create TCP socket | SYNC | Error | Idle Task |
5032 | Could not Bind IP address to TCP socket | Could not Bind IP address to TCP socket | SYNC | Error | Idle Task |
5033 | Could not use TCP socket | Could not “listen” to TCP socket | SYNC | Error | Idle Task |
5034 | Could not accept connection from host | TCP “accept” failed | SYNC | Error | Idle Task |
5035 | Connection lost | Connection lost | SYNC | Note | None |
5036 | Incorrect parameter value | Incorrect parameter value | SYNC | Error | Idle Task |
5037 | Incorrect baud rate value | Incorrect baud rate value | SYNC | Error | Idle Task |
5038 | Cannot configure port - incorrect settings | Cannot configure port - incorrect settings | SYNC | Error | Idle Task |
5039 | Cannot configure port - incorrect settings | Cannot configure port - incorrect settings | SYNC | Error | Idle Task |
5040 | Device handle is already use | Device handle is already use | SYNC | Error | Idle Task |
5041 | Device handle is not valid - use OPEN command | Device handle is not valid - use OPEN command | SYNC | Error | Idle Task |
5042 | Device handle is not valid - use OPEN command | Device handle is not valid - use OPEN command | SYNC | Error | Idle Task |
5043 | Port or file is already open | Port or file is already open | SYNC | Error | Idle Task |
5044 | Could not connect to server | Could not connect to server | SYNC | Error | Idle Task |
5045 | Internal error. Contact technical support | Out of memory. | SYNC | ERR_FAULT_FATAL | Watchdog |
5046 | Cannot execute a command while the Translator is busy | Translator is still busy with previous command | SYNC | Error | Idle Task |
5047 | Cannot execute a command while the MODBUS is started | Cannot execute a command while the MODBUS is started | SYNC | Error | Idle Task |
5048 | Translation of command in Entry station took too long | Translation of command takes too much time.Typically happens at load of large library from the terminal. | Sync | Error | |
5049 | Execution of command in Entry station took too long. | Interpretation of command takes too much time.Typically happens if function/procedure from global library called from terminal has endless loop. Use USER_SET_ES_LOCK_DETECT_TIMEOUT(timeout,0,0) user function to change the default timeout (3000 ms) | Sync | Error | |
5050 | Disk full. | Disk full. | SYNC | Error | Idle Task |
5052 | Other connections are still active. | "Reset all" fails because other computers/devices are connected to another Entry Station. | SYNC | Error | |
5053 | Password authentication required. | Entry station is protected with password. | SYNC | Error | |
5054 | File not open. | Operation on file description, which is close or not valid. | SYNC | Error | |
5055 | Connection is rejected or timed out. | Attempt to connect to TCP/IP server timed out, or actively reset by peer. | SYNC | Error | |
5056 | Connection is refused by peer. | Connection is rejected by peer, most probably peer is not listening to TCP/IP port. | SYNC | Error |
Loader (6000 through 6999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
6001 | Task already exists. | When loading a user task or defining a new event, a process with the same name may already exist. Source : Load, OnEvent | SYNC | Error | |
6002 | Failed to open program file | Failed to open a program file for reading because it: 1) does not exist, 2) there are too many open files, or 3) there is not enough memory. If error occurs on power up, verify the CONFIG.PRG file exists with valid data. | SYNC | Error | |
6003 | Bad element index. | Internal error. Bad task index passed as a parameter. Indicates that system data are not reliable anymore. Data problem Source : Task priority updated, event prolog, epilog | SYNC | Fatal Fault | |
6004 | Array overflow | Too many events/tasks defined (task load, event create) Source : Load, OnEvent | SYNC | Error | |
6005 | Failed to open translator map file. | Internal error. Failed to create MAP file. Source: Loader | SYNC | Error | |
6006 | Cannot open translator error file. | Internal error. Failed to create translator error file in root Source : Loader | SYNC | Error | |
6007 | Task must be killed first | Cannot unload a task if it is not in either the killed or ready state. | SYNC | Error | |
6008 | Task does not exist | When unloading the user task or event, the process with the specified name does not exist. Source: Unload, EventDelete, Task priority get. | SYNC | Error | |
6009 | Failed to run interpreter. | Internal error. Failed to call interpreter function or spawn interpreter task. Resource problem Source : configuration (root),Load, OnEvent | SYNC/ ROOT | Error | |
6010 | Event task already exists | Event task with given name already exists. | SYNC | Error | |
6011 | Failed to create data segment. | Internal error. Cannot allocate data segment when Loading the task. Resource problem Source : Load | SYNC | Error | |
6012 | Failed to create code segment. | Internal error. Cannot allocate code segment when loading the task. Resource problem Source : Load | SYNC | Error | |
6013 | Invalid semaphore ID. | Internal error. Failed to take ITCB mutex. Bad pointer Source : any ITCB routine which tries to update ITCB data (Load, Unload, Priority etc, OnEvent etc.) | SYNC | Fatal Fault | |
6014 | Failed to create data stack. | Internal error. Cannot create interpreter data stack when Load or OnEvent is attempted Resource problem Source : Load, OnEvent | SYNC | Error | |
6015 | Failed to create function stack. | Internal error. Cannot create interpreter function stack when Load or OnEvent. Resource problem Source : Load, OnEvent | SYNC | Error | |
6016 | Failed to create command line code segment. | Internal error. Cannot create command line code segment | ROOT | Fatal Fault | |
6017 | Failed allocate memory for event node. | Internal error. Cannot allocate memory for event node. Resource problem Source : Load, prolog, epilog | SYNC | Error | |
6018 | Specified priority does not exist. | Internal error. Lookup in event list by priority or by event itcb idx failed. The problem may lie with data reliability because some procedures look for elements in the event list. If the element is not in the list, the task is aborted Source: event list management, priority modify. Comment: cannot happen during normal runtime. | SYNC/ ASYNC | Fatal Fault | |
6019 | Invalid event node. | Internal error. Invalid event ID. NULL reference to current/previous active events. Resource problem. Source: event management, priority modify. | SYNC/ ASYNC | Fatal Fault | |
6020 | Invalid parent task node. | Internal error. Invalid parent task ID. Requested ITCB idx is not the same as in the event list. Data integrity violated. Source: Load, Unload Comment: cannot happen during normal runtime. | SYNC | Fatal Fault | |
6021 | Invalid interpreter pointer. | Internal error. NULL pointer to internal interpreter registers encountered. Source : event management Comment: cannot happen during normal runtime. If the error occurs, then this task cannot be handled: NULL pointer to interpreter but ITCB index still exists. | SYNC/ ASYNC | Fatal Fault | |
6022 | Invalid operation code | Internal error. Invalid operation code for loader handler | SYNC | Error | |
6023 | Invalid event list mutex. | Cannot take event list mutex - it is invalid). Bad pointer Source : event management (prolog, epilog), Load, Unload, OnEvent | SYNC/ ASYNC | Fatal Fault | |
6024 | Failed to delete OnError handler | Internal error. Cannot delete OnError handler (message queue, interpreter) Source: OnError. | SYNC | Error | |
6025 | Invalid OnError message queue | Internal error. Invalid OnError message queue ID. Bad pointer. Source: sending error message to OnError task. | ASYNC | Fatal Fault | |
6026 | Reserved task priority | Illegal priority 0 (which is reserved for OnError) specified Source : load, OnEvent, priority modify. | SYNC | Error | |
6027 | Invalid parent task semaphore | Internal error. Happens when an attempt to take parent task sync semaphore fails. Source: Loader, OnEvent, OnError. | SYNC | Fatal Fault | |
6028 | Invalid translator mutex | Internal error. Happens when an attempt to take translator mutex fails. Source : Loader, OnEvent, OnError | SYNC | Fatal Fault | |
6029 | Zero file size detected. | Cannot load an empty file. | SYNC | Error | |
6030 | Failed to create user task error handler | Internal error. Cannot create default task error handler (task spawn, message queue). Source : Load | ROOT | Fatal Fault | |
6031 | Command given in invalid context. | Command given in invalid context. | SYNC | Note | |
6032 | Invalid priority range. | Invalid priority specified. | SYNC | Note | |
6033 | Failed to create translator mutex | Internal error. Occurs at start up when creating translator mutex fails. Source : Loader, OnEvent, OnError | ROOT | Fatal Fault | |
6034 | Failed to open translator output file. | Internal error. Failed to create permanent translator output file. Source : Root | ROOT | Error | |
6035 | Failed to open backend output file. | Internal error. Failed to create permanent backend output. Source : Root | ROOT | Fatal Fault | |
6036 | Cannot open translator string file. | Internal error. Failed to create translator string file in root. Source : Root | ROOT | Fatal Fault | |
6037 | Failed to create mutex. | Internal error. Failed to create loader mutex in ITCB initialization. Source : Root | ROOT | Fatal Fault | |
6038 | Failed to create sync semaphore | Internal error. Root: there is one common sync semaphore for creating tasks and events. | ROOT | Fatal Fault | |
6039 | Failed to retrieve system settings | Internal error. Failed to retrieve system settings. | SYNC/ ASYNC | Fatal Fault | |
6040 | Failed to create command line files. | Internal error. Failed to create temporal command line files (ITCB init). Source : Root | ROOT | Fatal Fault | |
6041 | Cannot create tasks STDIN. | Internal error. Failed to create temporal files. | ASYNC | Error | |
6042 | Cannot open tasks STDIN. | Internal error. Failed to read from temporal task files. | ASYNC | Error | |
6043 | Cannot delete task STDIN | Internal error. Failed to delete the input message queue for a task. | SYNC | Error | |
6044 | Cannot write to tasks STDIN. | Internal error. Failed to write to temporal task files. | ASYNC | Error | |
6045 | Cannot Reset. Stop the task(s) first. | RESET ALL is not allowed if a task is running. | SYNC | Error | |
6046 | File cannot be loaded | This error occurs when trying to load config.prg, system, or other reserved file. | SYNC | Error | |
6047 | Invalid Translator mutex | Internal error. Invalid mutex, Internal error due to memory corruption or limited memory. | SYNC | Fatal Fault | |
6048 | Invalid operation code | Internal error. Invalid operation code. | SYNC | Fatal Fault | |
6049 | Cannot unload library. which is in use. | Failed to unload the library since it is used by other tasks, unload the tasks first. | SYNC | Error | |
6050 | Unknown error | Internal error: unknown error code. | SYNC | Fatal Fault |
Translator (7000 through 7999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
7001 | Error writing to internal translator output file | Error writing to output file of translator. The translator uses a temporary output file on the RAM disk. Add more memory or delete unneeded REC files. This error aborts the translation process. | SYNC | Fault | |
7002 | Error writing to internal translator temporary file | Error writing to the temporary files of the translator. The translator uses a temporary file on the RAM disk. Add more memory or delete unneeded REC files. This error aborts the translation process. | SYNC | Error | |
7003 | Error writing to translator error file | Error writing to the error file of the translator. The translator error file is stored on the RAM disk. Add more memory or delete unneeded REC files. This error aborts the translation process. | SYNC | Error | |
7005 | Errors found during translation | Errors were found during translation. This general message is returned after a LOAD command if translation errors were found in the task. The error severity will be FATAL FAULT if a translation error is found in the CONFIG.PRG file. | SYNC | Error | |
7006 | Variable could not be added to internal symbol table | Internal error. Add more memory. This error will abort the translation process. | SYNC | Error | |
7007 | Variable already declared | A variable can be declared only once. | Translation | Error | |
7008 | Subroutine already exists | The subroutine has already been defined | Translation | Error | |
7009 | Translator temp file could not be opened | Internal error. The temporary file of the translator could not be opened. | SYNC | Error | |
7010 | Value out of range | Value out of range. | SYNC | Error | |
7013 | Undefined motion element in command | The motion element (axis or group) you are trying to use is undefined | Translation | Error | |
7014 | Group cannot be added to symbol table | The symbol table is an internal data structure. If information cannot be written to it, there is not enough memory. Add more memory. | SYNC | Error | |
7015 | Group is already defined | The group being declared already exists. Use a different name for the group. | Translation | Error | |
7016 | Too many axes in Group definition | There are too many axes in the group definition | SYNC | Error | |
7017 | Group cannot be deleted: unload all tasks first | The group cannot be deleted if tasks are loaded in memory. | Terminal | Error | |
7018 | Internal translation error | Internal error | SYNC | Error | |
7019 | Variable does not exist | The variable you're trying to use does not exist. Make sure it has been declared. | Translation | Error | |
7020 | No default motion element: use the WITH instruction | You are trying to use a command without explicitly defining a motion element, and a default motion element has not been defined by the WITH instruction. | Translation | Error | |
7021 | Property valid for Axis only | This property is valid only for axes | Translation | Error | |
7022 | Could not change axis name | Internal error. Contact technical support. | Translation | Error | |
7023 | Axis could not be created | Internal error. Contact technical support. | ROOT | Error | |
7024 | Axes not created | Axes not created. | ROOT | Error | |
7025 | Too many values into vector | Too many values into vector | SYNC | Error | |
7026 | Too many variable names: simplify the expression | The maximum number of variables allowed in an expression is 20. | Translation | Error | |
7027 | Instruction given in invalid context | The command you are trying to use cannot be used in this context. Check the allowed scope of the instruction in the Reference Manual. | Translation | Error | |
7028 | PROGRAM must be on the first line | The PROGRAM keyword must be on the first line | SYNC | Error | |
7029 | Program symbol table not created | Internal error. An internal data structure could not be created. Add more memory or delete unneeded files. | SYNC | Error | |
7032 | CALL references non-existent SUB | You are trying to call a subroutine that does not exist. The subroutine must be defined. | Translation | Error | |
7034 | Translator Initialization failure | Internal error. The translator could not be initialized. Contact technical support. | ROOT | Fatal Fault | |
7035 | Translator syntax error | The syntax of the expression is wrong. Check correct syntax in Reference manual. | Translation | Error | |
7036 | Program structure error | The program must adhere to a well-defined structure. Refer to the section on tasks in the User's Manual. | Translation | Error | |
7037 | Not enough space for parser stacks | Not enough space for parser stacks | SYNC | Error | |
7038 | Parser stack overflow | Parser stack overflow | SYNC | Error | |
7039 | Syntax Error | Syntax Error | SYNC | Error | |
7040 | Translator out of memory | Translator out of memory | SYNC | Error | |
7041 | Invalid numbers of drives | Invalid numbers of drives ( SERCOS ) | SYNC | Error | |
7042 | Event definition not allowed in event action | Event definition is not allowed in event action | SYNC | Error | |
7043 | Event already defined in this program | Event already defined in this program | SYNC | Error | |
7044 | Could not create new event symbol. | Could not create new event symbol. Internal error | SYNC | Error | |
7045 | Unmatched end of event definition block | Unmatched end of event definition block | SYNC | Error | |
7046 | Parameter repetition not allowed | Parameter repetition not allowed | SYNC | Error | |
7047 | Undefined event | Undefined event | SYNC | Error | |
7048 | Label repeated in the same block | Label repeated in the same block | SYNC | Error | |
7049 | GOTO references non-exisiting label | GOTO references non-exisiting label | SYNC | Error | |
7050 | String too long ( limit ?'"`UNIQ--nowiki-00000026-QINU`"'? 80 char) | String too long ( 80 characters ) | SYNC | Error | |
7051 | Too many dimension in declaration - maximum is 10. | Too many dimension in a declaration (maximum number of dimensions is 10) | SYNC | Error | |
7052 | Number of dimension does not match declaration | Number of dimension does not match declaration | SYNC | Error | |
7053 | Label repeated in the same block | Label repeated in the same block | SYNC | Error | |
7054 | If block mismatch | An If block must end with an End If statement | SYNC | Error | |
7055 | While block mismatch | A While block must end with an End While statement. | SYNC | Error | |
7056 | For block mismatch | AFor block must end with a Next {variable_name} statement. | SYNC | Error | |
7057 | Invalid array index | Invalid array index | SYNC | Error | |
7058 | Name already declared as variable, axis, group, or function | Name already declared as variable, axis, group, or function | SYNC | Error | |
7059 | Invalid number of coordinates | This error occurs when performing an operation between two points with mismatching number of coordinates. | SYNC | Error | |
7060 | Name of group is invalid | Name of group is invalid | SYNC | Error | |
7061 | Variable cannot be deleted from the symbol table | Variable cannot be deleted from the symbol table | SYNC | Error | |
7063 | Error definition allowed only once in program | Error definition allowed only once in program | SYNC | Error | |
7064 | Unmatched end of error definition block | Unmatched end of error definition block | SYNC | Error | |
7065 | Command not allowed into OnError block | Command not allowed into OnError block | SYNC | Error | |
7066 | Wrong index type. Index must be of long type | The type of the index of the array must be long | SYNC | Error | |
7067 | Wrong input type | Wrong input type. | SYNC | Error | |
7068 | Index of array must be a constant value | The number of elements in an array must be declared with a constant value. | SYNC | Error | |
7069 | Name is a reserved command name or contains invalid symbols | Variables, system elements, subroutines and functions cannot have a name identical to a reserved command name, or a name containing symbols other than letters, numbers and underlines. | SYNC | Error | |
7071 | With block mismatch | A With block definition must end with the End With statement | SYNC | Error | |
7072 | Case Select block mismatch | A Select Case block must end with an End Select statement. | SYNC | Error | |
7073 | Invalid name of motion element | Invalid name of motion element | SYNC | Error | |
7074 | Property valid for group only | Property valid for group only | SYNC | Error | |
7075 | Too many spaces | Too many consecutive spaces (more than 83) in a command | SYNC | Error | |
7076 | Motion element must be an axis | Motion element must be an axis | SYNC | Error | |
7077 | Motion element must be a group | Motion element must be a group | SYNC | Error | |
7078 | This property isn't a system property | This property isn't a system property | SYNC | Error | |
7079 | Wrong given master type | Incorrect master type (3 master types currently defined) | SYNC | Error | |
7084 | Wrong syntax for joints | Command cannot be applied for joint axes (J axes). | |||
7087 | Dimension mismatch | Dimension mismatch. Used when trying to assign an array during declaration. | Error | ||
7089 | User function does not exist | A user function is called that does not exist or is not loaded into memory | SYNC | Error | |
7090 | System camming element does not exist | System camming element does not exist | Error | ||
7091 | Camming element can only be a system element | Camming element can only be a system element (not a program or a local variable ) | Error | ||
7092 | Wrong input type for the select statement. | Invalid input type. | Error | ||
7095 | The hex/decimal/bin keywords can only be used in a query command | The hex/decimal/bin keywords can only be used in a query command | SYNC | Error | |
7096 | OnError can be defined only once in a program | OnError can be defined only once in a program | SYNC | Error | |
7097 | Incorrect print format | This error occurs if the print format for a print using statement is incorrect. | SYNC | Error | |
7100 | This property is a nodal only property | This property is a nodal only property | SYNC | Error | |
7102 | Try block mismatch | A Try block must end with an End Try statement. | SYNC | Error | |
7103 | Cannot write a catch-case after the finally-case | A user cannot write another catch statement after the finally statement. | SYNC | Error | |
7104 | This is a read-only property | Cannot assign a property that is read only. | SYNC | Error | |
7105 | Undefined PLS in command | Undefined PLS in command | SYNC | Error | |
7106 | PLS could not be added to symbol table | A PLS could not be added to the symbol table. This is due to a memory fault. | SYNC | Error | |
7107 | PLS is already defined | PLS is already defined. | SYNC | Error | |
7108 | Invalid PLS name | Name of PLS is invalid. | SYNC | Error | |
7109 | The with block must be closed before entering this block | The with block must be closed. | SYNC | Error | |
7110 | Cannot use locals in this context | Must use a global and program variables in the event conditions and inside event blocks. | SYNC | Error | |
7111 | The maximal length of the expression must be less than 128 | The maximum length of the expression must be less than 128 characters. | SYNC | Error | |
7113 | Expression can only contain strings | Expression can only contain strings | SYNC | Error | |
7114 | This function cannot be used as a condition | This function cannot be used as a event condition. | SYNC | Error | |
7115 | The PLS cannot be declared into a program | The PLS cannot be declared in a program context. | SYNC | Error | |
7117 | Missing end onevent statement | Missing end onevent statement | SYNC | Error | |
7118 | Then statement missing | A THEN statement is missing in the IF statement | SYNC | Error | |
7119 | Library function is not loaded into memory | Did not load the Library file that contains this function/subroutine. | SYNC | Error | |
7120 | Cannot record this kind of expression | Cannot record this kind of expression. | SYNC | Error | |
7121 | This is not a subroutine, but this is a function | Tried to use subroutine syntax for a function. | SYNC | Error | |
7122 | This is not a function, but this is a subroutine | Tried to use function syntax for a subroutine. | SYNC | Error | |
7123 | Multiple definition of Else statement | More then one Else statement in a single If block. | SYNC | Error | |
7124 | Multiple definitions of Next statement | More then one Next statement in a single For block. | SYNC | Error | |
7125 | Cannot record a vector | Cannot record a vector (point). | SYNC | Error | |
7126 | Cannot use vector for condition | Cannot use a vector (point) as condition in event definition, flow control statements, etc. | SYNC | Error | |
7127 | The record file or number of recording points is missing | The record file or number of recording points is missing. | SYNC | Error | |
7128 | The record file or number of recording points is invalid or missing | The recorder file is missing or not valid or number of records is missing or not valid | SYNC | Error | |
7129 | Cannot use this operator for strings | This operator is not valid for strings. For example, you cannot multiply strings. | SYNC | Error | |
7130 | Cannot import library file. Library file must be loaded into memory | Library file must be loaded into memory before importing it. | SYNC | Error | |
7131 | Cannot import file which isn’t a library file | The import command is valid only for Library files. | SYNC | Error | |
7132 | Input can only contain one string input | Tried to use an input that is not a string in Prompt command. | SYNC | Error | |
7133 | Catch statement is missing or must be before the statement block | Catch statement is missing or must be before the statement block. | SYNC | Error | |
7134 | A filename cannot have more than 8 characters | A filename cannot have more than 8 characters. | SYNC | Error | |
7135 | Wrong input parameter for the Print command | The print command has wrong input parameter. | SYNC | Error | |
7136 | Declaration type is missing | The variable type is missing from the variable declaration statement. | SYNC | Error | |
7137 | Parameter name is a reserved command name or contains invalid symbols | A parameter cannot have a name identical to a reserved command name, or a name containing symbols other than letters, numbers and underlines. | SYNC | Error | |
7138 | Cannot use wildcards for this command | Can not use wildcards (*, ?) for this command. | SYNC | Error | |
7139 | Variable passed by reference has another type as in subroutine/function declaration | The variable’s type does not match the type of the corresponding subroutine/function parameter. | SYNC | Error | |
7140 | Cannot pass a constant or a complex expression by reference to subroutine/function | Cannot pass a constant or a complex expression (for example: Var1+Var2) by reference to subroutine or function. | SYNC | Error | |
7141 | Cannot use external device for this command | Cannot use an external device (dump terminal) for this command. | SYNC | Error | |
7142 | Use only long type constants for array size definition | Only long type decimal numbers and constants can be used for array size definition (in an array declaration statement) | SYNC | Error | |
7143 | Cannot import a global library | Cannot apply the Import command on a global library. | SYNC | Error | |
7144 | Subroutine already exists in a global library | Name of subroutine or function was already given to a global subroutine of function | SYNC | Error | |
7145 | The Nodal parameter is inappropriate for this type of motion command | The Nodal parameter cannot be used in this type of motion command (for example: VelocityFinalTrans cannot be used in Move command) | SYNC | Error | |
7146 | Expression can only contain points | Expression can only contain points (for example: assignment of point-type group properties) | SYNC | Error | |
7147 | Wrong robot-type | An invalid robot type was given during declaration or Save command | SYNC | Error | |
7148 | Robot-type mismatch | Robot-type mismatch between point variables or point parameters | SYNC | Error | |
7149 | Statement cannot contain points | Statement cannot contain points (for example: a Select Case statement) | SYNC | Error | |
7150 | Too many coordinates in a vector | A vector cannot contain more than 10 coordinates. | SYNC | Error | |
7151 | Cannot use this operator for points | Cannot use this operator for points (for example: logic operators) | SYNC | Error | |
7152 | Cannot use vectorial multiplication for points | Cannot multiply or divide a point by a point. | SYNC | Error | |
7153 | The variable parameter must be an array | Parameter of command or system function is an array. | SYNC | Error | |
7154 | Incorrect pls type | Incorrect pls type | SYNC | Error | |
7155 | Cannot access a member of a returned-value structure through function call | Cannot access a member of a returned-value structure through function call. For example: ? StructFunc(…, …)->member1 | SYNC | Error | |
7156 | Too many structure members | Too many structure members | SYNC | Error | |
7157 | Name already given to another member of this structure-type | Name was already given to another member of the same structure type. | SYNC | Error | |
7158 | Wrong type for a structure member | Wrong type for a structure member (for example: nesting of structures). | SYNC | Error | |
7159 | Name already declared as a structure-type | Name of structure type was already given to another structure type. | SYNC | Error | |
7160 | Undefined structure-type | Unknown structure type or variable type in variable declaration command. | SYNC | Error | |
7161 | Structure-type mismatch | Structure-type mismatch between structures. | SYNC | Error | |
7162 | Cannot use this operator for structures | Cannot use this operator for structures (for example: all arithmetic operators). | SYNC | Error | |
7163 | Expression can only contain structures | In assignment statement, the expression being assigned into a structure must be a structure too. | SYNC | Error | |
7164 | Statement cannot contain structures | Statement cannot contain structures (for example: a For loop index). | SYNC | Error | |
7165 | Cannot pass a structure member by reference to a subroutine/function | Cannot pass a structure member by reference to a subroutine/function | SYNC | Error | |
7166 | Undefined structure member | The structure member was not defined in the structure type. | SYNC | Error | |
7167 | A semaphore can only be a system element | A semaphore cannot have local or program scope. | SYNC | Error | |
7168 | Cannot pass an array by value to subroutine/function | Cannot pass an array by value to subroutine/function | SYNC | Error | |
7169 | Use only long type decimal values as error numbers in catch statements | Only long-type numbers can be used as error numbers in catch statements. | SYNC | Error | |
7170 | A moving frame can only be a system element | A moving frame cannot have local or program scope. | SYNC | Error | |
7171 | Moving frame element does not exist | Moving frame element does not exist. | SYNC | Error | |
7172 | A compensation table can only be a system element | A compensation table cannot have local or program scope. | SYNC | Error | |
7173 | Compensation table does not exist | Compensation table does not exist | SYNC | Error | |
7175 | This function has no return value | Cannot call a C function that does not return a value through expression statements (for example: by query). | SYNC | Error | |
7176 | This function must be used as an expression | C function returns a value and therefore must be called through expression statements (for example: by query). | SYNC | Error | |
7178 | Cannot pass an axis or a group by value to subroutine/function | Cannot pass an axis or a group (“real” or generic) by value to subroutine/function | SYNC | Error | |
7180 | Cannot use this command or operation for generic axes and groups | Cannot use this command or operation for generic axes and groups (for example: using generic axes for declaration of a real group) | SYNC | Error |
Interpreter (8000 through 8999, 22000 through 22999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
8001 | Division by zero | Division by zero. | SYNC | Error | Idle Task |
8002 | Internal error. Contact technical support. | Interpreter stack underflow. The possible cause is memory corruption or Translator generated invalid code. | SYNC | Fault | Interpreter is prevented from execution. |
8003 | Stack overflow. | Memory exhausted. | SYNC | Fault | Interpreter is prevented from execution. |
8004 | Internal error. Contact technical support. | Interpreter stack underflow. The possible cause is memory corruption or Translator generated invalid code. | SYNC | Fault | Interpreter is prevented from execution. |
8005 | Functions stack overflow. | Memory exhausted. | SYNC | Fault | Interpreter is prevented from execution. |
8006 | Index underflow. | Invalid array index value. | SYNC | Fault | |
8007 | Index overflow. | Invalid array index value. | SYNC | Fault | |
8008 | Task not found. | Task operation failed. Requested task does not exist. | SYNC | Error | |
8009 | Invalid breakpoint location. | Attempt to set breakpoint to invalid location. Example: on comment line or on existing breakpoint. | SYNC | Error | |
8010 | Out of memory. | Memory exhausted. Add more memory or unload unnecessary tasks. | SYNC | Fatal | |
8011 | Internal error. Contact technical support | Run time error in the external to interpreter function. | SYNC | Error | |
8012 | The task has not terminated. | The task execution has not been terminated. This may occur if task is locked within some end-function, such as MOVE or STOP. | SYNC | Error | |
8013 | The task is not stopped. | The task is not stopped (idled). | SYNC | Error | |
8014 | The task is terminated. | Task is terminated (killed). | SYNC | Error | |
8015 | Argument for EXP is out of range | The range of values for the EXP argument is ± 7.09782712893383e+02. Values less than the lower limit can be used, but will return 0. | SYNC | Error | |
8016 | llegal mathematical function call | Invalid argument for mathematical function. | SYNC | Error | |
8017 | Argument for LOG is out of range | The argument to the LOG function must be greater than zero. | SYNC | Error | |
8018 | Negative parameter in SQRT operator | The argument to the SQRT function must be greater than or equal to zero. | SYNC | Error | |
8019 | Internal error. Contact technical support. | Loader passes invalid context definition. | SYNC | Fatal Fault | |
8020 | Varible does not exist. | Variable for watch does not exist. | SYNC | Error | |
8021 | Incorrect number of dimensions. | Wrong number of dimentions for watch. | SYNC | Fault | |
8022 | Task is not running. | Task is stopped (idled). | SYNC | Error | |
8023 | Internal error. Contact technical support. | Element could not be deleted from symbol table. | SYNC | Fault | |
8024 | Task must be killed first. | Task is still running. It may be locked in some end-function such as MOVE. | SYNC | Error | |
8025 | Invalid task state for the `StartTask` command. Kill task first. | Task is not terminated (killed). It may be locked in some end-function such as MOVE. | SYNC | Error | |
8026 | Bad memory address. | Attempted access to an invalid memory address. The error may be due to either a mistake in the application or to memory corruption. | SYNC | Error | |
8027 | Bad I/O address. | Attempted access to an invalid I/O address. The error may be due to either a mistake in the application or to memory corruption. | SYNC | Error | |
8028 | Calculation overflow | Overflow in calculations. | SYNC | Error | |
8029 | Underflow | Underflow in calculations. | SYNC | Error | |
8030 | Internal error. Contact technical support | Invalid mutex ID. The error may be due to memory corruption. | SYNC | Fatal Fault | |
8031 | Internal error. Contact technical support | Invalid mutex ID. The error may be due to memory corruption. | SYNC | Fatal Fault | |
8032 | Internal error. Contact technical support | Error while creating the semaphore. The error occurs when memory is exhausted. | SYNC | Fatal Fault | |
8033 | Internal error. Contact technical support | Code segment has invalid check sum. The reason is memory corruption. | SYNC | Fatal Fault | |
8034 | Internal error. Contact technical support | Invalid token COP; usually due to memory corruption. | SYNC | Fatal Fault | |
8035 | Task is interrupted by OnEvent or OnError | A task debugging command such as STEP or STEPOVER, etc. is disabled due to an interrupted state of a task. The task switches to this state if it is interrupted by ONERROR or ONEVENT. | SYNC | Error | |
8036 | Entry Station output buffer overflow | Entry Station output buffer overflow. Error is caused by an inoperable host or user task sends too many messages. | SYNC | Note | |
8037 | Error loading object file (see file oload.err for more details). | Object file is not valid or contains unresolved symbols | SYNC | Note | |
8038 | The value is out of range | The value passed to the function is out of range | SYNC | Error | |
8039 | Invalid file name | Invalid file name | SYNC | Error | |
8040 | Invalid time or date | Invalid time or date entered. | SYNC | Error | |
8041 | Nothing to retry. | Retry command is applicable anly after a run-time error. | SYNC | Error | |
8042 | Task is busy. | Task is busy; debugging is not allowed. This happens when task is inside the end function. | SYNC | Error | |
8043 | Element could not be deleted while programs are in memory. | Element could not be deleted while programs are in memory. | SYNC | Fault | |
8045 | Cannot stop unbreakable task. | Cannot stop or debug unbreakable task | SYNC | Error | |
8046 | "User authorization code is not recognized. Contact technical support | Contact technical support to validate both Serial Number of your card and Authorisation code | SYNC | Error | No axes available |
8047 | Invalid Authorization code! Contact technical support | Contact technical support to validate your Authorisation code. | SYNC | Error | No axes available |
8049 | Invalid type of variable | Wrong type of variable | SYNC | Error | |
8050 | Argument for trigonometric function is out of range | The maximum value of the argument to a sin(x) or cos(x) is 9.223372036854699e+18 | SYNC | Error | |
8051 | The result of mathematical function overflows | The magnitude of the result is greater than the maximum value of the Double type. | SYNC | Error | |
8052 | Internal error. Contact technical support | Element could not be added to symbol table. Internal Error | SYNC | Fault | |
8053 | No permission: stop the motion first | Motion should be stopped before RESET. | SYNC | Fault | |
8054 | Unrecognized Serial Number. Contact technical support | Contact technical support to validate both Serial Number of your card and Authorisation code | SYNC | Error | No axes available |
8055 | Event/OnError cannot kill a task in which defined. | Event/OnError cannot kill a task in which defined. | SYNC | Error | |
8056 | Wrong file type for this operation | Wrong file type for this operation | SYNC | Error | |
8057 | Invalid time | Invalid time | SYNC | Error | |
8058 | Invalid date | Invalid date | SYNC | Error | |
8059 | Cannot unload a global library while tasks are in memory | Cannot unload a global library while tasks are in memory | SYNC | Error | |
8060 | Global subroutine, function or library could not be deleted from symbol table. | Global subroutine, function or library could not be deleted from symbol table. | SYNC | Error | |
8061 | Subroutine/function contains a call to a non-existent global subroutine/function. | Subroutine/function contains a call to a non-existent global subroutine/function. | SYNC | Error | |
8062 | The file name is too long. A file name should contain no more than 8 characters. | The file name is too long. A file name should contain no more than 8 characters. | SYNC | Error | |
8063 | Error in OnSystemError task | SYNC | Error |
Recorder (9000 through 9999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
9001 | Recorder task cannot be created: add memory. | The recorder task cannot be created. This occurs if there is not enough memory. Add memory or unload tasks that are not necessary. | SYNC | Error | |
9002 | Internal error. Contact technical support. | Internal error. Cannot create recorder mutex. Contact Technical support. | ROOT | Fatal Fault | Watchdog |
9003 | Recorder task already exists. | Only one instance of the recorder is allowed. Issue RECORDCLOSE command and restart the recorder. | SYNC | Error | |
9004 | Invalid record gap value: must be a positive value. | The record gap must be a positive value. | SYNC | Error | |
9005 | Too many record variables. | Up to 6 variables may be specified for recording. | SYNC | Error | |
9006 | Number of points must be a positive value. | Invalid number of record points: number of points must be a positive value | SYNC | Error | |
9007 | Out of memory. | Not enough memory for record operation. Add memory, or unload tasks that are not necessary. This can happen if the RECORD command specifies more data than can be stored in the available free memory. | SYNC | Error | |
9008 | Insufficient disk space to store recorded data. | Record data are stored on the RAM disk when RECORDCLOSE is issued. There is not enough free space on the RAM disk to store the recorded data. Delete files from the RAM disk and then try executing the RECORDCLOSE command again. Adding memory would be the permanent solution for this problem. | SYNC | Error | |
9009 | Internal error. Contact technical support. | Internal error. Disk I/O operation fault. Contact technical support. | SYNC | Error | |
9010 | Failed to store recorded data. | Internal error. Contact technical support. | SYNC | Error | |
9011 | Synchronization error. Recorder did not manage to run within a single cycle. | This error occurs if you attempt to record data that cannot be available immediately to the recorder, and that therefore result in the recorder operation not completing before the end of the system cycle. This can happen, for example, if you try to record drive data that need to be accessed from the service channel. | ASYNC | Error | |
9012 | Internal error. Contact technical support. | Internal error. Creation of Data segment failed. Contact technical support. | SYNC | Error | |
9013 | Internal error. Contact technical support. | Internal error. Creation of System segment failed. Contact technical support. | SYNC | Error | |
9014 | Internal error. Contact technical support. | Internal error. Failed to run Interpreter's agent. Contact technical support. | ASYNC | Error | |
9015 | Internal error. Contact technical support. | Internal error. Invalid Mutex ID. Contact technical support. | SYNC | Fatal Fault | Watchdog |
9016 | Invalid record file extension: must be REC. | Invalid file extension specified for recorder file. Only the REC extension is allowed. | SYNC | Error | |
9017 | Recorder has not been initialized. | The RECORD command has to be successfully executed before the RECORDON, RECORDOFF or RECORDCLOSE commands can be executed. | SYNC | Error | |
9018 | Invalid index of recording variable. | Internal error. Contact technical support. | ASYNC | Error | |
9019 | Recording already has been completed. | The RECORDON and RECORDOFF commands cannot be executed if the recording process is complete. Execute the RECORDCLOSE command to save the recorded data on the RAM disk. | ASYNC | Note | |
9020 | Internal error. Contact technical support. | Internal error. Unknown Recorder state. Contact technical support. | ASYNC | Fatal Fault | Watchdog |
9021 | Unknown error. | Internal error. Unknown error code. Contact technical support. | SYNC | Fatal Fault | Watchdog |
Event Handler (10000 through 10999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
10001 | Event does not exist | Event does not exist | SYNC | Error | |
10002 | Too many events defined | To many events defined | SYNC | Error | |
10003 | Invalid event task ID. | Failed to create an event handling task. This may occur during start up. Contact technical support. | ROOT | Fatal Fault | |
10004 | Invalid mutex ID | Invalid mutex ID. Contact technical support. | SYNC | Fatal Fault | |
10005 | Invalid semaphore ID | Invalid semaphore ID. Contact technical support. | SYNC/ ASYNC | Fatal Fault | |
10006 | Invalid event message queue ID | Invalid message queue ID. Contact technical support. | SYNC/ ASYNC | Fatal Fault | |
10007 | Memory allocation failed | Memory allocation failed. Contact technical support. | SYNC | Error | |
10008 | Invalid operation code | Invalid operation code for operation with internal linked list. Contact technical support. | ASYNC | Fatal Fault | |
10009 | Invalid RTS element | Invalid RTS element otained. It could happen at start up. Contact technical support. | ROOT | Error | |
10010 | Event condition not specified | Event condition not specified. Condition pointer is NULL | SYNC | Fatal Fault | |
10011 | Error checking event condition. | Event condition function call failed | ASYNC | Error | |
10012 | Invalid event handle | Event invalid handle. Contact technical support. | SYNC | Fatal Fault | |
10013 | Invalid interpreter handle | Invalid pointer to interpreter internal registers is used. Contact technical support. | SYNC | Fatal Fault | |
10014 | Failed to delete event entry | Failed to delete event entry | SYNC | Error | |
10015 | Task does not exist | Invalid event task name specified | SYNC | Note | |
10016 | Event action task is active | Event task is active (running at the moment of event deletion) | SYNC | Error | |
10017 | Event action is not specified | Pointer to action code is NULL | SYNC | Fatal Fault | |
10018 | Failed to create event mutex ID | Error creating mutual exclusion semaphore for event handler. Contact technical support. | ROOT | Fatal Fault | |
10019 | Failed to create semaphore ID | Error creating synchronization semaphore for event handler. Contact technical support. | ROOT | Fatal Fault | |
10020 | Failed to create event message queue ID | Error creating message queue for event handler. Contact technical support. | ROOT | Fatal Fault | |
10021 | Invalid scan rate specified | Bad value of scan rate | SYNC | Error | |
10022 | Unknown Error | Unknown Error. Contact technical support. | SYNC | Fatal Fault |
Backend Processor (11000 through 11999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
11001 | COP does not match its number. | Internal error. Contact technical support. | Translation | Error | None |
11002 | Error at line of the table of mnemonics. Token name already exists. | Internal error. Contact technical support. | ROOT | Fatal Fault | Watchdog |
11003 | Symbol table of token mnemonics is full. | The symbol table allocated for token mnemonics is full. There is not enough memory available to create an internal data structure. Add more memory. | ROOT | Fatal Fault | Watchdog |
11004 | Unable to create symbol table for mnemonics. | There is not enough memory available to create an internal data structure. Add more memory. | ROOT | Fatal Fault | Watchdog |
11005 | Unable to create symbol table for user names(labels). | There is not enough memory available to create an internal data structure. Add more memory. | ROOT | Fatal Fault | Watchdog |
11006 | Unable to delete symbol table for mnemonics. | Internal error. Contact technical support. | ROOT | Fatal Fault | Watchdog |
11007 | Unable to delete symbol table for user names(labels). | Internal error. Contact technical support. | ROOT | Fatal Fault | Watchdog |
11008 | Name already defined. | Internal error. Contact technical support. | SYNC | Error | Idle Task |
11009 | Symbol table of user names(labels) is full. | Not enough memory for translation. Add memory, or unload tasks that are not necessary. | SYNC | Error | Idle Task |
11010 | Token mnemonic is invalid (unknown). | Internal error. Contact technical support. | SYNC | Error | Idle Task |
11011 | Number of parameters at line does not match the token | Internal error. Contact technical support. | SYNC | Error | Idle Task |
11012 | This token data type is not supported yet. | Internal error. Contact technical support. | SYNC | Error | Idle Task |
11013 | Symbol or label has not been defined. | Internal error. Contact technical support. | SYNC | Error | Idle Task |
11014 | Calculated length of the token does not match its predefined value. | Internal error. Contact technical support. | SYNC | Error | Idle Task |
11016 | Out of disk space. | Out of disk space while attempting to write temporary file to RAM drive. Add more memory or delete REC files. | SYNC | Error | Idle Task |
11017 | Cannot find library map | Internal error. Contact technical support. | SYNC | Error | Idle Task |
11018 | Library Map file is invalid | Internal error. Contact technical support. | SYNC | Error | Idle Task |
11019 | Invalid Error code | Internal error. Contact technical support. | SYNC | Fatal Fault | Watchdog |
SERCOS (12000 through 12999)
SERCOS is not supported in EtherCAT system.
Contact Servotronix for SERCOS solutions.
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
12001 | Service Channel not open | Drive indicates it cannot open the service channel. Contact technical support. | SYNC | Error | |
12002 | MDT telegram processing overrun | Overlap between reference generation and transmission. Try using a higher baud rate, longer cycle time, and reducing the amount of cyclic data. | ASYNC | Error | |
12003 | Interrupt Service Routine Overlap: use longer cycle time. | ISR's duration is too long (more than one communication cycle). Try using a higher baud rate, longer cycle time, and reducing the amount of cyclic data. | SYNC | Error | |
12004 | Service channel timeout waiting for drive | Timeout during service channel transmission. Change the communication phase to 0 and try using longer cycle time. If error persists, call technical support. | SYNC | Error | |
12005 | Service channel timeout while drive is busy | Timeout during service channel transmission. Change the communication phase to 0, bring the ring up and try again. Another solution would be using longer cycle time. If error persists, call technical support | SYNC | Error | |
12006 | Undefined error number | Undefined error code. Internal error. Contact technical support. | SYNC | Fatal Fault | Watchdog |
12007 | Axis cannot be enabled: check C1D and Remote Enable | This error occurs if the softMC times out while trying to enable the drive. A drive cannot be enabled if the drive is reporting a C1D error or if the drive's hardware enable signal is Off. You can check this by querying IDN P15 in the CD drive. | SYNC | Error | |
12008 | Axis cannot be disabled | This error occurs if the softMC times out while trying to disable the drive. Refer to IDN207 in the drive or contact technical support. | SYNC | Error | Bring the ring down to CP0 |
12009 | Invalid access to closing the Service Channel | Internal error. Contact technical support. | SYNC | Error | |
12010 | Axis in group cannot be enabled: check C1D and Remote Enable | This error occurs if the softMC times out while trying to enable the drive. A drive cannot be enabled if the drive is reporting a C1D error or if the drive's hardware enable signal is Off. You can check this by querying IDN P15 in the CD drive. | SYNC | Error | |
12011 | Axis in group cannot be disabled | This error occurs if the softMC times out while trying to disable the drive. Refer to IDN207 in the drive or contact technical support. | SYNC | Error | Bring the ring down to CP0 |
12012 | Drive not ready for power up | A drive cannot be enabled if the drive is reporting a C1D error or if the drive's hardware enable signal is Off. | SYNC | Error | |
12013 | Drive reports fault in C1D: read IDN 95 to get the error | When a drive fault occurs, the drive decelerates to a stop and releases torque. The C1D status bit is set and the corresponding fault bits are set in IDN 11. Faults are reset using IDN 99. | SYNC/ASYNC | Error | Drive is disabled |
12014 | Telegram data corrupted | Telegram data received from the drive is invalid. Contact technical support. | ASYNC | Note | |
12015 | One of the programming error flags is active | One of the SERCOS programming times was incorrect. Contact technical support. | ASYNC | Error | |
12016 | Invalid drive address | There may be a conflict between the axis DriveAddress and Simulated properties. If an axis is simulated, the drive address must be set to 0. If the axis is real, the simulated property must be set to 0 (Off). Check if exists on ring drive in this address. | SYNC | Error | |
12017 | No IDN: IDN being accessed is not defined in the drive | The IDN number being used is not defined in the drive. Check the drive manual. | SYNC | Error | |
12022 | Bad handle-function index | Internal error. Contact technical support. | SYNC | Error | |
12023 | Service channel data not initialized | Internal error. Contact technical support | SYNC | Error | |
12024 | Wrong bus bus operation mode | The command requires EtherCAT/CAN bus to be in OP state or phase #4 in case of SERCOS bus. | SYNC | Error | |
12025 | Invalid access to the element 1 | Element 1 of the IDN holds the IDN number. Access to this element is read-only. | SYNC | Error | |
12026 | Wrong ring number | Internal error. Contact technical support. | SYNC | Fatal Fault | Watchdog |
12027 | Too many drives for this ring. | Internal error. Contact technical support. | SYNC | Error | |
12028 | Wrong AT number. | Internal error. Contact technical support. | SYNC | Error | |
12029 | Not enough memory. | Not enough memory to allocate internal data structures. Add memory or unload unnecessary tasks. | SYNC | Error | |
12030 | SERCOS ring is broken: check the SERCOS wiring | At the transition from Phase 0 to Phase 1, the softMC checks whether the ring is closed by transmitting data and then verifying that it receives this data. This error occurs if the ring is open. In some cases, an invalid baud rate setting causes this error. | SYNC | Error | |
12031 | No memory to maintain Service container | Try to use less drives on the ring or contact technical support. | SYNC | Error | |
12032 | Service transfer not ready | Internal error. Contact technical support. | SYNC | Error | |
12033 | No name | Element 2 of drive's IDN table should contain the name of the IDN. The IDN has not been assigned a name. | SYNC | Error | |
12034 | Name transmission too short | Drive expects more information for the IDN name. | SYNC | Error | |
12035 | Name transmission too long. | Drive expects less information for the IDN name. | SYNC | Error | |
12036 | Name cannot be changed | The name of the IDN may not be changed. | SYNC | Error | |
12037 | Name is write-protected at this time. | The name of the IDN cannot be changed in the current communication phase. | SYNC | Error | |
12038 | Service transfer data unavailable | Internal error. Contact technical support. | SYNC | Error | |
12039 | Initialization error | An error occurred during Initialization of the SERCOS module. | ROOT | Fatal Fault | Watchdog |
12040 | Service channel hand-shake time-out. | Service channel hand-shake time-out. Drive does not acknowledge service transmission. | SYNC | Error | |
12041 | Missing telegram(s): communication interrupted | Controller did not receive telegram from the drive(s) in communications phase 2. This error is generated when a drive stops functioning, or when there is a timing problem on the SERCOS bus. | SYNC | Error | Bring the ring down to CP0 |
12042 | DPRAM overflow. Two many drives for this ring | Not enough DPRAM space to allocate data structures. Try configure less cyclic data in telegrams (IDN’s 16 and 24) or use less drives. | SYNC | Error | |
12043 | Data element too long | This error occurs when drive cannot accept long data array for the particular IDN. | SYNC | Error | |
12044 | Error calculating T2: increase cycle time or baud rate | Error calculating MDT starting time. There is an expected time overlap between the AT's and the MDT. Either increase the cycle time, increase baud rate, simplify the telegrams, or decrease the number of drives. | SYNC | Error | |
12045 | Error calculating T3 | Error calculating command value valid time. The time calculated for T3 exceeds the SERCOS cycle time. This may be due to different drives being on the ring, with different processing requirements. | SYNC | Error | |
12046 | Error calculating T4 | Error calculating feedback acquisition capture point. The time calculated for T4 exceeds the SERCOS cycle time. This may be due to different drives being on the ring, with different processing requirements. | SYNC | Error | |
12047 | Error calculating TEND | Error calculating end of transmission time. The time calculated exceeds the SERCOS cycle time. Increase the cycle time, increase baud rate, simplify the telegrams, or decrease the number of drives. | SYNC | Error | |
12048 | No service data | Internal error. Contact technical support. | SYNC | Error | |
12050 | Attribute transmission too short | Internal error. Contact technical support. | SYNC | Error | |
12051 | Attribute transmission too long | Internal error. Contact technical support. | SYNC | Error | |
12052 | Attribute cannot be changed | Element 3 of the IDN is write protected. Attribute cannot be changed. | SYNC | Error | |
12053 | Attribute is write protected at this time | Cannot change the attribute in the current communication phase. | SYNC | Error | |
12054 | Service transfer not error-free | Internal error. Contact technical support | SYNC | Error | |
12055 | Missing telegram(s): communication interrupted | Controller did not receive telegram from the drive(s). This error is generated if a drive stops functioning, or if there is a timing problem on the SERCOS bus. Communication interrupted due to missing telegram(s) in communication phase 3 or communication phase 4. | ASYNC | Error | Bring the ring down to CP0 |
12056 | Wrong IDN number: the IDN must be defined | One of the IDN’s wasn’t defined or there are no free place for this IDN. If error persists, call technical support. | SYNC | Error | |
12057 | Wrong telegram type specified in IDN15 | Data telegram type number is out of range (0..7). | SYNC | Error | |
12058 | Wrong element number: must be in range 1..7 | An IDN has 7 elements, each storing a different attribute of the IDN. Element number 7 is used to store the value of the IDN, and it is the element most frequently used. The element range is 1 to 7. | SYNC | Error | |
12059 | Communication phase 3 transition check failed | Execution of CP2 to CP3 transition procedure (IDN127) failed. Check IDN 21 to obtain a list of invalid operation data. | SYNC | Error | |
12060 | Communication phase 4 transition check failed | Execution of CP3 to CP4 transition procedure IDN#00128 failed. Check IDN 22 to obtain a list of invalid operation data. | SYNC | Error | |
12061 | Error creating MutEx for the Service channel task | Internal error. Contact technical support | SYNC | Fatal Fault | Watchdog |
12062 | Cannot create MsgQ to provide service transmission | Internal error. Contact technical support | SYNC | Fatal Fault | Watchdog |
12063 | Error creating Service event semaphore | Internal error. Contact technical support. | SYNC | Fatal Fault | Watchdog |
12064 | Cannot pass communication phase 1: drive address(es) not declared. | Drive addresses must be declared explicitly (<axis>.DRIVEADDRESS) or implicitly (SERCOS.SCAN) for the ring to be scanned. The SERCOS.SCAN property can be used for automatic scanning. | SYNC/ ASYNC | Error | |
12065 | No units | Element 4 of drive's IDN table should contain the units of the IDN. The IDN has not been assigned units | SYNC | Error | |
12066 | Unit transmission too short. | Internal error. Contact technical support. | SYNC | Error | |
12067 | Unit transmission too long | Internal error. Contact technical support. | SYNC | Error | |
12068 | Unit cannot be changed | Element 4 of the IDN is write-protected. Units cannot be changed | SYNC | Error | |
12069 | Unit is write protected at this time | The units of the IDN cannot be changed in the current communication phase. | SYNC | Error | |
12070 | Incorrect value or value out of range | Invalid value assignment at this statement. See the entry in the reference manual for this command. | SYNC | Error | |
12071 | Cannot proceed to communication phase 1: check baud rate and drive addresses | This error occurs if the system cannot be advanced to communication phase 1. This can happen if the baud rates in the drives and controller are not matched. It can also happen if there is a conflict between the DRIVEADDRESS property and the SIMULATED property. If an axis is simulated, the drive address must be set to 0. If the axis is real, the simulated property must be set to 0 (Off). | SYNC/ASYNC | Error | |
12072 | The drive address has already been assigned to another axis | Each axis must be assigned a unique drive address. There cannot be multiple drives with the same address. | SYNC | Error | |
12073 | Not valid for simulated axis | Cannot perform this command for simulated axis | SYNC | Error | |
12074 | Invalid request for service channel transmission | Internal error. Contact technical support. | SYNC | Fatal Fault | Watchdog |
12075 | Invalid data pointer | Internal error. Contact technical support. | SYNC | Error | |
12076 | Unknown operation data type for this command | Internal error. Contact technical support. | SYNC | Error | |
12077 | Cannot redefine default IDN | Internal error. Contact technical support. | SYNC | Error | |
12078 | List of IDNs defined as cyclic data is too long | The length of the IDN list declared by an user is too long. Try use simpler telegrams or contact technical support. | SYNC | Error | |
12079 | Cannot enable axis: System Enable property is off | A drive cannot be enabled if the System.Enable property is OFF. Set this property to on to allow the drives to be enabled, and then enable the axis. | SYNC | Error | |
12081 | No minimum value | Element 4 of drive's IDN table should contain the units of the IDN. The IDN has not been assigned a minimum value. | SYNC | Error | |
12082 | Minimum value transmission too short. | Internal error. Contact technical support. | SYNC | Error | |
12083 | Minimum value transmission too long | Internal error. Contact technical support. | SYNC | Error | |
12084 | Minimum value cannot be changed. | Element 5 of the IDN is write-protected. Minimum value cannot be changed. | SYNC | Error | |
12085 | Minimum value is write protected at this time | The minimum value of the IDN cannot be changed in the current communication phase. | SYNC | Error | |
12086 | Error of synchronization with the drive | Synchronization between SERCOS driver and motion module lost | ASYNC | Note | |
12087 | Return back to CP0 due to a missed telegram | Telegram missed in CP1 or CP2 | SYNC | Error | |
12088 | An error occurred on the drive | Drive reports about Class 1 Diagnostic fault. Check IDN 95 to get the diagnostic message. | ASYNC | Error | Drive is disabled |
12089 | Drive does not respond | This message is generated in CP1 when the master scans drive addresses. Check correspondence <axis>.DRIVEADDRESS property with the actual drive addresses. | ASYNC | Note | |
12090 | Drive telegram error | Telegram received from the drive is not error-free. This message may be followed by the missing telegram error. | ASYNC | Note | |
12091 | The IDN being declared in cyclic data is not defined | Check in drive IDN documentation if this IDN exists in drive. | SYNC | Error | |
12092 | Wrong operation data length for IDN | Wrong operation data length was specified in definition of the IDN. | SYNC | Error | |
12093 | Receiving telegram over-run | One of the SERCOS programming times was incorrect. Contact technical support. | ASYNC | Error | |
12094 | Telegram processing cannot follow receiving rate | One of the SERCOS programming times was incorrect. Contact technical support. | ASYNC | Error | |
12097 | No maximum value. | Element 6 of drive's IDN table should contain the units of the IDN. The IDN has not been assigned a maximum value. | SYNC | Error | |
12098 | Maximum value transmission too short. | Internal error. Contact technical support. | SYNC | Error | |
12099 | Maximum value transmission too long | Internal error. Contact technical support. | SYNC | Error | |
12100 | Maximum value cannot be changed. | Element 6 of the IDN is write protected. Maximum value cannot be changed. | SYNC | Error | |
12101 | Maximum value is write protected at this time | The maximum value of the IDN cannot be changed in the current communication phase. | SYNC | Error | |
12114 | Operation data transmission too short. | Drive expects more information for the IDN data. Refer to the drive’s IDN manual. | SYNC | Error | |
12115 | Operation data transmission too long. | Drive expects less information for the IDN data. Refer to the drive’s IDN manual. | SYNC | Error | |
12116 | Operation data cannot be changed | The operation data of the IDN may not be changed. | SYNC | Error | |
12117 | Operation data is write protected at this time. | The operation data of the IDN cannot be changed in the current communication phase. Refer to the drive’s IDN manual. | SYNC | Error | |
12118 | Operation data are smaller than the minimum value. | Operation data of the IDN should be equal or greater than that defined in Element 5. | SYNC | Error | |
12119 | Operation data are greater than the maximum value. | Operation data of the IDN should be equal or less than that defined in Element 6. | SYNC | Error | |
12120 | Invalid data (e.g., invalid bit combination for this IDN). | The drive cannot accept the value written. Refer to description of the IDN entry in the Drive’s IDN manual. | SYNC | Error | |
12121 | Operation data are password write-protected | Operation data are password write-protected. Refer to drive’s manual to get more information on IDN password protection. | SYNC | Error | |
12122 | IDN is configured in the MDT or AT, therefore writing to it over the service channel not permitted | Operation data is write-protected at this time, since it is cyclically configured. | SYNC | Error | |
12123 | Invalid indirect addressing: (eg. data container, list handling) | Internal error. Contact technical support. | SYNC | Error | |
12124 | Operation data is write protected at this time, due to other adjustments (e.g. parameter, operating mode, drive release, drive etc.). | Refer to description of the IDN entry in the Drive’s IDN manual. | SYNC | Error | |
12128 | Procedure already activated | Check IDNstate of this procedure. Refer to description of the IDN procedure entry in the Drive’s IDN manual for check limitation of this procedure | SYNC | Error | |
12129 | Procedure not interruptible | This procedure can’t be interrupted. Refer to description of the IDN procedure entry in the Drive’s IDN manual for check limitation of this procedure | SYNC | Error | |
12130 | Procedure cannot be executed at this time (e.g. procedure in this phase cannot be activated) | Refer to description of the IDN procedure entry in the Drive’s IDN manual for check limitation of this procedure | SYNC | Error | |
12131 | Procedure cannot be executed (invalid or false parameters) | The parameter of this procedure is invalid. Refer to description of the IDN procedure entry in the Drive’s IDN manual. | SYNC | Error |
ROBOT (13000 through 13999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
13102 | Additive torque value is over threshold limit. | SYNC | Error | ||
13103 | Additive torque value is over threshold limit when motion is stopped: drive disabled. | ASYNC | Error | ||
13104 | X coordinate beyond XMAX limit. | SYNC/ASYNC | Error | ||
13105 | X coordinate beyond XMIN limit. | SYNC/ASYNC | Error | ||
13106 | Y coordinate beyond YMAX limit. | SYNC/ASYNC | Error | ||
13107 | Y coordinate beyond YMIN limit. | SYNC/ASYNC | Error | ||
13108 | Z coordinate beyond ZMAX limit. | SYNC/ASYNC | Error | ||
13109 | Z coordinate beyond ZMIN limit. | SYNC/ASYNC | Error | ||
13110 | Chair Side Engine Kinematics: alpha exceeds ALPHAMAX. | SYNC/ASYNC | Error | ||
13111 | Chair Side Engine Kinematics: carriages 1 & 2 collision. | SYNC/ASYNC | Error | ||
13112 | Chair Side Engine Kinematics: carriages 1 & 2 too far from each other. | SYNC/ASYNC | Error | ||
13113 | Chair Side Engine Kinematics: carriages 2 & 3 collision. | SYNC/ASYNC | Error | ||
13114 | Chair Side Engine Kinematics: Z coordinate contradicts mechanical model. | SYNC/ASYNC | Error | ||
13115 | Chair Side Engine Kinematics: B angle contradicts mechanical model. | SYNC/ASYNC | Error | ||
13116 | Direct Kinematics error on feedback position. | ASYNC | Error | ||
13117 | Robot too slow or Moving Frame too fast. | ASYNC | Error | ||
13118 | Unable to smooth out the given path [iterations], try to reduce velocity or change the path. | SYNC | Error | ||
13119 | Too many points for smoothing, either there are too many points or the velocity is too slow. | SYNC | Error | ||
13120 | In Smoothing: Wrong position of the slow-down/speed-up point. | SYNC | Error | ||
13121 | Unable to smooth out the given path [offset], try to reduce velocity or change the path. | SYNC | Error | ||
13123 | Invalid AxisType settings. AxisType of robot axes should comply to its kinematics model. | SYNC | Error | ||
13128 | Unable to smooth out the given path [shrinking], try to reduce velocity or change the path. | SYNC | Error | ||
13129 | Traverse Arm: Y Coordinate exceeds link's length. | SYNC | Error | ||
13130 | DELTA: Internal singularity. | SYNC/ASYNC | Error | ||
13131 | Parts of the given trajectory includes points not reachable by the robot. | SYNC | Error | ||
13132 | Singularity margin - no Cartesian interpolation allowed. | SYNC | Error | ||
13133 | ModelEnable flag automatic reset. | SYNC | Error | ||
13134 | ModelEnable flag is zero, no motion allowed. | SYNC | Error | ||
13142 | X coordinate beyond WORKPIECE.XMAX limit. | SYNC/ASYNC | Error | ||
13143 | X coordinate beyond WORKPIECE.XMIN limit. | SYNC/ASYNC | Error | ||
13144 | Y coordinate beyond WORKPIECE.YMAX limit. | SYNC/ASYNC | Error | ||
13145 | Y coordinate beyond WORKPIECE.YMIN limit. | SYNC/ASYNC | Error | ||
13146 | Z coordinate beyond WORKPIECE.ZMAX limit. | SYNC/ASYNC | Error | ||
13147 | Z coordinate beyond WORKPIECE.ZMIN limit. | SYNC/ASYNC | Error | ||
13148 | X coordinate beyond MACHINETABLE.XMAX limit. | SYNC/ASYNC | Error | ||
13149 | X coordinate beyond MACHINETABLE.XMIN limit. | SYNC/ASYNC | Error | ||
13150 | Y coordinate beyond MACHINETABLE.YMAX limit. | SYNC/ASYNC | Error | ||
13151 | Y coordinate beyond MACHINETABLE.YMIN limit. | SYNC/ASYNC | Error | ||
13152 | Z coordinate beyond MACHINETABLE.ZMAX limit. | SYNC/ASYNC | Error | ||
13153 | Z coordinate beyond MACHINETABLE.ZMIN limit. | SYNC/ASYNC | Error | ||
13154 | X coordinate beyond BASE.XMAX limit. | SYNC/ASYNC | Error | ||
13155 | X coordinate beyond BASE.XMIN limit. | SYNC/ASYNC | Error | ||
13156 | Y coordinate beyond BASE.YMAX limit. | SYNC/ASYNC | Error | ||
13157 | Y coordinate beyond BASE.YMIN limit. | SYNC/ASYNC | Error | ||
13158 | Z coordinate beyond BASE.ZMAX limit. | SYNC/ASYNC | Error | ||
13159 | Z coordinate beyond BASE.ZMIN limit. | SYNC/ASYNC | Error | ||
13160 | X coordinate beyond TOOL.XMAX limit. | SYNC/ASYNC | Error | ||
13161 | X coordinate beyond TOOL.XMIN limit. | SYNC/ASYNC | Error | ||
13162 | Y coordinate beyond TOOL.YMAX limit. | SYNC/ASYNC | Error | ||
13163 | Y coordinate beyond TOOL.YMIN limit. | SYNC/ASYNC | Error | ||
13164 | Z coordinate beyond TOOL.ZMAX limit. | SYNC/ASYNC | Error | ||
13165 | Z coordinate beyond TOOL.ZMIN limit. | SYNC/ASYNC | Error |
Root Process (16000 through 16999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
16001 | Root : softMC Hardware | softMC Hardware Error | ASYNC | Fatal Fault | Watchdog |
16002 | Root : Entry Station(s) | Entry Station(s) Error | ASYNC | Fatal Fault | |
16003 | Root : System Clock | System Clock Error | ASYNC | Fatal Fault | |
16004 | Root : Translator | Translator Error | ASYNC | Fatal Fault | |
16005 | Root : Back-End | Back-End Error | ASYNC | Fatal Fault | |
16006 | Root : RAM Drive | RAM Drive Error | ASYNC | Fatal Fault | |
16007 | Root : Flash File System | Flash File System Error | ASYNC | Fatal Fault | |
16008 | Root : FLASH and File system | FLASH and File system Error | ASYNC | Fatal Fault | |
16009 | Root : Error handler | Error handler Error | ASYNC | Fatal Fault | |
16010 | Root : Task Control Block | Task Control Block Error | ASYNC | Fatal Fault | |
16011 | Root : Real Time Scheduler | Real Time Scheduler Error | ASYNC | Fatal Fault | |
16011 | Root : Real Time Scheduler | Real Time Scheduler Error | ASYNC | Fatal Fault | |
16012 | Root : Built-in Diagnostic | Built-in Diagnostic Error | ASYNC | Fatal Fault | |
16013 | Root : SERCOS Communications | SERCOS Communications Error | ASYNC | Fatal Fault | |
16014 | Root : Motion Module | Motion Module Error | ASYNC | Fatal Fault | |
16015 | Root : System Configuration | System Configuration Error | ASYNC | Fatal Fault | |
16016 | Root : User configuration file | User configuration file Error | ASYNC | Fatal Fault | |
16017 | Root : ITCB Setup | ITCB Setup Error | ASYNC | Fatal Fault | |
16018 | Root : Event Handler | Event Handler Error | ASYNC | Fatal Fault | |
16019 | Root : Recorder | Recorder Error | ASYNC | Fatal Fault | |
16020 | Root : Fault Handler | Fault Handler Error | ASYNC | Fatal Fault | |
16022 | Root : I/O Module | I/O Module Error | ASYNC | Fatal Fault | |
16023 | Root : Serial Number Specification | Serial Number Specification Error | ASYNC | error | |
16024 | Root : User Authorization Code Specification File | User Authorization Code Specification File Error | ASYNC | Error | |
16025 | Root : Hardware power-up tests | Hardware power-up tests Error | ASYNC | Fatal Fault | Watchdog |
16026 | Config.prg failed | Config.prg failed. See error history and retrieve trn.err for more details. | ASYNC | Fatal Fault | Watchdog |
16032 | Autoexec.prg failed | Autoexec.prg failed. See error history and retrieve trn.err for more details. | ASYNC | Error | |
16036 | Root : Current running firmware version is the backup version not last updated version. | Current running firmware version is the backup version not last updated version. | ASYNC | Note | |
16037 | Root : DPRAM Test | DPRAM Test Error | ASYNC | Fatal Fault | |
16038 | Root : SERCON DPRAM Test | SERCON DPRAM Test Error | ASYNC | Fatal Fault | |
16039 | Root : Microchip PIC | Microchip PIC Error | ASYNC | Fatal Fault | |
16040 | Root : Boot message, displays firmware version and boot time. | Boot message, displays firmware version and boot time. | ASYNC | Information |
Motion bus (19000 through 19009)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
19001 | Drive cannot be enabled. | Drive cannot be enabled. Drive got fault or hardware enable or STO chain is open. | SYNC | Error | |
19002 | Drive cannot be disabled. | Drive cannot be disable. System could not disable drive. | SYNC | Error | |
19003 | Communication error. | Not used. | SYNC | Error | |
19004 | Drive reports error. | Drive got fault: SERCOS: look into C1D, EtherCAT/CAN: look into SDO 0x603F | SYNC | Error | |
19005 | Cannot enable axis: System Enable property is off. | Sys.Enable is 0 | SYNC | Error | |
19006 | Drive reports warning. | Drive has warning. | ASYNC | Note | |
19007 | Bus fault. | Most probable that cable is disconnected. | ASYNC | Error | |
19008 | Invalid value. | Provided value for parameter of flag is not valid. | SYNC | Error | |
19009 | Property value can not be changed while drive is enabled. | Cannot change while enabled. | SYNC | Error | |
19010 | Duplicated address. | Attempt to assign the same physical address to more than one axis. | SYNC | Error | |
19011 | Node is not a servo drive. | Attempt to assign a physical address of I/O module to axis.driveaddress property. | SYNC | Error | |
19012 | Cannot enable axis/group. | Cannot enable axis or group of axes. Usually occurs due to missing/inverted drive's hardware enable signal, or one of axis has wrong or zero drive address axis.dadd property. | SYNC | Error | |
19013 | Cannot clear fault on drive. | Fault on drive persists. | SYNC | Error |
User Error codes (20000 through 20999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
20xxx | Custom error code range | Defined in user application - programs or libraries. | SYNC | Error | Idle task |
I/O Module (21000 through 21999)
Number | Message | Description | Type | Severity | Action |
---|---|---|---|---|---|
21001 | Cannot create semaphore. | Internal error. No resources left to create a semaphore | SYNC | Error | |
21002 | Invalid memory address. | Incorrect memory address. | SYNC | Error | |
21003 | Invalid I/O address. | Incorrect I/O space address. | SYNC | Error | |
21004 | Invalid address. | Incorrect device address address. | SYNC | Error | |
21005 | Invalid bit number. | Incorrect bit number - no device registered for this bit number. | SYNC | Error | |
21006 | Invalid range. | Incorrect bit range - no device registered for this bit number or bit range. | SYNC | Error | |
21007 | Invalid port index. | Incorrect I/O space address. | SYNC | Error | |
21008 | Cannot delete semaphore. | Internal error. | SYNC | Error | |
21009 | Invalid value. | Error code is not in use. | SYNC | Error | |
21010 | PLS toggling time exceeded cycle time. | Internal error. | SYNC | Error | |
21011 | Too many PLS toggling requested or cycle source is not routed to PLS module. | Too many output transition per cycle time. | SYNC | Error | |
21012 | Invalid error code. | Error code is not in use. | SYNC | Error | |
21013 | Cannot create PLS task. | Internal error. No resources left to create a task | SYNC | Error | |
21014 | PDO Parameters Error: make sure Digital IOs PDO entries are mapped in the drive. | Cannot write PDO to the device - drive or IO module | SYNC | Error | |
21015 | Slave Address Error. | Incorrect device address | SYNC | Error |