Error Codes

In most cases, the MC communicates error codes with 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

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)

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=-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=-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=-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=-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 = -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 variable can not be accessed from a program	N/A for MC	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. You will not see this error since the command is filtered before it gets to the motion.	SYNC	Error
3054	Invalid slave specification	This error occurs when attempting to specify a group as a slave axis, for example G1.MasterSource = 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 = 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	Desynchronization between tasks while gearing		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	Wrong velocity over speed value		SYNC	Error
3085	Incorrect parameter value		SYNC	Error
3086	Incorrect number of point coordinates given to this movement		SYNC	Error
3087	Target position will exceed the limit		SYNC	Error
3088	Wrong factor value : specify a positive value		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		SYNC	Error
3097	Data structure is not defined.	Compensation or Cam table not defined	SYNC	Error
3098	Time value inaccuracy: value will be rounded up to nearest integer multiple of SERCOS cycle time	The settling time (TSETTLE or TSETTLEMAX) must be an integer multiple of the SERCOS cycle time. If it is not, the time specified is accepted, but the actual settling time is rounded up to the nearest integer multiple of SERCOS cycle time	SYNC	Note
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
3101	Time jog is meaningless		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 = .. and cp = … 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		ASYNC	Note
3108	Collision. No motion allowed.	obsolete
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 it's 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		ASYNC	Note
3113	Initialized the deceleration to its maximum		ASYNC	Note
3114	Initialized the jerk to its maximum		ASYNC	Note
3115	System entered into following mode, all motions aborted	Motion is aborted due to element's disable	SYNC	Note
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 VxWorks function.	SYNC	Fatal Fault
3130	Task end failure.	Internal Error. Cannot end the task. The error is returned from the VxWorks function.	SYNC	Fatal Fault
3131	Invalid semaphore ID or time-out elapsed.	Internal Error. Invalid semaphore ID. The error is returned from the VxWorks function.	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 VxWorks is unable to crate the resource (Queue, Semaphore, ...) Possible cause: No more memory, VxWorks 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 velocity-trapeze profile only.	with starttype = 5 smooth must be equal 0	SYNC	Error
3158	Property value cannot be changed while drive is disabled		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.	quiering coordinates of location variables like here,setpoint, tool, etc. an index outside [1,NDOF] was given.	SYNC	Error
3176	Excessive breaking OLVA switched off.	N/A for MC	N/A	N/A
3177	Cannot execute the move command while the axis is active in a group		SYNC	Error
3178	Cannot execute the stop command while the axis is active in a group		SYNC	Error
3179	Cannot move immediate. Need to proceed motion		SYNC	Error
3180	Index out of range.	Link[] or Axis[] wrong index	SYNC	Error
3181	Disable time out expired: sercos phase reduced to 0	Drive does not disable after the given timeout	SYNC	Error
3182	Disable time out expired: SERCOS phase reduced to 0	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	The Procedural motion mode is inactive	N/A for MC	N/A	N/A
3189	No movements allowed during procedural motion.	N/A for MC	N/A	N/A
3190	Inaccessible the compensation mode is active	N/A for MC	N/A	N/A
3191	Pipe Mode operation failed.	Error reading values during the pipe mode	ASYNC	Error
3192	Element is not attached	Trying to move an element that is not attached.	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
3198	Inappropriate feedback type	N/A for MC	N/A	N/A
3199	Value can't be changed from terminal	slave=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
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 for MC	N/A	N/A
3203	The coupled matrix has been changed or its inverse doesn't exist	N/A for MC	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 =1 only
3209	Blending omitted due to braking motion		SYNC	Note, activated using sys.motionassistance =1 only
3210	Blending omitted due to short path		SYNC	Note, activated using sys.motionassistance =1 only
3211	Blending omitted due to missing cruise phase		SYNC	Note, activated using sys.motionassistance =1 only
3212	Blending omitted due to different motion types		SYNC	Note, activated using sys.motionassistance =1 only
3213	Blending omitted due to extremely short motion duration		SYNC	Note, activated using sys.motionassistance =1 only
3214	Blending: acceleration decreased due to exceeding total acceleration		SYNC	Note, activated using sys.motionassistance =1 only
3215	Blending: velocity decreased due to exceeding total velocity		SYNC	Note, activated using sys.motionassistance =1 only
3216	Blending: velocity decreased due to profiler following		SYNC	Note, activated using sys.motionassistance =1 only
3217	Blending: acceleration decreased due to profiler following		SYNC	Note, activated using sys.motionassistance =1 only
3218	Blending: jerk decreased due to profiler following		SYNC	Note, activated using sys.motionassistance =1 only
3219	Blending: acceleration decreased due to short braking distance		SYNC	Note, activated using sys.motionassistance =1 only
3220	Blending: jerk decreased due to short braking distance		SYNC	Note, activated using sys.motionassistance =1 only
3221	Blending: velocity & jerk decreased for adjusting to the profiler following		SYNC	Note, activated using sys.motionassistance =1 only
3222	Blending: Second velocity reduced		SYNC	Note, activated using sys.motionassistance =1 only
3223	Blending: First velocity reduced		SYNC	Note, activated using sys.motionassistance =1 only
3224	Blending: First marker set		SYNC	Note, activated using sys.motionassistance =1 only
3225	Blending: Second marker set		SYNC	Note, activated using sys.motionassistance =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 =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.		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 for MC	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 velocity trapeze 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=ON is issued form the terminal.	SYNC	Error
3248	Wrong motion type	Internal Error. Invalid command given. In all motion commands the appropriate value of the command parameters is checked ( MOT_LINEAR, MOT_CIRCULAR, MOT_JOG)	SYNC	Fatal Fault
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 for MC	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 issed 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	Compensation table: Invalid axis.		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!	increase of pcmd during one sample exceeds the VelocitySafetyLimit of that axis	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

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 vxBackup or cannot rename vxWorksz to vxBackup. One of two files maybe write protected	SYNC	Error
4054	Firmware restoration failed - current firmware version is not the previous one.	Cannot copy vxBackup to vxWorksz. Maybe no disk space left 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 MC 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	Internal error. Contact technical support Error code is invalid	Error code is invalid .Internal error. Contact technical support.	ASYNC	Fatal Fault	Watchdog