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	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</span></td>	<del>Wrong velocity over speed value</td>	Previously VOSPD value was limited to 120% of Vmax now this limit is removed. Not Used.</td>	SYNC</td>	Error</td>	</td> </tr>
3085</td>	Incorrect parameter value</td>	General error returned when user-given parameter is not in an allowed parameter's range. </td>	SYNC</td>	Error</td>	</td> </tr>
3086</td>	Incorrect number of point coordinates given to this movement</td>	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)</td>	SYNC</td>	Error</td>	</td> </tr>
3087</span></td>	<del>Target position will exceed the limit</td>	Used in group CIRCLE command if the final position obtained from the starting point after rotation by the given circle angle exceeds the position limit on any of the group's axes.Not Used. </td>	SYNC</td>	Error</td>	</td> </tr>
3088</td>	Wrong factor value : specify a positive value</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3089</td>	Property value cannot be changed while drive is enabled</td>	Some properties, such as conversion factors, cannot be changed while the drive is enabled. Refer to the Reference Manual for limitations on instruction execution.</td>	SYNC</td>	Error</td>	Idle Task</td> </tr>
3090</td>	Can not execute syncstart without any pending move command</td>	Error in SYncStart no motions defined</td>	SYNC</td>	Error</td>	</td> </tr>
3091</td>	Drive mode failure (unable to set drive-mode)</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3092</td>	Property can not be changed while cam is active : disable cam before changing it</td>	Certain cam property can not be changed while cam table is active.</td>	SYNC</td>	Error</td>	</td> </tr>
3093</td>	Invalid hard limit switch state</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3094</td>	Hard limit switch was detected</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3095</td>	The cruise velocity can not be reached</td>	during concatenation (vifnal is nonzero)</td>	SYNC</td>	Note</td>	</td> </tr>
3096</td>	Minimum position limit must be less than the maximum limit</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3097</td>	Data structure is not defined.</td>	Compensation or Cam table not defined</td>	SYNC</td>	Error</td>	</td> </tr>
3098</td>	Time value inaccuracy: value will be rounded up to nearest integer multiple of SERCOS cycle time</td>	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</td>	SYNC</td>	Note</td>	</td> </tr>
3099</td>	Cannot execute InPosition</td>	The INPOSITION value of the STARTTYPE has no meaning when the previous movement is with nonzero final velocity.</td>	SYNC</td>	Note</td>	</td> </tr>
3100</td>	Configuration switch.</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3101</td>	Time jog is meaningless</td>	</td>	SYNC</td>	Note</td>	</td> </tr>
3102</td>	The index is out of the table range.</td>	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.</td>	SYNC</td>	Error</td>	</td> </tr>
3103</td>	Given value will cause cam table to be non-monotonic: value not accepted.</td>	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.</td>	SYNC</td>	Note</td>	</td> </tr>
3104</td>	The movement will be calculated until the position limit</td>	</td>	SYNC</td>	Note</td>	</td> </tr>
3105</td>	Blending is not provided with non-zero final velocity motions and jog movements</td>	vfinal = .. and cp = … can not work together</td>	SYNC</td>	Error</td>	</td> </tr>
3106</td>	Invalid Quaternion.</td>	internal error, mostly in SCARA &DELTA kinematics when orientation with non-zero yaw and pitch is obtained</td>	SYNC</td>	Error</td>	</td> </tr>
3107</td>	Initialized the velocity to its maximum</td>	</td>	ASYNC</td>	Note</td>	</td> </tr>
3108</td>	Collision. No motion allowed.</td>	obsolete</td>	</td>	</td>	</td> </tr>
3109</td>	Wrist configuration at the target point differs from the wrist configuration of the start!</td>	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</td>	ASYNC</td>	Note</td>	</td> </tr>
3110</td>	Wrong Phaser definition.</td>	phaser parameters are invalid</td>	SYNC</td>	Error</td>	</td> </tr>
3111</td>	Wrist Singularity encountered. Motion has been stopped. Try with different movement type</td>	untreatable wrist singularity</td>	ASYNC</td>	Note</td>	</td> </tr>
3112</td>	Initialized the acceleration to its maximum</td>	</td>	ASYNC</td>	Note</td>	</td> </tr>
3113</td>	Initialized the deceleration to its maximum</td>	</td>	ASYNC</td>	Note</td>	</td> </tr>
3114</td>	Initialized the jerk to its maximum</td>	</td>	ASYNC</td>	Note</td>	</td> </tr>
3115</td>	System entered into following mode, all motions aborted</td>	Motion is aborted due to element's disable</td>	SYNC</td>	Note</td>	</td> </tr>
3116</td>	The configuration flags can not be specified together with joint target position.</td>	giving both joint target coordinates and configuration flags is not possible.</td>	SYNC</td>	Error</td>	</td> </tr>
3117</td>	Point too close. The target coordinates are too close to the robot's Cartesian space origin point.</td>	the target point is inside Rmin sphere (or XY circle only in case of PUMA)</td>	SYNC</td>	Error</td>	</td> </tr>
3118</td>	MOVES can not interpolate these orientation angels. Try with different orientation interpolation or change the target to location.</td>	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.</td>	SYNC</td>	Error</td>	</td> </tr>
3119</td>	Point too far. Outside of the working envelope. The target coordinates are too far from the robot's Cartesian space origin point.</td>	the target point is outside Rmax sphere</td>	SYNC</td>	Error</td>	</td> </tr>
3120</td>	Not a robot.</td>	Certain properties are fro robot models only and do not exist in regular groups</td>	SYNC</td>	Error</td>	</td> </tr>
3121</td>	The target point is not reachable.</td>	Target coordinate exceed [pmin,pmax] segment</td>	SYNC</td>	Error</td>	</td> </tr>
3122</td>	Motion can not be executed due to the unsolvable configuration change.</td>	During straight line motion some start and target configuration flags can not differ (ABOVE, BELOW)</td>	SYNC</td>	Error</td>	</td> </tr>
3123</td>	Unreachable target orientation.</td>	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.</td>	SYNC</td>	Error</td>	</td> </tr>
3124</td>	Crossing unreachable region.</td>	For example in SCARA straight line motion that crosses Rmin sphere is not allowed</td>	SYNC</td>	Error</td>	</td> </tr>
3125</td>	Wrong point type.</td>	Location point type does not fit to the given command/property.</td>	SYNC</td>	Error</td>	</td> </tr>
3126</td>	Can not de-select orientation coordinates. Check the selectaxis property</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3127</td>	Both final velocities(rotary & translation) must be zero or non zero</td>	vtranfinal and vrotfinal can either be both zero or both non-zero.</td>	SYNC</td>	Error</td>	</td> </tr>
3128</td>	Error in Closed-Chain Kinematics. Point is not reachable</td>	joint coordinates do not close the close-chain kinematics (happens only in certain models s: SCISSOR, CSE, …)</td>	ASYNC</td>	Error</td>	</td> </tr>
3129</td>	Task start failure.</td>	Internal Error. Cannot start the task. The error is returned from the VxWorks function.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3130</td>	Task end failure.</td>	Internal Error. Cannot end the task. The error is returned from the VxWorks function.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3131</td>	Invalid semaphore ID or time-out elapsed.</td>	Internal Error. Invalid semaphore ID. The error is returned from the VxWorks function.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3132</td>	Invalid message.</td>	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.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3133</td>	Invalid element handle.</td>	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)</td>	ASYNC</td>	Fatal Fault</td>	</td> </tr>
3134</td>	No memory.</td>	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.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3135</td>	Invalid pointer.</td>	Internal Error. Invalid pointer encountered during the real-time execution. A zero pointer was found in the RTK or MM task.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3136</td>	Corrupted task data.</td>	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.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3137</td>	Task mismatch.</td>	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.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3138</td>	Bad dimension.</td>	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.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3139</td>	Corrupted data</td>	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.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3140</td>	RTS blocked.</td>	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.</td>	ASYNC</td>	Fatal Fault</td>	</td> </tr>
3141</td>	Bad profile data.</td>	Internal Error. Profiler error. Invalid data for the profile calculation given.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3142</td>	RTS element add failed.</td>	Internal Error. The RTS failed to add an element. The RTS refused to add new element in its table.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3144</td>	RTS clear motion failed.</td>	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.</td>	ASYNC</td>	Fatal Fault</td>	</td> </tr>
3145</td>	RTS set motion failed.</td>	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.</td>	ASYNC</td>	Fatal Fault</td>	</td> </tr>
3146</td>	RTS overrun clear failed.</td>	Internal Error. The RTS failed to clear the overrun flag. Occurs only in run time.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3147</td>	RTS delete failed.</td>	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.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3148</td>	Computing too late</td>	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.</td>	ASYNC</td>	Error</td>	</td> </tr>
3149</td>	Unable to create system resource.</td>	Internal Error. The VxWorks is unable to crate the resource (Queue, Semaphore, ...) Possible cause: No more memory, VxWorks down.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3150</td>	Invalid profiler parameters.</td>	Internal Error. Invalid profiler parameters.</td>	Sync</td>	Fatal Fault</td>	</td> </tr>
3151</td>	Profiler in motion.</td>	Internal Error. Certain profiler settings can only be set when the acceleration is zero.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3152</td>	Invalid profiler status.</td>	Internal Error. The profiler is state driven. If an invalid status is encountered, this error occurs.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3153</td>	RTK continuously interrupting.</td>	Internal Error. The RTK is in a continuously repeating stop state.</td>	ASYNC</td>	Fatal Fault</td>	</td> </tr>
3154</td>	Maximum Position reached.</td>	Maximum axis limit reached. Usually by a JOG command.</td>	SYNC</td>	Error</td>	</td> </tr>
3155</td>	Minimum position reached</td>	Axis minimum limit reached. Usually by a JOG command.</td>	SYNC</td>	Error</td>	</td> </tr>
3156</td>	No previous package.</td>	Internal Error. In the pre-calculation process a pointer of the previous package in the m.p. ring is needed.</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3157</td>	Supper-immediate movements can be executed with the velocity-trapeze profile only.</td>	with starttype = 5 smooth must be equal 0</td>	SYNC</td>	Error</td>	</td> </tr>
3158</td>	Property value cannot be changed while drive is disabled</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3159</td>	No memory for group/axis definition</td>	No more free memory in the system. The memory of the system is exhausted.</td>	SYNC</td>	Error</td>	</td> </tr>
3160</td>	Wrong PLS index.</td>	Wrong PLS index.</td>	SYNC</td>	Error</td>	</td> </tr>
3161</td>	Can't declare more PLS's</td>	A maximum of 65536 PLS can be declared.</td>	SYNC</td>	Error</td>	</td> </tr>
3162</td>	PLS property cannot be set while PLS is enabled</td>	Certain PLS properties cannot be set while the PLS is enabled. First, disable the PLS, then change the property value.</td>	SYNC</td>	Error</td>	</td> </tr>
3163</td>	PLS value cannot be accessed before the PLS data are created</td>	In order to operate on a PLS, the PLS must be defined (COMMON SHARED ... AS PLS), and the PLS data must be created (CREATEPLSDATA).</td>	SYNC</td>	Error</td>	</td> </tr>
3164</td>	PLS position index out of range</td>	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).</td>	SYNC</td>	Error</td>	</td> </tr>
3165</td>	PLS position data must be monotonic</td>	The data in the PLS data structure must be arranged in ascending order. The order is verified when attempting to enable the PLS.</td>	SYNC</td>	Error</td>	</td> </tr>
3166</td>	PLS output polarity must be binary (0 / 1)</td>	The PLS output polarity must be binary(0 or 1).</td>	SYNC</td>	Error</td>	</td> </tr>
3167</td>	Wrong value for the repetition interval.</td>	Wrong value for the repetition interval.</td>	SYNC</td>	Error</td>	</td> </tr>
3168</td>	PLS Enable must be binary ( 0 or 1 )</td>	The PLS Enable must be binary (0 or 1).</td>	SYNC</td>	Error</td>	</td> </tr>
3169</td>	Fatal Fault, the error number is not defined by the programmer</td>	Internal error</td>	SYNC</td>	Fatal Fault</td>	Watch dog</td> </tr>
3170</td>	PLS Hysteresis must be positive</td>	The value specified for the PLS, hysteresis must be positive.</td>	SYNC</td>	Error</td>	</td> </tr>
3171</td>	PLS cannot be deleted while it is enabled</td>	PLS cannot be deleted while it is enabled. First disable the PLS using the PLSENABLE property.</td>	SYNC</td>	Error</td>	</td> </tr>
3172</td>	Wrong output index.</td>	Wrong output index.</td>	SYNC</td>	Error</td>	</td> </tr>
3173</td>	Cannot attach element. Element is stopped by another task: issue PROCEED command</td>	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.</td>	SYNC</td>	Error</td>	</td> </tr>
3174</td>	Current property cannot be changed for a Master axis</td>	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.</td>	SYNC</td>	Error</td>	</td> </tr>
3175</td>	Wrong index for location.</td>	quiering coordinates of location variables like here,setpoint, tool, etc. an index outside [1,NDOF] was given.</td>	SYNC</td>	Error</td>	</td> </tr>
3176</td>	Excessive breaking OLVA switched off.</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3177</td>	Cannot execute the move command while the axis is active in a group</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3178</td>	Cannot execute the stop command while the axis is active in a group</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3179</td>	Cannot move immediate. Need to proceed motion</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3180</td>	Index out of range.</td>	Link[] or Axis[] wrong index</td>	SYNC</td>	Error</td>	</td> </tr>
3181</td>	Disable time out expired: sercos phase reduced to 0</td>	Drive does not disable after the given timeout</td>	SYNC</td>	Error</td>	</td> </tr>
3182</td>	Disable time out expired: SERCOS phase reduced to 0</td>	Disable timeout of the drives expired</td>	SYNC</td>	Error</td>	</td> </tr>
3183</td>	Settling time expired</td>	Timeout for achieving position expired</td>	SYNC</td>	Error</td>	</td> </tr>
3184</td>	Maximum trial time to settle is less than settling time</td>	Maximum trial time to settle is less than settling time</td>	SYNC</td>	Error</td>	</td> </tr>
3185</td>	Ambiguous configuration flags. Can not determine the joint coordinates.</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3186</td>	Motion Buffer Full</td>	There are already two motions pending in the motion buffer.</td>	SYNC</td>	Error</td>	</td> </tr>
3187</td>	Could not interpolate in Cartesian space with this target point. Try to re-write the target point or change the motion.</td>	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.</td>	ASYNC</td>	Error</td>	</td> </tr>
3188</td>	The Procedural motion mode is inactive</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3189</td>	No movements allowed during procedural motion.</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3190</td>	Inaccessible the compensation mode is active</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3191</td>	Pipe Mode operation failed.</td>	Error reading values during the pipe mode</td>	ASYNC</td>	Error</td>	</td> </tr>
3192</td>	Element is not attached</td>	Trying to move an element that is not attached.</td>	SYNC</td>	Error</td>	</td> </tr>
3193</td>	The user limit can not exceed the max/min limits.</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3194</td>	The max/min limits can not be set within the user limits.</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3195</td>	Element Pipe Mode is declared or system Pipe Mode is disabled.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3196</td>	Wrong factor value: specify a non zero value</td>	Wrong factor value: specify a non zero value</td>	SYNC</td>	Error</td>	</td> </tr>
3197</td>	Displacement cannot be set if PLS enabled.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3198</td>	Inappropriate feedback type</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3199</td>	Value can't be changed from terminal</td>	slave=5 can be given from program only</td>	SYNC</td>	Error</td>	</td> </tr>
3200</td>	This motion interpolation type must have a non-zero translation part</td>	in CIRCLE motion type motions with only orientation part are not allowed.</td>	SYNC</td>	Error</td>	</td> </tr>
3201</td>	At circular movement first 2 axes must be linear. Check value of PositionRollOverEnable</td>	if issuing circle on XY tables (for examples) rollover must be disabled</td>	SYNC</td>	Error</td>	</td> </tr>
3202</td>	The group is not coupled</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3203</td>	The coupled matrix has been changed or its inverse doesn't exist</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3204</td>	Inverse matrix can not be calculated</td>	When giving circle motion using three points or when defining coupling matrix</td>	SYNC</td>	Error</td>	</td> </tr>
3205</td>	Memory allocation for matrix failed</td>	When giving circle motion using three points or when defining coupling matrix</td>	SYNC</td>	Error</td>	</td> </tr>
3206</td>	Wrong matrix dimension</td>	When giving circle motion using three points or when defining coupling matrix</td>	SYNC</td>	Error</td>	</td> </tr>
3207</td>	Property valid for Group only</td>	Some properties are not defined for axes</td>	SYNC</td>	Error</td>	</td> </tr>
3208</td>	Blending omitted due to stopped motion</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3209</td>	Blending omitted due to braking motion</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3210</td>	Blending omitted due to short path</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3211</td>	Blending omitted due to missing cruise phase</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3212</td>	Blending omitted due to different motion types</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3213</td>	Blending omitted due to extremely short motion duration</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3214</td>	Blending: acceleration decreased due to exceeding total acceleration</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3215</td>	Blending: velocity decreased due to exceeding total velocity</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3216</td>	Blending: velocity decreased due to profiler following</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3217</td>	Blending: acceleration decreased due to profiler following</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3218</td>	Blending: jerk decreased due to profiler following</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3219</td>	Blending: acceleration decreased due to short braking distance</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3220</td>	Blending: jerk decreased due to short braking distance</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3221</td>	Blending: velocity & jerk decreased for adjusting to the profiler following</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3222</td>	Blending: Second velocity reduced</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3223</td>	Blending: First velocity reduced</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3224</td>	Blending: First marker set</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3225</td>	Blending: Second marker set</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3226</td>	Blending omitted due to inability to adjust velocity for the given blending distance and cruise velocity</td>	</td>	SYNC</td>	Note, activated using sys.motionassistance =1 only</td>	</td> </tr>
3227</td>	Wrong moving frame index</td>	Translator givens an non-existent handle, or generic moving frame is not defined</td>	SYNC</td>	Error</td>	</td> </tr>
3228</td>	There isn't any moving frame linked</td>	No moving frame is linked to the robot.</td>	SYNC</td>	Error</td>	</td> </tr>
3229</td>	Can't declare more moving frames</td>	Maximum number of moving frames in the system exceeded</td>	SYNC</td>	Error</td>	</td> </tr>
3230</td>	Invalid index or ndf. Moving frame NDOF range is 1 to element NDOF</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3231</td>	The element is already in tracking mode</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3232</td>	The moving frame is already linked to an element</td>	Certain actions of setting moving frame properties are not allowed while the moving frame is linked to a robot</td>	SYNC</td>	Error</td>	</td> </tr>
3233</td>	Robot type and moving frame type must be the same</td>	same robot type of the moving frame and the robot is mandatory</td>	SYNC</td>	Error</td>	</td> </tr>
3234</td>	No more triggers can be inserted</td>	Max number of triggers exceeded</td>	SYNC</td>	Error</td>	</td> </tr>
3235</td>	The moving frame must be linked to a Robot.</td>	Certain actions are not allowed if the moving frame is not linked to a robot</td>	SYNC</td>	Error</td>	</td> </tr>
3236</td>	Working window limits are too close - check upmaster & downmaster values</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3237</td>	No more triggers in the buffer.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3238</td>	Item missed. The item has left the working-window area.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3239</td>	Blending: CP of the first movement reduced due to the big velocity ratio</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3240</td>	Property valid for axis only</td>	Some motion element properties are valid for axes only. Examples are PFAC, PEXT.</td>	SYNC</td>	Error</td>	</td> </tr>
3241</td>	Delay cannot be used with the StartType set to Immediate.</td>	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.</td>	SYNC</td>	Error</td>	</td> </tr>
3242</td>	No possibility for blending of different profile types</td>	CP blending of velocity trapeze and sine profile is not allowed</td>	SYNC</td>	Error</td>	</td> </tr>
3243</td>	Stop in progress.</td>	Certain very special cases of motion are not allowed to be given while motion is stopping.</td>	SYNC</td>	Error</td>	</td> </tr>
3244</td>	Cannot change following mode while homing is in progress</td>	mode can be set only while motion is stopped</td>	SYNC</td>	Error</td>	</td> </tr>
3245</td>	Error in homing procedure</td>	</td>	ASYNC</td>	Error</td>	</td> </tr>
3246</td>	Axis position after homing is subjected to the axis displacement</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3247</td>	System Motion property can be set only from the terminal</td>	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.</td>	SYNC</td>	Error</td>	</td> </tr>
3248</td>	Wrong motion type</td>	Internal Error. Invalid command given. In all motion commands the appropriate value of the command parameters is checked ( MOT_LINEAR, MOT_CIRCULAR, MOT_JOG)</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3249</td>	System automatic braking</td>	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.</td>	ASYNC</td>	Fatal Fault</td>	</td> </tr>
3250</td>	Different motion type in group</td>	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.</td>	SYNC</td>	Error</td>	</td> </tr>
3251</td>	RTS set motion failed in initialization.</td>	Internal error. The RTS failed to set the motion enable flag. The error occurs during the RTK initialization or during the suspend-resume transitions.</td>	ASYNC</td>	Fatal Fault</td>	</td> </tr>
3252</td>	RTS clear motion failed in initialization.</td>	Internal error. The RTS failed to clear the motion enable flag. The error occurs during the RTK initialization or during the suspend-resume transitions.</td>	ASYNC</td>	Fatal Fault</td>	</td> </tr>
3253</td>	Following error when motion is stopped: drive disabled.</td>	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.</td>	ASYNC</td>	Error</td>	</td> </tr>
3254</td>	Envelope error when motion is stopped: drives disabled.</td>	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.</td>	ASYNC</td>	Error</td>	</td> </tr>
3255</td>	Fatal experience</td>	should never happen</td>	SYNC</td>	Fatal Fault</td>	</td> </tr>
3256</td>	The acceleration/deceleration time is not achieved</td>	tacc/tdec values not achieved</td>	SYNC</td>	Note</td>	</td> </tr>
3257</td>	Homing is not allowed on a slaved axis</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3258</td>	No home input assigned</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3259</td>	Drive parameters are zeroed</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3260</td>	Value assigned was rounded up to nearest integer</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3261</td>	Invalid moving frame parameters.</td>	zero radius, zero angle or identical up & down points</td>	SYNC</td>	Error</td>	</td> </tr>
3262</td>	Compensation table table is empty.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3263</td>	Can't declare more compensation tables.</td>	Maximum number of compensation tables exceeded</td>	SYNC</td>	Error</td>	</td> </tr>
3264</td>	Invalid compensation table index</td>	Compensation Handle received from translator is invalid, either internal interpreter error or usage of generic compensation table that is not defined</td>	SYNC</td>	Error</td>	</td> </tr>
3265</td>	Compensation table active value must be set to 0 or 1.</td>	0/1 only allowed here</td>	SYNC</td>	Error</td>	</td> </tr>
3266</td>	Compensation table can not be changed while in use: value not accepted.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3267</td>	Load the compensation table data and set the axes(function compset) first.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3268</td>	Number of axes does not match the mechanical model</td>	Robot models can be defined only with certain number of axes</td>	SYNC</td>	Error</td>	</td> </tr>
3269</td>	Position command might be lost by this action</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3270</td>	Velocity rate initialized to its limit</td>	rate values allowed in [0.1,100] percents range only</td>	SYNC</td>	Note</td>	</td> </tr>
3271</td>	Acceleration rate initialized to its limit</td>	rate values allowed in [0.1,100] percents range only</td>	SYNC</td>	Note</td>	</td> </tr>
3272</td>	Deceleration rate initialized to its limit</td>	rate values allowed in [0.1,100] percents range only</td>	SYNC</td>	Note</td>	</td> </tr>
3273</td>	Jerk rate initialized to its limit</td>	rate values allowed in [0.1,100] percents range only</td>	SYNC</td>	Note</td>	</td> </tr>
3274</td>	After digital torque command only supper immediate movement is allowed</td>	N/A for MC</td>	N/A</td>	N/A</td>	</td> </tr>
3275</td>	The property can not be queried if no tracking (slave <>0) has been established.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3276</td>	Element is detached by the system in order to avoid endless error messaging.</td>	In certain case (error in closed chain kinematics induced by joint angles) the group is detached automatically</td>	ASYNC</td>	Note</td>	detach</td> </tr>
3277</td>	Absolute motion not allowed</td>	AbsEnable is zero</td>	SYNC</td>	Error</td>	</td> </tr>
3278</td>	Wrong buffer size.</td>	AI: Pass command with an array bigger then AI buffer</td>	SYNC</td>	Error</td>	</td> </tr>
3279</td>	The correct setting is: passbuffermin < passbuffermax < passbuffersize.</td>	AI: Check PassBufferMin, PassBufferMax, ….</td>	SYNC</td>	Error</td>	</td> </tr>
3280</td>	Wrong stretch factor value.</td>	percents inside [0.1,100] allowed only</td>	SYNC</td>	Error</td>	</td> </tr>
3281</td>	Wrong size of stretch factor vector or user parameter vector.</td>	AI: Pass command with an array bigger then AI buffer</td>	SYNC</td>	Error</td>	</td> </tr>
3282</td>	Wrong relationship between passfrom and passupto properties.</td>	passfrom must be always less than passupto</td>	SYNC</td>	Error</td>	</td> </tr>
3283</td>	No more points to interpolate.</td>	DOPASS issed on an empty buffer.</td>	SYNC</td>	Note</td>	</td> </tr>
3284</td>	Wrong blend method.</td>	AI is not allowed with CP or SP blending</td>	SYNC</td>	Error</td>	</td> </tr>
3285</td>	Advance interpolation/Conveyor tracking cannot be used with starttype immediate.</td>	AI is not allowed with CT</td>	SYNC</td>	Error</td>	</td> </tr>
3286</td>	Advance interpolation - points have been lost.</td>	Point buffer cleared (stop, reset of BlendingMethod property) no proceed of the stopped motion possible</td>	Note</td>	Error</td>	</td> </tr>
3287</td>	Excessive master-slave deviation</td>	</td>	SYNC</td>	Error</td>	stop</td> </tr>
3288</td>	Compensation table: Invalid axis.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3289</td>	Action not allowed while compensation table is active.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3290</td>	Compensation table: Limit mismatch.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3291</td>	This compensation table has been already set.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3292</td>	No more space for compensation tables.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3293</td>	Compensation table: Invalid row.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3294</td>	Velocity Safety Limit exceeded!</td>	increase of pcmd during one sample exceeds the VelocitySafetyLimit of that axis</td>	ASYNC</td>	Fatal Fault</td>	</td> </tr>
3295</td>	Extremely low velocity.</td>	JOG 0 is not allowed</td>	SYNC</td>	Error</td>	</td> </tr>
3296</td>	Additive torque value is over threshold limit</td>	TorqueAddCommand > Tmax</td>	ASYNC</td>	Error</td>	stop</td> </tr>
3297</td>	Additive torque value is over threshold limit when motion is stopped: drive disabled</td>	TorqueAddCommand > Tmax</td>	ASYNC</td>	Error</td>	disable</td> </tr>
3298</td>	The pls positions are too close to each other and/or the velocity is too high for output to toggle</td>	</td>	ASYNC</td>	Error</td>	</td> </tr>
3299</td>	Hardware Assistance is true but not available due to wrong CPU/FPGA/etc.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3300</td>	Excessive master-slave deviation when the motion is stopped: drive disabled</td>	</td>	ASYNC</td>	Error</td>	disable</td> </tr>
3301</td>	This Kinematic model is not fully supported yet.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3302</td>	Axis was disabled due to an error.</td>	</td>	ASYNC</td>	Note</td>	disable</td> </tr>
3303</td>	Axis was disabled due to a master-slave connection.</td>	</td>	ASYNC</td>	Note</td>	disable</td> </tr>
3304</td>	Axis was disabled due to a group connection.</td>	</td>	ASYNC</td>	Note</td>	disable</td> </tr>
3305</td>	Torque error - drive is disabled.</td>	</td>	ASYNC</td>	Error</td>	disable</td> </tr>
3306</td>	Torque error - motion is stopped</td>	</td>	ASYNC</td>	Error</td>	stop</td> </tr>
3307</td>	Velocity exceeds it's maximum during blending.</td>	</td>	ASYNC</td>	Note</td>	</td> </tr>
3308</td>	Velocity exceeds it's maximum during CT.</td>	</td>	ASYNC</td>	Note</td>	</td> </tr>
3309</td>	Velocity exceeds it's maximum.</td>	</td>	ASYNC</td>	Note</td>	</td> </tr>
3310</td>	Acceleration exceeds it's maximum during blending</td>	</td>	ASYNC</td>	Note</td>	</td> </tr>
3311</td>	Acceleration exceeds it's maximum during CT.</td>	</td>	ASYNC</td>	Note</td>	</td> </tr>
3312</td>	Acceleration exceeds it's maximum.</td>	</td>	ASYNC</td>	Note</td>	</td> </tr>
3313</td>	Velocity exceeds it's maximum during AI.</td>	</td>	ASYNC</td>	Note</td>	</td> </tr>
3314</td>	Trapeze-Acceleration does not support on-line VORD change. Vord change will be postponed until the start of next movement.</td>	</td>	SYNC</td>	Note</td>	</td> </tr>
3320</td>	Acceleration exceeds it's maximum during AI.</td>	</td>	ASYNC</td>	Note</td>	</td> </tr>
3321</td>	Trapeze Acceleration: only zero final & initial velocity allowed.</td>	</td>	ASYNC</td>	Error</td>	</td> </tr>
3322</td>	Trapeze Acceleration: excitation control looping!</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3323</td>	Marginal acceleration limit exceeded, element is stopped.</td>	</td>	ASYNC</td>	Error</td>	</td> </tr>
3324</td>	PLS - I/O error</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3325</td>	PLS propagation delay cannot be larger then position error delay.</td>	</td>	SYNC</td>	Error</td>	</td> </tr>
3326</td>	End of program without issuing detach command, motion was stopped and the element detached.</td>	</td>	SYNC</td>	Note</td>	</td> </tr> </table> 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 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 = 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 recorder file is missing The recorder file is missing. 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) 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) 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 MC 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 MC 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 MC 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 MC 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. 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 communication phase: refer to Reference Manual The command cannot be executed in the current communication phase. Refer to the Limitations of the instruction in the Reference Manual. 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 MC 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 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 Root Process (16000 through 16999) Number Message Description Type Severity Action 16001 Root : SSMC Hardware SSMC 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 : Unknown error code. Unknown error code. ASYNC Error Watchdog