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)

Motion (3000 through 3100)

Number	Message	Description	Type	Severity	Action
3001	Maximum number of groups in the system exceeded	Tried to define more groups in the system than are allowed. The system supports up to 32 groups. The error can also occur during the SYNCSTART command when more elements than allowed are entered.	SYNC	Error
3002	Non-existent axis	Internal error. An unknown axis number was given. This error can be caused only through an invalid input from the interpreter.	SYNC	Fatal Fault	Watchdog
3003	Non-existent group	Internal error. An unknown group number was given. Invalid group handle was entered. This error can be caused only through an invalid group address in the interpreter.	SYNC	Fatal Fault	Watchdog
3004	Too many axes in group	Tried to define a group with too many axes. The number of the axes in the group is limited to 32.	SYNC	Error
3005	Non-existent group or axis	Internal error. Invalid group or axes handle was entered. Handles are used for both groups and axes. When it is not clear if an axes or a group was accessed and the handle points to a non-existent element, the error is returned.	SYNC	Fatal Fault	Watchdog
3006	Element is already attached to a task	The element is already attached to a task. The error occurs in the ATTACH command or in any command that needs the attachment permission.	SYNC	Error	Idle Task
3007	Invalid mode	Internal Error. Invalid mode given. The mode can have only certain values depending on the command issued (MOT_MODAL, MOT_NODAL, MOT_IMMEDIATE).	SYNC	Fatal Fault	Watchdog
3008	Velocity out of range	The value of the velocity is not in the allowed range for this system variable (max. velocity, cruise velocity, final velocity, ...). For example, A1.VMAX=-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	Wrong velocity over speed value	Previously VOSPD value was limited to 120% of Vmax now this limit is removed. Not Used.	SYNC	Error
3085	Incorrect parameter value	General error returned when user-given parameter is not in an allowed parameter's range.	SYNC	Error
3086	Incorrect number of point coordinates given to this movement	Target points given to motion commands like: MOVE,MOVES,... on a given group (Not to be confused with joints) must have exact number of coordinates (equals the number of axes in the group)	SYNC	Error
3087	Target position will exceed the limit	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.	SYNC	Error
3088	Wrong factor value : specify a positive value	Some values can not be negative. (PFAC, AFAC, VFAC, ....)	SYNC	Error
3089	Property value cannot be changed while drive is enabled	Some properties, such as conversion factors, cannot be changed while the drive is enabled. Refer to the Reference Manual for limitations on instruction execution.	SYNC	Error	Idle Task
3090	Can not execute syncstart without any pending move command	Error in SYncStart no motions defined	SYNC	Error
3091	Drive mode failure (unable to set drive-mode)	N/A for MC	N/A	N/A
3092	Property can not be changed while cam is active : disable cam before changing it	Certain cam property can not be changed while cam table is active.	SYNC	Error
3093	Invalid hard limit switch state	N/A for MC	N/A	N/A
3094	Hard limit switch was detected	N/A for MC	N/A	N/A
3095	The cruise velocity can not be reached	during concatenation (vifnal is nonzero)	SYNC	Note
3096	Minimum position limit must be less than the maximum limit	PMIN has to be less then PMAX	SYNC	Error
3097	Data structure is not defined.	Compensation or Cam table not defined	SYNC	Error
3098	Time value inaccuracy: value will be rounded up to nearest integer multiple of SERCOS cycle time	The settling time (TSETTLE or TSETTLEMAX) must be an integer multiple of the SERCOS cycle time. If it is not, the time specified is accepted, but the actual settling time is rounded up to the nearest integer multiple of SERCOS cycle time	SYNC	Note
3099	Cannot execute InPosition	The INPOSITION value of the STARTTYPE has no meaning when the previous movement is with nonzero final velocity.	SYNC	Note
3100	Configuration switch.	N/A for MC	N/A	N/A

Motion (3101 through 3200)

Number	Message	Description	Type	Severity	Action
3101	Time jog is meaningless	TimeJog can not be zero.	SYNC	Note
3102	The index is out of the table range.	The index is out of the cam table range. This error is returned when attempting to access a value in the cam table, where the index is greater than the number of points in the table.	SYNC	Error
3103	Given value will cause cam table to be non-monotonic: value not accepted.	The cam table is chained, but the data are not in use. The given value for the master would cause the table to be non-monotonic, so the value is not accepted.	SYNC	Note
3104	The movement will be calculated until the position limit		SYNC	Note
3105	Blending is not provided with non-zero final velocity motions and jog movements	vfinal = .. and cp = … can not work together	SYNC	Error
3106	Invalid Quaternion.	internal error, mostly in SCARA &DELTA kinematics when orientation with non-zero yaw and pitch is obtained	SYNC	Error
3107	Initialized the velocity to its maximum	If Vcruise > vmax the vmax will be taken.	ASYNC	Note
3108	Collision. No motion allowed.	obsolete
3109	Wrist configuration at the target point differs from the wrist configuration of the start!	during movement path passes wrist singular and the wrist changes it's flip value, therefore the target position can differ from its pre-computed value and a recalculation note can occur	ASYNC	Note
3110	Wrong Phaser definition.	phaser parameters are invalid	SYNC	Error
3111	Wrist Singularity encountered. Motion has been stopped. Try with different movement type	untreatable wrist singularity	ASYNC	Note
3112	Initialized the acceleration to its maximum	If acc > amax the amax will be taken.	ASYNC	Note
3113	Initialized the deceleration to its maximum	If dec > dmax the dmax will be taken.	ASYNC	Note
3114	Initialized the jerk to its maximum	If jerk> jmax the jmax will be taken.	ASYNC	Note
3115	System entered into following mode, all motions aborted	Motion is aborted due to element's disable	SYNC	Note
3116	The configuration flags can not be specified together with joint target position.	giving both joint target coordinates and configuration flags is not possible.	SYNC	Error
3117	Point too close. The target coordinates are too close to the robot's Cartesian space origin point.	the target point is inside Rmin sphere (or XY circle only in case of PUMA)	SYNC	Error
3118	MOVES can not interpolate these orientation angels. Try with different orientation interpolation or change the target to location.	Some orientation path can not be proportionally interpolated together with the translational part as the joint angles needed for translation conflicts the given orientation component.	SYNC	Error
3119	Point too far. Outside of the working envelope. The target coordinates are too far from the robot's Cartesian space origin point.	the target point is outside Rmax sphere	SYNC	Error
3120	Not a robot.	Certain properties are fro robot models only and do not exist in regular groups	SYNC	Error
3121	The target point is not reachable.	Target coordinate exceed [pmin,pmax] segment	SYNC	Error
3122	Motion can not be executed due to the unsolvable configuration change.	During straight line motion some start and target configuration flags can not differ (ABOVE, BELOW)	SYNC	Error
3123	Unreachable target orientation.	Internal checking of quaternion. In some robot models (SCARA, DELTA< ….) NDOF of orientation representation is limited therefore the quaternion of target orientation ahs to obey certain restrictions. Normally user can not produce this error.	SYNC	Error
3124	Crossing unreachable region.	For example in SCARA straight line motion that crosses Rmin sphere is not allowed	SYNC	Error
3125	Wrong point type.	Location point type does not fit to the given command/property.	SYNC	Error
3126	Can not de-select orientation coordinates. Check the selectaxis property	N/A for MC	N/A	N/A
3127	Both final velocities(rotary & translation) must be zero or non zero	vtranfinal and vrotfinal can either be both zero or both non-zero.	SYNC	Error
3128	Error in Closed-Chain Kinematics. Point is not reachable	joint coordinates do not close the close-chain kinematics (happens only in certain models s: SCISSOR, CSE, …)	ASYNC	Error
3129	Task start failure.	Internal Error. Cannot start the task. The error is returned from the VxWorks function.	SYNC	Fatal Fault
3130	Task end failure.	Internal Error. Cannot end the task. The error is returned from the VxWorks function.	SYNC	Fatal Fault
3131	Invalid semaphore ID or time-out elapsed.	Internal Error. Invalid semaphore ID. The error is returned from the VxWorks function.	SYNC	Fatal Fault
3132	Invalid message.	Internal Error. Invalid message received by the motion manager. The motion manager is a message-driven task. Receiving an invalid message is a fatal system fault.	SYNC	Fatal Fault
3133	Invalid element handle.	Internal Error. Invalid element handle encountered during the real time execution. The error is identical to the MOT_ERR_IELEMENT but this time the source is internal (not the interpreter)	ASYNC	Fatal Fault
3134	No memory.	Internal Error. No more free memory in the system. The memory of the system is exhausted. The memory for the motion should always be available.	SYNC	Fatal Fault
3135	Invalid pointer.	Internal Error. Invalid pointer encountered during the real-time execution. A zero pointer was found in the RTK or MM task.	SYNC	Fatal Fault
3136	Corrupted task data.	Internal Error. Invalid task data. Each attached task is represented by a block of data. If these data are corrupt, a fatal system error occurs.	SYNC	Fatal Fault
3137	Task mismatch.	Internal Error. A task tried to add an axis to the group that it did not create. Group creation is a process of several steps and during this process only the task that started creation of the group can end it.	SYNC	Fatal Fault
3138	Bad dimension.	Internal Error. The element dimension (number of axes) is invalid. Each motion package contains the size (dimension) of the group. If a copy of two packages with different dimensions was ordered, this fatal error is generated.	SYNC	Fatal Fault
3139	Corrupted data	Internal Error. During the element deletion procedure, corrupt data were encountered. When the element data are de-allocated, a number of checks are conducted. Among the checks is verification that all allocated motion packages are deleted. If not, the error is set.	SYNC	Fatal Fault
3140	RTS blocked.	Internal Error. The RTS did not release the semaphore. The RTS releases this semaphore periodically, but if the semaphore is not released after two time periods, this error is set. It indicates the RTS is not functioning properly or that the interrupt handler stopped.	ASYNC	Fatal Fault
3141	Bad profile data.	Internal Error. Profiler error. Invalid data for the profile calculation given.	SYNC	Fatal Fault
3142	RTS element add failed.	Internal Error. The RTS failed to add an element. The RTS refused to add new element in its table.	SYNC	Fatal Fault
3144	RTS clear motion failed.	Internal Error. The RTS failed to clear the motion enable flag. The error can occur during the RTK initialization or during the suspend-resume transitions.	ASYNC	Fatal Fault
3145	RTS set motion failed.	Internal Error. The RTS failed to set the motion enable flag. The error can occur during the RTK initialization or during the suspend-resume transitions.	ASYNC	Fatal Fault
3146	RTS overrun clear failed.	Internal Error. The RTS failed to clear the overrun flag. Occurs only in run time.	SYNC	Fatal Fault
3147	RTS delete failed.	Internal Error. The RTS failed to delete an element. At the end of the deletion task, the system failed to delete the RTS entry. Recovery action is not needed because the task is dead.	SYNC	Fatal Fault
3148	Computing too late	The pre-computation is late. For immediate motion changes such as immediate move or speed override, a pre-computation time delay is assumed. Normally, this delay should be sufficient to complete computation. This error generally indicates that the system is too heavily loaded.	ASYNC	Error
3149	Unable to create system resource.	Internal Error. The VxWorks is unable to crate the resource (Queue, Semaphore, ...) Possible cause: No more memory, VxWorks down.	SYNC	Fatal Fault
3150	Invalid profiler parameters.	Internal Error. Invalid profiler parameters.	Sync	Fatal Fault
3151	Profiler in motion.	Internal Error. Certain profiler settings can only be set when the acceleration is zero.	SYNC	Fatal Fault
3152	Invalid profiler status.	Internal Error. The profiler is state driven. If an invalid status is encountered, this error occurs.	SYNC	Fatal Fault
3153	RTK continuously interrupting.	Internal Error. The RTK is in a continuously repeating stop state.	ASYNC	Fatal Fault
3154	Maximum Position reached.	Maximum axis limit reached. Usually by a JOG command.	SYNC	Error
3155	Minimum position reached	Axis minimum limit reached. Usually by a JOG command.	SYNC	Error
3156	No previous package.	Internal Error. In the pre-calculation process a pointer of the previous package in the m.p. ring is needed.	SYNC	Fatal Fault
3157	Supper-immediate movements can be executed with the velocity-trapeze profile only.	with starttype = 5 smooth must be equal 0	SYNC	Error
3158	Property value cannot be changed while drive is disabled	Certain properties (slave, ...) can not be changed to certain values if the drives are disabled. Same with certain commands (proceed, move, ...) .	SYNC	Error
3159	No memory for group/axis definition	No more free memory in the system. The memory of the system is exhausted.	SYNC	Error
3160	Wrong PLS index.	Wrong PLS index.	SYNC	Error
3161	Can't declare more PLS's	A maximum of 65536 PLS can be declared.	SYNC	Error
3162	PLS property cannot be set while PLS is enabled	Certain PLS properties cannot be set while the PLS is enabled. First, disable the PLS, then change the property value.	SYNC	Error
3163	PLS value cannot be accessed before the PLS data are created	In order to operate on a PLS, the PLS must be defined (COMMON SHARED ... AS PLS), and the PLS data must be created (CREATEPLSDATA).	SYNC	Error
3164	PLS position index out of range	This error is returned when attempting to access a non-existent PLS position. The number of PLS positions is set when creating the PLS data structure (CREATEPLSDATA).	SYNC	Error
3165	PLS position data must be monotonic	The data in the PLS data structure must be arranged in ascending order. The order is verified when attempting to enable the PLS.	SYNC	Error
3166	PLS output polarity must be binary (0 / 1)	The PLS output polarity must be binary(0 or 1).	SYNC	Error
3167	Wrong value for the repetition interval.	Wrong value for the repetition interval.	SYNC	Error
3168	PLS Enable must be binary ( 0 or 1 )	The PLS Enable must be binary (0 or 1).	SYNC	Error
3169	Fatal Fault, the error number is not defined by the programmer	Internal error	SYNC	Fatal Fault	Watch dog
3170	PLS Hysteresis must be positive	The value specified for the PLS, hysteresis must be positive.	SYNC	Error
3171	PLS cannot be deleted while it is enabled	PLS cannot be deleted while it is enabled. First disable the PLS using the PLSENABLE property.	SYNC	Error
3172	Wrong output index.	Wrong output index.	SYNC	Error
3173	Cannot attach element. Element is stopped by another task: issue PROCEED command	The STOP command is used both to stop motion and to inhibit further motion. If the STOP command has been issued from the terminal or a task, then the motion element cannot be attached by another task until the PROCEED command has been issued.	SYNC	Error
3174	Current property cannot be changed for a Master axis	Current property of an axis that is defined as a master axis cannot be changed. First disable the master/slave by setting the slave property of the slave axis to OFF.	SYNC	Error
3175	Wrong index for location.	quiering coordinates of location variables like here,setpoint, tool, etc. an index outside [1,NDOF] was given.	SYNC	Error
3176	Excessive breaking OLVA switched off.	N/A for MC	N/A	N/A
3177	Cannot execute the move command while the axis is active in a group	Axis can not be moved separately if its' group is attached. For example MOVE AX1 ... is not allowed if G1 having AX1 is attached.	SYNC	Error
3178	Cannot execute the stop command while the axis is active in a group	Axis can not be stopped independently from its group.	SYNC	Error
3179	Cannot move immediate. Need to proceed motion	Element that was stopped can not executed immediate motion (StartType=1) until it is proceeded.	SYNC	Error
3180	Index out of range.	Link[] or Axis[] wrong index	SYNC	Error
3181	Disable time out expired: sercos phase reduced to 0	Drive does not disable after the given timeout	SYNC	Error
3182	Disable time out expired: SERCOS phase reduced to 0	Disable timeout of the drives expired	SYNC	Error
3183	Settling time expired	Timeout for achieving position expired	SYNC	Error
3184	Maximum trial time to settle is less than settling time	Maximum trial time to settle is less than settling time	SYNC	Error
3185	Ambiguous configuration flags. Can not determine the joint coordinates.	N/A for MC	N/A	N/A
3186	Motion Buffer Full	There are already two motions pending in the motion buffer.	SYNC	Error
3187	Could not interpolate in Cartesian space with this target point. Try to re-write the target point or change the motion.	A straight line movement with joint target values did not reach the given target joint coordinates, most probably there is an issue with orientation angels.	ASYNC	Error
3188	The Procedural motion mode is inactive	N/A for MC	N/A	N/A
3189	No movements allowed during procedural motion.	N/A for MC	N/A	N/A
3190	Inaccessible the compensation mode is active	N/A for MC	N/A	N/A
3191	Pipe Mode operation failed.	Error reading values during the pipe mode	ASYNC	Error
3192	Element is not attached	Trying to move an element that is not attached.	SYNC	Error
3193	The user limit can not exceed the max/min limits.	N/A for MC	N/A	N/A
3194	The max/min limits can not be set within the user limits.	N/A for MC	N/A	N/A
3195	Element Pipe Mode is declared or system Pipe Mode is disabled.		SYNC	Error
3196	Wrong factor value: specify a non zero value	Wrong factor value: specify a non zero value	SYNC	Error
3197	Displacement cannot be set if PLS enabled.		SYNC	Error
3198	Inappropriate feedback type	N/A for MC	N/A	N/A
3199	Value can't be changed from terminal	slave=5 can be given from program only	SYNC	Error
3200	This motion interpolation type must have a non-zero translation part	in CIRCLE motion type motions with only orientation part are not allowed.	SYNC	Error

Motion (3201 through 3300)

Number	Message	Description	Type	Severity	Action
3201	At circular movement first 2 axes must be linear. Check value of PositionRollOverEnable	if issuing circle on XY tables (for examples) rollover must be disabled	SYNC	Error
3202	The group is not coupled	N/A for MC	N/A	N/A
3203	The coupled matrix has been changed or its inverse doesn't exist	N/A for MC	N/A	N/A
3204	Inverse matrix can not be calculated	When giving circle motion using three points or when defining coupling matrix	SYNC	Error
3205	Memory allocation for matrix failed	When giving circle motion using three points or when defining coupling matrix	SYNC	Error
3206	Wrong matrix dimension	When giving circle motion using three points or when defining coupling matrix	SYNC	Error
3207	Property valid for Group only	Some properties are not defined for axes	SYNC	Error
3208	Blending omitted due to stopped motion		SYNC	Note, activated using sys.motionassistance =1 only
3209	Blending omitted due to braking motion		SYNC	Note, activated using sys.motionassistance =1 only
3210	Blending omitted due to short path		SYNC	Note, activated using sys.motionassistance =1 only
3211	Blending omitted due to missing cruise phase		SYNC	Note, activated using sys.motionassistance =1 only
3212	Blending omitted due to different motion types		SYNC	Note, activated using sys.motionassistance =1 only
3213	Blending omitted due to extremely short motion duration		SYNC	Note, activated using sys.motionassistance =1 only
3214	Blending: acceleration decreased due to exceeding total acceleration		SYNC	Note, activated using sys.motionassistance =1 only
3215	Blending: velocity decreased due to exceeding total velocity		SYNC	Note, activated using sys.motionassistance =1 only
3216	Blending: velocity decreased due to profiler following		SYNC	Note, activated using sys.motionassistance =1 only
3217	Blending: acceleration decreased due to profiler following		SYNC	Note, activated using sys.motionassistance =1 only
3218	Blending: jerk decreased due to profiler following		SYNC	Note, activated using sys.motionassistance =1 only
3219	Blending: acceleration decreased due to short braking distance		SYNC	Note, activated using sys.motionassistance =1 only
3220	Blending: jerk decreased due to short braking distance		SYNC	Note, activated using sys.motionassistance =1 only
3221	Blending: velocity & jerk decreased for adjusting to the profiler following		SYNC	Note, activated using sys.motionassistance =1 only
3222	Blending: Second velocity reduced		SYNC	Note, activated using sys.motionassistance =1 only
3223	Blending: First velocity reduced		SYNC	Note, activated using sys.motionassistance =1 only
3224	Blending: First marker set		SYNC	Note, activated using sys.motionassistance =1 only
3225	Blending: Second marker set		SYNC	Note, activated using sys.motionassistance =1 only
3226	Blending omitted due to inability to adjust velocity for the given blending distance and cruise velocity		SYNC	Note, activated using sys.motionassistance =1 only
3227	Wrong moving frame index	Translator givens an non-existent handle, or generic moving frame is not defined	SYNC	Error
3228	There isn't any moving frame linked	No moving frame is linked to the robot.	SYNC	Error
3229	Can't declare more moving frames	Maximum number of moving frames in the system exceeded	SYNC	Error
3230	Invalid index or ndf. Moving frame NDOF range is 1 to element NDOF		SYNC	Error
3231	The element is already in tracking mode	N/A for MC	N/A	N/A
3232	The moving frame is already linked to an element	Certain actions of setting moving frame properties are not allowed while the moving frame is linked to a robot	SYNC	Error
3233	Robot type and moving frame type must be the same	same robot type of the moving frame and the robot is mandatory	SYNC	Error
3234	No more triggers can be inserted	Max number of triggers exceeded	SYNC	Error
3235	The moving frame must be linked to a Robot.	Certain actions are not allowed if the moving frame is not linked to a robot	SYNC	Error
3236	Working window limits are too close - check upmaster & downmaster values		SYNC	Error
3237	No more triggers in the buffer.		SYNC	Error
3238	Item missed. The item has left the working-window area.		SYNC	Error
3239	Blending: CP of the first movement reduced due to the big velocity ratio	N/A for MC	N/A	N/A
3240	Property valid for axis only	Some motion element properties are valid for axes only. Examples are PFAC, PEXT.	SYNC	Error
3241	Delay cannot be used with the StartType set to Immediate.	The DELAY command is subject to the STARTTYPE of the motion element being delayed. However, using STARTTYPE Immediate with the DELAY command is not allowed. Change STARTTYPE before executing the DELAY command.	SYNC	Error
3242	No possibility for blending of different profile types	CP blending of velocity trapeze and sine profile is not allowed	SYNC	Error
3243	Stop in progress.	Certain very special cases of motion are not allowed to be given while motion is stopping.	SYNC	Error
3244	Cannot change following mode while homing is in progress	mode can be set only while motion is stopped	SYNC	Error
3245	Error in homing procedure		ASYNC	Error
3246	Axis position after homing is subjected to the axis displacement	N/A for MC	N/A	N/A
3247	System Motion property can be set only from the terminal	The default system error handler sets the system motion flag low. Once this happens, the MOTION property can be set high only when SYSTEM.MOTION=ON is issued form the terminal.	SYNC	Error
3248	This motion interpolation type is not allowed.	The given interpolation type is not allowed. (joint interpolation during conveyor tracking, MOVESKD on certain robot models, ...	SYNC	Error
3249	System automatic braking	The velocity is not zero. The element is stopped by the system. This can occur when a slave axis has passed its position limits. The axis is then stopped by the system.	ASYNC	Fatal Fault
3250	Different motion type in group	The group can only be defined if the axes are of the same type. The error occurs during the group definition or when the system or user tries to attach the group. Motion types are LINEAR or ROTARY.	SYNC	Error
3251	RTS set motion failed in initialization.	Internal error. The RTS failed to set the motion enable flag. The error occurs during the RTK initialization or during the suspend-resume transitions.	ASYNC	Fatal Fault
3252	RTS clear motion failed in initialization.	Internal error. The RTS failed to clear the motion enable flag. The error occurs during the RTK initialization or during the suspend-resume transitions.	ASYNC	Fatal Fault
3253	Following error when motion is stopped: drive disabled.	There is no motion commanded, but there is a position error. The maximum position error (PEMax) may be set too low, or the axis may be moved by an external force, or the drive may not be tuned properly.	ASYNC	Error
3254	Envelope error when motion is stopped: drives disabled.	There is no motion commanded, but there is an envelope error. The maximum position error (PEMAX) may be set too low, the axis may be moved by an external force, or the drive may not be tuned properly.	ASYNC	Error
3255	Fatal experience	should never happen	SYNC	Fatal Fault
3256	The acceleration/deceleration time is not achieved	tacc/tdec values not achieved	SYNC	Note
3257	Homing is not allowed on a slaved axis		SYNC	Error
3258	No home input assigned		SYNC	Error
3259	Drive parameters are zeroed	N/A for MC	N/A	N/A
3260	Value assigned was rounded up to nearest integer	N/A for MC	N/A	N/A
3261	Invalid moving frame parameters.	zero radius, zero angle or identical up & down points	SYNC	Error
3262	Compensation table table is empty.		SYNC	Error
3263	Can't declare more compensation tables.	Maximum number of compensation tables exceeded	SYNC	Error
3264	Invalid compensation table index	Compensation Handle received from translator is invalid, either internal interpreter error or usage of generic compensation table that is not defined	SYNC	Error
3265	Compensation table active value must be set to 0 or 1.	0/1 only allowed here	SYNC	Error
3266	Compensation table can not be changed while in use: value not accepted.		SYNC	Error
3267	Load the compensation table data and set the axes(function compset) first.		SYNC	Error
3268	Number of axes does not match the mechanical model	Robot models can be defined only with certain number of axes	SYNC	Error
3269	Position command might be lost by this action	N/A for MC	N/A	N/A
3270	Velocity rate initialized to its limit	rate values allowed in [0.1,100] percents range only	SYNC	Note
3271	Acceleration rate initialized to its limit	rate values allowed in [0.1,100] percents range only	SYNC	Note
3272	Deceleration rate initialized to its limit	rate values allowed in [0.1,100] percents range only	SYNC	Note
3273	Jerk rate initialized to its limit	rate values allowed in [0.1,100] percents range only	SYNC	Note
3274	After digital torque command only supper immediate movement is allowed	N/A for MC	N/A	N/A
3275	The property can not be queried if no tracking (slave <>0) has been established.		SYNC	Error
3276	Element is detached by the system in order to avoid endless error messaging.	In certain case (error in closed chain kinematics induced by joint angles) the group is detached automatically	ASYNC	Note	detach
3277	Absolute motion not allowed	AbsEnable is zero	SYNC	Error
3278	Wrong buffer size.	AI: Pass command with an array bigger then AI buffer	SYNC	Error
3279	The correct setting is: passbuffermin < passbuffermax < passbuffersize.	AI: Check PassBufferMin, PassBufferMax, ….	SYNC	Error
3280	Wrong stretch factor value.	percents inside [0.1,100] allowed only	SYNC	Error
3281	Wrong size of stretch factor vector or user parameter vector.	AI: Pass command with an array bigger then AI buffer	SYNC	Error
3282	Wrong relationship between passfrom and passupto properties.	passfrom must be always less than passupto	SYNC	Error
3283	No more points to interpolate.	DOPASS issed on an empty buffer.	SYNC	Note
3284	Wrong blend method.	AI is not allowed with CP or SP blending	SYNC	Error
3285	Advance interpolation/Conveyor tracking cannot be used with starttype immediate.	AI is not allowed with CT	SYNC	Error
3286	Advance interpolation - points have been lost.	Point buffer cleared (stop, reset of BlendingMethod property) no proceed of the stopped motion possible	Note	Error
3287	Excessive master-slave deviation		SYNC	Error	stop
3288	Number of axes does not match the given compensation table dimensions.		SYNC	Error
3289	Action not allowed while compensation table is active.		SYNC	Error
3290	Compensation table: Limit mismatch.		SYNC	Error
3291	This compensation table has been already set.		SYNC	Error
3292	No more space for compensation tables.		SYNC	Error
3293	Compensation table: Invalid row.		SYNC	Error
3294	Velocity Safety Limit exceeded!	A drastic increase(jump) of pcmd during one sample exceeds the VelocitySafetyLimit of that axis. The VelocitySafetyLimit should be set at least to a 10*Vmax of the same axis. See: VelocitySafetyLimit .	ASYNC	Fatal Fault
3295	Extremely low velocity.	JOG 0 is not allowed	SYNC	Error
3296	Additive torque value is over threshold limit	TorqueAddCommand > Tmax	ASYNC	Error	stop
3297	Additive torque value is over threshold limit when motion is stopped: drive disabled	TorqueAddCommand > Tmax	ASYNC	Error	disable
3298	The pls positions are too close to each other and/or the velocity is too high for output to toggle		ASYNC	Error
3299	Hardware Assistance is true but not available due to wrong CPU/FPGA/etc.		SYNC	Error
3300	Excessive master-slave deviation when the motion is stopped: drive disabled		ASYNC	Error	disable

Motion (3301 through 3999)

Number	Message	Description	Type	Severity	Action
3301	This Kinematic model is not fully supported yet.		SYNC	Error
3302	Axis was disabled due to an error.		ASYNC	Note	disable
3303	Axis was disabled due to a master-slave connection.		ASYNC	Note	disable
3304	Axis was disabled due to a group connection.		ASYNC	Note	disable
3305	Torque error - drive is disabled.		ASYNC	Error	disable
3306	Torque error - motion is stopped		ASYNC	Error	stop
3307	Velocity exceeds it's maximum during blending.		ASYNC	Note
3308	Velocity exceeds it's maximum during CT.		ASYNC	Note
3309	Velocity exceeds it's maximum.		ASYNC	Note
3310	Acceleration exceeds it's maximum during blending		ASYNC	Note
3311	Acceleration exceeds it's maximum during CT.		ASYNC	Note
3312	Acceleration exceeds it's maximum.		ASYNC	Note
3313	Velocity exceeds it's maximum during AI.		ASYNC	Note
3314	Trapeze-Acceleration does not support on-line VORD change. Vord change will be postponed until the start of next movement.		SYNC	Note
3315	Can't operate more PLS using WithPls command.		SYNC	Error
3316	PLS source from type PathTime relevant only to profiler based on time.		SYNC	Error
3317	Drive PCMD (AT/MT)is not supported.	SYNC	Error		{{{6}}}
3318	Kinodynamic movement is not supported by the given motion profile.	SYNC	Error		{{{6}}}
3319	This motion profile does not support immediate starttype.	Certain interpolation types(MOVESKD) do not support start-type immediate option.	ASYNC	Note
3320	Acceleration exceeds it's maximum during AI.		ASYNC	Note
3321	Trapeze Acceleration: only zero final & initial velocity allowed.		ASYNC	Error
3322	Trapeze Acceleration: excitation control looping!		SYNC	Error
3323	Marginal acceleration limit exceeded, element is stopped.		ASYNC	Error
3324	PLS - I/O error		SYNC	Error
3325	PLS propagation delay cannot be larger then position error delay.		SYNC	Error
3326	End of program without issuing detach command, motion was stopped and the element detached.		SYNC	Note
3329	Kinodynamic movement is not supported by the CP blending.		SYNC	Note

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
13123	Invalid AxisType settings. AxisType of robot axes should comply to its kinematics model.		SYNC	Error
13128	Unable to smooth out the given path [shrinking], try to reduce velocity or change the path.		SYNC	Error
13129	Traverse Arm: Y Coordinate exceeds link's length.		SYNC	Error
13130	DELTA: Internal singularity.		SYNC/ASYNC	Error
13131	Parts of the given trajectory includes points not reachable by the robot.		SYNC	Error
13132	Singularity margin - no Cartesian interpolation allowed.		SYNC	Error
13133	ModelEnable flag automatic reset.		SYNC	Error
13134	ModelEnable flag is zero, no motion allowed.		SYNC	Error

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