Error Codes

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Introduction

The softMC usually communicates error codes by means of a text message via the serial port to the host. Some error codes are also transmitted to the status display. The same message is saved in the EEPROM under an error history log (FLTHIST, ERR) so nothing is lost when power is removed. Not all errors reflect a message back to the host. In these cases, the no-message errors communicate only to the status display.


Error Handler (1 through 999)

Number Message Description Type Severity Action
1 CPU Divide error Generated by the CPU if the divisor is zero or the quotient overflows the result register. ASYNC Fatal Fault Watchdog
2 CPU Debug Generated by the CPU after each instruction if Trap Flag is set. ASYNC Fatal Fault Watchdog
3 CPU NMI Generated by the CPU when the input to the NMI pin is asserted ASYNC Fatal Fault Watchdog
4 CPU Breakpoint Generated by one-byte breakpoint instruction. ASYNC Fatal Fault Watchdog
5 CPU Detected Overflow Generated by the CPU if Overflow Flag is set. ASYNC Fatal Fault Watchdog
6 CPU Bound range exceed Generated by BOUND instruction when the value to be tested is less than the indicated lower bound or greater than the indicated upper bound. ASYNC Fatal Fault Watchdog
7 Invalid opcode Generated when the CPU attempts to execute an invalid operation. ASYNC Fatal Fault Watchdog
8 CPU extension not available Generated if a co-processor instruction is encountered and a co-processor is not installed. ASYNC Fatal Fault Watchdog
9 CPU: double exception detected Generated when multiple exceptions occur on one CPU instruction or in an exception handler. ASYNC Fatal Fault Watchdog
10 CPU Coprocessor overrun Generated if the co-processor attempts to access memory outside a segment boundary. ASYNC Fatal Fault Watchdog
11 CPU Invalid Task State Segment Automatically generated by the CPU during task switch if the new TSS specified by the task gate is invalid. ASYNC Fatal Fault Watchdog
12 CPU segment not present Generated when loading a segment register of the CPU if the segment descriptor indicates that the segment is not currently in memory. ASYNC Fatal Fault Watchdog
13 CPU Stack fault Generated on a stack overflow, underflow or if an inter-level transition or task switch references a stack segment marked "not present". ASYNC Fatal Fault Watchdog
14 CPU General protection fault Generated when the CPU detects a protection violation that does not fit under another category having a separate interrupt. This error is generated on an 80486 protected- mode floating-point protection fault. ASYNC Fatal Fault Watchdog
15 CPU Page fault Generated when attempting to access a 4 K memory page whose page table entry has the "present" bit cleared. ASYNC Fatal Fault Watchdog
16 CPU Coprocessor fault Generated if the co-processor attempts to access memory outside a segment boundary. It may occur at any arbitrary time after the coprocessor instruction is issued. ASYNC Fatal Fault Watchdog
17 CPU Alignment error Automatically generated by the CPU if memory is misaligned. ASYNC Fatal Fault Watchdog
18 Invalid FPU operation Program error (e.g., an out-of-range argument to trigonometric functions, SQRT of negative operand, logarithm of zero or negative operand). ASYNC Error Idle Task
19 FPU: Unnormalized operand Generated when an instruction attempts to operate on an operand that is not normalized. The result may have reduced significance due to lost low-order bits. ASYNC Error Idle task
20 FPU divide by zero Generated when an instruction attempts to divide by zero. ASYNC Error Idle Task
21 FPU overflow Occurs if the magnitude of the rounded true result exceeds the magnitude of the largest finite number in the destination format. ASYNC Error Idle Task
22 FPU Underflow Two related events can contribute to this error: 1) creation of a very small operand which can cause some other exception later, and 2) overflow upon division producing an inexact result. ASYNC Error Idle Task
23 FPU Precision lost Occurs when the result of an operation is not exactly representable in the destination format. For example, 1/3 cannot be precisely represented in binary form. This exception occurs frequently and indicates that some (generally acceptable) exception has been lost. Most applications mask this exception. ASYNC Error Idle task
24 FPU Stack fault Generated on the FPU due to stack overflow or underflow. ASYNC Error Idle Task
25 Invalid FPU operation Program error (e.g., out-of-range argument to trigonometric functions, SQRT of negative operand, logarithm of zero or negative operand). System Context ASYNC Fatal Fault Watchdog
26 FPU: Unnormalized operand When an instruction attempts to operate on a non-normalized operand, the result may have reduced significance due to lost low-order bits. Most applications mask this exception since a non-normalized operand will be normalized to the extended-real format when loaded to the FPU. System Context ASYNC Fatal Fault Watchdog
27 FPU Zero divide Generated when an instruction attempts to divide a finite non-zero operand by zero. System Context. ASYNC Fatal Fault Watchdog
28 FPU Overflow Occurs if the magnitude of the rounded true result exceeds the magnitude of the largest finite number in the destination format. ASYNC Fatal Fault Watchdog
29 FPU Underflow Two related events contribute to this error: 1) creation of a very small operand which can cause some other exception later, and 2) overflow upon division producing an inexact result. ASYNC Fatal Fault Watchdog
30 FPU Precision lost Occurs when the result of an operation is not exactly representable in the destination format. For example, 1/3 cannot be precisely represented in binary form. This exception occurs frequently and indicates that some (generally acceptable) exception has been lost. Most applications mask this exception. ASYNC Fatal Fault Watchdog
31 FPU Stack fault Generated on the FPU due to stack overflow or underflow. ASYNC Fatal Fault Watchdog
32 Unknown module ID Internal error. Unregistered code of the module encountered in the error code. ASYNC Fatal Fault Watchdog
33 Failed to create Logger message queue Internal system resource cannot be allocated ROOT Fatal Fault Watchdog
34 Failed to create logger task Internal error. Contact technical support. ROOT Fatal Fault Watchdog
35 Failed to write logger file An error occurred while writing to the log file. This can happen if many errors are generated simultaneously. ASYNC Error None
36 Invalid logger message queue ID Internal error. Contact technical support. ASYNC Fatal Fault Watchdog
37 Failed to create logger mutex Internal error. Contact technical support. ROOT Fatal Fault Watchdog
38 Invalid logger mutex Internal error. Contact technical support. ASYNC Fatal Fault Watchdog
39 Task does not exist Generated in response to ERROR or ERRORNUM task query when task does not exist. SYNC Note None
40 Invalid message queue Invalid message queue ID SYNC/ ASYNC Fatal Fault Watchdog
41 Failed to create Error Handler task Internal error. Contact technical support. ROOT Fatal Fault Watchdog
42 Failed to create Error Handler message queue Internal error. Contact technical support. ROOT Fatal Fault Watchdog
43 Error message queue overflow The error flow too intense. Some error messages may be lost. ASYNC Error None
44 Logger message queue overflow The error message flow is too numerous. Some error messages may be lost. ASYNC Error None
46 Could not stop Interpreter User process cannot be stopped by the default system error handler. ASYNC Fatal Fault Watchdog
47 Cannot proceed user error handler Internal error. Contact technical support. ASYNC Fatal Fault Watchdog
48 Error code with invalid severity Internal error. Contact technical support. ASYNC Fatal Fault Watchdog
49 Error code with invalid context info Internal error. Contact technical support. Invalid context value recognized by the Error Handler state machine. ASYNC Fatal Fault Watchdog
50 Cannot open logger file A file system error occurred while opening Logger file. ASYNC Error None
51 User error handler cannot be created. An error occurred while spawning user error handler task. Add memory. SYNC Error None
52 User error handler message queue failed Internal error. Contact technical support. SYNC Fatal Fault Watchdog
53 User error handler stack allocation failed. Could not create internal data structure. Add memory or unload unnecessary tasks. SYNC Error None
54 Recurring attempt to define user system error handler Only one instance of the user system error handler may exist. SYNC Error Idle Task
55 Unsuccessful OnSystemError kill User error handler cannot run. ASYNC Error Idle Task
56 Bad exception handle Bad exception handle bad handle SYNC Error Idle Task
57 Bad exception number Bad exception number SYNC Error Idle Task
58 Exception number is already used Exception number is already used SYNC Error Idle Task
59 No memory Out of memory SYNC Error Idle Task
60 Too many user defined exceptions Too many user defined exceptions SYNC Error Idle Task
61 Invalid error print level Invalid error print level SYNC Error Idle Task
62 Unknown error The error code cannot be recognized by the error handler. ASYNC Fatal Fault Watchdog
63 On System Error queue is full On System Error queue is full SYNC Error Idle Task
64 Fault.log file was invalid see Fault.bak file Fault.log file was invalid see Fault.bak file SYNC Error Idle Task
65 Error occurred in the attached motion element. In case of any unhanded error in the system, all tasks that have attached motion elements stop with this error. ASYNC Error Idle Task
66 CPU overload. User task entered busy loop for more then 4 seconds. Put some sleep. ASYNC Error Idle Task

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 command is not allowed during AI Certain commands (like CIRCLE, DELAY, WAITFORMOTION, ...) can not be used during Advanced Interpolation. SYNC Error
3032 Axis specified more than once in group The group cannot consist of multiple instances of one axis. SYNC Error
3033 SYNC flag not set. Set STARTTYPE to SYNC The SYNCSTART command was issued upon an element for which the StartType is not defined as SYNC. SYNC Error
3035 Synchronized movement is pending. Clear sync using SYNCCLEAR command There exists a pending synchronized movement for the motion element. The motion element cannot be moved until the SYNCSTART command has been issued, or the synchronization has been cleared using SYNCCLEAR. SYNC Error
3036 Automatic braking The element is being automatically stopped. This can occur when the final velocity is nonzero and there are no pending motion commands. ASYNC Error
3037 Not stopped. The proceed command given to an element that was not stopped. SYNC Error
3038 The element is stopped from another task Cannot define gearing or camming when the element is stopped by another task. The STOP command also inhibits motion in this case. SYNC Error
3039 Only the task can Proceed The element has been stopped by a task. The PROCEED command must be issued from a task, not from the terminal. SYNC Error
3040 Only the monitor can Proceed A motion element that has been stopped by a STOP command from the terminal can be started only by a PROCEED command from the terminal, not from another task. SYNC Error
3041 Nothing to proceed The PROCEED command has been issued on an element that has not been stopped. SYNC Note
3042 Proceed in progress. There are certain restrictions for the PROCEED and STOP commands. See the Reference Manual for details. SYNC Error
3043 Cannot execute move. Element is stopped by another task. When an element has been stopped with the STOP command, it is not possible to MOVE it until the same task that executed the STOP command issues a PROCEED command. SYNC Error
3044 Jog is not allowed on group: specify axis name Jog can only be done on a single axis. SYNC Error
3045 Wrong speed override value. The percentage given to the VELOCITYOVERRIDE function is limited. Refer to the Reference Manual for the allowed range. SYNC Error
3046 Smooth factor out of range Smoothing value given is not in range. Refer to the Reference Manual for the allowed range. SYNC Error
3047 Excessive Jerk/Acceleration ratio: decrease jerk or increase accel and decel The Jerk-to-Acceleration ratio defines the time needed to achieve maximum acceleration. If this time is shorter then 5 motion samples, it is not accepted. The ratio is limited by 0.9*PI/(5T), where T is the cycle time in milli seconds. Thus, the limit is 282.74 when the cycle time is 2 msec, and 141.37 when the cycle time is 4 msec. Use a SMOOTHFACTOR from 0 through 100 to get around the JERK limitations. SYNC Error
3048 Proceed command may be entered from monitor If the task that stopped the motion was killed or terminated without giving the PROCEED command, the PROCEED command is allowed from the terminal. SYNC Note
3049 Group is stopped: at least one of its axes is disabled or in following mode The group was stopped because one (or more) of its axes has been disabled or entered following mode. SYNC Note
3050 The movement has been recalculated There is a change in the status of the motion, between the time movement calculation started, but before that movement could be executed. SYNC Note
3051 The current operation mode doesn't allow this action N/A for MC SYNC Error
3052 Circle plane out of range: must be 0, 1 or 2 A CIRCLE command may be executed in the XY plane, the YZ plane or the XZ plane. In the CIRCLE command, these planes are specified using the values 0, 1 and 2 respectively. SYNC Error
3053 Wrong master declaration. Wrong definition of master type. Check for recursion of mastersource assignments. SYNC Error
3054 Invalid slave specification This error occurs when attempting to specify a group as a slave axis, for example G1.MasterSource = 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 VelocityMax exceeds the max number of counts per motion sample. Reduce VelocityMax or change PositionFactor - VelocityFactor settings. SYNC Error
3099 Cannot execute InPosition The INPOSITION value of the STARTTYPE has no meaning when the previous movement is with nonzero final velocity. SYNC Note
3100 Configuration switch. N/A for MC N/A N/A

Motion (3101 through 3200)

Number Message Description Type Severity Action
3101 Time jog is meaningless TimeJog can not be zero. SYNC Note
3102 The index is out of the table range. The index is out of the cam table range. This error is returned when attempting to access a value in the cam table, where the index is greater than the number of points in the table. SYNC Error
3103 Given value will cause cam table to be non-monotonic: value not accepted. The cam table is chained, but the data are not in use. The given value for the master would cause the table to be non-monotonic, so the value is not accepted. SYNC Note
3104 The movement will be calculated until the position limit SYNC Note
3105 Blending is not provided with non-zero final velocity motions and jog movements vfinal = .. 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
3109 Wrist configuration at the target point differs from the wrist configuration of the start! during movement path passes wrist singular and the wrist changes its flip value, therefore the target position can differ from its pre-computed value and a recalculation note can occur ASYNC Note
3110 Wrong Phaser definition. phaser parameters are invalid SYNC Error
3111 Wrist Singularity encountered. Motion has been stopped. Try with different movement type untreatable wrist singularity ASYNC Note
3112 Initialized the acceleration to its maximum If acc > amax the amax will be taken. ASYNC Note
3113 Initialized the deceleration to its maximum If dec > dmax the dmax will be taken. ASYNC Note
3114 Initialized the jerk to its maximum If jerk> jmax the jmax will be taken. ASYNC Note
3115 Element entered into following mode, all motions aborted An active motion was aborted due to element's disable SYNC Error
3116 The configuration flags can not be specified together with joint target position. giving both joint target coordinates and configuration flags is not possible. SYNC Error
3117 Point too close. The target coordinates are too close to the robot's Cartesian space origin point. the target point is inside Rmin sphere (or XY circle only in case of PUMA) SYNC Error
3118 MOVES can not interpolate these orientation angels. Try with different orientation interpolation or change the target to location. Some orientation path can not be proportionally interpolated together with the translational part as the joint angles needed for translation conflicts the given orientation component. SYNC Error
3119 Point too far. Outside of the working envelope. The target coordinates are too far from the robot's Cartesian space origin point. the target point is outside Rmax sphere SYNC Error
3120 Not a robot. Certain properties are fro robot models only and do not exist in regular groups SYNC Error
3121 The target point is not reachable. Target coordinate exceed [pmin,pmax] segment SYNC Error
3122 Motion can not be executed due to the unsolvable configuration change. During straight line motion some start and target configuration flags can not differ (ABOVE, BELOW) SYNC Error
3123 Unreachable target orientation. Internal checking of quaternion. In some robot models (SCARA, DELTA< ….) NDOF of orientation representation is limited therefore the quaternion of target orientation ahs to obey certain restrictions. Normally user can not produce this error. SYNC Error
3124 Crossing unreachable region. For example in SCARA straight line motion that crosses Rmin sphere is not allowed SYNC Error
3125 Wrong point type. Location point type does not fit to the given command/property. SYNC Error
3126 Can not de-select orientation coordinates. Check the selectaxis property N/A for MC N/A N/A
3127 Both final velocities(rotary & translation) must be zero or non zero vtranfinal and vrotfinal can either be both zero or both non-zero. SYNC Error
3128 Error in Closed-Chain Kinematics. Point is not reachable joint coordinates do not close the close-chain kinematics (happens only in certain models s: SCISSOR, CSE, …) ASYNC Error
3129 Task start failure. Internal Error. Cannot start the task. The error is returned from the operating system. SYNC Fatal Fault
3130 Task end failure. Internal Error. Cannot end the task. The error is returned from the operating system. SYNC Fatal Fault
3131 Invalid semaphore ID or time-out elapsed. Internal Error. Invalid semaphore ID. The error is returned from the operating system. SYNC Fatal Fault
3132 Invalid message. Internal Error. Invalid message received by the motion manager. The motion manager is a message-driven task. Receiving an invalid message is a fatal system fault. SYNC Fatal Fault
3133 Invalid element handle. Internal Error. Invalid element handle encountered during the real time execution. The error is identical to the MOT_ERR_IELEMENT but this time the source is internal (not the interpreter) ASYNC Fatal Fault
3134 No memory. Internal Error. No more free memory in the system. The memory of the system is exhausted. The memory for the motion should always be available. SYNC Fatal Fault
3135 Invalid pointer. Internal Error. Invalid pointer encountered during the real-time execution. A zero pointer was found in the RTK or MM task. SYNC Fatal Fault
3136 Corrupted task data. Internal Error. Invalid task data. Each attached task is represented by a block of data. If these data are corrupt, a fatal system error occurs. SYNC Fatal Fault
3137 Task mismatch. Internal Error. A task tried to add an axis to the group that it did not create. Group creation is a process of several steps and during this process only the task that started creation of the group can end it. SYNC Fatal Fault
3138 Bad dimension. Internal Error. The element dimension (number of axes) is invalid. Each motion package contains the size (dimension) of the group. If a copy of two packages with different dimensions was ordered, this fatal error is generated. SYNC Fatal Fault
3139 Corrupted data Internal Error. During the element deletion procedure, corrupt data were encountered. When the element data are de-allocated, a number of checks are conducted. Among the checks is verification that all allocated motion packages are deleted. If not, the error is set. SYNC Fatal Fault
3140 RTS blocked. Internal Error. The RTS did not release the semaphore. The RTS releases this semaphore periodically, but if the semaphore is not released after two time periods, this error is set. It indicates the RTS is not functioning properly or that the interrupt handler stopped. ASYNC Fatal Fault
3141 Bad profile data. Internal Error. Profiler error. Invalid data for the profile calculation given. SYNC Fatal Fault
3142 RTS element add failed. Internal Error. The RTS failed to add an element. The RTS refused to add new element in its table. SYNC Fatal Fault
3144 RTS clear motion failed. Internal Error. The RTS failed to clear the motion enable flag. The error can occur during the RTK initialization or during the suspend-resume transitions. ASYNC Fatal Fault
3145 RTS set motion failed. Internal Error. The RTS failed to set the motion enable flag. The error can occur during the RTK initialization or during the suspend-resume transitions. ASYNC Fatal Fault
3146 RTS overrun clear failed. Internal Error. The RTS failed to clear the overrun flag. Occurs only in run time. SYNC Fatal Fault
3147 RTS delete failed. Internal Error. The RTS failed to delete an element. At the end of the deletion task, the system failed to delete the RTS entry. Recovery action is not needed because the task is dead. SYNC Fatal Fault
3148 Computing too late The pre-computation is late. For immediate motion changes such as immediate move or speed override, a pre-computation time delay is assumed. Normally, this delay should be sufficient to complete computation. This error generally indicates that the system is too heavily loaded. ASYNC Error
3149 Unable to create system resource. Internal Error. The operating system is unable to create the resource (Queue, Semaphore, ...) Possible cause: No more memory, operating system down. SYNC Fatal Fault
3150 Invalid profiler parameters. Internal Error. Invalid profiler parameters. Sync Fatal Fault
3151 Profiler in motion. Internal Error. Certain profiler settings can only be set when the acceleration is zero. SYNC Fatal Fault
3152 Invalid profiler status. Internal Error. The profiler is state driven. If an invalid status is encountered, this error occurs. SYNC Fatal Fault
3153 RTK continuously interrupting. Internal Error. The RTK is in a continuously repeating stop state. ASYNC Fatal Fault
3154 Maximum Position reached. Maximum axis limit reached. Usually by a JOG command. SYNC Error
3155 Minimum position reached Axis minimum limit reached. Usually by a JOG command. SYNC Error
3156 No previous package. Internal Error. In the pre-calculation process a pointer of the previous package in the m.p. ring is needed. SYNC Fatal Fault
3157 Supper-immediate movements can be executed with the trapezoidal velocity profile only. with starttype = 5 smooth must be equal 0 SYNC Error
3158 Property value cannot be changed while drive is disabled Certain properties (slave, ...) can not be changed to certain values if the drives are disabled. Same with certain commands (proceed, move, ...) . SYNC Error
3159 No memory for group/axis definition No more free memory in the system. The memory of the system is exhausted. SYNC Error
3160 Wrong PLS index. Wrong PLS index. SYNC Error
3161 Can't declare more PLS's A maximum of 65536 PLS can be declared. SYNC Error
3162 PLS property cannot be set while PLS is enabled Certain PLS properties cannot be set while the PLS is enabled. First, disable the PLS, then change the property value. SYNC Error
3163 PLS value cannot be accessed before the PLS data are created In order to operate on a PLS, the PLS must be defined (COMMON SHARED ... AS PLS), and the PLS data must be created (CREATEPLSDATA). SYNC Error
3164 PLS position index out of range This error is returned when attempting to access a non-existent PLS position. The number of PLS positions is set when creating the PLS data structure (CREATEPLSDATA). SYNC Error
3165 PLS position data must be monotonic The data in the PLS data structure must be arranged in ascending order. The order is verified when attempting to enable the PLS. SYNC Error
3166 PLS output polarity must be binary (0 / 1) The PLS output polarity must be binary(0 or 1). SYNC Error
3167 Wrong value for the repetition interval. Wrong value for the repetition interval. SYNC Error
3168 PLS Enable must be binary ( 0 or 1 ) The PLS Enable must be binary (0 or 1). SYNC Error
3169 Fatal Fault, the error number is not defined by the programmer Internal error SYNC Fatal Fault Watch dog
3170 PLS Hysteresis must be positive The value specified for the PLS, hysteresis must be positive. SYNC Error
3171 PLS cannot be deleted while it is enabled PLS cannot be deleted while it is enabled. First disable the PLS using the PLSENABLE property. SYNC Error
3172 Wrong output index. Wrong output index. SYNC Error
3173 Cannot attach element. Element is stopped by another task: issue PROCEED command The STOP command is used both to stop motion and to inhibit further motion. If the STOP command has been issued from the terminal or a task, then the motion element cannot be attached by another task until the PROCEED command has been issued. SYNC Error
3174 Current property cannot be changed for a Master axis Current property of an axis that is defined as a master axis cannot be changed. First disable the master/slave by setting the slave property of the slave axis to OFF. SYNC Error
3175 Wrong index for location. Querying coordinates of location variables like here,setpoint, tool, etc. an index outside [1,NDOF] was given. SYNC Error
3176 PLS value will is scaled to be at the range 0-100%. N/A for MC N/A N/A
3177 Cannot execute the move command while the axis is active in a group Axis can not be moved separately if its' group is attached. For example MOVE AX1 ... is not allowed if G1 having AX1 is attached. SYNC Error
3178 Cannot execute the stop command while the axis is active in a group Axis can not be stopped independently from its group. SYNC Error
3179 Cannot move immediate. Need to proceed motion Element that was stopped can not executed immediate motion (StartType=1) until it is proceeded. SYNC Error
3181 Index out of range Link[] or Axis[] wrong index SYNC Error
3182 Disable time out expired: NETWORK SHUTDOWN Disable timeout of the drives expired SYNC Error
3183 Settling time expired Timeout for achieving position expired SYNC Error
3184 Maximum trial time to settle is less than settling time Maximum trial time to settle is less than settling time SYNC Error
3185 Ambiguous configuration flags. Can not determine the joint coordinates. N/A for MC N/A N/A
3186 Motion Buffer Full There are already two motions pending in the motion buffer. SYNC Error
3187 Could not interpolate in Cartesian space with this target point. Try to re-write the target point or change the motion. A straight line movement with joint target values did not reach the given target joint coordinates, most probably there is an issue with orientation angels. ASYNC Error
3188 Insufficient points during dynamic AI Not enough point for Advanced Interpolation SYNC Error
3191 Pipe Mode operation failed. Error reading values during the pipe mode ASYNC Error
3192 Element is not attached Trying from a task to change a property or to move an element that is not attached to that task. SYNC Error
3193 The user limit can not exceed the max/min limits. N/A for MC N/A N/A
3194 The max/min limits can not be set within the user limits. N/A for MC N/A N/A
3195 Element Pipe Mode is declared or system Pipe Mode is disabled. SYNC Error
3196 Wrong factor value: specify a non zero value Wrong factor value: specify a non zero value SYNC Error
3197 Displacement cannot be set if PLS enabled. SYNC Error
3199 Value can't be changed from terminal slave=5 can be given from program only SYNC Error
3200 This motion interpolation type must have a non-zero translation part in CIRCLE motion type motions with only orientation part are not allowed. SYNC Error

Motion (3201 through 3300)

Number Message Description Type Severity Action
3201 At circular movement first 2 axes must be linear. Check value of PositionRollOverEnable if issuing circle on XY tables (for examples) rollover must be disabled SYNC Error
3202 The group is not coupled N/A N/A
3203 The coupled matrix has been changed or its inverse doesn't exist N/A N/A
3204 Inverse matrix can not be calculated When giving circle motion using three points or when defining coupling matrix SYNC Error
3205 Memory allocation for matrix failed When giving circle motion using three points or when defining coupling matrix SYNC Error
3206 Wrong matrix dimension When giving circle motion using three points or when defining coupling matrix SYNC Error
3207 Property valid for Group only Some properties are not defined for axes SYNC Error
3208 Blending omitted due to stopped motion SYNC Note, activated using sys.motionassistance =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. this error is caused when applying NextItem command when there is nothing in the conveyorTracking buffer SYNC Error
3238 Item missed. The item has left the working-window area. SYNC Error
3239 Blending: CP of the first movement reduced due to the big velocity ratio N/A N/A
3240 Property valid for axis only Some motion element properties are valid for axes only. Examples are PFAC, PEXT. SYNC Error
3241 Delay cannot be used with the StartType set to Immediate. The DELAY command is subject to the STARTTYPE of the motion element being delayed. However, using STARTTYPE Immediate with the DELAY command is not allowed. Change STARTTYPE before executing the DELAY command. SYNC Error
3242 No possibility for blending of different profile types CP blending of trapezoidal velocity and sine profile is not allowed SYNC Error
3243 Stop in progress. Certain very special cases of motion are not allowed to be given while motion is stopping. SYNC Error
3244 Cannot change following mode while homing is in progress mode can be set only while motion is stopped SYNC Error
3245 Error in homing procedure ASYNC Error
3246 Axis position after homing is subjected to the axis displacement N/A for MC N/A N/A
3247 System Motion property can be set only from the terminal The default system error handler sets the system motion flag low. Once this happens, the MOTION property can be set high only when SYSTEM.MOTION=ON is issued form the terminal. SYNC Error
3248 This motion interpolation type is not allowed. The given interpolation type is not allowed. (joint interpolation during conveyor tracking, MOVESKD on certain robot models, jointEnable property is false ... SYNC Error
3249 System automatic braking The velocity is not zero. The element is stopped by the system. This can occur when a slave axis has passed its position limits. The axis is then stopped by the system. ASYNC Fatal Fault
3250 Different motion type in group The group can only be defined if the axes are of the same type. The error occurs during the group definition or when the system or user tries to attach the group. Motion types are LINEAR or ROTARY. SYNC Error
3251 RTS set motion failed in initialization. Internal error. The RTS failed to set the motion enable flag. The error occurs during the RTK initialization or during the suspend-resume transitions. ASYNC Fatal Fault
3252 RTS clear motion failed in initialization. Internal error. The RTS failed to clear the motion enable flag. The error occurs during the RTK initialization or during the suspend-resume transitions. ASYNC Fatal Fault
3253 Following error when motion is stopped: drive disabled. There is no motion commanded, but there is a position error. The maximum position error (PEMax) may be set too low, or the axis may be moved by an external force, or the drive may not be tuned properly. ASYNC Error
3254 Envelope error when motion is stopped: drives disabled. There is no motion commanded, but there is an envelope error. The maximum position error (PEMAX) may be set too low, the axis may be moved by an external force, or the drive may not be tuned properly. ASYNC Error
3255 Fatal experience should never happen SYNC Fatal Fault
3256 The acceleration/deceleration time is not achieved tacc/tdec values not achieved SYNC Note
3257 Homing is not allowed on a slaved axis SYNC Error
3258 No home input assigned SYNC Error
3259 Drive parameters are zeroed N/A for MC N/A N/A
3260 Value assigned was rounded up to nearest integer N/A N/A
3261 Invalid moving frame parameters. zero radius, zero angle or identical up & down points SYNC Error
3262 Compensation table table is empty. SYNC Error
3263 Can't declare more compensation tables. Maximum number of compensation tables exceeded SYNC Error
3264 Invalid compensation table index Compensation Handle received from translator is invalid, either internal interpreter error or usage of generic compensation table that is not defined SYNC Error
3265 Compensation table active value must be set to 0 or 1. 0/1 only allowed here SYNC Error
3266 Compensation table can not be changed while in use: value not accepted. SYNC Error
3267 Load the compensation table data and set the axes(function compset) first. SYNC Error
3268 Number of axes does not match the mechanical model Robot models can be defined only with certain number of axes SYNC Error
3269 Position command might be lost by this action N/A for MC N/A N/A
3270 Velocity rate initialized to its limit rate values allowed in [0.1,100] percents range only SYNC Note
3271 Acceleration rate initialized to its limit rate values allowed in [0.1,100] percents range only SYNC Note
3272 Deceleration rate initialized to its limit rate values allowed in [0.1,100] percents range only SYNC Note
3273 Jerk rate initialized to its limit rate values allowed in [0.1,100] percents range only SYNC Note
3274 After digital torque command only supper immediate movement is allowed N/A for MC N/A N/A
3275 The property can not be queried if no tracking (slave <>0) has been established. SYNC Error
3276 Element is detached by the system in order to avoid endless error messaging. In certain case (error in closed chain kinematics induced by joint angles) the group is detached automatically ASYNC Note detach
3277 Absolute motion not allowed AbsEnable is zero SYNC Error
3278 Wrong buffer size. AI: Pass command with an array bigger then AI buffer SYNC Error
3279 The correct setting is: passbuffermin < passbuffermax < passbuffersize. AI: Check PassBufferMin, PassBufferMax, …. SYNC Error
3280 Wrong stretch factor value. percents inside [0.1,100] allowed only SYNC Error
3281 Wrong size of stretch factor vector or user parameter vector. AI: Pass command with an array bigger then AI buffer SYNC Error
3282 Wrong relationship between passfrom and passupto properties. passfrom must be always less than passupto SYNC Error
3283 No more points to interpolate. DOPASS issued on an empty buffer. SYNC Note
3284 Wrong blend method. AI is not allowed with CP or SP blending SYNC Error
3285 Advance interpolation/Conveyor tracking cannot be used with starttype immediate. AI is not allowed with CT SYNC Error
3286 Advance interpolation - points have been lost. Point buffer cleared (stop, reset of BlendingMethod property) no proceed of the stopped motion possible Note Error
3287 Excessive master-slave deviation SYNC Error stop
3288 Number of axes does not match the given compensation table dimensions. SYNC Error
3289 Action not allowed while compensation table is active. SYNC Error
3290 Compensation table: Limit mismatch. SYNC Error
3291 This compensation table has been already set. SYNC Error
3292 No more space for compensation tables. SYNC Error
3293 Compensation table: Invalid row. SYNC Error
3294 Velocity Safety Limit exceeded! A drastic increase(jump) of pcmd during one sample exceeds the VelocitySafetyLimit of that axis. The VelocitySafetyLimit should be set at least to a 10*Vmax of the same axis. See: VelocitySafetyLimit . ASYNC Fatal Fault
3295 Extremely low velocity. JOG 0 is not allowed SYNC Error
3296 Additive torque value is over threshold limit TorqueAddCommand > Tmax ASYNC Error stop
3297 Additive torque value is over threshold limit when motion is stopped: drive disabled TorqueAddCommand > Tmax ASYNC Error disable
3298 The pls positions are too close to each other and/or the velocity is too high for output to toggle ASYNC Error
3299 Hardware Assistance is true but not available due to wrong CPU/FPGA/etc. SYNC Error
3300 Excessive master-slave deviation when the motion is stopped: drive disabled ASYNC Error disable

Motion (3301 through 3999)

Number Message Description Type Severity Action
3301 This Kinematic model is not fully supported yet. SYNC Error
3302 Axis was disabled due to an error. ASYNC Note disable
3303 Axis was disabled due to a master-slave connection. ASYNC Note disable
3304 Axis was disabled due to a group connection. ASYNC Note disable
3305 Torque error - drive is disabled. ASYNC Error disable
3306 Torque error - motion is stopped ASYNC Error stop
3307 Velocity exceeds its maximum during blending. ASYNC Note
3308 Velocity exceeds its maximum during CT. ASYNC Note
3309 Velocity exceeds its maximum. ASYNC Note
3310 Acceleration exceeds its maximum during blending ASYNC Note
3311 Acceleration exceeds its maximum during CT. ASYNC Note
3312 Acceleration exceeds its maximum. ASYNC Note
3313 Velocity exceeds its maximum during AI. ASYNC Note
3314 Trapezoidal Acceleration does not support on-line VORD change. Vord change will be postponed until the start of next movement. SYNC Note
3315 Can't operate more PLS using WithPls command. SYNC Error
3316 PLS source from type PathTime relevant only to profiler based on time. SYNC Error
3317 Drive PCMD (AT/MT)is not supported. SYNC Error
3318 Kinodynamic movement is not supported by the given motion profile. Kino-Dynamic movements can be used only with Trapezoidal Acceleration profile (Prftype = 2). SYNC Error
3319 This motion profile does not support immediate starttype. Certain interpolation types(MOVESKD) do not support start-type immediate option. ASYNC Note
3320 Acceleration exceeds its maximum during AI. ASYNC Note
3321 Trapezoidal Acceleration: only zero final & initial velocity allowed. ASYNC Error
3322 Trapezoidal Acceleration: excitation control looping! SYNC Error
3323 Marginal acceleration limit exceeded, element is stopped. ASYNC Error
3324 PLS - I/O error SYNC Error
3325 PLS propagation delay cannot be larger then position error delay. SYNC Error
3326 End of program without issuing detach command, motion was stopped and the element detached. SYNC Note
3327 Torque command valid to axis only. SYNC Error
3328 Command is executed not in the right operation mode. SYNC Note
3329 Kinodynamic movement is not supported by the CP blending. SYNC Note
3330 Movement can't be synchronized due its type or its velocity final. SYNC Error
3331 Movement can't be stopped with the defined StopType. SYNC Error
3332 PLS is not defined to this element. SYNC Error
3333 This property is not allowed in nodal assignment. SYNC Error
3334 Invalid Proceed Sequence. SYNC Error
3335 Limit switch is engaged. ASYNC Error
3336 Movement is crossing limit switch in wrong direction. Reverse movement direction. ASYNC Error
3337 Advance Interpolation BlendingMethod 3 not allowed from terminal context. SYNC Error

File System (4000 through 4999)

Number Message Description Type Severity Action
4001 Error opening file for Retrieve Error opening file for RETRIEVE SYNC Error
4002 Error opening the file for Send Error opening the file for SEND SYNC Error
4003 Internal error. Contact technical support. Internal Error. Creating message pipe for upload. SYNC Error
4004 Internal error. Contact technical support. Internal error. Creating message pipe for download. SYNC Error
4005 Internal error. Contact technical support. Internal error. Removing message pipe for upload. ASYNC Error
4006 Internal error. Contact technical support. Internal error. Removing message pipe for download. ASYNC Error
4007 Internal error. Contact technical support. Internal error Upload task exists. SYNC Error
4008 Internal error. Contact technical support. Internal error. Download task exists. SYNC Error
4009 Internal error. Contact technical support. Internal error. Creating upload task. SYNC Error
4010 Creating download task Internal error. SYNC Error
4011 Internal error. Contact technical support. Internal error. Cannot create RAM drive device. ROOT Fatal Fault Watchdog
4012 Internal error. Contact technical support. Internal error. Bad initialization option. SYNC Error
4013 No memory for RAM drive volume There is not enough memory to create the RAM disk. Add more memory or delete unneeded files. SYNC Error
4014 Time-out during file transfer Host has interrupted file transfer operation. ASYNC Note
4015 No disk space File operation could not be accomplished due to the lack of disk space. SYNC Error
4016 File not found Cannot locate the file. SYNC Error
4017 Error opening file Error opening file. SYNC Error
4018 Error closing file Error closing file. SYNC Error
4019 Disk full There is no free disk space on the file device. SYNC Error
4020 Invalid device name Invalid device name specified for the file operation. ROOT Fatal Fault Watchdog
4021 Cannot delete file. There is no permission to delete the file. SYNC Error
4022 Cannot delete directory. Use RMDIR. Trying to delete directory. SYNC Error
4023 Cannnot delete directory - it is not empty or in use. Cannot delete directory because it is not empty SYNC Error
4024 Error reading directory An error occurred while executing DIR SYNC Error
4025 Cannot create directory - it already exists or access is denied. Cannot create directory. SYNC Error
4026 Closing directory An error occurred during execution of the DIR command SYNC Error
4027 Memory allocation error. Cannot allocate internal data structure. Add more memory or unload tasks that are not needed. SYNC Error
4028 Error writing into file Error writing into a file. SYNC Error
4029 Error reading from file Error reading from a file. SYNC Error
4030 Bad access to the file Invalid pointer to the file handle. SYNC Error
4031 Unknown file extension. Only specific file extensions are recognized. These are PRG for programs, REC for record files CAM for cam files. SYNC Error
4032 Cannot access this type of file Access to this type of file is not permitted by the system. SYNC Error
4033 File does not exist This message is given when trying to operate on (RETRIEVE, DELETE, LOAD) a file that does not exist on the flash disk. SYNC Error
4034 Root directory is full The number of files in the root directory has reached the maximum number of files allowed. SYNC Error
4035 Invalid semaphore ID Invalid semaphore ID. The semaphore guards linked list of the files. SYNC Fatal Fault
4036 Password file is broken. Failed to initiate the password list – password file is not valid. ASYNC Error
4037 Invalid password. Invalid password entered. SYNC Error
4038 Password protected The file cannot be deleted or retrieved because it is protected by a password. Use the PROGRAMPASSWORD command to remove the protection. SYNC Error
4039 Error setting the password Cannot write into the system password's log. SYNC Error
4040 File in use. Access denied. A file with same name already has been opened. If it was open for reading you cannot open it for writing. SYNC Error
4041 No available file descriptors No file descriptors available at the current directory. SYNC Error
4042 Illegal name The file name is illegal from the File system's point of view. SYNC Error
4043 Cannot rename. Files are on different devices. File rename failed – the extension is allocated to a different device (RAM drive or system devices). SYNC Error
4044 Cannot rename. Destination file already exists. File rename failed – a duplicate file name exists. SYNC Error
4045 Cannot rename file. File rename failed – file in use. SYNC Error
4048 Directory does not exist. Internal error: directory does not exist. SYNC Error
4049 Cannot create sub-directory - only 17 levels are allowed. Cannot create sub-directory - only 17 levels are allowed. SYNC Error
4050 Volume unavailable. Volume not available. SYNC Error
4051 Internal file system error Internal error. SYNC Error
4052 Error opening directory. An error occurred while accessing a directory. SYNC Error
4053 Firmware upgrade failure - current firmware version is not the new one. Upgrade failed - either cannot delete or cannot rename files. File(s) may be write protected SYNC Error
4054 Firmware restoration failed - current firmware version is not the previous one. Cannot copy backup file. Possibly not enough disk space or file(s) is write protected. SYNC Error
4055 Error creating a contiguous boot file. There is not enough space on Flash or hard disk for contiguous bootrom. SYNC Error
4056 Error creating TFFS block device. Not used N/A N/A
4057 Cannot install file system driver. Not used N/A N/A
4058 No memory to create disk cache. Out of RAM ROOT Fatal Fault
4059 No memory to create file system device. Out of RAM ROOT Fatal Fault
4060 NVRAM data checksum error. Data on the NVRAM is corrupted. Perform NVRAMFORMAT to overcome this problem. SYNC Error
4061 Error creating semaphore. Internal error. Failure to create Semaphore during initialization of the NVRAM module. ASYNC Error
4062 Variables indexes exceed the size of NVRAM. NVRAMFORMAT command failed while trying to define an NVRAM array that is larger than the NVRAM size. SYNC Error
4063 Value is out of range. Index value is out of range. SYNC Error
4064 NVRAM does not exist. The controller does not have an NVRAM device. SYNC Error
4065 Unknown error An unknown error code was generated while the file system was in operation. SYNC Fatal Fault

Entry Station (5000 through 5999)

Number Message Description Type Severity Action
5001 Internal error. Contact technical support. Internal error. Contact technical support. ROOT Fatal Fault Watchdog
5002 Failed to create output pipe: add more memory. Failed to create pipe. Add more memory. ROOT Fatal Fault Watchdog
5003 Internal error. Contact technical support. Internal error. Contact technical support. ROOT Fatal Fault Watchdog
5004 Failed to create input task: add more memory. Not enough memory to create task. Add more memory ROOT Fatal Fault Watchdog
5005 Failed to create output task: add more memory. Not enough memory to create task. Add more memory ROOT Fatal Fault Watchdog
5006 Failed to create semaphore: add more memory. Failed to create sync semaphore. Add more memory. ROOT Fatal Fault Watchdog
5007 Internal error. Contact technical support. Internal error. Contact technical support ROOT Fatal Fault Watchdog
5008 Internal error. Contact technical support. Internal error. Contact technical support ROOT Fatal Fault Watchdog
5009 Serial communication error; Bad BCC. Try again Failed to match Block control character in message. ASYNC Error
5010 Serial communication error; Bad protocol data. Try again Failed to detect new line in message. ASYNC Error
5011 Serial communication error; Bad protocol data format: try again Failed to format output message. ASYNC Error
5012 Failed to write translator input. Memory exhausted on RAM drive. Add memory or delete REC files. Terminal Error
5013 Internal error. Contact technical support Internal error. Contact technical support Terminal Error
5014 Internal error. Contact technical support Internal error. Contact technical support Terminal Error
5015 Failed to create semaphore: add more memory Failed to create mutex for active context. Add more memory. ROOT Fatal Fault Watchdog
5016 Internal error. Contact technical support Internal error. Contact technical support Terminal Error
5017 Internal error. Contact technical support Internal error. Contact technical support Terminal Error
5018 Internal error. Contact technical support Internal error. Contact technical support. Terminal Error
5019 Internal error. Contact technical support Internal error. Contact technical support Terminal Error
5020 Failed to create internal file: add more memory. Failed to create back-end output file. Add more memory. ROOT Fatal Fault Watchdog
5021 Internal error. Contact technical support Failed to create memory device. ROOT Fatal Fault Watchdog
5022 Virtual input index out of range Virtual input is out of range. Refer to SYS.VIN in Reference Manual. SYNC/ ASYNC Error Idle Task
5023 Virtual output index out of range Virtual output is out of range. Refer to SYS.VOUT in Reference Manual. SYNC/ ASYNC Error Idle Task
5024 Fast data available for axes 1 through 8 only Fast Data may be enabled only for axes 1 through 8. SYNC Error Idle Task
5025 Fast data array index out of range. Index specified for fast data must be within the range. Refer to fast data properties in Reference Manual. SYNC Error Idle Task
5026 Incorrect fast data check sum. Fast data are not initialized. The host must write valid data before the softMC reads it. SYNC Error Idle Task
5027 Internal error. Contact technical support Internal error. Contact technical support. SYNC/ ASYNC Fatal Fault Watchdog
5028 Device is blocked for safety reasons. N/A for MC N/A N/A
5029 No such device. N/A for MC N/A N/A
5030 Unknown error Internal error. Contact technical support Terminal Fatal Fault Watchdog
5031 Internal error. Contact technical support. Could not create TCP socket SYNC Error Idle Task
5032 Could not Bind IP address to TCP socket Could not Bind IP address to TCP socket SYNC Error Idle Task
5033 Could not use TCP socket Could not “listen” to TCP socket SYNC Error Idle Task
5034 Could not accept connection from host TCP “accept” failed SYNC Error Idle Task
5035 Connection lost Connection lost SYNC Note None
5036 Incorrect parameter value Incorrect parameter value SYNC Error Idle Task
5037 Incorrect baud rate value Incorrect baud rate value SYNC Error Idle Task
5038 Cannot configure port - incorrect settings Cannot configure port - incorrect settings SYNC Error Idle Task
5039 Cannot configure port - incorrect settings Cannot configure port - incorrect settings SYNC Error Idle Task
5040 Device handle is already use Device handle is already use SYNC Error Idle Task
5041 Device handle is not valid - use OPEN command Device handle is not valid - use OPEN command SYNC Error Idle Task
5042 Device handle is not valid - use OPEN command Device handle is not valid - use OPEN command SYNC Error Idle Task
5043 Port or file is already open Port or file is already open SYNC Error Idle Task
5044 Could not connect to server Could not connect to server SYNC Error Idle Task
5045 Internal error. Contact technical support Out of memory. SYNC ERR_FAULT_FATAL Watchdog
5046 Cannot execute a command while the Translator is busy Translator is still busy with previous command SYNC Error Idle Task
5047 Cannot execute a command while the MODBUS is started Cannot execute a command while the MODBUS is started SYNC Error Idle Task
5048 Translation of command in Entry station took too long Translation of command takes too much time.Typically happens at load of large library from the terminal. Sync Error
5049 Execution of command in Entry station took too long. Interpretation of command takes too much time.Typically happens if function/procedure from global library called from terminal has endless loop. Use USER_SET_ES_LOCK_DETECT_TIMEOUT(timeout,0,0) user function to change the default timeout (3000 ms) Sync Error
5050 Disk full. Disk full. SYNC Error Idle Task
5052 Other connections are still active. "Reset all" fails because other computers/devices are connected to another Entry Station. SYNC Error

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, 22000 through 22999)

Number Message Description Type Severity Action
8001 Division by zero Division by zero. SYNC Error Idle Task
8002 Internal error. Contact technical support. Interpreter stack underflow. The possible cause is memory corruption or Translator generated invalid code. SYNC Fault Interpreter is prevented from execution.
8003 Stack overflow. Memory exhausted. SYNC Fault Interpreter is prevented from execution.
8004 Internal error. Contact technical support. Interpreter stack underflow. The possible cause is memory corruption or Translator generated invalid code. SYNC Fault Interpreter is prevented from execution.
8005 Functions stack overflow. Memory exhausted. SYNC Fault Interpreter is prevented from execution.
8006 Index underflow. Invalid array index value. SYNC Fault
8007 Index overflow. Invalid array index value. SYNC Fault
8008 Task not found. Task operation failed. Requested task does not exist. SYNC Error
8009 Invalid breakpoint location. Attempt to set breakpoint to invalid location. Example: on comment line or on existing breakpoint. SYNC Error
8010 Out of memory. Memory exhausted. Add more memory or unload unnecessary tasks. SYNC Fatal
8011 Internal error. Contact technical support Run time error in the external to interpreter function. SYNC Error
8012 The task has not terminated. The task execution has not been terminated. This may occur if task is locked within some end-function, such as MOVE or STOP. SYNC Error
8013 The task is not stopped. The task is not stopped (idled). SYNC Error
8014 The task is terminated. Task is terminated (killed). SYNC Error
8015 Argument for EXP is out of range The range of values for the EXP argument is ± 7.09782712893383e+02. Values less than the lower limit can be used, but will return 0. SYNC Error
8016 llegal mathematical function call Invalid argument for mathematical function. SYNC Error
8017 Argument for LOG is out of range The argument to the LOG function must be greater than zero. SYNC Error
8018 Negative parameter in SQRT operator The argument to the SQRT function must be greater than or equal to zero. SYNC Error
8019 Internal error. Contact technical support. Loader passes invalid context definition. SYNC Fatal Fault
8020 Varible does not exist. Variable for watch does not exist. SYNC Error
8021 Incorrect number of dimensions. Wrong number of dimentions for watch. SYNC Fault
8022 Task is not running. Task is stopped (idled). SYNC Error
8023 Internal error. Contact technical support. Element could not be deleted from symbol table. SYNC Fault
8024 Task must be killed first. Task is still running. It may be locked in some end-function such as MOVE. SYNC Error
8025 Invalid task state for the `StartTask` command. Kill task first. Task is not terminated (killed). It may be locked in some end-function such as MOVE. SYNC Error
8026 Bad memory address. Attempted access to an invalid memory address. The error may be due to either a mistake in the application or to memory corruption. SYNC Error
8027 Bad I/O address. Attempted access to an invalid I/O address. The error may be due to either a mistake in the application or to memory corruption. SYNC Error
8028 Calculation overflow Overflow in calculations. SYNC Error
8029 Underflow Underflow in calculations. SYNC Error
8030 Internal error. Contact technical support Invalid mutex ID. The error may be due to memory corruption. SYNC Fatal Fault
8031 Internal error. Contact technical support Invalid mutex ID. The error may be due to memory corruption. SYNC Fatal Fault
8032 Internal error. Contact technical support Error while creating the semaphore. The error occurs when memory is exhausted. SYNC Fatal Fault
8033 Internal error. Contact technical support Code segment has invalid check sum. The reason is memory corruption. SYNC Fatal Fault
8034 Internal error. Contact technical support Invalid token COP; usually due to memory corruption. SYNC Fatal Fault
8035 Task is interrupted by OnEvent or OnError A task debugging command such as STEP or STEPOVER, etc. is disabled due to an interrupted state of a task. The task switches to this state if it is interrupted by ONERROR or ONEVENT. SYNC Error
8036 Entry Station output buffer overflow Entry Station output buffer overflow. Error is caused by an inoperable host or user task sends too many messages. SYNC Note
8037 Error loading object file (see file oload.err for more details). Object file is not valid or contains unresolved symbols SYNC Note
8038 The value is out of range The value passed to the function is out of range SYNC Error
8039 Invalid file name Invalid file name SYNC Error
8040 Invalid time or date Invalid time or date entered. SYNC Error
8041 Nothing to retry. Retry command is applicable anly after a run-time error. SYNC Error
8042 Task is busy. Task is busy; debugging is not allowed. This happens when task is inside the end function. SYNC Error
8043 Element could not be deleted while programs are in memory. Element could not be deleted while programs are in memory. SYNC Fault
8045 Cannot stop unbreakable task. Cannot stop or debug unbreakable task SYNC Error
8046 "User authorization code is not recognized. Contact technical support Contact technical support to validate both Serial Number of your card and Authorisation code SYNC Error No axes available
8047 Invalid Authorization code! Contact technical support Contact technical support to validate your Authorisation code. SYNC Error No axes available
8049 Invalid type of variable Wrong type of variable SYNC Error
8050 Argument for trigonometric function is out of range The maximum value of the argument to a sin(x) or cos(x) is 9.223372036854699e+18 SYNC Error
8051 The result of mathematical function overflows The magnitude of the result is greater than the maximum value of the Double type. SYNC Error
8052 Internal error. Contact technical support Element could not be added to symbol table. Internal Error SYNC Fault
8053 No permission: stop the motion first Motion should be stopped before RESET. SYNC Fault
8054 Unrecognized Serial Number. Contact technical support Contact technical support to validate both Serial Number of your card and Authorisation code SYNC Error No axes available
8055 Event/OnError cannot kill a task in which defined. Event/OnError cannot kill a task in which defined. SYNC Error
8056 Wrong file type for this operation Wrong file type for this operation SYNC Error
8057 Invalid time Invalid time SYNC Error
8058 Invalid date Invalid date SYNC Error
8059 Cannot unload a global library while tasks are in memory Cannot unload a global library while tasks are in memory SYNC Error
8060 Global subroutine, function or library could not be deleted from symbol table. Global subroutine, function or library could not be deleted from symbol table. SYNC Error
8061 Subroutine/function contains a call to a non-existent global subroutine/function. Subroutine/function contains a call to a non-existent global subroutine/function. SYNC Error
8062 The file name is too long. A file name should contain no more than 8 characters. The file name is too long. A file name should contain no more than 8 characters. SYNC Error
8063 Error in OnSystemError task SYNC Error

Recorder (9000 through 9999)

Number Message Description Type Severity Action
9001 Recorder task cannot be created: add memory. The recorder task cannot be created. This occurs if there is not enough memory. Add memory or unload tasks that are not necessary. SYNC Error
9002 Internal error. Contact technical support. Internal error. Cannot create recorder mutex. Contact Technical support. ROOT Fatal Fault Watchdog
9003 Recorder task already exists. Only one instance of the recorder is allowed. Issue RECORDCLOSE command and restart the recorder. SYNC Error
9004 Invalid record gap value: must be a positive value. The record gap must be a positive value. SYNC Error
9005 Too many record variables. Up to 6 variables may be specified for recording. SYNC Error
9006 Number of points must be a positive value. Invalid number of record points: number of points must be a positive value SYNC Error
9007 Out of memory. Not enough memory for record operation. Add memory, or unload tasks that are not necessary. This can happen if the RECORD command specifies more data than can be stored in the available free memory. SYNC Error
9008 Insufficient disk space to store recorded data. Record data are stored on the RAM disk when RECORDCLOSE is issued. There is not enough free space on the RAM disk to store the recorded data. Delete files from the RAM disk and then try executing the RECORDCLOSE command again. Adding memory would be the permanent solution for this problem. SYNC Error
9009 Internal error. Contact technical support. Internal error. Disk I/O operation fault. Contact technical support. SYNC Error
9010 Failed to store recorded data. Internal error. Contact technical support. SYNC Error
9011 Synchronization error. Recorder did not manage to run within a single cycle. This error occurs if you attempt to record data that cannot be available immediately to the recorder, and that therefore result in the recorder operation not completing before the end of the system cycle. This can happen, for example, if you try to record drive data that need to be accessed from the service channel. ASYNC Error
9012 Internal error. Contact technical support. Internal error. Creation of Data segment failed. Contact technical support. SYNC Error
9013 Internal error. Contact technical support. Internal error. Creation of System segment failed. Contact technical support. SYNC Error
9014 Internal error. Contact technical support. Internal error. Failed to run Interpreter's agent. Contact technical support. ASYNC Error
9015 Internal error. Contact technical support. Internal error. Invalid Mutex ID. Contact technical support. SYNC Fatal Fault Watchdog
9016 Invalid record file extension: must be REC. Invalid file extension specified for recorder file. Only the REC extension is allowed. SYNC Error
9017 Recorder has not been initialized. The RECORD command has to be successfully executed before the RECORDON, RECORDOFF or RECORDCLOSE commands can be executed. SYNC Error
9018 Invalid index of recording variable. Internal error. Contact technical support. ASYNC Error
9019 Recording already has been completed. The RECORDON and RECORDOFF commands cannot be executed if the recording process is complete. Execute the RECORDCLOSE command to save the recorded data on the RAM disk. ASYNC Note
9020 Internal error. Contact technical support. Internal error. Unknown Recorder state. Contact technical support. ASYNC Fatal Fault Watchdog
9021 Unknown error. Internal error. Unknown error code. Contact technical support. SYNC Fatal Fault Watchdog

Event Handler (10000 through 10999)

Number Message Description Type Severity Action
10001 Event does not exist Event does not exist SYNC Error
10002 Too many events defined To many events defined SYNC Error
10003 Invalid event task ID. Failed to create an event handling task. This may occur during start up. Contact technical support. ROOT Fatal Fault
10004 Invalid mutex ID Invalid mutex ID. Contact technical support. SYNC Fatal Fault
10005 Invalid semaphore ID Invalid semaphore ID. Contact technical support. SYNC/ ASYNC Fatal Fault
10006 Invalid event message queue ID Invalid message queue ID. Contact technical support. SYNC/ ASYNC Fatal Fault
10007 Memory allocation failed Memory allocation failed. Contact technical support. SYNC Error
10008 Invalid operation code Invalid operation code for operation with internal linked list. Contact technical support. ASYNC Fatal Fault
10009 Invalid RTS element Invalid RTS element otained. It could happen at start up. Contact technical support. ROOT Error
10010 Event condition not specified Event condition not specified. Condition pointer is NULL SYNC Fatal Fault
10011 Error checking event condition. Event condition function call failed ASYNC Error
10012 Invalid event handle Event invalid handle. Contact technical support. SYNC Fatal Fault
10013 Invalid interpreter handle Invalid pointer to interpreter internal registers is used. Contact technical support. SYNC Fatal Fault
10014 Failed to delete event entry Failed to delete event entry SYNC Error
10015 Task does not exist Invalid event task name specified SYNC Note
10016 Event action task is active Event task is active (running at the moment of event deletion) SYNC Error
10017 Event action is not specified Pointer to action code is NULL SYNC Fatal Fault
10018 Failed to create event mutex ID Error creating mutual exclusion semaphore for event handler. Contact technical support. ROOT Fatal Fault
10019 Failed to create semaphore ID Error creating synchronization semaphore for event handler. Contact technical support. ROOT Fatal Fault
10020 Failed to create event message queue ID Error creating message queue for event handler. Contact technical support. ROOT Fatal Fault
10021 Invalid scan rate specified Bad value of scan rate SYNC Error
10022 Unknown Error Unknown Error. Contact technical support. SYNC Fatal Fault

Backend Processor (11000 through 11999)

Number Message Description Type Severity Action
11001 COP does not match its number. Internal error. Contact technical support. Translation Error None
11002 Error at line of the table of mnemonics. Token name already exists. Internal error. Contact technical support. ROOT Fatal Fault Watchdog
11003 Symbol table of token mnemonics is full. The symbol table allocated for token mnemonics is full. There is not enough memory available to create an internal data structure. Add more memory. ROOT Fatal Fault Watchdog
11004 Unable to create symbol table for mnemonics. There is not enough memory available to create an internal data structure. Add more memory. ROOT Fatal Fault Watchdog
11005 Unable to create symbol table for user names(labels). There is not enough memory available to create an internal data structure. Add more memory. ROOT Fatal Fault Watchdog
11006 Unable to delete symbol table for mnemonics. Internal error. Contact technical support. ROOT Fatal Fault Watchdog
11007 Unable to delete symbol table for user names(labels). Internal error. Contact technical support. ROOT Fatal Fault Watchdog
11008 Name already defined. Internal error. Contact technical support. SYNC Error Idle Task
11009 Symbol table of user names(labels) is full. Not enough memory for translation. Add memory, or unload tasks that are not necessary. SYNC Error Idle Task
11010 Token mnemonic is invalid (unknown). Internal error. Contact technical support. SYNC Error Idle Task
11011 Number of parameters at line does not match the token Internal error. Contact technical support. SYNC Error Idle Task
11012 This token data type is not supported yet. Internal error. Contact technical support. SYNC Error Idle Task
11013 Symbol or label has not been defined. Internal error. Contact technical support. SYNC Error Idle Task
11014 Calculated length of the token does not match its predefined value. Internal error. Contact technical support. SYNC Error Idle Task
11016 Out of disk space. Out of disk space while attempting to write temporary file to RAM drive. Add more memory or delete REC files. SYNC Error Idle Task
11017 Cannot find library map Internal error. Contact technical support. SYNC Error Idle Task
11018 Library Map file is invalid Internal error. Contact technical support. SYNC Error Idle Task
11019 Invalid Error code Internal error. Contact technical support. SYNC Fatal Fault Watchdog

SERCOS (12000 through 12999)

SERCOS is not supported in EtherCAT system.
Contact Servotronix for SERCOS solutions.

Number Message Description Type Severity Action
12001 Service Channel not open Drive indicates it cannot open the service channel. Contact technical support. SYNC Error
12002 MDT telegram processing overrun Overlap between reference generation and transmission. Try using a higher baud rate, longer cycle time, and reducing the amount of cyclic data. ASYNC Error
12003 Interrupt Service Routine Overlap: use longer cycle time. ISR's duration is too long (more than one communication cycle). Try using a higher baud rate, longer cycle time, and reducing the amount of cyclic data. SYNC Error
12004 Service channel timeout waiting for drive Timeout during service channel transmission. Change the communication phase to 0 and try using longer cycle time. If error persists, call technical support. SYNC Error
12005 Service channel timeout while drive is busy Timeout during service channel transmission. Change the communication phase to 0, bring the ring up and try again. Another solution would be using longer cycle time. If error persists, call technical support SYNC Error
12006 Undefined error number Undefined error code. Internal error. Contact technical support. SYNC Fatal Fault Watchdog
12007 Axis cannot be enabled: check C1D and Remote Enable This error occurs if the softMC times out while trying to enable the drive. A drive cannot be enabled if the drive is reporting a C1D error or if the drive's hardware enable signal is Off. You can check this by querying IDN P15 in the CD drive. SYNC Error
12008 Axis cannot be disabled This error occurs if the softMC times out while trying to disable the drive. Refer to IDN207 in the drive or contact technical support. SYNC Error Bring the ring down to CP0
12009 Invalid access to closing the Service Channel Internal error. Contact technical support. SYNC Error
12010 Axis in group cannot be enabled: check C1D and Remote Enable This error occurs if the softMC times out while trying to enable the drive. A drive cannot be enabled if the drive is reporting a C1D error or if the drive's hardware enable signal is Off. You can check this by querying IDN P15 in the CD drive. SYNC Error
12011 Axis in group cannot be disabled This error occurs if the softMC times out while trying to disable the drive. Refer to IDN207 in the drive or contact technical support. SYNC Error Bring the ring down to CP0
12012 Drive not ready for power up A drive cannot be enabled if the drive is reporting a C1D error or if the drive's hardware enable signal is Off. SYNC Error
12013 Drive reports fault in C1D: read IDN 95 to get the error When a drive fault occurs, the drive decelerates to a stop and releases torque. The C1D status bit is set and the corresponding fault bits are set in IDN 11. Faults are reset using IDN 99. SYNC/ASYNC Error Drive is disabled
12014 Telegram data corrupted Telegram data received from the drive is invalid. Contact technical support. ASYNC Note
12015 One of the programming error flags is active One of the SERCOS programming times was incorrect. Contact technical support. ASYNC Error
12016 Invalid drive address There may be a conflict between the axis DriveAddress and Simulated properties. If an axis is simulated, the drive address must be set to 0. If the axis is real, the simulated property must be set to 0 (Off). Check if exists on ring drive in this address. SYNC Error
12017 No IDN: IDN being accessed is not defined in the drive The IDN number being used is not defined in the drive. Check the drive manual. SYNC Error
12022 Bad handle-function index Internal error. Contact technical support. SYNC Error
12023 Service channel data not initialized Internal error. Contact technical support SYNC Error
12024 Wrong bus bus operation mode The command requires EtherCAT/CAN bus to be in OP state or phase #4 in case of SERCOS bus. SYNC Error
12025 Invalid access to the element 1 Element 1 of the IDN holds the IDN number. Access to this element is read-only. SYNC Error
12026 Wrong ring number Internal error. Contact technical support. SYNC Fatal Fault Watchdog
12027 Too many drives for this ring. Internal error. Contact technical support. SYNC Error
12028 Wrong AT number. Internal error. Contact technical support. SYNC Error
12029 Not enough memory. Not enough memory to allocate internal data structures. Add memory or unload unnecessary tasks. SYNC Error
12030 SERCOS ring is broken: check the SERCOS wiring At the transition from Phase 0 to Phase 1, the softMC checks whether the ring is closed by transmitting data and then verifying that it receives this data. This error occurs if the ring is open. In some cases, an invalid baud rate setting causes this error. SYNC Error
12031 No memory to maintain Service container Try to use less drives on the ring or contact technical support. SYNC Error
12032 Service transfer not ready Internal error. Contact technical support. SYNC Error
12033 No name Element 2 of drive's IDN table should contain the name of the IDN. The IDN has not been assigned a name. SYNC Error
12034 Name transmission too short Drive expects more information for the IDN name. SYNC Error
12035 Name transmission too long. Drive expects less information for the IDN name. SYNC Error
12036 Name cannot be changed The name of the IDN may not be changed. SYNC Error
12037 Name is write-protected at this time. The name of the IDN cannot be changed in the current communication phase. SYNC Error
12038 Service transfer data unavailable Internal error. Contact technical support. SYNC Error
12039 Initialization error An error occurred during Initialization of the SERCOS module. ROOT Fatal Fault Watchdog
12040 Service channel hand-shake time-out. Service channel hand-shake time-out. Drive does not acknowledge service transmission. SYNC Error
12041 Missing telegram(s): communication interrupted Controller did not receive telegram from the drive(s) in communications phase 2. This error is generated when a drive stops functioning, or when there is a timing problem on the SERCOS bus. SYNC Error Bring the ring down to CP0
12042 DPRAM overflow. Two many drives for this ring Not enough DPRAM space to allocate data structures. Try configure less cyclic data in telegrams (IDN’s 16 and 24) or use less drives. SYNC Error
12043 Data element too long This error occurs when drive cannot accept long data array for the particular IDN. SYNC Error
12044 Error calculating T2: increase cycle time or baud rate Error calculating MDT starting time. There is an expected time overlap between the AT's and the MDT. Either increase the cycle time, increase baud rate, simplify the telegrams, or decrease the number of drives. SYNC Error
12045 Error calculating T3 Error calculating command value valid time. The time calculated for T3 exceeds the SERCOS cycle time. This may be due to different drives being on the ring, with different processing requirements. SYNC Error
12046 Error calculating T4 Error calculating feedback acquisition capture point. The time calculated for T4 exceeds the SERCOS cycle time. This may be due to different drives being on the ring, with different processing requirements. SYNC Error
12047 Error calculating TEND Error calculating end of transmission time. The time calculated exceeds the SERCOS cycle time. Increase the cycle time, increase baud rate, simplify the telegrams, or decrease the number of drives. SYNC Error
12048 No service data Internal error. Contact technical support. SYNC Error
12050 Attribute transmission too short Internal error. Contact technical support. SYNC Error
12051 Attribute transmission too long Internal error. Contact technical support. SYNC Error
12052 Attribute cannot be changed Element 3 of the IDN is write protected. Attribute cannot be changed. SYNC Error
12053 Attribute is write protected at this time Cannot change the attribute in the current communication phase. SYNC Error
12054 Service transfer not error-free Internal error. Contact technical support SYNC Error
12055 Missing telegram(s): communication interrupted Controller did not receive telegram from the drive(s). This error is generated if a drive stops functioning, or if there is a timing problem on the SERCOS bus. Communication interrupted due to missing telegram(s) in communication phase 3 or communication phase 4. ASYNC Error Bring the ring down to CP0
12056 Wrong IDN number: the IDN must be defined One of the IDN’s wasn’t defined or there are no free place for this IDN. If error persists, call technical support. SYNC Error
12057 Wrong telegram type specified in IDN15 Data telegram type number is out of range (0..7). SYNC Error
12058 Wrong element number: must be in range 1..7 An IDN has 7 elements, each storing a different attribute of the IDN. Element number 7 is used to store the value of the IDN, and it is the element most frequently used. The element range is 1 to 7. SYNC Error
12059 Communication phase 3 transition check failed Execution of CP2 to CP3 transition procedure (IDN127) failed. Check IDN 21 to obtain a list of invalid operation data. SYNC Error
12060 Communication phase 4 transition check failed Execution of CP3 to CP4 transition procedure IDN#00128 failed. Check IDN 22 to obtain a list of invalid operation data. SYNC Error
12061 Error creating MutEx for the Service channel task Internal error. Contact technical support SYNC Fatal Fault Watchdog
12062 Cannot create MsgQ to provide service transmission Internal error. Contact technical support SYNC Fatal Fault Watchdog
12063 Error creating Service event semaphore Internal error. Contact technical support. SYNC Fatal Fault Watchdog
12064 Cannot pass communication phase 1: drive address(es) not declared. Drive addresses must be declared explicitly (<axis>.DRIVEADDRESS) or implicitly (SERCOS.SCAN) for the ring to be scanned. The SERCOS.SCAN property can be used for automatic scanning. SYNC/ ASYNC Error
12065 No units Element 4 of drive's IDN table should contain the units of the IDN. The IDN has not been assigned units SYNC Error
12066 Unit transmission too short. Internal error. Contact technical support. SYNC Error
12067 Unit transmission too long Internal error. Contact technical support. SYNC Error
12068 Unit cannot be changed Element 4 of the IDN is write-protected. Units cannot be changed SYNC Error
12069 Unit is write protected at this time The units of the IDN cannot be changed in the current communication phase. SYNC Error
12070 Incorrect value or value out of range Invalid value assignment at this statement. See the entry in the reference manual for this command. SYNC Error
12071 Cannot proceed to communication phase 1: check baud rate and drive addresses This error occurs if the system cannot be advanced to communication phase 1. This can happen if the baud rates in the drives and controller are not matched. It can also happen if there is a conflict between the DRIVEADDRESS property and the SIMULATED property. If an axis is simulated, the drive address must be set to 0. If the axis is real, the simulated property must be set to 0 (Off). SYNC/ASYNC Error
12072 The drive address has already been assigned to another axis Each axis must be assigned a unique drive address. There cannot be multiple drives with the same address. SYNC Error
12073 Not valid for simulated axis Cannot perform this command for simulated axis SYNC Error
12074 Invalid request for service channel transmission Internal error. Contact technical support. SYNC Fatal Fault Watchdog
12075 Invalid data pointer Internal error. Contact technical support. SYNC Error
12076 Unknown operation data type for this command Internal error. Contact technical support. SYNC Error
12077 Cannot redefine default IDN Internal error. Contact technical support. SYNC Error
12078 List of IDNs defined as cyclic data is too long The length of the IDN list declared by an user is too long. Try use simpler telegrams or contact technical support. SYNC Error
12079 Cannot enable axis: System Enable property is off A drive cannot be enabled if the System.Enable property is OFF. Set this property to on to allow the drives to be enabled, and then enable the axis. SYNC Error
12081 No minimum value Element 4 of drive's IDN table should contain the units of the IDN. The IDN has not been assigned a minimum value. SYNC Error
12082 Minimum value transmission too short. Internal error. Contact technical support. SYNC Error
12083 Minimum value transmission too long Internal error. Contact technical support. SYNC Error
12084 Minimum value cannot be changed. Element 5 of the IDN is write-protected. Minimum value cannot be changed. SYNC Error
12085 Minimum value is write protected at this time The minimum value of the IDN cannot be changed in the current communication phase. SYNC Error
12086 Error of synchronization with the drive Synchronization between SERCOS driver and motion module lost ASYNC Note
12087 Return back to CP0 due to a missed telegram Telegram missed in CP1 or CP2 SYNC Error
12088 An error occurred on the drive Drive reports about Class 1 Diagnostic fault. Check IDN 95 to get the diagnostic message. ASYNC Error Drive is disabled
12089 Drive does not respond This message is generated in CP1 when the master scans drive addresses. Check correspondence <axis>.DRIVEADDRESS property with the actual drive addresses. ASYNC Note
12090 Drive telegram error Telegram received from the drive is not error-free. This message may be followed by the missing telegram error. ASYNC Note
12091 The IDN being declared in cyclic data is not defined Check in drive IDN documentation if this IDN exists in drive. SYNC Error
12092 Wrong operation data length for IDN Wrong operation data length was specified in definition of the IDN. SYNC Error
12093 Receiving telegram over-run One of the SERCOS programming times was incorrect. Contact technical support. ASYNC Error
12094 Telegram processing cannot follow receiving rate One of the SERCOS programming times was incorrect. Contact technical support. ASYNC Error
12097 No maximum value. Element 6 of drive's IDN table should contain the units of the IDN. The IDN has not been assigned a maximum value. SYNC Error
12098 Maximum value transmission too short. Internal error. Contact technical support. SYNC Error
12099 Maximum value transmission too long Internal error. Contact technical support. SYNC Error
12100 Maximum value cannot be changed. Element 6 of the IDN is write protected. Maximum value cannot be changed. SYNC Error
12101 Maximum value is write protected at this time The maximum value of the IDN cannot be changed in the current communication phase. SYNC Error
12114 Operation data transmission too short. Drive expects more information for the IDN data. Refer to the drive’s IDN manual. SYNC Error
12115 Operation data transmission too long. Drive expects less information for the IDN data. Refer to the drive’s IDN manual. SYNC Error
12116 Operation data cannot be changed The operation data of the IDN may not be changed. SYNC Error
12117 Operation data is write protected at this time. The operation data of the IDN cannot be changed in the current communication phase. Refer to the drive’s IDN manual. SYNC Error
12118 Operation data are smaller than the minimum value. Operation data of the IDN should be equal or greater than that defined in Element 5. SYNC Error
12119 Operation data are greater than the maximum value. Operation data of the IDN should be equal or less than that defined in Element 6. SYNC Error
12120 Invalid data (e.g., invalid bit combination for this IDN). The drive cannot accept the value written. Refer to description of the IDN entry in the Drive’s IDN manual. SYNC Error
12121 Operation data are password write-protected Operation data are password write-protected. Refer to drive’s manual to get more information on IDN password protection. SYNC Error
12122 IDN is configured in the MDT or AT, therefore writing to it over the service channel not permitted Operation data is write-protected at this time, since it is cyclically configured. SYNC Error
12123 Invalid indirect addressing: (eg. data container, list handling) Internal error. Contact technical support. SYNC Error
12124 Operation data is write protected at this time, due to other adjustments (e.g. parameter, operating mode, drive release, drive etc.). Refer to description of the IDN entry in the Drive’s IDN manual. SYNC Error
12128 Procedure already activated Check IDNstate of this procedure. Refer to description of the IDN procedure entry in the Drive’s IDN manual for check limitation of this procedure SYNC Error
12129 Procedure not interruptible This procedure can’t be interrupted. Refer to description of the IDN procedure entry in the Drive’s IDN manual for check limitation of this procedure SYNC Error
12130 Procedure cannot be executed at this time (e.g. procedure in this phase cannot be activated) Refer to description of the IDN procedure entry in the Drive’s IDN manual for check limitation of this procedure SYNC Error
12131 Procedure cannot be executed (invalid or false parameters) The parameter of this procedure is invalid. Refer to description of the IDN procedure entry in the Drive’s IDN manual. SYNC Error

ROBOT (13000 through 13999)

Number Message Description Type Severity Action
13102 Additive torque value is over threshold limit. SYNC Error
13103 Additive torque value is over threshold limit when motion is stopped: drive disabled. ASYNC Error
13104 X coordinate beyond XMAX limit. SYNC/ASYNC Error
13105 X coordinate beyond XMIN limit. SYNC/ASYNC Error
13106 Y coordinate beyond YMAX limit. SYNC/ASYNC Error
13107 Y coordinate beyond YMIN limit. SYNC/ASYNC Error
13108 Z coordinate beyond ZMAX limit. SYNC/ASYNC Error
13109 Z coordinate beyond ZMIN limit. SYNC/ASYNC Error
13110 Chair Side Engine Kinematics: alpha exceeds ALPHAMAX. SYNC/ASYNC Error
13111 Chair Side Engine Kinematics: carriages 1 & 2 collision. SYNC/ASYNC Error
13112 Chair Side Engine Kinematics: carriages 1 & 2 too far from each other. SYNC/ASYNC Error
13113 Chair Side Engine Kinematics: carriages 2 & 3 collision. SYNC/ASYNC Error
13114 Chair Side Engine Kinematics: Z coordinate contradicts mechanical model. SYNC/ASYNC Error
13115 Chair Side Engine Kinematics: B angle contradicts mechanical model. SYNC/ASYNC Error
13116 Direct Kinematics error on feedback position. ASYNC Error
13117 Robot too slow or Moving Frame too fast. ASYNC Error
13118 Unable to smooth out the given path [iterations], try to reduce velocity or change the path. SYNC Error
13119 Too many points for smoothing, either there are too many points or the velocity is too slow. SYNC Error
13120 In Smoothing: Wrong position of the slow-down/speed-up point. SYNC Error
13121 Unable to smooth out the given path [offset], try to reduce velocity or change the path. SYNC Error
13123 Invalid AxisType settings. AxisType of robot axes should comply to its kinematics model. SYNC Error
13128 Unable to smooth out the given path [shrinking], try to reduce velocity or change the path. SYNC Error
13129 Traverse Arm: Y Coordinate exceeds link's length. SYNC Error
13130 DELTA: Internal singularity. SYNC/ASYNC Error
13131 Parts of the given trajectory includes points not reachable by the robot. SYNC Error
13132 Singularity margin - no Cartesian interpolation allowed. SYNC Error
13133 ModelEnable flag automatic reset. SYNC Error
13134 ModelEnable flag is zero, no motion allowed. SYNC Error
13142 X coordinate beyond WORKPIECE.XMAX limit. SYNC/ASYNC Error
13143 X coordinate beyond WORKPIECE.XMIN limit. SYNC/ASYNC Error
13144 Y coordinate beyond WORKPIECE.YMAX limit. SYNC/ASYNC Error
13145 Y coordinate beyond WORKPIECE.YMIN limit. SYNC/ASYNC Error
13146 Z coordinate beyond WORKPIECE.ZMAX limit. SYNC/ASYNC Error
13147 Z coordinate beyond WORKPIECE.ZMIN limit. SYNC/ASYNC Error
13148 X coordinate beyond MACHINETABLE.XMAX limit. SYNC/ASYNC Error
13149 X coordinate beyond MACHINETABLE.XMIN limit. SYNC/ASYNC Error
13150 Y coordinate beyond MACHINETABLE.YMAX limit. SYNC/ASYNC Error
13151 Y coordinate beyond MACHINETABLE.YMIN limit. SYNC/ASYNC Error
13152 Z coordinate beyond MACHINETABLE.ZMAX limit. SYNC/ASYNC Error
13153 Z coordinate beyond MACHINETABLE.ZMIN limit. SYNC/ASYNC Error
13154 X coordinate beyond BASE.XMAX limit. SYNC/ASYNC Error
13155 X coordinate beyond BASE.XMIN limit. SYNC/ASYNC Error
13156 Y coordinate beyond BASE.YMAX limit. SYNC/ASYNC Error
13157 Y coordinate beyond BASE.YMIN limit. SYNC/ASYNC Error
13158 Z coordinate beyond BASE.ZMAX limit. SYNC/ASYNC Error
13159 Z coordinate beyond BASE.ZMIN limit. SYNC/ASYNC Error
13160 X coordinate beyond TOOL.XMAX limit. SYNC/ASYNC Error
13161 X coordinate beyond TOOL.XMIN limit. SYNC/ASYNC Error
13162 Y coordinate beyond TOOL.YMAX limit. SYNC/ASYNC Error
13163 Y coordinate beyond TOOL.YMIN limit. SYNC/ASYNC Error
13164 Z coordinate beyond TOOL.ZMAX limit. SYNC/ASYNC Error
13165 Z coordinate beyond TOOL.ZMIN limit. SYNC/ASYNC Error

Root Process (16000 through 16999)

Number Message Description Type Severity Action
16001 Root : softMC Hardware softMC Hardware Error ASYNC Fatal Fault Watchdog
16002 Root : Entry Station(s) Entry Station(s) Error ASYNC Fatal Fault
16003 Root : System Clock System Clock Error ASYNC Fatal Fault
16004 Root : Translator Translator Error ASYNC Fatal Fault
16005 Root : Back-End Back-End Error ASYNC Fatal Fault
16006 Root : RAM Drive RAM Drive Error ASYNC Fatal Fault
16007 Root : Flash File System Flash File System Error ASYNC Fatal Fault
16008 Root : FLASH and File system FLASH and File system Error ASYNC Fatal Fault
16009 Root : Error handler Error handler Error ASYNC Fatal Fault
16010 Root : Task Control Block Task Control Block Error ASYNC Fatal Fault
16011 Root : Real Time Scheduler Real Time Scheduler Error ASYNC Fatal Fault
16011 Root : Real Time Scheduler Real Time Scheduler Error ASYNC Fatal Fault
16012 Root : Built-in Diagnostic Built-in Diagnostic Error ASYNC Fatal Fault
16013 Root : SERCOS Communications SERCOS Communications Error ASYNC Fatal Fault
16014 Root : Motion Module Motion Module Error ASYNC Fatal Fault
16015 Root : System Configuration System Configuration Error ASYNC Fatal Fault
16016 Root : User configuration file User configuration file Error ASYNC Fatal Fault
16017 Root : ITCB Setup ITCB Setup Error ASYNC Fatal Fault
16018 Root : Event Handler Event Handler Error ASYNC Fatal Fault
16019 Root : Recorder Recorder Error ASYNC Fatal Fault
16020 Root : Fault Handler Fault Handler Error ASYNC Fatal Fault
16022 Root : I/O Module I/O Module Error ASYNC Fatal Fault
16023 Root : Serial Number Specification Serial Number Specification Error ASYNC error
16024 Root : User Authorization Code Specification File User Authorization Code Specification File Error ASYNC Error
16025 Root : Hardware power-up tests Hardware power-up tests Error ASYNC Fatal Fault Watchdog
16026 Config.prg failed Config.prg failed. See error history and retrieve trn.err for more details. ASYNC Fatal Fault Watchdog
16032 Autoexec.prg failed Autoexec.prg failed. See error history and retrieve trn.err for more details. ASYNC Error
16036 Root : Current running firmware version is the backup version not last updated version. Current running firmware version is the backup version not last updated version. ASYNC Note
16037 Root : DPRAM Test DPRAM Test Error ASYNC Fatal Fault
16038 Root : SERCON DPRAM Test SERCON DPRAM Test Error ASYNC Fatal Fault
16039 Root : Microchip PIC Microchip PIC Error ASYNC Fatal Fault
16040 Root : Unknown error code. Unknown error code. ASYNC Error Watchdog

Motion bus (19000 through 19009)

Number Message Description Type Severity Action
19001 Drive cannot be enabled. Drive cannot be enabled. Drive got fault or hardware enable or STO chain is open. SYNC Error
19002 Drive cannot be disabled. Drive cannot be disable. System could not disable drive. SYNC Error
19003 Communication error. Not used. SYNC Error
19004 Drive reports error. Drive got fault: SERCOS: look into C1D, EtherCAT/CAN: look into SDO 0x603F SYNC Error
19005 Cannot enable axis: System Enable property is off. Sys.Enable is 0 SYNC Error
19006 Drive reports warning. Drive has warning. SYNC Error
19007 Bus fault. Most probable that cable is disconnected. SYNC Error
19008 Invalid value. Provided value for parameter of flag is not valid. SYNC Error
19009 Property value can not be changed while drive is enabled. Cannot change while enabled. SYNC Error
19010 Duplicated address. Attempt to assign the same physical address to more than one axis. SYNC Error
19011 Node is not a motor. Attempt to assign a physical address of I/O module to axis.driveaddress property. SYNC Error
19012 Cannot enable axis/group. Cannot enable axis or group of axes. Usually occurs due to missing/inverted drive's hardware enable signal, or one of axis has wrong or zero drive address axis.dadd property. SYNC Error
19013 Cannot clear fault on drive. Fault on drive persists. SYNC Error

User Error codes (20000 through 20999)

Number Message Description Type Severity Action
20xxx Custom error code range Defined in user application - programs or libraries. SYNC Error Idle task

I/O Module (21000 through 21999)

Number Message Description Type Severity Action
21001 Cannot create semaphore. Internal error. No resources left to create a semaphore SYNC Error
21002 Invalid memory address. Incorrect memory address. SYNC Error
21003 Invalid I/O address. Incorrect I/O space address. SYNC Error
21004 Invalid address. Incorrect device address address. SYNC Error
21005 Invalid bit number. Incorrect bit number - no device registered for this bit number. SYNC Error
21006 Invalid range. Incorrect bit range - no device registered for this bit number or bit range. SYNC Error
21007 Invalid port index. Incorrect I/O space address. SYNC Error
21008 Cannot delete semaphore. Internal error. SYNC Error
21009 Invalid value. Error code is not in use. SYNC Error
21010 PLS toggling time exceeded cycle time. Internal error. SYNC Error
21011 Too many PLS toggling requested or cycle source is not routed to PLS module. Too many output transition per cycle time. SYNC Error
21012 Invalid error code. Error code is not in use. SYNC Error
21013 Cannot create PLS task. Internal error. No resources left to create a task SYNC Error
21014 PDO Parameters Error: make sure Digital IOs PDO entries are mapped in the drive. Cannot write PDO to the device - drive or IO module SYNC Error
21015 Slave Address Error. Incorrect device address SYNC Error