ABB Robotics
Error codes
Every code from ABB’s own error code directory (IRC5 with RobotWare 5, manual revision K): the code, its message and what it means. The steps to fix each one are in the maker’s document — every code links to the page it is on.
3,516 codes
10012
Safety guard stop stateAny safety device connected to the system's stop inputs have been opened. These are shown in the Circuit Diagram.
p. 8110013
Emergency stop stateAny emergency stop device connected to the emergency stop input have been opened. These may be internal (on the controller or on the teach pendant) or external (devices connected by the system builder). The internal devices are shown in the Circuit Diagram.
p. 8110014
System failure stateA large number of malfunctions may cause this condition. Please use the teach pendant or RobotStudio to check other event log messages for events occurring at this time!
p. 8110020
Execution error stateA large number of malfunctions may cause this condition. Please use the teach pendant or RobotStudio to check other event log messages for events occurring at this time!
p. 8210027
Collision retraction failThis may be caused by the robot being stuck to the object into which it collided.
p. 8210034
Axis not commutatedThe manipulator drive motor and related units may have been altered, e.g. after replacing a faulty unit.
p. 8310035
Axis not calibratedThe manipulator drive motor and related units may have been altered, e.g. after replacing a faulty unit.
p. 8310036
Revolution counter not updatedThe manipulator drive motor and related units may have been altered, e.g. after replacing a faulty unit.
p. 8310037
Axis not synchronizedThe manipulator drive motor and related units may have been altered, e.g. after replacing a faulty unit.
p. 8310039
SMB memory is not OKThere are differences between the data stored on the SMB and the data stored in the controller. This may be due to replacement of SMB, controller or both.
p. 8410067
Program Pointer Reset- No program is loaded. - The main routine is missing. - There are errors in the program.
p. 8510075
NFS server downIf this message is displayed at first start-up, the server configuration may be incorrect. If displayed during operation, the previously working communication has been lost due to a broken connection. Also see the I/O event log!
p. 8510077
FTP server downIf this message is displayed at first start-up, the server configuration may be incorrect. If displayed during operation, the previously working communication has been lost due to a broken connection. Also see the I/O event log!
p. 8610090
P-Start done1. The P-start was ordered by the user. 2. The system forced the P-start due to inconsistent data, malfunction or unrecoverable task state.
p. 8610172
Background task <arg>The module that contains the main routine was not loaded since the module file is missing in the target directory. The module that contains the main routine was not loaded since the configuration file has no entry for automatic loading of the module. The main routine is missing. The main entry is corrupted.
p. 8910178
A static/semistatic task can't be steppedTrying to step (forward or backward) a static/semistatic task.
p. 9010261
System diagnostics info unavailableThe system is in such state that it is not possible to generate the requested information. Please check that the device has enough space left.
p. 9210354
Restore aborted due to lost system data.The system data was not properly saved at last shutdown.
p. 9310355
Restore errorThe current system doesn't have the same options as the one used to create the backup.
p. 9311036
Backup errorYou may not have write access to the backup drive. The drive might be full. If it is a network drive you might have lost connection.
p. 9412511
Network interface IP address illegalThe network IP address may be mistyped or it already exists on the network.
p. 10412512
Network gateway IP address illegalThe gateway IP and/or LAN IP addresses may be mistyped.
p. 10412513
No parameters from the DHCP serverThe LAN connection is not working -The DHCP server is not activated.
p. 10412514
Network interface initialization errorThe network parameters may be wrong. -Although unlikely, the hardware may be faulty, requiring replacement.
p. 10420010
Emergency stop stateAn attempt has been made to maneuvre a control, before switching the system back to status Motors ON.
p. 10520034
SMB memory is not OKThere are differences between the data stored on the SMB and the data stored in the controller. This may be due to replacement of SMB, controller or both, or manually cleared SMB.
p. 10520093
Automatic Mode RejectedIt is not possible to reset Task Selection Panel in synchronized block.
p. 10820096
WorkObject name could not be foundThe module with the workobject definition is probably deleted.
p. 10920126
Load data has changedThe load data was removed. The module containing the original tool definition may have been deleted.
p. 11020127
Tool data has changedThe tool data was removed. The module containing the original tool definition may have been deleted.
p. 11020128
Work object data has changedThe work object data was removed. The module containing the original tool definition may have been deleted.
p. 11020132
Blocked I/O signalsSystem was switched to automatic mode during warm start. System parameter AllDebugSettings is set to Yes.
p. 11120134
Call ChainSystem was switched to automatic mode during warm start. System parameter AllDebugSettings is set to Yes.
p. 11120138
Disabled TasksSystem was switched to automatic mode during warm start System parameter AllDebugSettings is set to Yes.
p. 11220150
Load failure- The arguments for the System Input Load are wrong. - The module was loaded, but the system failed to set the program pointer. - The program was executing.
p. 11320176
Analog System Output Outside LimitsThe logical upper and/or lower limit for the signal may be defined wrongly.
p. 11520177
Short circuit in Motor phase circuitThis may be caused by a faulty motor or motor cable. It may also be caused by contamination in the contactors for the cables or a failure of the motor windings.
p. 11520187
Diagnostics record file createdA number of errors may cause this. Faults causing the system to go to status SYS FAIL will generally also create a diagnostics record file.
p. 11520195
System data from last shutdown is lostThe backup energy bank may have been drained at the time of the shut down. The storage disk may be full.
p. 11620197
System data from last shutdown can not be foundThe file containing the saved system data may have been manually moved or deleted.
p. 11720200
Limit Switch opened by SCThe Safety Controller has opened the limit switch because of a safety violation.
p. 11720201
Limit Switch openThe robot has been run outside the working range defined by the limit switches fitted to the robot.
p. 11720202
Emergency Stop openAn attempt has been made to manoeuvre a control, e.g. the enabling device.
p. 11720203
Enabling Device openThe teach pendant Enabling Device may be faulty or incorrectly connected. The teach pendant and its Enabling Device is described in the Trouble Shooting Manual, IRC5.
p. 11720204
Operation Key imbalanceThe contact pair in any of the cables connected to the Operation Key circuit is not working correctly.
p. 11720205
Auto Stop openOne or more of the switch connected in series with the Automatic Mode Safeguarded Stop circuit have been opened, which may be causes by a large number of faults. This is only possible while in the Auto operational mode. The Automatic Mode Safeguarded Stop circuit is described in the Trouble Shooting Manual.
p. 11820206
General Stop openOne or more of the switch connected in series with the General Mode Safeguarded Stop circuit have been opened, which may be causes by a large number of faults. This is possible in any operational mode. The General Mode Safeguarded Stop circuit is described in the Trouble Shooting Manual.
p. 11820208
Chain switches openOne or more of the switch connected in series with the RUN Chain Top circuit have been opened, which may be causes by a large number of faults. The RUN Chain Top is described in the Trouble Shooting Manual and Circuit Diagram.
p. 11820209
External Contactor openThe RUN chain of external equipment has been broken, which may be caused by the external contactor auxiliary contacts or, if used, any PLC, controlling it. The external contactor supplies power to a piece of external equipment, equivalently to how the RUN contactor supplies a robot. This fault may occur when attempting to go to the Motors ON mode only. The RUN chain is described in the Trouble Shooting Manual and Circuit Diagram.
p. 11820211
Two channel fault, ENABLE chainThere may be a loose signal connection on either the axis computer or the Safety System. The ENABLE chain is described in the Trouble Shooting Manual and Circuit Diagram.
p. 11820212
Two channel fault, RUN CHAINAny of the switches connected to the RUN chain may be faulty or not correctly connected, causing only one channel to close. The RUN chain is described in the Trouble Shooting Manual, IRC5.
p. 11820213
Two channel faultThis may be caused by a number of faults. The ENABLE and RUN chains are described in the Trouble Shooting Manual, IRC5.
p. 11920214
Limit Switch open, DRV1The robot has been run outside the working range defined by the limit switches fitted to the robot.
p. 11920215
Superior Stop openOne or more of the switch connected in series with the Superior Mode Safeguarded Stop circuit have been opened, which may be causes by a large number of faults. This is possible in any operational mode. The Superior Mode Safeguarded Stop circuit is described in the Trouble Shooting Manual.
p. 11920217
Limit Switch open, DRV2The robot has been run outside the working range defined by the limit switches fitted to the robot.
p. 11920218
Limit Switch open, DRV3The robot has been run outside the working range defined by the limit switches fitted to the robot.
p. 11920219
Limit Switch open, DRV4The robot has been run outside the working range defined by the limit switches fitted to the robot.
p. 12020220
Superior stop conflictAny of the switches connected to the Superior Stop chain may be faulty or not correctly connected, causing only one channel to close. The Superior Stop chain is described in the Trouble Shooting Manual, IRC5.
p. 12020222
Limit switch conflictAny of the switches connected to the Limit switch chain may be faulty or not correctly connected, causing only one channel to close. The Limit switch chain is described in the Trouble Shooting Manual, IRC5.
p. 12020223
Emergency Stop conflictAny of the switches connected to the Emergency Stop chain may be faulty or not correctly connected, causing only one channel to close. The Emergency Stop chain is described in the Trouble Shooting Manual, IRC5.
p. 12020224
Enabling Device conflictThe teach pendant Enabling Device may be faulty or incorrectly connected. The teach pendant and its Enabling Device is described in the Trouble Shooting Manual, IRC5.
p. 12020225
Auto Stop conflictAny of the switches connected to the Auto Stop chain may be faulty or not correctly connected, causing only one channel to close. The Auto Stop chain is described in the Trouble Shooting Manual, IRC5.
p. 12120226
General Stop conflictAny of the switches connected to the General Stop chain may be faulty or not correctly connected, causing only one channel to close. The General Stop chain is described in the Trouble Shooting Manual, IRC5.
p. 12120227
Motor Contactor conflict, DRV1A failure of the motor contactor auxiliary contacts or the supply to these.
p. 12120231
Delayed Emergency Stop due to circuit imbalanceThe contact pair in any of the Emergency Stop buttons is not working correctly.
p. 12120232
Delayed Auto Stop due to circuit imbalanceThe contact pair in any of the safety devices connected to the Auto Stop circuit is not working correctly.
p. 12120233
Delayed General Stop due to circuit imbalanceThe contact pair in any of the safety devices connected to the General Stop circuit is not working correctly.
p. 12120234
Immediate Emergency StopOne or more of the red emergency stop buttons have been activated.
p. 12220235
Immediate Auto StopOne or more of the safety device switches in the Auto Stop circuit have been opened
p. 12220236
Immediate General StopOne or more of the safety device switches in the General Stop circuit have been opened
p. 12220237
Immediate Superior StopOne or more of the safety device switches in the Superior Stop circuit have been opened
p. 12220238
Delayed Superior Stop due to circuit imbalanceThe contact pair in any of the safety devices connected to the Superior Stop circuit is not working correctly.
p. 12220240
Conflict between ENABLE signalsThere may be a loose signal connection on the Safety System. The ENABLE chain is described in the Trouble Shooting Manual and Circuit Diagram.
p. 12220241
Operating mode conflictThere may be a hardware fault in the operating mode selector or its cabling to the Safety System.
p. 12320245
Run Control status conflict, DRV2A failure of the Motor Contactors or the supply to these.
p. 12320246
Run Control status conflict, DRV3A failure of the Motor Contactors or the supply to these.
p. 12320247
Run Control status conflict, DRV4A failure of the Motor Contactors or the supply to these.
p. 12320248
Motor Contactor conflict, DRV2A failure of the motor contactor auxiliary contacts or the supply to these.
p. 12320249
Motor Contactor conflict, DRV3A failure of the motor contactor auxiliary contacts or the supply to these.
p. 12320250
Motor Contactor conflict, DRV4A failure of the motor contactor auxiliary contacts or the supply to these.
p. 12320260
Run Control status conflict, DRV1A failure of the Motor Contactors or the supply to these.
p. 12420293
System Input is RestrictedSystem input <arg> may be set by external equipment, such as PLCs, etc, for a number of reasons.
p. 12720294
Action <arg> can not be fulfilled.The requested action will not be fulfilled until the I/O unit is enabled again.
p. 12720307
Motor cooling fan malfunction, axis 1-The fan power cabling may be damaged or not connected correctly to motor or contactor unit. -The fan or the Drive Module Power Supply may be faulty.
p. 12720308
Motor cooling fan malfunction, axis 2-The fan power cabling may be damaged or not connected correctly to motor or contactor unit. -The fan or the Drive Module Power Supply may be faulty.
p. 12720309
Motor cooling fan malfunction, axis 3-The fan power cabling may be damaged or not connected correctly to motor or contactor unit. -The fan or the Drive Module Power Supply may be faulty.
p. 12720311
Enable 1 openThere may be an internal fault in the Safety System or the internal supervision has detected a fault.
p. 12820313
Enable1 supervision faultA fault, probably a software fault, has been detected by any of the units supervised by the ENABLE1 circuit.
p. 12820314
Enable2 supervision faultA fault, probably a software fault, has been detected by any of the units supervised by the ENABLE2 circuit.
p. 12820315
Enable2 Supervision faultA fault, probably a software fault, has been detected by any of the units supervised by the ENABLE2 circuit.
p. 12820316
Enable2 Supervision faultA fault, probably a software fault, has been detected by any of the units supervised by the ENABLE2 circuit.
p. 12920317
Enable2 Supervision faultA fault, probably a software fault, has been detected by any of the units supervised by the ENABLE2 circuit.
p. 12920368
Not connected mechanical unit groupThe cause of this error can be a missing RAPID task instance in the controller domain of the configuration or a task that has not been configured as a motion task.
p. 13120369
Confusing configuration of system parameters.Configuration of old and new structure has been loaded into the system.
p. 13120370
Failed to read configuration data for regain distance-The sys.cfg file loaded into the system does not contain any regain distance information. -No sys.cfg file has been loaded due to file errors.
p. 13120371
A default mechanical unit group is used-The attribute was not specified when the configuration was created. -The configuration file could have been created in a non-multi move system.
p. 13120372
Failed to read configuration data.-The sys.cfg file loaded into the system does not contain hotedit and modpos information. -No sys.cfg file has been loaded due to file errors.
p. 13220380
No motion planner connected to mechanical unitThe cause of this error is probably an error in the configuration.
p. 13220381
Error when recreating path after power failA number of errors may cause this. Faults causing the system to go to status SYS FAIL will generally also cause path recreate after powerfail to fail.
p. 13220397
Manual interrupt rejected1. <arg> does not exist. 2. <arg> is not a procedure (PROC) that takes zero (0) parameters.
p. 13320440
Failed to initialize FW upgrade frameworkAn invalid xml file in the controller installation: <arg>
p. 13320443
Multiple firmware upgrade restartsFirmware upgrade of a hardware board has most likely failed. The board's firmware or hardware may be corrupt.
p. 13420466
SC <arg> Input/Output Failure- Wrong connection to I/O terminals on SC - Two channel I/O mismatch
p. 13520467
SC <arg> STS speed exceeded1. Tool0 speed 2. Elbow speed 3. Tool speed 4. Additional axis speed
p. 13620468
SC <arg> STZ violation1. Exceeded speed 2. Wrong tool position 3. Wrong tool orientation 4. Wrong elbow position 11. Wrong tool point 1 position 12. Wrong tool point 2 position 13. Wrong tool point 3 position 14. Wrong tool point 4 position 15. Wrong tool point 5 position 16. Wrong tool point 6 position 17. Wrong tool point 7 position 18. Wrong tool point 8 position
p. 13620473
SC <arg> Dual Computer mismatch- The Mechanical unit have been parked at a position on, or close to, a supervised or monitored function limit for too long time. - Internal computation error in Safety Controller.
p. 13620474
SC <arg> I/O Supply FailureEither the voltage is out of limits or the voltage is missing.
p. 13620475
SC <arg> Synchronization rejected- Safety Configuration PIN is not set or is incorrect. - Safety Configuration is empty. - Safety Configuration is corrupt or missing. - Safety Controller connected to the wrong SMB bus. - I/O Power supply missing.
p. 13720478
SC <arg> Main Supply FailureEither the voltage is out of limit or the voltage is missing.
p. 13720489
SC <arg> has been disabledEither a C-start has been performed or it's the first startup of SC.
p. 13820490
SC <arg> OVR Speed exceededIf Override (OVR) is active, then OVR speed limitations will be active
p. 13820502
ES pendant openAn attempt has been made to manoeuvre a control, e.g. the enabling device.
p. 13920503
ES ext.cat.0 openAn attempt has been made to manoeuvre a control, e.g. the enabling device.
p. 13920506
Test Stop openOne or more of the switch connected in series with the Test Mode Safeguarded Stop circuit have been opened, which may be causes by a large number of faults. This is only possible while in the Manual operational mode
p. 13920573
Controller ID is MissingThis may happen if the storage media of the controller has been replaced or reformatted.
p. 14220590
Open circuit mask not setIPS configuration on PIB is not loaded or configuration file for brake settings is missing.
p. 14420602
Unofficial RobotWare imageThe officially released main computer image has been replaced, e.g., for the purpose of collecting diagnostic data for a specific problem.
p. 14420610
Motor phase short circuit1) Short circuit in cables or connectors between the phases or to ground. 2) Short circuit in motor between the phases or to ground.
p. 14531810
DeviceNet master/slave board is missingThe DeviceNet master/slave board is either malfunctioning or missing.
p. 14531811
Second DeviceNet master/slave board is missingThe Second DeviceNet master/slave board is either malfunctioning or missing.
p. 14531812
Incompatible DeviceNet BoardsIncompatible types of DeviceNet boards have been installed in the system.
p. 14531910
Profibus-DP master/slave board is missingThe Profibus-DP master/slave board is either malfunctioning or missing.
p. 14531911
Profibus board update errorThe RobotWare software may be corrupt or the board hardware may be malfunctioning.
p. 14531912
Profibus-DP master/slave board failureThe Profibus-DP master/slave board hardware may be malfunctioning.
p. 14631913
Profibus-DP master/slave board internal errorThe Profibus-DP master/slave board hardware may be malfunctioning.
p. 14631915
Profibus Bus ErrorFaulty profibus cabling, terminators and/or module(s). Duplicated profibus addresses.
p. 14631917
Profibus-DP master/slave board exceptionThe Profibus-DP master/slave board hardware may be malfunctioning.
p. 14632500
Robot Communication Card is missingThe Robot Communication Card is either malfunctioning or missing.
p. 14632503
Requested info not in fileThe file has either been damaged, or the actual hardware version of the unit is not supported.
p. 14732530
No Communication With The Safety SystemProbably hardware fault in cable between Safety System and Robot Communication Card. The Safety System, or it's power supply, may also be faulty.
p. 14732542
Drive unit hardware not supportedThe RobotWare version is too old to support the drive unit.
p. 14732544
Drive unit firmware file not foundThe RobotWare installation does not contain the firmware file.
p. 14732562
Axis computer communication errorThis may be due to a cable break, bad connector or high levels of interference in the cable between the main computer and the axis computer.
p. 14832563
Axis computer hardware not supportedThe RobotWare version is too old to support the axis computer unit.
p. 14932565
Axis computer firmware file not foundThe RobotWare installation does not contain the firmware file.
p. 14932577
Axis computer hardware data errorThe integrity check of the axis computer information stored on the unit has failed.
p. 15032601
Interbus master/slave board is missingThe Interbus master/slave board is either malfunctioning or missing.
p. 15132651
Serial port hardware is not accessibleThe serial port hardware is missing or malfunctioning.
p. 15133503
Revolution counter update failure1. Joint missing or not active 2. Measurement system error
p. 15134100
Drive system not supported1. Wrong drive module key used, i.e., the configuration does not match hardware. 2. Wrong hardware used in the system.
p. 15234101
Drive system not supported1. Wrong drive module key used, i.e., the configuration does not match hardware. 2. Wrong hardware used in the system.
p. 15234200
Lost communication with all drive unitsCommunication problem between drive units and the axis computer.
p. 15234202
Lost communication with drive unitCommunication problem between the drive unit and the axis computer.
p. 15234203
Motor current too high1) The motor configuration is incorrect. 2) The axis load may be too high or the motor may have stalled (maybe due to a collision). 3) The motor is too small for the drive unit. 4) Short circuit between motor phases or ground.
p. 15334251
Incoming mains phase missing1) Incoming mains voltage loss of one phase. 2) Some malfunction in cabling or internal 3-phase components. 3) The rectifier unit is faulty.
p. 15334252
Incoming mains missing1) Incoming mains voltage loss. 2) Some malfunction in the cabling or in internal 3-phase components. 3) The rectifier unit is faulty.
p. 15334255
Rectifier temperature error1) The cooling fans may be faulty or the air flow may be obstructed. 2) The ambient temperature may be too high. 3) The system may be running with a too high torque for extended periods of time.
p. 15334256
Rectifier temperature warning1) The cooling fans may be faulty or the air flow may be obstructed. 2) The ambient temperature may be too high. 3) The system may be running with a too high torque for extended periods of time.
p. 15334257
Open circuit in bleeder resistor circuitThis may be caused by a faulty bleeder resistor cable or a faulty bleeder resistor.
p. 15434258
Short circuit in bleeder resistor circuitThis may be caused by a faulty bleeder resistor cable or a faulty bleeder resistor.
p. 15434262
Incoming mains frequency warning1) The incoming mains frequency is not within specification. 2) Short circuit between motor phases or ground.
p. 15434264
Rectifier inrush limitation active in Motors OnThis error occur when the DC link voltage becomes too low and all mains phases are missing.
p. 15434265
DC link short circuit error1) DC link cables for an additional drive unit is damaged or wrongly connected. 2) Internal error in rectifier unit or drive unit.
p. 15534266
Rectifier inrush limitation and bleeder activeThis problem is most likely to occur when the incoming mains voltage is too high to the rectifier.
p. 15534267
Too many rectifiers connected1) Too many drive unit that are equippted with rectifiers are connected. 2)
p. 15534303
Motor current warning1) The motor data in the configuration files may be wrong. 2) The motor cables are not correctly connected or damaged. 3) Short circuit in motor cable between phase to phase or phase to ground. 4) The DC link voltage may be too low. 5) The incoming mains voltage is not within specification.
p. 15534304
Motor current warning1) The motor data in the configuration files may be wrong. 2) The motor cables are not correctly connected or damaged. 3) Short circuit in motor cable between phase to phase or phase to ground. 4) The DC link voltage may be too low. 5) The incoming mains voltage is not within specification.
p. 15634306
Drive unit temperature error1) The cooling fans may be faulty or the air flow may be obstructed. 2) The cooling fins are covered by dust reducing the cooling effect. 3) The ambient temperature may be too high. 4) The joint may be running with a too high torque for extended periods of time.
p. 15634307
Drive unit temperature warning1) The cooling fans may be faulty or the air flow may be obstructed. 2) The cooling fins are covered by dust reducing the cooling effect. 3) The ambient temperature may be too high. 4) The joint may be running with a too high torque for extended periods of time.
p. 15634308
Drive unit critical temperature error1) The cooling fans may be faulty or the air flow may be obstructed. 2) The cooling fins are covered by dust reducing the cooling effect. 3) The ambient temperature may be too high. 4) The joint may be running with a too high torque for extended periods of time.
p. 15634309
Drive transistor current too high1) The motor configuration is incorrect. 2) The axis load may be too high or the motor may have stalled (maybe due to a collision). 3) Short circuit between motor phases or ground.
p. 15734311
Drive inverter saturated warning1) The motor is not properly connected to the drive unit. 2) The motor data in the configuration is not correct. 3) The DC link voltage is too low. 4) Short circuit between motor phases or ground.
p. 15734313
Wrong type of drive unitThe drive unit type does not match the one specified in the installation key.
p. 15734314
Missing drive unit nodeThe configured drive unit node is not supported for the configured type of drive unit.
p. 15734316
Motor current error1) The motor data in the configuration files may be wrong. 2) The motor cables are not correctly connected or damaged. 3) Short circuit in motor cable between phase to phase or phase to ground. 4) The DC link voltage may be too low. 5) The incoming mains voltage is not within specification.
p. 15834317
Motor current error1) The motor data in the configuration files may be wrong. 2) The motor cables are not correctly connected or damaged. 3) Short circuit in motor cable between phase to phase or phase to ground. 4) The DC link voltage may be too low. 5) The incoming mains voltage is not within specification.
p. 15834318
Drive inverter saturated error1) The motor is not properly connected to the drive unit. 2) The motor data in the configuration is not correct. 3) The DC link voltage is too low. 4) Short circuit between motor phases or ground.
p. 15834319
Drive unit critical error1) The cooling fans may be faulty or the air flow may be obstructed. 2) The cooling fins are covered by dust reducing the cooling effect. 3) The ambient temperature may be too high. 4) The joint may be running with a too high torque for extended periods of time. 5) Short circuit in cables or connectors between the phases or to ground. 6) Short circuit in motor between the phases or to ground.
p. 15834320
Too many drive nodes connected1) Too many drive units is connected to the drive unit communication link. 2) Too many drive unit that are equippted with many drive nodes are connected.
p. 15934400
DC link voltage too high1) The bleeder resistor is not connected or faulty. 2) The user program may contain too much deceleration of the manipulator's axes. This fault is more likely if the system contains additional axes.
p. 15934401
DC link voltage too low warningThe incoming mains voltage to the rectifier unit is out of specification.
p. 15934402
DC link voltage too lowThe incoming mains voltage to the rectifier unit is out of specification.
p. 15934404
DC link voltage is critically high1) The bleeder resistor is not connected or faulty. 2) The user program may contain too much deceleration of the manipulator's axes. This fault is more likely if the system contains additional axes.
p. 15934405
DC link voltage too high warning1) The bleeder resistor is not connected or faulty. 2) The user program may contain too much deceleration of the manipulator's axes. This fault is more likely if the system contains additional axes.
p. 16034406
Drive unit power supply errorThe 24V logic supply to the drive is temporary or constantly lost.
p. 16034408
Drive unit hardware data errorThe integrity check of the drive unit information stored on the drive unit has failed.
p. 16034409
Drive unit startup errorThe system has failed to complete the initialization phase of the drive unit.
p. 16037001
Motors ON contactor activation error1) The runchain for the contactor is open. 2) There are problems in the contactor itself, either mechanical or electrical. 3) The teach pendant enabling device may have been toggled too quickly, or the system may not be configured correctly. On rare occasions, this fault may occur in combination with other faults, in which case this may be found in the error log.
p. 16137043
Safety signals overloadedA load connected to the circuit may be too high, or the Safety System may be malfunctioning. See the Circuit Diagram!
p. 16137044
Overload on Panel Board digital output signalsA load connected to the circuit may be too high, or the Panel Board may be malfunctioning. See the Circuit Diagram!
p. 16137045
Faulty External Computer fanFaulty fan, cabling or power supply. See the Circuit Diagram!
p. 16137046
Safety signals overloadedA load connected to the circuit may be too high, or the Safety System unit may be malfunctioning. See the Circuit Diagram!
p. 16137049
Activation contactor activation errorThe activation relay configured within the system may be faulty, or the system may not be configured correctly.
p. 16237050
Overtemperature in main computerThe unit may be overloaded, its fans may be malfunctioning or the air flow may be restricted.
p. 16237062
Computer Module power supply warningThe power supply unit, cabling, input voltage to the power supply or the output load may cause the faulty voltage level. See the Trouble Shooting Manual and Circuit Diagram!
p. 16237069
Faulty backup Power SupplyThis may be caused by a faulty backup energy bank, cabling or charger.
p. 16237070
Overtemp in Control Module Power SupplyThis may be caused by poor cooling, too high a load on the power supply or by a faulty power supply.
p. 16337101
Brake FailureThe configuration of brake relay may be incorrect, or the brake relay may be faulty If an external brake relay is being used, the relay must be correctly defined in the motion configuration file.
p. 16437102
Power supply warning, faulty 24V COOL levelThe Control Module Power Supply unit cabling or the output load may cause the faulty voltage level. The power supplies are shown in the Trouble Shooting Manual and the Circuit Diagram!
p. 16537103
Power supply warning, faulty 24V SYS levelThe Control Module Power Supply unit, cabling or the output load may cause the faulty voltage level. The power supplies are shown in the Trouble Shooting Manual and the Circuit Diagram!
p. 16537104
There is no backup voltage available!This may be caused by a faulty backup energy bank, cabling or charger.
p. 16537106
Low backup energy bank voltage levelThis may be caused by a faulty backup energy bank, cabling or charger.
p. 16537107
Faulty backup energy bankThis may be caused by a faulty backup energy bank, cabling or charger.
p. 16537108
Lost communication: Power Supply and ComputerThe USB cable from the main computer to the Control Module Power Supply may be faulty or disconnected, or the power supply may be faulty.
p. 16637208
Overtemperature in transformerThe unit may be overloaded, its fans may be malfunctioning or the air flow may be restricted.
p. 16737209
Overtemperature in cabinetThe unit may be overloaded, its fans may be malfunctioning or the air flow may be restricted.
p. 16737232
Cyclic Brake Check Configuration ErrorThe motion configuration data are not correct specified for this axis.
p. 17037233
Cyclic Brake Check Configuration ErrorThe motion configuration data are not correct specified for this axis.
p. 17037247
Circulation Fan <arg> malfunctionFaulty fan, cabling or power supply. See the Circuit Diagram!
p. 17137248
Circulation Fan <arg> malfunctionFaulty fan, cabling or power supply. See the Circuit Diagram!
p. 17137501
Filesystem unknown: USB DeviceThe filesystem is formatted with an unsupported file system type.
p. 17137502
Mass storage device removedThe mass storage device was removed or there was a malfunction of the mass storage device.
p. 17138101
SMB Communication FailureThis may be caused by bad connections or cables (screening), especially if non-ABB cables are used for additional axes. Possible causes are also faulty serial measurement board or axis computer.
p. 17138102
Internal failureThis may be caused by some temporary disturbance in the robot cell or by a faulty axis computer.
p. 17238103
Lost communication with the SMBThis may be caused by bad connections or cables (screening), especially if non-ABB cables are used for additional axes. Possible causes are also faulty serial measurement board or axis computer.
p. 17238104
Overspeed During Teach ModeThe robot may have been moved manually while in state Motors OFF. The error may also be caused by a misadjustment in the relation, commutation, between motor shaft and resolver on an additional axis, primarily during installation.
p. 17238200
Battery backup lostThis may be due to an SMB battery that is discharged or not connected. For some robot models, the SMB battery power is supplied through a jumper in the robot signal cable (refer to the IRC5 Circuit Diagram), and disconnecting the cable interrupts the battery power supply. Some earlier robot versions used rechargeable batteries, and these must be charged for at least 18 hrs before working correctly.
p. 17238233
Force sensor safety channel error1. The cable is not attached correctly. 2. The cable has damage to the connectors or the cable itself. 3. The sensor cable does not have satefy channel.
p. 17538234
Max Force or Torque reachedThe appliced force or torque on the sensor is higher that configured. Too high ordered reference can be the cause. The configuration might also be faulty.
p. 17539401
Torque Current Reference ErrorThe resolver feedback may be poor or the speed loop gain may be badly adjusted.
p. 17639402
Motor Angle Reference WarningThe resolver feedback may be poor or the speed loop gain may be badly adjusted.
p. 17639403
Torque Loop UndercurrentThe motor data in the configuration files may be wrong or the DC bus voltage may be too low.
p. 17639405
Maximum PWM Reached in Torque ControllerThe mains voltage may be too low or the motor windings or motor cables may be broken.
p. 17639407
Drive Unit has the wrong type codeThe configuration file may contain incorrect values, the configuration key may be incorrect or the hardware may be of the wrong type. If the drive unit was recently replaced, a drive unit with the wrong type code may have been fitted or the key was not replaced with one for the correct hardware/software combination.
p. 17739408
Rectifier Unit has the wrong type codeThe configuration file may contain incorrect values, the configuration key may be incorrect or the hardware may be of the wrong type. If the rectifier unit was recently replaced, a rectifier unit with the wrong type code may have been fitted or the key was not replaced with one for the correct hardware/software combination.
p. 17739409
Capacitor Unit has the wrong type codeThe configuration file may contain incorrect values, the configuration key may be incorrect or the hardware may be of the wrong type. If the capacitor unit was recently replaced, a capacitor unit with the wrong type code may have been fitted or the key was not replaced with one for the correct hardware/software combination.
p. 17739410
Drive Unit communication warningExternal noise may interfere with the communication signals.
p. 17739411
Too Many communication errorsThere may be a break in the communication link cable between the axis computer and the main drive unit, the drive module may be incorrectly grounded or excessive noise may interfere with the communication signals.
p. 17839412
Too Many Missed Reference UpdatesThere may be a break in the communication link cable between the axis computer and the main drive unit, the drive module may be incorrectly grounded or excessive noise may interfere with the communication signals.
p. 17839414
Unknown Capacitor Type CodeThe wrong type of capacitor unit may have been fitted or the capacitor version used is not supported by the software.
p. 17839415
Communication with the Drive Unit LostThere may be a break in the communication link cable between the axis computer and the main drive unit, the drive module may be incorrectly grounded or excessive noise may interfere with the communication signals.
p. 17839416
Drive Unit Not RespondingThere may be a break in the communication link cable between the axis computer and the main drive unit, or there may be a lock-up in the software.
p. 17839418
Unknown Drive Unit type codeThe connection to the drive unit may be bad or the hardware may be faulty.
p. 17939419
Unknown Rectifier type codeThe connection to the drive unit may be bad or the hardware may be faulty.
p. 17939420
Drive Unit built in test failureThe test software is not working correctly, or the actual hardware is faulty.
p. 17939421
Drive Unit configuration test failureThe connection to the drive unit may be bad or incorrect hardware may have been fitted.
p. 17939422
Drive Unit watchdog timeoutThe connection to the drive unit may be bad or incorrect hardware may have been fitted. It may also be caused by an internal error in the drive unit.
p. 17939423
Drive Unit Internal WarningThere may be problems with the control cable, the DC link connection (bus bar or cable) or internal hardware.
p. 18039424
Drive Unit internal errorThe connection to the drive unit may be bad or incorrect hardware may have been fitted. It may also be caused by faulty control cable, DC link connection (bus bar or cable) or internal hardware.
p. 18039425
Drive Unit measurement failureThis may be caused by a faulty or lacking DC link connection between the rectifier and drive units.
p. 18039426
Rectifier internal failureThis may be caused by a faulty or lacking signal connection between the rectifier and drive units.
p. 18039427
Rectifier communication missingThis may be caused by a faulty or lacking signal connection between the rectifier and drive units.
p. 18039432
Incompatible boot version in drive unitThe boot version is not compatible with the hardware version.
p. 18139435
Cannot find additional axis drive unitThis can be due to: 1) Having an additional axis configured but not having a drive unit in the drive module. 2) Having an external drive unit but not connecting the cable to the Xarg connector position on the main drive unit. 3) Damaged cable between the additional axis drive and the main drive unit.
p. 18139440
Open circuit in bleeder resistor circuitThis may be caused by a faulty bleeder resistor cable or bleeder resistor.
p. 18139441
Short circuit in bleeder resistor circuitThis may be caused by a faulty bleeder resistor cable or bleeder resistor.
p. 18139442
Bleeder Resistance Too LowThe bleeders may have the wrong resistance value or one of the bleeders may have failed, causing a short circuit.
p. 18239443
Bleeder Resistor Overload WarningThe user program may contain too much hard braking of the manipulators, which is more likely if the system contains additional axes.
p. 18239444
Bleeder resistor overload errorThe user program may contain too much hard braking or too high a payload of the manipulators. This is more likely if the system contains additional axes.
p. 18239450
Faulty Fan Unit Power SupplyThe main fan power supply unit may be faulty or the supply to this power supply unit may not be within its allowed voltage limits.
p. 18239451
Fan Unit MalfunctionThe fan unit may be faulty, a loss of power supply or the fan power cable may not be connected correctly.
p. 18239460
DC Link Voltage Too LowThe DC link bus bar may be incorrectly connected or the three-phase mains power may be interrupted while the robot is in the Motors ON state. The mains contactor may also have been opened whilst the robot is in Motors ON state (breaking the safety chain). The incoming main power supply may also be too low.
p. 18339461
DC Link Voltage Too HighThe user program may contain too much hard braking of the manipulators, which is more likely if the system contains additional axes. The brake resistors may also be faulty.
p. 18339462
DC Link Voltage at CriticalThe user program may contain too much hard braking of the manipulators, which is more likely if the system contains additional axes. The brake resistors may also be faulty.
p. 18339463
Motor Phase Short Circuit WarningThis may be due to dust or metal fragments contaminating the contacts or motor windings.
p. 18339464
Short circuit in Motor phase circuitThis may be caused by a faulty motor or motor cable. It may also be caused by contamination in the contactors for the cables or a failure of the motor windings.
p. 18339465
Motor current warningThe motor load may be too high or the motor may have stalled (maybe due to a collision).
p. 18439466
Motor Current OverloadThe motor load may be too high or the motor may have stalled (maybe due to a collision).
p. 18439467
Drive Unit Temperature WarningThe ambient temperature may be too high, the cooling fans may have failed or the user program may consume more current than the drive system can supply.
p. 18439468
Drive Unit Temperature AlarmThe ambient temperature may be too high, the cooling fans may have failed or the user program may consume more current than the drive system can supply.
p. 18439469
Drive Unit Temperature CriticalThe ambient temperature may be too high, the cooling fans may have failed or the user program may consume more current than the drive system can supply.
p. 18439470
Power Semiconductor WarningThe motor load may be too high, the motor may have stalled (maybe due to a collision), the motor load may be too high or there may not be enough cooling.
p. 18539471
Power Semiconductor Overload ErrorThe motor load may be too high, the motor may have stalled (maybe due to a collision), the motor load may be too high or there may not be enough cooling.
p. 18539472
Incoming Mains Phase MissingThis may be caused by an actual mains power loss, some malfunction in the Motors ON contactors or its cabling or in another part of the three phase chain inside the cabinet. On rare occasions, this fault may occur in combination with other faults, in which case this may be found in the error log.
p. 18539473
All Incoming Mains Phases MissingThis may be caused by an actual mains power loss, some malfunction in the Motors ON contactors or its cabling or in another part of the three phase chain inside the cabinet. On rare occasions, this fault may occur in combination with other faults, in which case this may be found in the error log.
p. 18539474
Rectifier Current WarningThe total motor current may be greater than that which the rectifier can supply.
p. 18639475
Rectifier Current ErrorThe total motor current may be greater than that which the rectifier can supply.
p. 18639476
Rectifier Temperature WarningThe cooling fans may be faulty or the air flow may be obstructed. The ambient temperature may be too high or the system may be running with a too high load for extended periods.
p. 18639477
Rectifier Temperature ErrorThe cooling fans may be faulty or the air flow may be obstructed. The ambient temperature may be too high or the system may be running with a too high load for extended periods.
p. 18639478
Internal Motor PTC Temperature ErrorThe motor may have stalled (possibly due to a collision), the motor may be overloaded or the ambient temperature may be higher than the rated level for the robot.
p. 18639479
External Motor PTC Temperature ErrorThe motor may have stalled (possibly due to a collision), the motor may be overloaded or the ambient temperature may be higher than the rated level for the robot.
p. 18639482
Mains Voltage Too HighThe mains transformer may be incorrectly wired or the external supply voltage may be too high.
p. 18739483
DC Link Short CircuitThe DC bus bar may be badly connected or its contact surfaces may be contaminated causing a short circuit.
p. 18739484
Run chain open in motor on state1) Cables and connections on the Safety System are unplugged or damaged. 2) The contactor for this run chain in the drive module may be stuck due to mechanical problem in contactor itself. 3) The help contactor on the contactor can suffer from bad galvanic behavior or faulty cable to the Safety System.
p. 18739485
Run chain close in motor off state1) The contactor for this run chain placed in the drive module has been pulled down manually. 2) The contactor has been welded in close position.
p. 18739486
DC Link Not Connected1) The DC Bussbar is either missing or is not properly connected. 2) If the bussbar is correctly connected. The drive unit reporting the error may have a fault.
p. 18739500
Logic Voltage to Drive Unit WarningThe 24V supply from the Drive Module Power Supply may be out of range.
p. 18739501
Logic Voltage to Drive Unit ErrorThe 24V supply from the power supply unit may be out of range.
p. 18839502
Logic Voltage to Rectifier ErrorThe cable between the drive unit and the rectifier may be badly connected, or the power supply voltage to the drive unit may be out of range.
p. 18839503
Power Supply OvertemperatureThe fan unit may be faulty, the cooling air flow may be obstructed or the ambient temperature may be too high.
p. 18839504
Power Supply to Brakes OverloadThe brake power cable may be faulty (short circuit), or additional axis motors with brakes consuming too much power may be used. The fault may also occur if the cable from the power supply unit is not correctly connected to the drive module.
p. 18839505
Mains Voltage to Power Supply LostThe main power switch on the Drive Module may be turned off. The incoming mains cable may be faulty (break), or the circuit breaker for the power supply may have tripped. The fault may also occur if the connector from the power supply unit is not correctly connected to the axis computer.
p. 18839520
Communication lost with Drive ModuleThis may be due to a cable break, badly connected connector or high levels of interference in the cable.
p. 18939522
Axis computer not foundThis may be due to a cable break, badly connected connectors or loss of power supply.
p. 18939525
Drive Module startup errorThe system has failed to complete the initialization phase of the drive module.
p. 18939530
Axis Computer Lost Communication With Safety SystemThis may be due to a faulty communication cable or connection between the axis computer and the Safety System. It may also be due to severe interference or if the Safety System has lost its power.
p. 19040012
Argument errorAn argument corresponding to a "switch" parameter may not be assigned a value.
p. 19140021
Instruction errorA RETURN instruction within a function must specify a value to be returned.
p. 19240206
Interrupt queue fullToo many interrupts has occurred while executing a trap routine. This can be caused by heavy CPU load.
p. 20740210
Interrupt removed from queue-The program has been stopped -A service routine or an event routine may be executing. -The program is executing in step mode.
p. 20740223
Execution errorThe program error is considered UNRECOVERABLE so no error recovery attempt by an error handler routine (if used) was allowed. The actual cause of the error may vary, and is likely to be specified in an event log message logged simultaneously as this one.
p. 20740228
Execution errorThe program error is considered RECOVERABLE but the error was not recovered. The actual cause of the error may vary, and is likely to be specified in an event log message logged simultaneously as this one.
p. 20840302
File access error-File may not have been correctly copied to the target directory. -File or directory may have incorrect name.
p. 21240304
File access error-File may be write protected. -File or directory may have incorrect name. -No storage space available on device.
p. 21240353
Mechanical Unit <arg> Missing!- No mechanical unit is defined. - The mechanical unit defined can not be found. - The robot can not move the workobject by itself.
p. 21440354
A copy of a dynamic loaded module has been saved.- A dynamic loaded module has been changed. - PP is set to main. - The dynamic loaded module is removed. - A copy of the changed module is saved.
p. 21440358
RMQ message discardedThere can be several different reasons. 1. No interrupt is connected to the type of the received message. 2. No interrupt could be created because the interrupt queue was full. 3. The received message was corrupt.
p. 21440529
File Access Error- The path or filename is wrong. - The I/O device reference is already in use. - The maximum number of simultaneously opened files is exceeded. - The disk is full.
p. 21640598
Program Stop during Load IdentificationInterrupt of the Load Identification sequence with Program Stop or release of the Enable Device.
p. 22240617
Argument ErrorThe analog signal can only be set/checked within <arg> to <arg> according to the I/O system parameter configuration.
p. 22440625
Limit Error- Axis outside working area. - Limits exceeded for at least one coupled joint.
p. 22440634
Reference ErrorIf the signal is defined in the RAPID program, it must be connected to the configured signal with instruction AliasIO.
p. 22540654
Axis Not Active1)The position to move to has been programmed or ModPos with not active mechanical unit 2) The mechanical unit is not active at present
p. 22740698
Read errorIf trying to access file on FTP mounted disc, make sure that the size of <arg> isn't larger then the maximum file size configured in the FTP protocol settings.
p. 22940706
Load ErrorThe module name in the head of the file <arg> already exists in the program memory.
p. 23040728
Frame ErrorThe positions have not the required relations or are not specified with enough accuracy.
p. 23240740
Execution ErrorThe program module with the PERS variable is probably removed from the program memory.
p. 23340786
Read ErrorThe reason can be: - Communication problem - Different WriteAnyBin - ReadAnyBin software version between the sending WriteAnyBin and the receiving ReadAnyBin
p. 23740789
Limitation ErrorThe maximum allowed string length for the full system file path is <arg> characters.
p. 23740794
Error Installing Text Table- Error in the index numbering. - The file has been installed twice.
p. 23840801
Calculation errorIt is not possible to calculate the tool frame with the selected approach points.
p. 23940811
No Contact With Unit- The unit may have been disabled ( IODisable "UNIT1", 1; ) - No power to the unit.
p. 23941441
UnLoad ErrorInstruction UnLoad or WaitLoad is executed in the same module as the module that should be removed. Instruction UnLoad or WaitLoad is in a trap that is executed earlier then expected. If there is a CONNECT to a trap routine in the module, an IDelete on the trap has to be done before the module can be unloaded.
p. 24741451
Argument ErrorInput interrupt number is illegal because it has not been allocated by the instruction CONNECT.
p. 24841495
Move PP ErrorStop of program when having an active instruction. Then a PP movement within program has been done.
p. 25241496
Move PP ErrorStop of program when having an active instruction. Then a PP movement within program has been done.
p. 25241497
Move PP NotificationPP movement within RAPID program when having active <arg> instruction.
p. 25241516
LoadId ErrorThe selected value of the configuration angle is less than 30, or has another value that is not possible to use for identification.
p. 25441517
LoadId ErrorService routine was stopped during measurement, interruped with cancel by the user or interrupted because some type of other error. Check former Event Log message for reason.
p. 25441532
Mismatch of task listThe reason for this error is one of the following: 1) Tasklists do not have the same content for the same SyncID or a taskname is used multiple times. 2) One or several tasks has been enabled/disabled in the task selection panel after first instruction was executed.
p. 25641535
Unexpected SyncMoveOnThe program task is already in synchronized mode becuase SyncMoveOn has already been executed. Use of tasklists that are non global can cause this error.
p. 25641543
Argument ErrorThe instruction GripLoad might have been run in a module that is no longer available in the system.
p. 25741555
No Contact With UnitThe unit may have been disabled (IODisable "UNIT1", 1;) No power to the unit.
p. 25841556
No Contact With UnitThe unit may have been disabled (IODisable "UNIT1", 1;) No power to the unit.
p. 25841560
No Start of Movement1. There has been an emergency stop. 2. There was another error in the system.
p. 25941562
Risk for faulty circular movementOne of following: 1) The RAPID program is missing an error handler or the error handler does not handle this specific error 2) MODPOS operation done when not running in step or move step mode
p. 25941564
Not allowed to run from a Motion TaskIt is only allowed to do stop and restart of all movements in the system from a supervision program task running as a read (or background) program task.
p. 25941574
Socket errorThe reason for this error is one of the following: 1) Socket not created at all. 2) PP movements has been done. 3) Start of program after power fail. 4) The socket has been closed after SocketCreate.
p. 26141594
Socket errorFor client, use SocketConnect before receiving/sending data. For server, use SocketAccept before receiving/sending data.
p. 26241618
Argument error buttondataButtondata must be: - an integer - have a value within the predefined range
p. 26541619
Argument error icondataIcondata must be: - an integer - have a value within the predefined range.
p. 26541620
Socket ErrorThis can happen if sockets are created and closed frequently and very rapidly.
p. 26541634
Unknown Task Name1. The program task is not defined in the system parameters. 2. The task name is wrong spelled.
p. 26641637
Task not active in task selection panel anymoreThe task <arg> has been deactivated in the task selection panel.
p. 26741638
Not allowed task activation1) The task <arg> was not active when start from main was done. 2) Deactivation of task <arg> with service routine <arg>, but not deactivating the task in the task selection panel. 3) Activation of task <arg> that earlier was deactivated in task selection panel and deactivated with service routine <arg>.
p. 26741640
Move PP WarningStop of program when having a stored path. Then a PP movement within the program has been done.
p. 26741641
Move PP WarningStop of program when stop motion is active. Then a PP movement within the program has been done.
p. 26741649
Incorrect Error MessageThe arguments to instruction <arg> contain limitations both on each string and the total amount of characters used in the instruction. This is described in the manual.
p. 26841651
Ignored StartMove actions for task1. The motion task has not been stopped. 2. The motion task was stopped by another non motion task <arg>. This time the cause was <arg>.
p. 26941652
Forced StartMove action1. The motion task has been stopped with the switch \AllMotionTasks active in the StopMove instruction but not in the StartMove instruction. 2. The StopMove instruction has been executed in synchronized mode and the StartMove in independent mode.
p. 26941655
Argument not a motion taskCRobT or CJoinT with argument \TaskRef or \TaskName can only be used without errors if the task that the arguments refer to is a motion task.
p. 26941657
File Access Error- The path or filename is wrong. - The maximum number of simultaneously opened files is exceeded. - The disk is full. - Function does not support check of selected device.
p. 27041658
Program task is in StopMove stateSome non-motion task connected to this motion task has set the task in StopMove state.
p. 27041661
Assembly could not be found1) The assembly <arg> could not be found. 2) The system image does not include the required option FlexPendant Interface.
p. 27041687
File Open Error- If the file was located on an USB disk, check that the disk is not removed, or has to many files in root folder. - Check that the given file is not a directory
p. 27341692
RMQ Error - Not valid Slot1) The <arg> has not been initialized. 2) The destination slot is not valid anymore. This can happen if a remote client has disconnected from the controller. 3) Instruction RMQSendWait was restarted after a power fail. When the instruction is restarted, the <arg> is set to 0.
p. 27341693
RMQ Error - Max size for message exceededTrying to send larger messages then <arg>. Due to limitations in RMQ, such big messages can not be sent.
p. 27341694
RMQ Error - Not equal datatypes1) The data type in the rmqmessage is of type <arg> and the data type used in argument Data is of type <arg>. 2) If the data types has equal names, the structure of the data can be different.
p. 27441696
RMQ Error - Not valid use of instructionInstruction <arg> is used either on user execution level or normal execution level.
p. 27441697
RMQ Error - No RMQ configuredNo configuration has been added for the RAPID Message Queue.
p. 27441699
RMQ Error - Max size for message exceededTrying to send larger messages then allowed. The receiving client is not configured to receive the size of the message sent.
p. 27441700
RMQ Error - Interrupt setup failedSame data type is used in two <arg> instructions with two different interrupt identities.
p. 27541701
RMQ Error - No message to collect1) This can happen if ta power fail occur between the trap was ordered and the instruction <arg> was executed. 2) If multiple use of <arg> in a TRAP routine. 3) If using <arg> in a TRAP routine that execute without any new message in the RMQ.
p. 27541702
RMQ Error - <arg> not validUse of a variable <arg> that not contain any valid data. The variable has only been initialized, no valid data has been copied to the variable.
p. 27541703
RMQ Error - Data could not be copiedThe RMQ of the receiving task is not configured for the size of the data sent. The sending client have sent data that is bigger then the size the RMQ for task <arg> can receive.
p. 27541704
RMQ Error - Full QueueThe client does not receive in the same pace as the sender is sending messages. If using instruction <arg>, you might need a wait time between each <arg> instruction.
p. 27541705
RMQ Error - Max Time Expired1) The client that should receive the message is not interested of receiving data of the specified data type. The message has been discarded. 2) The client has received the message, and in the answer sent a data type not matching with the specified data type used in <arg> of instruction <arg>. 3) The client has received the message. The answer is delayed so the time out time for instruction <arg> expired.
p. 27541712
Argument ErrorTooldata might have been defined in a module that is no longer available in the system.
p. 27641714
Too many error eventsA power fail restart (warm start) occurred while handling a process error.
p. 27641726
Ignored StopMoveReset actions for task1. The motion task has not been stopped. 2. The motion task was stopped by another non motion task: <arg>. This time the cause was <arg>.
p. 27841747
Process signal offThe optional argument \ProcSignal has been used for the instruction ProcerrRecovery. The signal makes it possible for the user to turn on/ off the instruction ProcerrRecovery.
p. 28041750
Not allowed value1) The system has interpreted the expression as a num data type, and the value is above the maximum integer value for num (value 8388608). 2) The system has interpreted the expression as a dnum data type, and the value is above the maximum integer value for a dnum (value 4503599627370496).
p. 28041762
The argument string value is invalid1) The only valid letter characters is a-f and A-F and only for HexToDec. 2) The ., - and + characters is not valid for HexToDec. 3) The - character is not valid for DecToHex. 4) The value is not an valid integer.
p. 28241763
The argument string value is too highThe argument string value exceeds the highest supported value.
p. 28241764
Wrong combination in <arg>The value to be added is of the type dnum, and the variable/persistent that should be changed is a num.
p. 28241765
The argument value is too highThe argument value exceeds the highest supported value. (<arg>)
p. 28250050
Position outside reachThe reason may be that ConfL_Off is used and a movement is too large, more than 90 degrees for an axis.
p. 28450053
Too large revolution counter differenceThe position of the robot arm may have been changed manually while the power supply was switched off. The serial measurement board, resolver or cables may also be faulty.
p. 28450082
Deceleration limitThe cpu load is to high. Could for example be generated by to frequent EIO communication.
p. 28550204
Motion supervisionTriggering of the motion supervision may be caused by a collision, incorrect load definition or forces in external process.
p. 29250291
Deactivation not allowedInstruction DeactUnit is used in a synchronized part of the program.
p. 29950293
Configuration errorWrong parameter set up in configuration file. Wrong type of SMB- board.
p. 29950294
Transmission error of dataCable, or transmission electronics failed. Electrical interference high.
p. 29950295
Manipulator data missingConfiguration file missing. New SMB-board together with new cabinet.
p. 29950296
SMB memory data differenceNot the same data or serial number in SMB memory and cabinet. Manipulator (SMB module) or cabinet exchanged or configuration parameters changed.
p. 29950299
Speed control warningProgrammed speed too high on this Unit or movement too long on limiting Unit
p. 30050301
All SMB data missingAn error in SMB-memory or communication has occurred. The data has been cleared.
p. 30050303
Cabinet data missingThe cabinet memory has been cleared or new cabinet has been installed..
p. 30050304
Transfer of data not allowedA SMB-board from another robot has been installed in the used robot.
p. 30050317
Disconnecting the Drive Module not allowedDisconnecting drive modules is only allowed in the Motors OFF state.
p. 30250318
Reconnecting the Drive Module not allowedReconnecting drive modules is only allowed in the Motors OFF status.
p. 30250319
Cannot activate Mechanical UnitThe mechanical unit is connected to Drive Module <arg> which is disconnected.
p. 30250325
Failed to activate force controlThe system is either not calibrated or we are already in force control. Another reason for this could be incorrect arguments.
p. 30350326
Failed to deactivate force controlCan not set position control if the robot is moving due to external forces or ordered references.
p. 30350336
Parameter error in FCGetProcessDataUsing the optional parameter DataAtTrigTime in instruction FCGetProcessData. If no trig has occured this error is reported.
p. 30450348
Test signal errorThe Mechanical Unit is not active. The test signal number does not correspond to an actual test signal. The channel number is too high.
p. 30550353
Failed to read data from encoder cardWrong unit name has probably been specified in the process parameter for <arg>
p. 30550369
Calibration using stored offset failedCalibration using stored offset is only possible if a normal calibration has been performed earlier.
p. 30750370
Transfer of data to SMB memory failedSMB was disconnected before or during calibration or manual move of data to SMB memory.
p. 30750372
Contact force too highThe programmed path in the recover function causes too high contact forces.
p. 30750373
Too high Event Preset TimeThis error can occur for robots with a low Dynamic Resolution and a high Event Preset Time. The reason is a computer memory limitation.
p. 30750377
Only allowed in position controlThe error depends on calling an instruction that is only allowed to be used in position control while in force control mode.
p. 30850378
Error in FCSetMaxForceChangeTuneThe parameter must be set larger than zero and less than the configured value.
p. 30850383
Cartesian Soft Servo configuration errorSome configuration parameter has been set to a value that is not allowed.
p. 30850386
Cartesian Soft Servo offset activation failedCSSForceOffsetAct instruction is only allowed when Cartesian Soft Servo is active.
p. 30850388
Cartesian Soft Servo position supervision errorThe position error is larger than the allowed range specified in the configuration.
p. 30950390
Cartesian Soft Servo speed supervisionThe speed error is larger than the allowed range specified in the configuration.
p. 30950403
AW board not connectedThe unit is either not connected to the system, or it is connected, but has been assigned the wrong address.
p. 31150411
Maximum allowed programmed TCP load exceededThe combination of the current tool load and payload exceeds the maximum load allowed for the robot model.
p. 31250412
Error in speed change tuning instructionThe speed change tuning instruction was not allowed, or the parameters given were invalid.
p. 31250413
Bleeder resistor overload error1) The user program may contain too much deceleration of the manipulator's axes. This fault is more likely if the system contains additional axes. 2) Bleeder resistor has wrong resistance. 3) Short circuit in motor cable between phase to phase or phase to ground.
p. 31250414
Bleeder resistor overload warning1) The user program may contain too much deceleration of the manipulator's axes. This fault is more likely if the system contains additional axes. 2) Bleeder resistor has wrong resistance. 3) Short circuit in motor cable between phase to phase or phase to ground.
p. 31250415
Motor temperature errorThe user program may contain too much hard acceleration and deceleration of the joint. Gravity torque or external forces for the joint can also be too high.
p. 31350416
Motor temperature warningThe user program may contain too much hard acceleration and hard deceleration of the joint. The gravity torque or external forces for the joint can also be too high.
p. 31350417
Drive unit overload error1) The joint may be running with a too high torque for extended periods of time. 2) Short circuit in the manipulator using long motor cables.
p. 31350418
Drive unit overload warning1) The joint may be running with a too high torque for extended periods of time. 2) Short circuit in the manipulator using long motor cables.
p. 31350420
IndCnv Mechanical Unit ErrorThe mechanical unit <arg> consists of more than one single. The single connected to <arg> is not of type FREE_ROT. The single connected to <arg> is not defined as an Indexing Move single.
p. 31371002
Unit type undefinedThe unit type <arg> is unknown. All I/O units must refer to an existing, defined unit type.
p. 31471003
I/O unit undefinedThe I/O unit <arg> is unknown. All I/O signals must refer to an existing/defined I/O unit.
p. 31571019
I/O signal undefinedThe parameter <Actor arg> of one of the cross connections contains a reference to an undefined I/O signal <arg>.
p. 31571108
Interbus I/O unit failureA number of errors may cause this. Further information may be found in the standard Interbus documentation.
p. 31871109
Interbus bus failureA number of errors may cause this. Further information may be found in the standard Interbus documentation.
p. 31971110
Interbus bus failureA number of errors may cause this. Further information may be found in the standard Interbus documentation.
p. 31971111
ID code mismatchWrong ID code value may have been introduced to the system parameters. The Interbus network may have been configured with a I/ O unit with the wrong ID code.
p. 31971220
No Profibus option has been installedAn attempt may have been made to add the Profibus functionality, without installing the option correctly.
p. 32271231
Wrong Profibus I/O unit is connected-The I/O unit at address <arg> may be the wrong type of I/O unit. -The configuration may be incorrect, i.e. an incorrect binary configuration file and in some cases incorrect system parameters.
p. 32371232
Too many internal Profibus slavesProfibus I/O unit <arg> is defined as an internal slave while another internal slave has already been configured. The maximum number of internal slaves is 1.
p. 32371244
Incorrect Interbus unit typeOne or more of the units connected to the network is of a hardware version not supported by the system.
p. 32471245
I/O unit not defined in Interbus configurationData for defining the I/O unit is missing in the Interbus configuration.
p. 32471248
Interbus I/O unit configuration mismatchThe Interbus unit address in the Interbus configuration differs from that in the system parameters, or the I/O unit may not have been configured at all in the Interbus configuration.
p. 32471249
Interbus I/O unit configuration mismatchThe Interbus unit address in the Interbus configuration differs from that in the system parameters, or the I/O unit may not have been configured at all in the system parameters.
p. 32471250
Cannot configure Interbus boardThe path specifying the Interbus configuration files points out the wrong files or that configuration file is incorrect.
p. 32471258
Interbus configuration file not foundThe Interbus configuration file does not exist or the path specified in the system parameters was incorrect.
p. 32471260
Interbus bus failureA number of errors may cause this. Further information may be found in the standard Interbus documentation.
p. 32571273
I/O unit configuration mismatch1. The address of the I/O unit in the system parameters are not the same as in the I/O bus specific configuration. 2. The I/O unit has not been configured at all in the I/O bus specific configuration.
p. 32571299
No power on DeviceNet busThe power supply unit, cabling, input voltage to the power supply or the output load may cause the power loss. See the Trouble Shooting Manual and Circuit Diagram!
p. 32671300
DeviceNet bus communication warningThe fault may be caused by interference, power supply units and cables, or communication cables.
p. 32671301
Bus off, DeviceNet bus communication failureThe fault may be caused by interference, power supply units and cables, or communication cables.
p. 32771302
No DeviceNet option has been installedAn attempt may have been made to add the DeviceNet functionality, without installing the option correctly.
p. 32771359
Option Multiple Serial Ports is not installedThe option, Multiple Serial Ports, has not been installed in the system.
p. 33371364
I/O queue overloadThis is caused by too frequent signal changes or too large bursts of signal changes, generated by input I/O signals or cross connections between I/O signals.
p. 33371365
Safety I/O queue overloadThis is caused by too frequent signal changes of safety I/O signals. Sometimes this may be due to erratic ground connection in I/O signals from external equipment.
p. 33471366
Cross connection I/O queue overloadThis is caused by too frequent signal changes or too large bursts of signal changes, generated by input or output I/O signals being actors in cross connections.
p. 33471367
No communication with I/O unitThe I/O unit is either not connected to the system, or it is connected, but has been assigned the wrong address.
p. 33471368
No Interbus option has been installedAn attempt may have been made to add the Interbus functionality, without installing the option correctly.
p. 33471378
Failed to access the Dengensha PCI board.-The board may have internal software or hardware problems.
p. 33571379
Unknown communication physical channel connector-The connector defined in the physical channel configuration may be misspelt or refers to a connector not available for use. - Connector configuration is missing.
p. 33571380
Communication connector driver is already in use-The configuration files may have been faulty. -A configuration file with improperly configured Physical Channels may have been loaded.
p. 33571381
Communication connector is already in useSeveral physical channels may have been assigned to the same connector in the configuration.
p. 33571382
DeviceNet watchdog time has expiredThe I/O load on the DeviceNet bus may be too high, for instance if a RAPID program is trying to set I/O signals at a rate that exceeds the bandwidth available on the DeviceNet bus.
p. 33571385
Request message resource exhaustedTo many I/O instructions with pulse or delay argument. To many process instructions with pulse, delay or timeout.
p. 33671391
System Signal configurationAll errors during configuration of System Input/Output Signals are considered fatal and the system will go to state SYS FAIL.
p. 33671393
Error when allocating generic sizeThe DeviceNet I/O unit <arg> cannot be configured with unit type DN_GENERIC or with a generic <arg> size (-1).
p. 33671394
Invalid physical communication channelOption not installed or the communication channel <arg> is out of range.
p. 33671395
No transport protocolThe option holding the transport protocol <arg> is not installed or the protocol name is faulty.
p. 33771396
No transmission protocolThe option holding the transport is not installed or the application name is faulty.
p. 33771397
No application protocolThe option holding the application protocol is not installed or the protocol name is faulty.
p. 33771401
No option exist for the <arg> Fieldbus AdapterAn attempt may have been made to add the <arg> Fieldbus Adapter functionality, without installing the option correctly.
p. 33771403
The interval time is invalidThe interval time have a lower value than the production inhibit time.
p. 33771411
Out of route resourcesToo many routes have been defined. The system only allows <arg> routes.
p. 33871414
Concurrent changes of signal valueThe concurrent value change is due to an undesired signal change sequence in a program. Multiple changes of I/O signal <arg> might appear when a I/O signal is pulsed, e.g. SetDO <arg>, 0; PulseDO /High /PLength = 0.01, <arg>; WaitTime 0.01; SetDO <arg>, 1; The I/O signal <arg> will be 1 at the end, but at rare occasions there will not be any visible pulse. This type of sequence should be avoided.
p. 33971415
No bus powerThe power supply unit, cabling, input voltage to the power supply or the output load may cause the power loss. See the trouble shooting section in the manual.
p. 33971417
DeviceNet Lean hardware missingDSQC 572 is missing or the cabling between the main computer unit and DSQC 572 is not inserted.
p. 33971427
DeviceNet Lean option key missingAn attempt may have been made to add the DeviceNet Lean functionality, without installing the option correctly.
p. 34071432
Profinet hardware exceptionA configuration download from an external Profinet tool might have been interrupted before it was completed.
p. 34171433
No contact with Profinet PCI board1. The Profinet board is missing or malfunctioning. 2. A new configuration is being downloaded from an external software tool.
p. 34171442
Profinet option key missingAn attempt may have been made to add the Profinet functionality, without installing the option correctly.
p. 34271443
Too many Profinet internal slavesProfinet I/O unit <arg> is defined as an Profinet internal slave while another Profinet internal slave has already been configured.
p. 34271445
Profinet PCI board errorThe Profinet PCI board is not installed or a 'reset to factory settings' command has been performed. The 'reset to factory settings' command demands another restart of the IRC5 controller in order to be completed.
p. 34371446
Profinet configuration mismatchMismatch of the data type/size in slot <arg> for the Profinet master configuration. The expected data type/size is argarg bytes.
p. 34371450
EtherNet/IP Master/Slave option not installedAn attempt may have been made to add the EtherNet/IP functionality, without installing the option correctly.
p. 34371451
Ethernet extra port option not installedAn attempt may have been made to add the EtherNet/IP functionality, without installing the correct option.
p. 34371456
EtherNet/IP hardware is missingAn attempt may have been made to add EtherNet/IP functionality on the first Ethernet port, without installing the correct hardware. Note: If you are running MultiMove two DSQC 612 boards are required, otherwise one board.
p. 34471460
Not able to connect to EtherNet/IP I/O unitThe I/O unit does not exist physically. The I/O unit address is wrong. The I/O unit is malfunctioning.
p. 34571463
Illegal address for EtherNet/IP busThe specified address is on a subnet reserved by another Ethernet port. Two Ethernet ports on the IRC5 controller can not be on the same subnet. Example: EtherNet/IP port: 192.168.125.x Service port: 192.168.125.x Note: The subnets within the range 192.168.125.xxx - 192.168.130.xxx are predefined and can not be used.
p. 34571464
Could not add a new gateway for EtherNet/IP1. The gateway address or the destination address are invalid. 2. No destination address have been specified.
p. 345110013
Application process interrupted1. Logical RAPID instructions in a sequence of application movement instructions consuming too much execution time. 2. The last instruction in the sequence of application movement instructions, that does not indicate the sequence end. 3. A process error occurred too close to the endpoint of the process: a process restart is not performed.
p. 348110016
Unsafe flying endThe zone size and the fly_end distance of the flying end instruction do not fit together.
p. 349110177
Tracker calibration errorThe average calibration precisions obtained in the x-, y-, z- directions of the sensor tool are: <arg>. The desired ones are: <arg>.
p. 353110178
Tracker verification errorThe average verification precisions obtained in the x-, y-, z- directions of the sensor tool are: <arg>. The desired ones are: <arg>.
p. 354110179
Left lap joint definition not correctThe measure obtained in the y-direction of the sensor tool on the left lap-joint is : <arg> mm. The value should be positive.
p. 354110203
Application errorThe specified program number <arg> is above the maximum integer value for the num data type, max value 8388608.
p. 354110210
Application errorThe specified program number <arg> is above the maximum integer value for the num data type, max value 8388608.
p. 355110214
Application errorThe XXShPowerOn has not been executed, or to few DA_PROC task are specified.
p. 355110601
Spot application invalid data error1. The setup data 'SW_NOF_GUNS' has been assigned a value less than 1. 2. The user module swdefusr.sys has not been loaded correctly.
p. 365110602
Spot application invalid data errorThe setup data 'SW_NOF_GUNS' has been assigned a value larger than 10.
p. 365110606
Spot application gun activation errorThe servo gun has not been activated before trying to run this instruction.
p. 366110607
Spot application gun initialization errorThe servo gun has probably been fine calibrated and a service calibration has not been done.
p. 366110608
Spot application gun synchronization errorThe revolution counters for the servo gun has probably been updated and a service calibration has not been done.
p. 366110609
Spot application no guns defined errorThe setup data 'SW_NOF_GUNS' has been deleted or the user module has not been loaded correctly.
p. 367110610
Spot application gun name errorThe gun name in curr_gundata does not match any mechanical unit in the system or no configuration for a servo gun has been loaded.
p. 367110615
Spot application gun control errorThe system was set to motors off state during process for some reason.
p. 367110616
Spot application weld position abortedThe spot instruction was aborted for some reason, the PP was moved or the instruction was skipped.
p. 368110630
Spot application weld complete timeoutThe weld controller did not reply with weld complete within the configured time.
p. 369110631
Spot application weld error reportedThe weld controller reported an error and stopped the current ongoing weld.
p. 370110633
Spot application no mechanical unit errorNo configuration for servo gun parameters has been loaded.
p. 370110635
Spot application tip position error1. The geometry of the plates are wrong or the tips are damaged. 2. The value of the plate_thickness parameter in <arg> is not the same as the actual thickness of the plates.
p. 370110640
Spot application missing signal errorThe signal <arg> was removed from the EIO configuration.
p. 371110647
Spot application invalid dataA too big gun deflection has been entered in curr_gundata{<arg>} or the deflection force in curr_gundata is set too low.
p. 372110648
Spot application invalid dataA too high gun deflection time has been entered in curr_gundata{<arg>}.
p. 372110650
Spot application search errorCheck for missing or wrong tips and the the reference plate is located in the correct position.
p. 372110651
Spot application tip range errorTips with unexpected size was mounted on the gun or the size exceeds the maximum allowed value defined in the tip change tolerance setup data tipchg_superv{<arg>}.
p. 372110653
Spot application tip range errorTips with unexpected size was mounted on the gun or the size exceeds the maximum allowed value defined in the tip change tolerance setup data tipchg_superv{<arg>}.
p. 373110654
Spot application tip change range errorTips with unexpected size was mounted on the gun or the size exceeds the maximum allowed value defined in the tip change tolerance setup data tipchg_superv{<arg>}.
p. 373110655
Spot application tip wear range errorThe tips has probably been worn out, and the current tip wear exceeds the maximum allowed value defined in the tip wear tolerance setup data tipwear_superv{<arg>}.
p. 373110656
Spot application tip wear range errorThe tips has probably been worn out, and the current tip wear exceeds the maximum allowed value defined in the tip wear tolerance setup data tipwear_superv{<arg>}.
p. 373110659
Spot application robot limit errorThe robot is outside it's working area or the robot is very close to it when the gun arm deflection compensation is working.
p. 374110660
Spot application user module version warningThe user modules probably originates from an backup taken from an older system.
p. 374110661
Spot application error signal label errorThe 'SignalLabel' name is not defined in the EIO configuration.
p. 374110662
Spot application missing routine errorThe module with the routine is not loaded or the routine has been removed from the module.
p. 374110663
Spot application user data missing errorThe module with the data is not loaded or the data has been removed.
p. 374110664
Spot application sw equalizing active errorSynchronized mode is selected in the spot instruction.
p. 375110668
Spot application thickness error ignoredThe operator probably ignored the thickness error.
p. 375110669
Spot application gun number errorA gun index number that was out of range was programmed in the instruction. Current configured size of 'curr_gundata' is <arg>
p. 375110670
Spot application user module changedThe user modules probably originates from an backup taken from an older system.
p. 375110671
Spot application error module not savedThe module does not exist, or the disk is full or the file is write protected.
p. 376110672
Spot application configuration errorThe weld program signal group size is smaller than the specified weld program.
p. 376110674
Spot application gun type errorThe 'gun_type' parameter in the used 'gundata' is not correctly defined.
p. 376110677
Spot application instruction abortedThe instruction was aborted by the operator and/or the PP was moved.
p. 377110678
Spot application reference not done errorThis instruction was run for the first time without the reference switch selected.
p. 377111017
Uplink message failedNetwork interrupt. CPU overload in controller system. CPU overload in remote system. Remote system may not run as expected.
p. 384111117
Uplink message failedNetwork interrupt. CPU overload in controller system. CPU overload in remote system. Remote system may not run as expected.
p. 386111431
Timeout during handshakingThe configured signal run_part_signal_in or run_menu_signal_in wasn't set to 0 within configured timeout (<arg> seconds) after the configured signal run_ack_out was set to 1.
p. 387111432
Not valid plc code in taskThe configured group signal plc_cmd_group_in has a not valid value <arg>. Values in the range of 1-99 is reserved for error codes.
p. 388111755
Navigator errorNominal point doesn't have sufficient accuracy. Search radius is too small.
p. 397111860
Intermediate DC voltage outside limitsToo high a voltage can be due to severe transients on the mains power supply or to a weak power supply (high inductance of the supply or a phase missing).
p. 400111920
Missing tooldata for generated operation setTooldata not properly configured for the robot in the PickMaster line configuration.
p. 404111921
Target reset after move of Program PointerThe PP was moved without any target was finished. Since the program context cannot be secured, the whole operation will be executed from beginning.
p. 404111922
Targets lost after move of Program PointerThe PP was moved after at least one target in the operation was finished. Since the program context cannot be secured, next operation will be executed.
p. 404111923
Targets lost after LOST acknowledgeThe last target acknowledge was set to LOST after at least one target in the operation was finished. Since the operation cannot be finished, next operation will be executed.
p. 404111924
Operation handler not in useThis might be caused by a pulse on the Robot Execution signal after the operation descriptor has been fetched. It is more likely to occur if the operation is a multidrop.
p. 405111925
Failed to open PM work area signalThe work area signal is missing in the I/O configuration of the robot controller. The I/O unit is not running.
p. 405111926
Triggering too frequentlyThe pulse length is too long or the pick and place operation is very short.
p. 405111927
PM group signal too short for work areaThe signal has to few bits defined in the I/O configuration of the controller.
p. 405111950
No PickMaster Flow to RetrieveThere is no flow ready when executing instruction. No <arg> or a low value is used on <arg> in this instruction.
p. 405111953
Can not retrieve operationThere is no operation to retrieve when executing instruction. No <arg> or a low value is used on <arg> in this instruction.
p. 406111954
Can not retrieve targetsThere is no target ready when executing instruction. No <arg> or a low value is used on <arg> in this instruction.
p. 406111957
No active project1) Project has been stopped. 2) A power fail has occurred, and the RAPID program has been started without starting the project again. 3) A warm start has been done, and the RAPID program has been started without starting the project again.
p. 406111958
No active projectThere is no project running when executing instruction. No <arg> or a low value is used on <arg> in this instruction.
p. 406111960
Invalid descriptor usedAn instruction/function is executed without a valid descriptor. The Work Area descriptor has not been fetched correctly, or it is a restart after power fail.
p. 407111962
Invalid target handleAn instruction/function is executed without a valid descriptor. The target handle has not been fetched correctly, or it is a restart after power fail.
p. 407111963
Invalid action handleAn instruction/function is executed without a valid handle. The action handle has not been fetched correctly, or it is a restart after power fail.
p. 407111964
Error event trigged1. The error source signal has set the Work Area in error state. 2. Stop immediately has been used from FlexPendant. 3. An internal process error has occurred.
p. 407112002
Failed to Retrieve PickMaster FormatThe setup file is corrupted or incomplete. Wrong response from IO signals.
p. 408112053
Failed to start project <arg>The XML file is corrupted, or some internal error occurred.
p. 408112054
Project <arg> already startedMultiple use of RAPID instruction PmStartProj with the same project name <arg>.
p. 408112058
Stop of project ordered during startStop during start of project. The stop can be from another client or another RAPID task.
p. 409112059
Ongoing start of projectStart orders from multiple clients or RAPID tasks at the same time
p. 409112060
Stop of project ordered during startA project stop order from PickMaster, FlexPendant or RAPID when a start of a project is executed.
p. 409112100
PickMaster project file is too oldThe PickMaster version used to configure this project is too old for this RobotWare. Required version by RobotWare: <arg> PickMaster version used to create file: <arg>
p. 409112150
Failed to request new target setThe trigged operation set (<arg>) is not configured in the project. The trigged combination of product I/O value (<arg>) and format I/O value (<arg>) is not configured in the project. Status: <arg>
p. 410112151
Incorrect target setThe trigged operation set is not correct (<arg>) or the trigged I/O values are not correct (<arg>) Status: <arg>
p. 410112152
Response error for work areaThe product selection I/O values for position request and target generation is not the same. The format selection I/O values for position request and target generation is not the same.
p. 410112250
PickMaster project size limitationThe selected project contains too much data to be handled by the robot controller.
p. 411112350
Target configuration outside reachThe target position is outside reach. A robot configuration was not found within reach for the target.
p. 411112354
Unknown event signal nameWrong signal name in the PickMaster project or line configuration.
p. 412112357
Unknown target action typeError in the RAPID code. Error in the PickMaster configuration.
p. 412112359
Stack search detected empty stack1) Stack is empty or: 2) Tool center point for Search Tool data, Tool configuration, is not correctly defined. 3) The expected location of the stack is not correct. 4) The search stop signal was not triggered correctly.
p. 412112360
Stack search adjusted stack layersActual stack height was lower than configured in PickMaster.
p. 413112363
Stack search stop height mismatchThe configured stop height is set too high. The configured displacement frame offset for the operation set is set too low. The work area on-line tuning offset is set too low.
p. 413112365
Not Valid Signal1. The signal is unknown in the system. If the signal is defined in the RAPID program, it must be connected to the configured signal with instruction AliasIO. 2. Signal argument is outside allowed limits. 3. There is no contact with the IO unit. The unit may have been disabled (IODisable "UNIT1", 1;). No power to the unit.
p. 413112367
The Requested Project Could Not Be Found1. The requested project is not transferred from PickMaster PC. 2. The mapping between project and signal is wrong or missing.
p. 414112368
The Requested Flow Could Not Be Found1. The requested flow is not configured in the project. 2. The mapping between flow and signal is wrong or missing.
p. 414112369
The Requested Flow Could Not Be FoundThe requested flow is not configured in the project.
p. 414112372
Missing PickMaster signalsThe signals are not and/or wrong configured in the IO configuration. One reason can be that an old backup is used.
p. 414112373
The Requested Work Area Could Not Be Found1. The requested Work Area is a RAPID variable that is not initialized. 2. The mapping between Work Area and signal value is wrong or missing.
p. 415112374
Intermediate position outside reachRestrictions on x, y or z of the intermediate position.
p. 415112375
Intermediate axis position outside reachRestrictions on axis angles of the intermediate position.
p. 415112376
Required WorkArea is not valid1. Recover action PM_RECOVER_REDO_LAYER and PM_RECOVER_NEXT_PALLET requires the optional argument WorkArea to be set. 2. The WorkArea descriptor is not initialized. 3. The WorkArea is not a part of the flow <arg>.
p. 415112377
Faulty Recover ActionThe recover action is not one of PM_RECOVER_CONTINUE_OPERATION, PM_RECOVER_REDO_LAYER, PM_RECOVER_NEXT_PALLET or PM_RECOVER_REDO_LAST_PICK.
p. 415112379
Wrong flow stateThe flow is probably set in a sever error state that can not be recover from.
p. 415112381
Redo last pick is not allowed in current positionThe flow can only recover from an error with PM_RECOVER_REDO_LAST_PICK if the first item is picked and no items are placed.
p. 416112382
Project info contains no valid data for current taskThe project is already started when a start order from the IO interface is received.
p. 416112384
Invalid default heightThe I/O value of <arg> does not correspond to a valid default height selection.
p. 416112402
SID file is not compatibleThe SID file was saved from a different power source type or the SID file has become corrupted.
p. 417112414
Intermediate DC voltage outside limitsToo high a voltage can be due to severe transients on the mains power supply or to a weak power supply (high inductance of the supply or a phase missing).
p. 418120007
Unknown type or attribute in cfg fileThe configuration type may not be installed, illegal/mistyped attribute, or the name is too long.
p. 428120011
Illegal version stringThe configuration file is made for a different system version/revision. The version string in the configuration file is mistyped/missing. The configuration file is corrupted.
p. 429120012
Illegal domain nameThe domain name may be mistyped or the domain is not installed in the system.
p. 429134039
Toggle lowered before command was finishedExternal controls system not compliant to protocol
p. 450