Códigos de Erros Robô ABB

System and Error Messages
CONTENTS
Page
1 Operational error messages ........................................................................................... 7

2 System error messages .................................................................................................... 10
3 Hardware error messages............................................................................................... 18
4 Program error messages ................................................................................................. 36
5 Motion error messages.................................................................................................... 66
6 Operator error messages ................................................................................................ 78
7 IO & Communication error messages........................................................................... 81
8 Arcweld error messages.................................................................................................. 95
9 Spotweld error messages ................................................................................................ 105
10 Paint error messages. .................................................................................................... 106
Users Guide/BaseWare OS 4.0 16-5

1 Operational error messages

10002: Program reset2:Program reset 10014:System failure state
The task %!%!%s has Fatal non recoverable system error.
been rewound to its start point. Warm start is required.
10005:Program stopped 10015:Manual mode selected

The task %!%!%s has
stopped. The reason is that 10016:Automatic mode requested
%s
10017:Automatic mode confirmed
10007:Program started
10018:Manual mode FS requested
The task %!%!%s has
Manual mode with full speed requested
start to execute.
%s 10019:Manual mode FS confirmed
Manual mode with full speed con-
10008:Program restarted
firmed
The task %!%!%s has
restart to execute. 10020:Execution error state
%s The program execution has reached
a spontaneous error state
10009:Work memory full
No memory left for new RAPID 10021:Execution error reset
instructions or data. The program execution has left
The task is %!%!%s a spontaneous error state
Check:
Save the program and then 10022:Hold to run waiting
restart. Waiting for hold to run button to be
pressed on the programming unit.
10010:Motors off state
10023:Hold to run timeout
10011:Motors on state The hold to run button on the
programming unit must be pressed
10012:Guard stop state
within timeout limit.
Runchain opened by any safety guard
except the emergency stop. 10024:Collision triggered
Check: A collision has been detected.
Close runchain, it could be broken
by the following devices (if used): 10025:Collision resetted
Access gate, light screen, servo The collision detection has
disconnector or any other safety been resetted.
device connected to the run chain.
10026:Collision confirmed
10013:Emergency stop state Returned to the path after
Runchain opened by emergency stop. a collision detection.
Em stop reset is required.
Use the motors off button. 10027:Collision not confirmed
The system has not returned
to the path after a collision
detection.

10030:All axes commutated 10049:Protected area not finish

A power fail did occur in the
10031:All axes calibrated middle of a protected area for
the task %!%s
10032:All rev counters updated %s
10033:All axes synchronized 10050:Execution cancelled
10034:Axis not commutated The restart will clear the execution
in task %!%.16s of a
10035:Axis not calibrated %s
10036:Rev counter not updated 10051:Event routine error

The task %!%s could not start
10037:Axis not synchronized the specified system event routine
%s
10040:Program loaded The routine is either unknown to
The task %!%!%s has the system or unlinkable.
loaded a program or program module. Check:
The free user space was %i bytes Insert the routine in a system
before this operation and module or correct the program.
%i bytes after.
Check: 10052:Regain start
Note! 1 Kbyte = 1024 bytes. A regain movement has started
10041:Program erased 10053:Regain ready

The task %!%!%s has The regain movement is ready
erased a program.
10054:Regain rejected
10043:Restart failed Regain on path not possible one client
The task %!%!%s has already order it.
cant restart Check:
A new regain movement is ordered during
10044:Program Pointer updated an already started regain movement.
The task %!%!%s Reduce the number of start order from
could have changed the PP pos. e.g system I/O
10045:System restarted 10060:Test of enable chain
An already installed system The enable chain is always tested at
was restarted. startup. If the test failed an error
message concerning enable will follow.
10046:System restarted in cold
Check:
mode
If enable chain test at startup failed
First start after installation.
the related error message will be
10047:Background task %s "Enable chain timeout"
refuse to start
10070:Backup step ready
%s
The backup %!%s is ready
16-8 Users Guide/BaseWare OS 4.0

10071:Backup error 10081:Background task %s

Error during the backup failed to load a newer version of a
of %!%!%s module The source of the module is
%s %s
Check: Check:
%s See previous messages for the cause
Or restart the system with a P-START
10072:Restore step ready to load the newer version
The restore %!%s
is ready 10082:RAPID Task supervision
Task %s is not running
10073:Restore error the system will be set in SysFail
Error during the restore state. Its now impossible to change
of %!%!%s to motors on
%s %s
Check: Check:
%s See previous messages for the cause
Restart the system to reset the
10074:NFS server up
error state
The connection to the NFS server
%s is working. 10083:RAPID Task supervision
All devices remotely mounted from Task %s is not running
this server are now available. the system will be set in motors off
state.
10075:NFS server down
%s
The connection to the NFS server
Check:
%s has been lost.
See previous messages for the cause
All devices remotely mounted from
this server are unavailable. 10084:RAPID Task supervision
Task %s is not running
10076:FTP server up
the main task will also stop
The connection to the FTP server
%s
%s is working.
Check:
10077:FTP server down See previous messages for the cause
The connection to the FTP server
10085:RAPID Task supervision
%s has been lost.
Task %s cant be stopped
10080:Background task %s the trustLevel is set to
has an older version of a module a safety level.
installed than the source Check:
%s If the task should be possible to stop
Check: change the trustLevel or task
Restart the system with a P-START type in the system parameters.
to install the newer version
10086:Robot is purged OK
Purging pressure regained after a purge
fault.
10087:Purge state: %s.

State changed.

2 System error messages 20050:Not allowed command

Not allowed in this operating mode.
20010:Em stop state active
Em stop reset is required. 20051:Not allowed command
Press the panel button. Not allowed when client not in control
of the resource (program/motion).
20011:Em stop state active
Em stop reset is required. 20052:Not allowed command
First release the Em stop button Not allowed in this cabinet state.
and then press the panel button. 20053:Not allowed command
20012:Sys failure state active Not allowed in this manipulator state.
Fatal non recoverable system error. 20054:Not allowed command
Warm start is required. Not allowed when program is executing.
Check:
Switch the mains switch off and on 20060:Not allowed command
again if the soft restart command is Not allowed in Auto mode.
ignored or not possible to reach.
20061:Not allowed command
20024:Enable chain timeout Not allowed when changing to Auto
Two channel status timeout. mode.
Check:
The acknowledgement for a two chan- 20062:Not allowed command
nel Not allowed in Manual mode.
enable chain status change was not
received within the expected time. 20063:Not allowed command
Not allowed in Manual full speed mode.
20025:Stop order timeout
The stop order was carried out 20064:Not allowed command
as a forced guard stop when Not allowed when changing to Manual
no acknowledgement was received full speed mode.
within the expected time
20030:Axis not commutated Not allowed in Motors On state.
One or several internal drive unit
axes are not commutated.
Not allowed while changing to
20031:Axis not calibrated Motors On state.200
One or several absolute/relative
measurement axes are not calibrated.
Not allowed in Motors Off state.
20032:Rev counter not updated
One or several absolute measurement
Not allowed while changing to
axes are not synchronized.
Motors Off state.
Move the robot to the sync position
and update the revolution counters. 20074:Not allowed command
Not allowed in Guard Stop state.
20033:Axis not synchronized
One or several relative measurement 20075:Not allowed command
axes are not synchronized. Not allowed in Emergency Stop state.
Order Motors On and synchronize all Em stop reset is required.
mechanical units in the list. Press the panel button.
20076:Not allowed command 20112:Program 1 in ctrl

Not allowed in System Failure state. The program server 1 is in
Fatal non recoverable system error. control of the motion server.
Warm start is required. Stop the program and perform
Check: the command again.
Switch the mains switch off and on
again if the soft restart command is 20113:Program 2 in ctrl
ignored or not possible to reach. The program server 2 is
in control of the motion server.
20080:Not allowed command Stop the program and perform
Not allowed when axis is not commutated. the command again.
20081:Not allowed command 20114:Program 3 in ctrl

Not allowed when axis is not calibrated. The program server 3 is
20082:Not allowed command Stop the program and perform
Not allowed when axis rev counter is not the command again.
updated.
20115:Program 4 in ctrl
20083:Not allowed command The program server 4 is
Not allowed when axis is not in control of the motion server.
synchronized. Stop the program and perform
the command again.
Not allowed in state 20116:Program 5 in ctrl
System IO Start Blocked. The program server 5 is
20100:Teachpendant in ctrl
Stop the program and perform
A teachpendant application
the command again.
is in control of the requested
resource (program/motion) 20120:System IO in ctrl
20101:Teachp (prg) in ctrl 20125:Client %s in ctrl
The teachpendant programming Specified client is in
window has focus and is in control control of the requested
of the program server. resource (program/motion)
Change to the production window
and perform the command again. 20130:Out of memory in cfg
20102:Teachp (joystick) in ctrl 20131:Unable to read file

The teachpendant joystick is in
control of the motion server. 20132:Parameters not saved
Release the joystick and perform Parameters cannot be saved.
the command again. Probably, because disk is write
protected or no space available.
20111:Teachp (prg) in ctrl Check:
The teachpendant programming Check if disk is write-protected or
window has focus and is in control if space on disk is enough.
of the program server.
Change to the production window
and perform the command again.

20133:Cannot modify instance 20143:Start main rejected.

Description\Reason: Start of main program via System IO
Cant replace instance in line %d not allowed.
of file %s
Check: 20144:Stop rejected.
The instance is write protected. Stop of program via System IO
not allowed.
20134:Wrong version
Description\Reason: 20145:Stop cycle rejected.
The cfg domain version is wrong in file Stop of program cycle via System IO
%s not allowed.
The software is made for
version %s 20146:Man interrupt rejected.
Manual interrupt of program via
Check:
Change the version of the cfg domain. System IO not allowed.
20135:Line too long 20147:Load and start rejected.

Description\Reason: Load and start of program via
Line %d > %d characters System IO not allowed.
Check: Program file name (including mass
Reduce the number of characters. memory unit) to be loaded must
be defined.
20136:Attr out of range
Description\Reason: 20148:Confirm rejected.
Attribute %s is out of range Emergency Stop Reset Confirm via
in line %d System IO not allowed.
Check: 20149:Error reset rejected.
Change the value on the attribute. Program execution error reset via
20137:Dublicate inst name System IO not allowed.
Description\Reason: 20150:Syncronization rejected.
Dublicate name in line %d Syncronization of mechanical unit
of file %s via System IO not allowed.
Check:
Change the name. 20151:Faulty signal name.
Signal name not possible to
20140:Motors On rejected. subscribe to for Sysio.
Motors On via System IO The Signal name might not be in
not allowed. the cfg-file for Sysio.
20141:Motors Off rejected. 20152:Too many restrictions.
Motors Off via System IO For an action (signal) in
not allowed. Sysio, no restrictions are set.
20142:Start rejected. The total number of restrictions
Start/restart of program via System (signals) for an action in the
IO not allowed. cfg-file for Sysio are too high.
Check:
The reason could be that the robot
is outside of regain distance.

20153:Mot. On, Start rejected. 20162:Write error

Motors On, Start/restart of program A write error occur when the system try
via System IO not allowed. to save the system module %!%.14s
Check: at %.37s
The reason could be that the robot in task %.16s. Or the file
is outside of regain distance. system was full
Check:
20154:Stop instr. rejected. View "Task modules" in the "System
Stop of program instruction via Parameter" menu and change the path
System IO not allowed. in the item for this system module
20155:Undefined Argument 20163:Reconfig failed
SyncExtAx mechanical_unit_name Some user module(s) changed but not
is not defined saved. See previous warnings stored
in the log.
20156:Undefined Argument Check:
Interrupt routine_name Save those modules that are specified
is not defined by earlier warnings and try another
20157:Undefined Argument system start.
LoadStart program_name 20164:Reconfig failed
is not defined There are still some unsaved system
20158:No System Input signal module
A system input has been declared to Check:
a signal that doesnt exist. Read error descriptions in earlier
messages.
20159:No System Output signal Try another system start
A system output has been declared to
a signal that doesnt exist. 20165:PP lost!
Restart is no longer possible from
20160:Not in configuration current position. The program has to be
The system module %!%s in task started from the beginning.
%s has no corresponding
specification in the configuration 20166:Refuse to save module
for "Task modules" The module %!%.14s
Check: is older than the source
View "Task modules" in the "System at %.37s
Parameter" menu and add an item for in task %.16s.
this system module 20167:Unsaved module
20161:Path not find The module %!%.14s
The system module %!%s in task is changed but not saved
%s has a corresponding in task %.16s.
specification in the configuration 20170:SYS_STOP
for "Task modules" that point out Program motion stopped along path.
a non existing file path
Check: 20171:SYS_HALT
View "Task modules" in the "System Program and motion stopped with
Parameter" menu and change the path motors off.
in the item for this system module

20172:SYS_FAIL 20207:Backplane Enable open

System Failure, restart system. Check:
1. Check other error messages for
20175:Teachpendant fail primary fault reason.
Teachpendant lost contact 2. If no other error messages,
this will force Guard Stop please check line voltage for
one phase missing.
20180:System IO restriction
System IO restrictions are active for 20208:Chain switches open
other clients, e.g. teach pendant or One or many switches in chain open.
computer link.
Check: 20209:External Contactor open
Motor on is restricted by System IO
MotorOff. 20210:Motor Contactor open
Program start is restricted by
20211:Two channel fault
System IO Stop, StopCycle or StopInstr.
Enable from backplane was not allowed
20181:System Reset rejected. to be closed.
System Reset via System IO Runchain two channel fault has not
not allowed. been reset.
Check:
20182:Quick Stop rejected. First open both channels and then close
Quick Stop via System IO them again to reset runchain.
not allowed. Please check the safety guard that
caused the status conflict.
20183:Stiff Stop rejected.
Stiff Stop via System IO 20212:Two channel fault
not allowed. Runchain was not allowed
to be closed.
20184:Incorrect Argument Runchain two channel fault has not
An undefined Start Mode has been been reset.
declared for System IO. Check:
First open both channels and then close
20185:Incorrect Name them again to reset runchain.
An undefined Name has been declared Please check the safety guard that
in current runchn_bool configuration. caused the status conflict.
20201:Limit Switch open 20213:Two channel fault
20202:Emergency Stop open Runchain two channel fault has not
been reset.
20203:Enabling Device open Check:
First open both channels and then close
20204:Operation Key open them again to reset runchain.
Please check the safety guard that
20205:Auto Stop open caused the status conflict.
20206:General Stop open

20221:Chain conflict 20228:Ordered ES conflict

Status conflict Status conflict
for one or many switches in chain. between ordered and configured type of
Check: Emergency Stop Turn Off (immediate or
Please check the two channel safety delayed).
guard that caused the status conflict. Check:
Replace Panel Board.
20222:Limit Switch conflict
Status conflict 20229:Ordered AS conflict
for the Limit Switch chain. Status conflict
Check: between ordered and configured type of
Please check the two channel safety Auto Stop Turn Off (immediate or
guard that caused the status conflict. delayed).
Check:
20223:Emergency Stop conflict Replace Panel Board.
Status conflict
for the Emergency Stop chain. 20230:Ordered GS conflict
Check: Status conflict
Please check the two channel safety between ordered and configured type of
guard that caused the status conflict. General Stop Turn Off (immediate or
delayed).
20224:Enabling Device conflict Check:
Status conflict Replace Panel Board.
for the Enabling Device chain.
Check: 20231:Delayed ES conflict
Please check the two channel safety Status conflict
guard that caused the status conflict. between ES1 and CH1 or ES2 and CH2
after a delayed Emergency Stop.
20225:Auto Stop conflict Check:
for the Auto Stop chain.
Check: 20232:Delayed AS conflict
guard that caused the status conflict. between AS1 and CH1 or AS2 and CH2
after a delayed Auto Stop.
20226:General Stop conflict Check:
for the General Stop chain.
Check: 20233:Delayed GS conflict
guard that caused the status conflict. between GS1 and CH1 or GS2 and CH2
after a delayed General Stop.
20227:Motor Contactor conflict Check:
for the Motor Contactor chain.
Check: 20234:Immediate ES conflict
guard that caused the status conflict. between ES1 and CH1 or ES2 and CH2
after an immediate Emergency Stop.
Check:

20235:Immediate AS conflict 20251:Transformer temp. high

Status conflict Status active for over temperatur
between AS1 and CH1 or AS2 and CH2 in main transformer.
after an immediate Auto Stop. Make sure to let the transformer cool
Check: down before ordering Motors On again.
Replace Panel Board. Check:
View Safety in the IO window and wait
20236:Immediate GS conflict until the signal TRFOTMP equals 0
Status conflict before ordering Motors On again.
between GS1 and CH1 or GS2 and CH2
after an immediate General Stop. 20252:Motor temp. high
Check: Status active
Replace Panel Board. for over temperature in
motors of manipulator.
20241:Key speed status fault Make sure to let the Motors cool down
Status conflict before ordering Motors On again.
for the operating mode key signals Check:
and the speed signal. View Safety in the IO window and wait
Check: until the signal PTC equals 0 before
Check operating mode key hardware ordering Motors On again.
or replace Panel Board.
20253:Ext. device temp. high
20242:Auto mode conflict Status active
Status conflict for over temperature in
for the operating mode key signals external device.
in Auto operation. Make sure to let the Motors cool down
Check: before ordering Motors On again.
Check operating mode key hardware Check:
or replace Panel Board. View Safety in the IO window and wait
until the signal PTCEXT equals 0 before
20243:Manual mode conflict
ordering Motors On again.
Status conflict
for the operating mode key signals 20254:Power supply fan stopped
in Manual operation. Status active
Check: when fan in power supply not running.
Check operating mode key hardware Check:
or replace Panel Board. Check the power supply fan hardware.
20244:Manual FS mode conflict 20255:Panel Board voltage low
Status conflict Status active
for the operating mode key signals when Panel Board 24 V failed.
in Manual Full Speed operation. Check:
Check: Check the Panel Board voltage.
Check operating mode key hardware
or replace Panel Board. 20260:Run control status fault
Status conflict between
motor contactors and run control.
Check:

20261:Strings to long 20305:Fan stopped

Description\Reason: Status active when
- Elog message number %d: computer system fan 1 not running.
Total String length %d > Check:
%d characters Check computer system fan 1 hardware.
Check:
1. Reduce the total string length. 20306:Fan stopped
Status active when
20270:Access error computer system fan 2 not running.
Panel Module access error. Check:
Check: Check computer system fan 2 hardware.
Examine your EIO configuration files.
20311:Enable 1 open
20280:Symbol conflict Status active when
The signal %s defined in the IO enable from I/O Computer open.
configuration conflict with another Check:
program symbol with the same name. 1. Check other error messages for
Due on that fact the signal will not be primary fault reason.
mapped to a program variable. 2. If no other error messages,
Check: please check line voltage for
Rename the signal in one phase missing.
the IO configuration.
20312:Enable 2 open
20301:Fan stopped Status active when
Status active when enable from Axis Computer open.
drive unit fan 1 not running. Check:
Check: 1. Check other error messages for
Check drive unit fan 1 hardware. primary fault reason.
2. If no other error messages,
20302:Fan stopped please check line voltage for
Status active when one phase missing.
drive unit fan 2 not running.
Check: 20313:IOC EN Supervision fault
Check drive unit fan 2 hardware. Supervision of the IO Computer ENABLE
signal has detected an error.The ENABLE
20303:Fan stopped signal path is broken.
Status active when Check:
drive unit fan 3 not running. 1. Check other error messages for
Check: possible stop reasons.
Check drive unit fan 3 hardware. 2. Check cables(Panel Board - IO Comp)
3. Replace IO Computer, Panel board, or
20304:Fan stopped Connector board.
Status active when
drive unit fan 4 not running.
Check:
Check drive unit fan 4 hardware.

20314:AXC EN Supervision fault 20552:Manipulator fault

Supervision of the Axis Computer ENABLE Status active
signal has detected an error.The ENABLE when power to manipulator is lost, or
signal path is broken. manipulators enable chain conditions
Check: is not OK.
1. Check other error messages for Check:
possible stop reasons. 1. Check the power to the manipulator.
2. Check cables(Panel Board - AX Comp) 2. Check that the enable chain on MCOB
3. Replace AX Computer, Panel board, or is OK.
Connector board.
20553:ACA SW module not OK
20320:SoftStop Status active
SoftStop has been detected on when ACA software module is not OK, or
channel %.0f. communication with AMA is down.
Check: Check:
Em button has been pressed with 1. Check that the ACA SW is running.
SoftStop activated. This will open 2. Check the communication towards
runchain. Make sure the Em button is AMA.
reset and press the panel button. 3. Check that the AMA SW is running.
20501:HW Motor On relay open 20554:Collition sensor active

The HW Motor On relay opens when Status active
Emergency Stop, General Stop or Enable when digital collition sensor on CMB is
Chain fault occurs, and opens also when active.
Motor Off push button is pressed. Check:
Check: Check the collition sensors connected to
The HW Motor On relay can be closed by CMB.
pressing the Motor On push button or by
activating HW signal ExtEmyReset. 20555:Collition sensor active
Status active
20502:Soft-start relay open when digital collition sensor on MCOB is
The Soft-start relay (KM3) should be active.
closed when the brakes are released. Check:
Check: Check the collition sensors connected to
Check relay KM3. MCOB.
20551:Purge system fault 3 Hardware error messages

Status active
when system not purged OK: 31114:Bus error
1. Pressure too low. Bus error when accessing LED on
2. Pressure too high. main computer
3. High flow on. Check:
Check: 1. Replace main computer board
1. Check other error messages for 2. Replace robot computer board
primary fault reason.
2. If no other error messages, check 31133:Overflow serial channel 2
purge unit and air supply, and search Check:
for leaks in the purge system. 1. Check communication parameters
2. Replace robot computer board

31138:Overflow serial console 31215:Floppy Disk Error

Check: Internal command invalid
1. Check communication parameters Check:
2. Replace robot computer board 1. Repeat attempt
2. Restart the system
31142:Error in tpu channel
Received data not equal to transmitted 31216:Floppy Disk Error
data Floppy disk was moved during tranfer
Check: Check:
1. Check communication parameters 1. Repeat attempt
2. Replace robot computer board 2. Restart the system
31203:Floppy Disk Error 31217:Floppy Disk Error

Bad floppy disk or not formatted Bad floppy disk or floppy device
Check: Check:
1. Repeat attempt 1. Repeat attempt
2. Change disk 2. Change Disk
3. Check floppy drive cables 3. Restart the system
31206:Floppy Disk Error 31219:Floppy Disk Error

Bad floppy disk or internal error Floppy device not ready
Check: Check:
1. Check the floppy drive 1. Repeat attempt
2. Change disk 2. Restart the system
31220:Floppy Disk Error
31207:Floppy Disk Error Bad floppy disk or internal error
No floppy disk or disk not ready Check:
Check: 1. Repeat attempt
1. Repeat attempt 2. Change Disk
Invalid format 31221:Floppy Disk Error
Check: Data error
1. Change disk Check:
1. Repeat attempt
31211:Floppy Disk Error 2. Change Disk
Data transfer error to/from floppy 3. Restart the system
Check:
1. Repeat attempt 31222:Floppy Disk Error
2. Change disk Internal error - Overrun
3. Restart the system Check:
1. Repeat attempt
31214:Floppy Disk Error 2. Restart the system
Data transfer was interrupted
Check:
1. Repeat attempt

31223:Floppy Disk Error 31403:DMA error

Bad floppy or internal error DMA transfer error in ROBOT COMPUTER
Check: Check:
1. Repeat attempt Replace robot computer board
2. Change Disk
3. Restart the system 31404:DMA error
DMA transfer error in ROBOT COMPUTER
31224:Floppy Disk Error Check:
Floppy write protected Replace robot computer board
Check:
1. Remove write protection 31408:Axis computer error
Check:
31225:Floppy Disk Error Replace robot computer board
Bad Floppy - Address mark missing
Check: 31409:Robot computer error
1. Change Disk Check:
Replace robot computer board
Bad data on floppy 31410:Axis computer error
Check: Check:
1. Change Disk Replace robot computer board
31227:Floppy Disk Error 31411:Axis computer error

Bad floppy - Missing cylinder Check:
Check: Replace robot computer board
1. Change Disk
31414:Main computer error
Bad floppy - Bad cylinder 1. Replace main computer board
Check: 2. Replace robot computer board
1. Change Disk
Bad floppy - Bad address mark in data Replace main computer board
Check:
1. Change Disk 31418:DMA transfer error
31401:DMA error Check:
DMA transfer error in ROBOT COMPUTER Replace robot computer board
Check:
Replace robot computer board 31419:DMA transfer error
31402:DMA error Check:
DMA transfer error in ROBOT COMPUTER Replace robot computer board
Check:
Replace robot computer board 31420:DMA transfer error
Check:

31605:Memory error IO-computer 33159:Manual Mode Speed Warning

Check: Manual mode speed exceeded for
Replace robot computer board joint %s.
Check:
32247:Mailbox 1 interrupt error Check for correct load mass definition
Mailbox 1 interrupt error on Check controller parameters on external
IO computer axes
Check: Check for robot singularity
Replace robot computer board Replace drive unit
32248:Mailbox 2 interrupt error 33201:Axis cpu Read Error

Mailbox 2 interrupt error on Error in reading from axis computer
IO computer driver. Axis computer driver did not
Check: return correct number of bytes.
Replace robot computer board Check:
Check system configuration
32301:Memory error MAIN COMP. Reload system
Check: Replace robot computer board
Replace main computer board
33202:Axis cpu Write Error
32302:Memory error MAIN COMP. Error in writing to the axis computer
Check: driver. Axis computer driver did not
Replace main computer board return correct number of bytes.
Check:
32303:Memory error MAIN COMP.
Check system configuration
Check:
Reload system
33150:Axis Computer Int Error
33203:Axis cpu ioctl Error
Axis computer was stopped with
Error in ioctl to the axis computer
hw interrupt due to interrupt error
driver.
Check:
Fail to execute ioctl command
Reload system
Check:
Restart system
33158:Axis Comp Driver Clk fail Reload system
Axis computer driver clock failure Replace robot computer board
Main computer is not responding on
33210:Feedback Position Error
request
Driver failed to read feedback position
Check:
on joint %s
Reload system
Check:
Restart system
33211:Position Control Underrun

Unable to complete position control in
the allowed time
Check:
Reload system
Check noise level on I/O connections

33212:DMA Time out Error 33312:Axis computer error

DMA access failed from main computer to RUNNING/DRVFLT signal error
axis computer Check:
Check: 1. Replace robot computer board
Reload system 2. Check drive system boards
Replace main computer board and
axis computer board 33314:Axis computer error
Check:
33213:DMA Operation Error Replace robot computer board
DMA Control Operation failed from Main
computer to Axis computer 33315:Axis computer error
Check: Check:
Reload system Replace robot computer board
Replace main computer board and
axis computer board 33316:Axis comp err loopb comm.
Axis computer error loopback
33214:Float number error comm. error.
Illegal references sent from Main Check:
computer to Axis computer for joint %.f Replace Axis Computer board
Check:
Reload system 33401:Over writing mea. system
Check system parameters Over writing of output data to
measurement system %d,
33220:Axis computer failure connector board %d.
Axis computer has returned an error code Check:
indicating hardware failure Reload system
Check: Replace Axis Computer board
Reload system Replace measure board
33402:Over writing drive sys.
33302:Error in axis computer Over writing of output data to
Axis computer was not able to drive system %d,
deactivate VME signal SYSFAIL connector board %d.
Check: Check:
Replace robot computer board Reload system
Replace Axis Computer board
33303:Error in axis computer Replace drive unit
Axis computer was not able to
activate VME signal SYSFAIL 33403:Over writing mea. system
Check: Over writing of input data from
Replace robot computer board measurement system %d,
connector board %d.
33304:Error in axis computer Check:
Check: Reload system
Replace robot computer board Replace Axis Computer board
Replace measure board
33311:Axis computer
Current ref. loopback error
Check:

33404:Over writing drive sys. 33409:Access violation.

Over writing of input data from Access violation of R6 calculation unit
drive system %d, in axis computer connected to connector
connector board %d. board %d.
Check: Check:
Reload system Reload system
Replace Axis Computer board Replace Axis Computer board
Replace drive unit
33410:Access violation.
33405:Timeout mea. system More than one status in R6 cleared
Contact lost with measurement simultanously in axis computer connected
system %d, connector board %d. to connector board %d.
Axis computer stopped Check:
due to transmission timeout. Reload system
Check: Replace Axis Computer board
Check connections from cabinet to
measurement board(s). 33411:Unknown error interrupt
Replace measurement board or Unknown error interrupt from the axis
Axis Computer computer connected to connector
board %d.
33406:Timeout drive sys. Check:
Contact lost with drive system %d, Restart system
connector board %d. Replace Axis Computer board
Axis computer stopped due to
transmission timeout. 33412:Clock error
Check: Axis computer connected to connector
Check connections from cabinet to board %d has detected clock failure
drive unit(s). Main computer is not responding on
Replace drive modeule or request
Axis Computer Check:
Reload system
33407:Access violation. Replace main computer board
Access violation of measurement system
in axis computer connected to connector 33413:Loopback error
board %d. Error in measurement system %d at
Check: connector board %d when
Reload system testing seriel link in loopback mode
Replace Axis Computer board Check:
Replace Axis Computer board
33408:Access violation.
Access violation of drive system 33414:Loopback error
in axis computer connected to connector Error in drive system %d at connector
board %d. board %d when testing
Check: seriel link in loopback mode
Reload system Check:
Replace Axis Computer board Replace Axis Computer board

33415:Drive system error 33504:Axis computer not found

Error in the drive system %d at Could not find Axis computer board
connector board %d when connected to connector board %d
testing seriel link in normal mode Check:
Check: Check configuration
Check seriel link Check/replace cables
Check drive unit Check/replace axis computer board
Check dc link Check replace connector board
Check/Replace Axis Computer board
33505:DSP program missing
33416:Reference underrun Axis compuer program
Reference underrun in Axis computer %s
connected to connector board %d not found.
Check: Check:
Restart controller Reinstall the system
Replace Axis computer board.
33506:Axis computer cmd. error
33417:Transmission error mea Time out when sending or reciving motion
Error in measurement system %d at command to axis computer conected to
connector board %d when connector board %d
testing seriel link in normal mode. Check:
Check: Restart the controller
Check seriel link Reinstall the system
Check/Replace measurement board(s) Replace Axis computer board
Check/Replace Axis Computer board
33507:Feedback position error
33501:Axis computer boot error Fedback position for joint
Boot loader error in axis computer %s (connected to
connected to connector board %d connector board %d)
Internal (English only): not updated within specified time
%s Check:
Check: Restart controller
Restart controller Replace Axis computer board
Replace Axis computer board
Reinstall the system 33508:Unknown interrupt type
Unknown Interrupt (%d) recived
33502:Axis computer file error from axis computer conected to
Error in biary file connector board %d.
%s Check:
Internal (English only): Restart cotroller
%s Replace Axis computer board
Check:
Reinstall the system
33503:Axis computer synch fail

One or more Axis computers didnt
synchronize
Check:
Restart controller
Replace axis computer board(s)

33509:Message queue error 37001:Contactor activate Error

Message queue in Axis computer Motor On contactor for mechanical unit
conected %s did not activate or was already
to connector board %d activated
not ready with last message Check:
Check: 1. Check/replace contactors (M.On/AUX)
Restart controller 2. Replace panel board
Replace Axis computer board
Reinstall the system 37003:Main computer error
Check:
33510:Motion command error Replace main computer board
Cmd handler in Axis comp. connected
to connector board %d 37004:Main computer error
not ready with last command Check:
Check: Replace main computer board
Restart controller
Replace Axis computer board 37005:Main computer error
Reinstall the system Check:
33511:Time slot alloc. error
Failed to allocate timeslot for joint 37006:Main computer error
%s Check:
For this joint or other joint connected
to same drive module:
Check:
-Change reslover group [R1..R3][R4..R6].
-Remove parameter -reserve_timeslot
from 37008:Main computer error
AXC_CHANNEL. Check:
33512:Wrong axis board revision
Wrong board revision (%d) detected 37009:Main computer error
for axis computer board %d Check:
Replace Axis computer board.
33513:Axis board adr. conflict Check:
More than one axis computer board Replace main computer board
conected to connector board with same
adress. Board no %d 37011:Main computer error
Check: Check:
Check connections between connector Replace main computer board
board and axis computer board.
Replace connector board. 37012:Main computer error
Replace Axis computer board. Check:

Check:

37014:Main computer error 37027:Main computer error

Check: Check:
Replace main computer board Replace main computer board

Check: Check:

Check: Check:

Check: Check:

Check: Check:

Check: Check:

Check: Check:

Check: Check:

Check: Check:

Check: Check:

Check: Check:

Check: Check:

Check: Check:

37040:Main computer error 37050:Temperature high

Check: Main computer CPU has reached the
Replace main computer board WARNING level.(%.f degrees C)
The System will be shut down if the
37041:Main computer error temperature reaches the ERROR level.
Check: Check:
Replace main computer board 1. Check air inlets
2. Check fans
Check: 37051:Temperature too high
Replace main computer board Main computer CPU has reached the
ERROR level.(%.f degrees C)
37043:Main computer error The System is shut down in order to
Check: prevent permanent damage.
Replace main computer board Check:
37044:Main computer error 1. Check air inlets
Check: 2. Check fans
Replace main computer board 37052:Voltage error
37045:Main computer error %.1f V is out of tolerance
Check: Check:
Replace main computer board 1. Check Power supplies.
37046:Main computer error 37053:Battery Voltage error

Check: Main CPU Board Battery output
Replace main computer board (%.1f V) is out of tolerance
Check:
37047:Main computer error 1. Replace Main CPU Board battery
Check:
Replace main computer board 37054:CPU fan error
Main CPU fan has stopped or is
37048:Main computer error rotating very slowly.
Check: (Less than %.f rpm)
Replace main computer board Check:
1. Check the fan cables.
37049:Contactor activate Error 2. Replace the fan.
Contactor for station %s or
Supervisory contactor or auxiliary 37055:Computer fan error
contactor did not activate or energize Computer enclosure fan has stopped or
Check: is rotating very slowly.
Restart system (Less than %.f rpm)
Check contactor or Supervisory Check:
contactor or auxiliary contactor 1. Check the fan cables.
Check digital output/input to contactor 2. Replace the fan.
Replace system board

37056:Cooling fan error 37062:POWER Supply warning

Cooling unit fan has stopped or The Process Power Supply reports an
is rotating very slowly. error.24V BRAKE is out of range.
(Less than %.f rpm) Check:
Check: 1. Restart the system.
1. Check the fan cables. 2. Check units connected to 24V BRAKE.
2. Replace the fan. 3. Replace the Process Power unit.
37057:SMBUS unit lost 37063:POWER Supply warning
SMBUS unit at address %.0f is not The Process Power Supply reports an
responding. error.24V COOL is out of range.
Check: Check:
1. Restart the system. 1. Restart the system.
2. Check cables. 2. Check units connected to 24V COOL.
3. Replace unit. 3. Replace the Process Power unit.
37058:POWER Supply error 37064:POWER Supply warning
The computer Power Supply reports an The Process Power Supply reports an
error. Voltage %.1f is out of range. error.24VPC is out of range.
Check: Check:
2. Replace the Computer Power unit. 2. Check units connected to 24V PC.
3. Replace the Process Power unit.
37059:POWER Supply warning
The computer Power Supply reports an 37065:POWER Supply warning
error.Incoming voltage is out of range. The Process Power Supply reports an
Check: error. +15V is out of range.
1. Restart the system. Check:
2. Check incoming Voltage. 1. Restart the system.
3. Replace the Computer Power unit. 2. Check units connected to +15V.
The Process Power Supply reports an 37066:POWER Supply warning
error.24VSYS is out of range. The Process Power Supply reports an
Check: error. -15V is out of range.
2. Check units connected to 24V SYS. 1. Restart the system.
3. Replace the Process Power unit. 2. Check units connected to -15V.
The Process Power Supply reports an 37067:POWER Supply warning
error.24VIO is out of range. The Process Power Supply reports an
Check: error. The FAN has stopped.
2. Check units connected to 24V IO. 1. Restart the system.
3. Replace the Process Power unit. 2. Replace the Process Power unit.

37068:Battery Backup warning. 37075:Purge pressure too high

Backup cycle initiated. Purge system number: %i
Check: Check:
1. Restart the system. Check the purge unit and the air supply.
2. Check/replace main computer.
3. Check/replace Battery Backup unit. 37076:Unexpected low purge flow
Purge system number: %i
37069:Battery Backup warning. Check:
Backup charger malfunction. Check the purge unit and the air supply.
Check: Search for leaks in the purge system.
1. Restart the system.
2. Check/replace Battery Backup unit. 37077:Unexp. high purge flow
Purge system number: %i
Backup unit program has stalled. Check the purge unit and the air supply.
Check:
1. Restart the system. 37078:Wrong purging time set
2. Check/replace Battery Backup unit. Init timer is out of range.
Range 10 - 998.
Battery is drained. Change the init timer on the CMPU
System parameters will not be saved to board to a value >= 10 and < 999.
hard drive at Power Off.
Check: 37079:Purge timers differ
Do not turn Power off until battery Unacceptable difference between software
is charged. and hardware count down timers.
If battery does not seem to charge, Check:
Check/replace Battery Backup unit. Change CMPU board.
37072:Battery Backup warning. 37080:Purge timer restarted

Battery needs to be replaced in less Purge hardware has restarted the count
than %.0f days. down timer.
Check: Check:
1. Check/replace Battery Backup unit. 1. Check other error messages for
primary fault reason.
37073Battery Backup warning. 2. If no other error messages, the
Battery currently has capacity for at system will try to purge once again.
least %.0f parameter saves.
37081:Signal on purge system 2
37074:Purge pressure too low Sensor number: %i overrided.
Purge system number: %i Check:
Check: Check the dummy plug for purge system 2.
Check the purge air supply and search No sensor signals shall be connected if
for leaks in: dummy plug is inserted.
1. The purge unit.
2. The flexible hose conduit. 37082:Signal on purge system 3
3. The manipulator itself. Sensor number: %i overrided.
Check:
Check the dummy plug for purge system 3.
No sensor signals shall be connected if
dummy plug is inserted.

37083:Low purge flow expected 38013:Serial Offset Y Error

Purge system number: %i Offset error in Y signal on serial
Check: measurement board %.f at
Check the purge unit and the air supply. measurement system %.f at
connection board %.f
37084:High purge flow expected Check:
Purge system number: %i Replace serial measurement board
Check:
Check the purge unit and the air supply. 38014:Serial Linearity Error
Search for leaks in the purge system. Linearity error in X-Y signal difference
on serial measurement board %.f at
37090:Temp. too high, sensor %d mea. system %.f at\ connector board %.f
System overheat detected. - System may still operate with warning
Sensors 1-7: motor 1-7, - System will not function with error
sensor 8: Serial measurement board. Check:
Run chain has been opened. Replace serial measurement board
37091:Battery is charging. 38015:Serial Linear X Error
Battery currently has capacity for at Linearity error in X signal on serial
least %.0f parameter saves. measurement board %.f at
Charging is normal. measurement system %.f at
38001:Battery backup lost Check:
Battery backup on serial measurement Replace serial measurement board
board %.f on measurement system %.f at
connector_board %.f lost since last 38016:Serial Linear Y Error
power down or restart Linearity error in Y signal on serial
Check: measurement board %.f at
Check battery voltage during power off measurement system %.f at
after 18 hours recharging in power on connection board %.f
Check battery connection to serial Check:
measurement board Replace serial measurement board
Replace battery
38030:Resolver error
38010:Serial Board not found Failure in X or Y resolver signal on
Serial measurement board %.f at joint %s
measurement system %.f at Sum of squared X and Y exceeds max
connection board %.f not found Check:
Check: Check resolver and resolver connections.
Check system configuration parameters Replace measurement boards
Check connections and cables to
serial measurement system 38031:Resolver error
Replace serial measurement board Failure in X or Y resolver signal on
joint %s
38012:Serial Offset X Error Sum of squared X and Y below min
Offset error in X signal on serial Check:
measurement board %.f at Check resolver and resolver connections.
measurement system %.f at Replace measurement boards
Check:
Replace serial measurement board

38032:Transmission failure 39101:DC-link over temperature

Axis computer connected to connector Temperature too high on DC-link,
board %d has detected failure in drive system %d, connector board %d.
transmission to/from serial Check:
measurement system %d. Check cooling fans and filter.
Check: Too much power consumption,
Check connections/cables for serial modify user program.
measurement system. Check shieldings Replace DC-link.
Check for high electromagnetic
disturbances along cable run to robot 39102:Bleeder Overload
Replace measure board or Axis Computer Bleeder overload,
drive system %d, connector board %d.
38033:Transmission warning Check:
Axis computer connected to connector Check bleeder connections.
board %d has detected failure in Too much deceleration,
transmission to/from serial modify user program.
measurement system %d. Check AC voltage to DC-link.
Accumulated errors since warmstart: %d. Replace DC-link.
Check:
Check connections/cables for serial 39103:Mains missing
measurement system. Check shieldings Incoming voltage to DC-link too low,
Check for high electromagnetic drive system %d, connector board %d.
disturbances along cable run to robot Check:
Replace measure board or Axis Computer Check voltage from Motor On contactor.
Replace DC-link.
38034:Transmission failure
Axis computer connected to connector 39104:Low DC-bus voltage
board %d detected failure in transm. DC-link voltage not OK,
to/from serial measurement system %d. drive system %d, connector board %d.
Accumulated errors since warmstart: %d. Check:
%d absent transmission of %d detected. Check voltage from Motor On contactor.
Check: Replace DC-link.
Check connections/cables for serial
39105:+/- 15V error
measurement system. Check shieldings
+/- 15V out of limit, detected by
DC-link, drive system %d, connector
disturbances along cable run to robot
board %d.
Replace measure board or Axis Computer
Check:
38035:Transmission warning Check cabling.
Axis computer connected to connector Check +/- 15V from power supply.
board %d has detected failure in Replace DC-link.
transmission to/from serial
39110:Unknown type code
measurement system %d.
Unknown type code for DC-link
Accumulated errors since warmstart: %d.
%s. Read type code %d when
Check:
expecting %d.
Check connections/cables for serial
Check:
measurement system. Check shieldings
Check cabling.
Replace DC-link.
disturbances along cable run to robot
Replace measure board or Axis Computer

39111:Wrong type code 39206:Glitch Warning

Wrong type detected for Glitch in short circuit detector at
DC-link %s. %s found when Drive Unit, joint: %s.
expecting %s. Check:
Check: Check cabling and motor.
Check/modify configuration.
Change DC-link type. 39207:Short Circuit
Short circuit detected in Drive Unit,
39201:Drive Unit reset error joint: %s.
Reset from Drive Unit, Check:
joint: %s. Check cabling and motor.
Check: Replace Drive Unit.
Restart start controller.
Replace Drive Unit. 39208:Drive Unit Temp. Warning
High temperature warning in
39202:Drive Unit reset error Drive Unit, joint: %s.
Watchdog reset from Drive Unit, NOTE: ALLOW SYSTEM TO COOL
joint: %s. DOWN!
Check: Check:
Restart start controller. Check cooling fans and filter.
Replace Drive Unit. Ambient temperature.
Too much power consumption, modify
39203:+/- 15V error user program.
+/- 15V out of limit, detected by Replace Drive Unit.
Drive Unit, joint: %s.
Check: 39209:Drive Unit Temp. Alarm
Check cabling. High temperature alarm in
Check +/- 15V from power supply. Drive Unit, joint: %s.
Replace Drive Unit. NOTE: ALLOW SYSTEM TO COOL
DOWN!
39204:Communication error Check:
Too many consecutive communication Check cooling fans and filter.
errors reported by Drive Unit driving Ambient temperature.
joint: %s. Too much power consumption, modify
Check: user program.
Check cabling. Replace Drive Unit.
Replace Drive Unit at previous Unit Pos
Replace Drive Unit at reported Unit Pos 39210:Over Temperature
Replace Axis Computer Board. Over temperature in Drive Unit,
joint: %s.
39205:Int. Drive Unit Error NOTE: ALLOW SYSTEM TO COOL
Internal error detected by Drive Unit, DOWN!
joint: %s. Check:
Please report Check cooling fans and filter.
internal error code %s Ambient temperature.
Check: Too much power consumption, modify
Ignore if any other Drive Unit errors user program.
are present. Replace Drive Unit.
Replace drive unit.
Replace Axis Computer Board.

39211:Drive Unit Overload 39215:Torque Command Error

High temperature in transistors on Too big difference in 3 consecutive
Drive Unit caused by overload, torque references detected by
joint: %s. Drive Unit, joint: %s.
Check: Check:
Too much torque, modify user program. Check resolver cabling.
Check if robot is jammed. Check resolver ground connections.
Replace Drive Unit. Check for external noise at
resolver cabling.
39212:High Voltage Check configuration, speed_gain.
DC-bus voltage higher than allowed
detected by drive unit, 39216:Resolver Position Error
joint: %s. Too big difference in 3 consecutive
DC-bus voltage: %s (V) rotor positions detected by Drive Unit,
Check: joint: %s.
Check incoming mains. Check:
Check/replace bleeder resistors Check resolver cabling.
and cabling. Check resolver ground connections.
Check/replace DC-link. Check for external noise at
Replace Drive Unit. resolver cabling.
39213:Over Voltage 39217:Saturated Current Contr.

Critical over voltage on DC-bus Drive Unit unable to supply ordered
detected by drive unit, current, due to low DC-voltage or
joint: %s. broken motor connections. Drive unit,
DC-bus voltage: %s (V) joint: %s.
Check: Measured DC-bus voltage: %s (V)
Check/replace bleeder resistors. Check DC-bus voltage.
Check/replace DC-link. Check motor/cables.
Check configuration.
39214:Low DC-bus voltage Replace Drive Unit.
Low voltage on DC-bus detected by
Drive Unit, joint: %s. 39219:Motor Under Current Err.
Voltage: %s (V). Torque producing current lower than
NOTE !! This error will be disabled ordered, detected by Drive Unit,
until next MOTOR ON. joint: %s.
Check: DC-bus voltage: %s (V)
Check program, configuration. Check configuration.
Check/replace Drive Unit, DC-link. Check DC-bus voltage.
Check motor/cables.
39220:Motor Over Current Error

Torque producing current higher than
ordered, detected by Drive Unit,
joint: %s.
DC-bus voltage: %s (V)
Check:
Check configuration.
Check DC-bus voltage.
Check motor/cables.
39221:Motor Current Error 39234:Drive Sys. Com. Error

Non torque producing current higher than Axis computer connected to connector
allowed, detected by Drive Unit, board %d has detected a single
joint: %s. communication error in serial link
DC-bus voltage: %s (V) to/from drive system %d.
Check: Accumulated errors since warmstart: %d.
Check configuration. Check:
Check DC-bus voltage. Check serial link.
Check motor/cables.
39235:Drive Unit Checksum Err.
39222:Motor Over Current Error Axis computer has detected a checksum
Motor current higher than Max. measur- error when transmitting parameters to
able, due to short circuit or unstable Drive Unit for joint %s.
current controller, detected by Check:
Drive Unit, joint: %s. Restart controller.
DC-bus voltage: %s (V) Replace Drive Unit.
Check: Replace Axis Computer Board.
Check motor/cables for short circuit.
Check configuration, motor parameters. 39236:Wrong Type Code
Replace Drive Unit. Wrong Drive Unit type detected for
joint %s. Read type code %s
39230:Unknown Type Code when expecting %s.
Unknown Drive Unit type detected for Check:
joint %s. Read typecode %d when Check/modify configuration.
expecting %d. Replace Drive Unit.
Check:
Check cabling. 39237:Drive Sys. Com. Error
Replace Drive Unit. Axis computer connected to connector
board %d detected too many com. errors
39231:Wrong Drive Unit Rev. in serial link to/from drive system %d.
Wrong program revision in Drive Unit Errors since warmstart: %d.
for joint %s. %d absent transmission of %d detected.
Read revision (%d) out of range. Check:
Check: Restart start controller.
Replace Drive Unit. Check serial link.
39232:Drive Unit CPU Error 39238:Drive Sys. Com. Error

Drive Unit CPU for joint %s did Axis computer connected to connector
not start. board %d has detected com. error
Check: in serial link to/from drive system %d.
Replace Drive Unit. Accumulated errors since warmstart: %d.
Check:
39233:Drive Sys. Com. Error Check serial link.
Axis computer connected to connector
board %d has detected too many
consecutive communication errors in
serial link to/from drive system %d.
Accumulated errors since warmstart: %d.
Check:
Restart start controller
Check serial link.

39239:Drive unit conflict 39305:External Drive Error

Mix of internal and external controlled Short circuit detected on drive unit,
drive units on same serial link, drive joint: %s.
system %d on connector board %d. Check:
Conflict detected for joint %s. See documentation for Atlas DMC-C/FBU.
Check: Check/replace External Drive Unit.
Check system parameters (-drive_system
in type DRIVE_UNIT). for this and/or 39306:External Drive Error
other joints. Missing ENABLE for external drive
unit, joint: %s.
39301:External Drive Error Check:
DC voltage out of range detected by See documentation for Atlas DMC-C/FBU.
drive unit,
joint: %s. 39307:External Drive Error
Check: External drive unit, joint:
See documentation for Atlas DMC-C/FBU. %s has performed
Check inkomming mains. a CPU reset.
Check/replace shunt resistors. Check:
Check/replace External Drive Unit. Restart the system.
See documentation for Atlas DMC-C/FBU.
39302:External Drive Error Check/replace External Drive Unit.
High motor temperature detected by
drive unit, 39308:External Drive Error
joint: %s. Too many consecutive communication
Check: errors on external drive unit,
Allow motor to cool down. joint: %s.
Check/replace External Drive Unit. Check:
See documentation for Atlas DMC-C/FBU. Restart start controller.
Replace drive unit.
39303:External Drive Error Replace drive unit right to the one
High Power device temperature on reporting the error.
external drive unit, Replace Axis Computer Board.
joint: %s.
Check: 39309:External Drive Error
Allow drive unit to cool down. Too many consecutive synchronization
Check/replace External Drive Unit. errors on external drive unit,
See documentation for Atlas DMC-C/FBU. joint: %s.
Check:
39304:External Drive Error Restart start controller.
Current regulator fault detected on Replace external drive unit.
external drive unit, Replace Axis Computer Board.
joint: %s.
Check: 39310:External Drive Stop
See documentation for Atlas DMC-C/FBU. External drive, joint:
Check/replace External Drive Unit. %s has order
a program stop.
Check:
See documentation for Atlas DMC-C/FBU.

39311:External Drive EM-Stop 40004:Argument error

External drive, joint: Task %.16s: Argument for REF
%s has order parameter %.16s is not data
an emergancy stop. reference
Check: Check:
See documentation for Atlas DMC-C/FBU. Make sure the argument expression is
just a data or parameter reference.
39320:External drive error
Time out in communication with external 40005:Argument error
drive unit, joint: %s Task %.16s: Argument for
Check: INOUT parameter %.16s is
Restart system and external drive not variable or persistent reference or
Replace external drive is read only.
See documentation for Atlas DMC-C/FBU. Check:
Make sure the argument is
4 Program error messages just a variable, persistent, variable
parameter or persistent parameter
40001: Argument error reference and it is writeable.
Task %.16s: More than one Do not use () around the argument.
occurence of optional parameter
%.16s 40006:Argument error
Check: Task %.16s: Missing optional
Make sure that the optional parameter is argument value for parameter
not specified more than once in the same %.16s
routine call. Check:
Only switch parameters may be
40002:Argument error specified by name only. Optional
Task %.16s: Excluding parameters of other types must be
arguments must have conditional value assigned a value. Add a value.
(%.16s has value)
Check: 40007:Argument error
Arguments may not be specified for more Task %.16s: Optional argument
than one parameter from a list of %.16s at wrong place in
parameters that exclude each other argument list
unless all values are conditional Check:
argument values. Check that the arguments are specified
in the same order as the parameters for
40003:Argument error the routine being called.
Task %.16s: Expecting
argument for required parameter 40008:Argument error
%.16s but found optional Task %.16s: Reference to
argument %.16s optional parameter %.16s in
Check: required argument
Check that the arguments are specified Check:
in the same order as the parameters for An argument corresponding to an optional
the routine being called. parameter must be specified with a
leading \ character. Change the
required argument into an optional.

40009:Argument error 40014:Argument error

Task %.16s: Reference to Task %.16s: Too many
required parameter %.16s in arguments in call to routine
conditional argument value %.16s
Check: Check:
A conditional value for an optional Remove arguments so that no arguments
parameter must refer an optional are supplied in excess to those defined
parameter in the calling routine. by the parameter list of the called
Change the conditional value. routine.
40010:Argument error 40015:Data declaration error

Task %.16s: Reference to Task %.16s: Array dimension
required parameter %.16s in must be > 0 (value is %i)
optional argument Check:
Check: Array dimensions must be positive.
An argument corresponding to a required Change the dimension expression.
parameter must not be specified with the
leading \ character. Change the 40016:Data declaration error
optional argument into a reguired. Task %.16s: Too many
dimensions in array definition
40011:Argument error Check:
Task %.16s: Named required An array may have at most 3 dimensions.
argument %.16s at wrong place Rewrite the program so that no more than
in argument list 3 dimensions are needed.
Check:
Check that the arguments are specified 40017:Type error
in the same order as the parameters for Task %.16s: Indexed data
the routine being called. %.18s %.18s is
not of array type
Task %.16s: switch argument Only data that have been declared to be
%.16s cannot have a value arrays may be indexed. Remove the index
Check: or indices, or declare the data to be an
An argument corresponding to a switch array.
parameter may not be assigned a value.
Remove the value. 40018:Type error
Task %.16s: Data
40013:Argument error %.18s %.18s is
Task %.16s: Too few arguments not of record type
in call to routine %.16s Check:
Check: Components are only available for data
A routine call must supply values for of record type. Check the type and name
all required parameters of the routine of the referenced data.
being called. Add more arguments to fit
the parameter list.

40019:Limit error 40024:Type error

Task %.16s: Error when Task %.16s: Illegal type
creating the persistent variable %.18s for left operand of
(internal error code %i) binary + or - operator
%.16s Check:
Check: The allowed types for the operands of
An error occurred when the persistent the + operator are num, pos and
was to be inserted into the shared string, for the - operator num and
database. Probably the database is full. pos. Check the type of the operand.
Ref. to system parameter AveragePers.
40025:Type error
40020:Data declaration error Task %.16s: Illegal type
Task %.16s: Expression not %.18s for operand of unary
constant expression (%.16s + or - operator
not constant) Check:
Check: The allowed types for the operands of
Expressions contained within data the + and - operators are num and
declarations must be constant pos. Check the type of the operand.
expressions. Make sure the expression
does not contain any variable or 40026:Type error
persistent reference, or function call. Task %.16s: Illegal type
%.18s for right operand of
40021:Instruction error binary + or - operator
Task %.16s: RETURN from Check:
function must have an expression The allowed types for the operands of
Check: the + operator are num, pos and
A RETURN instruction within a function string, for the - operator num and
must specify a function value to be pos. Check the type of the operand.
returned. Add a value expression.
40027:Type error
40022:Type error Task %.16s: Illegal type
Task %.16s: Illegal %.18s for left operand of
combination of operand types /, DIV or MOD operator
%.18s and Check:
%.18s for * operator The only allowed type for the operands
Check: of the /, DIV and MOD operators
The allowed type combinations for the is num. Check the type of the operand.
two operands of the * operator are
num*num, num*pos, pos*num, 40028:Type error
pos*pos and orient*orient. Check Task %.16s: Illegal type
the types of the operands. %.18s for right operand of
/, DIV or MOD operator
40023:Instruction error Check:
Task %.16s: Cannot transfer The only allowed type for the operands
control into another instruction list of the /, DIV and MOD operators
Check: is num. Check the type of the operand.
Make sure that the label is located in
the same instruction list as the GOTO
instruction, at the same or an outer
level. It is not possible to jump into
a program flow instruction.

40029:Type error 40034:Type error

Task %.16s: Illegal type Task %.16s: Illegal type
%.18s for left operand of %.18s for left operand of
<, <=, > or >= operator OR, XOR or AND operator
Check: Check:
The only allowed type for the operands The only allowed type for the operands
of the <, <=, > and >= operators of the OR, XOR and "AND operator is
is num. Check the type of the operand. bool. Check the type of the operand.

Task %.16s: Illegal type Task %.16s: Illegal type
%.18s for right operand of %.18s for right operand of
<, <=, > or >= operator OR, XOR or AND operator
Check: Check:
The only allowed type for the operands The only allowed type for the operands
of the <, <=, > and >= operators of the OR, XOR and "AND operator is
is num. Check the type of the operand. bool. Check the type of the operand.

Task %.16s: Illegal type Task %.16s: Incorrect number
%.18s for left operand of of indices in index list for array
* operator %.18s with %i dimension(s)
Check: Check:
The allowed types for the operands of Make sure that the number of indices in
the * operator are num, pos and the index list is the same as the number
orient. Check the type of the operand. of dimensions of the indexed data array.
40032:Type error 40037:Data declaration error

Task %.16s: Illegal type Task %.16s: LOCAL illegal in
%.18s for right operand of routine constant declaration
* operator Check:
Check: Only program data declarations may have
The allowed types for the operands of the LOCAL attribute. Remove the LOCAL
the * operator are num, pos and attribute or move the declaration
orient. Check the type of the operand. outside of the routine.
40033:Type error 40038:Data declaration error

Task %.16s: Illegal type Task %.16s: LOCAL illegal in
%.18s for operand of NOT routine variable declaration
operator Check:
Check: Only program data declarations may have
The only allowed type for the operand of the LOCAL attribute. Remove the LOCAL
the NOT operator is bool. Check the attribute or move the declaration
type of the operand. outside of the routine.

40039:Name error 40044:Name error

Task %.16s: Constant name Task %.16s: Label name
%.16s ambiguous %.16s ambiguous
Check: Check:
Routine data must have names that are Labels must have names that are unique
unique within the routine. Program data within the routine. Rename the label or
must have names that are unique within change the conflicting name.
the module. Rename the data or change
the conflicting name. 40045:Name error
Task %.16s: Module name
40040:Name error %.16s ambiguous
Task %.16s: Global constant Check:
name %.16s ambiguous Modules must have names that are unique
Check: among all the global types, global data,
Global data must have names that are global routines and modules in the
unique among all the global types, data, entire program. Rename the module
global routines and modules in the or change the conflicting name.
entire program. Rename the data
or change the conflicting name. 40046:Name error
Task %.16s: Parameter name
40041:Name error %.16s ambiguous
Task %.16s: Global persistent Check:
name %.16s ambiguous Parameters must have names that are
Check: unique within the routine. Rename the
Global data must have names that are parameter or change the conflicting
unique among all the global types, data, name.
global routines and modules in the
entire program. Rename the data 40047:Name error
or change the conflicting name. Task %.16s: Persistent name
%.16s ambiguous
40042:Name error Check:
Task %.16s: Global routine Program data must have names that are
name %.16s ambiguous unique within the module. Rename the
Check: data or change the conflicting name.
Global routines must have names that are
unique among all the global types, data, 40048:Name error
global routines and modules in the Task %.16s: Routine name
entire program. Rename the routine %.16s ambiguous
or change the conflicting name. Check:
Routines must have names that are unique
40043:Name error within the module. Rename the routine or
Task %.16s: Global variable change the conflicting name.
name %.16s ambiguous
Check:
Global data must have names that are
unique among all the global types, data,
global routines and modules in the
entire program. Rename the data
or change the conflicting name.

40049:Name error 40054:Type error

Task %.16s: Variable name Task %.16s: Different
%.16s ambiguous dimension of array type (%i) and
Check: aggregate (%i)
Routine data must have names that are Check:
unique within the routine. Program data Make sure that the number of expressions
must have names that are unique within in the aggregate is the same as the
the module. Rename the data or change dimension of the data array.
the conflicting name.
40055:Type error
40050:Type error Task %.16s: Assignment target
Task %.16s: Operand types type %.18s is not value or
%.18s and semi-value type
%.18s for binary + or - Check:
operator not equal The type, of the data to be assigned a
Check: value, must be a value or semi-value
The two operands of the + and - type. Data of non-value types may only
operators must have equal type. Check be set by special type specific
the operand types. predefined instructions or functions.

Task %.16s: Operand types Task %.16s: Type
%.18s and %.18s for left operand of
%.18s for = or <> = or <> operator not value or
operator not equal semi-value type
Check: Check:
The two operands of the = and <> The = and <> operators may only be
operators must have equal type. Check applied to expressions of value or semi-
the operand types. value type. If comparisons are to be
made, special type specific predefined
40052:Instruction error functions are needed.
Task %.16s: RETURN with
expression only allowed in function 40057:Type error
Check: Task %.16s: Type
In a procedure or trap the RETURN %.18s for right operand of
instruction must not specify a return = or <> operator not value or
value expression. Remove the expression. semi-value type
Check:
40053:Instruction error The = and <> operators may only be
Task %.16s: RAISE in error applied to expressions of value or semi-
handler must not have an expression value type. If comparisons are to be
Check: made, special type specific predefined
A RAISE instruction within an error functions are needed.
handler can only be used to propagate
the current error, and may therefore not
specify an error number. Remove the
error number expression.

40058:Type error 40064:Routine declaration error

Task %.16s: TEST expression Task %.16s: Place holder for
type %.18s not value or parameter not allowed in definition of
semi-value type named routine
Check: Check:
The TEST instruction may only be applied Complete the parameter declaration,
to an expression of value or semi-value remove the place holder or change the
type. If comparisons are to be made, routine name to a place holder.
special type specific predefined
functions are needed. 40065:Reference error
Task %.16s: Place holder for
40059:Data declaration error type not allowed in definition of named
Task %.16s: Place holder for data, record component or routine
value expression not allowed in Check:
definition of named constant Complete the data or routine declaration
Check: or change the data or routine name to a
Complete the data declaration or change place holder.
the data name to a place holder.
40066:Data declaration error
40060:Data declaration error Task %.16s: Place holder for
Task %.16s: Place holder for initial value expression not allowed in
array dimension not allowed in definition of named variable
definition of named constant or variable Check:
Check: Complete the data declaration or change
Complete the data declaration or change the data name to a place holder.
40067:Type error
40061:Routine declaration error Task %.16s: Too few
Task %.16s: Place holder for components in record aggregate of type
parameter array dimensions not allowed %.18s
in definition of named routine Check:
Check: Make sure that the number of expressions
Complete the parameter declaration or in the aggregate is the same as the
change the routine name to a place number of components in the record type.
holder.
40068:Type error
40062:Name error Task %.16s: Too many
Task %.16s: Place holder for components in record aggregate of type
parameter name not allowed in definition %.18s
of named routine Check:
Check: Make sure that the number of expressions
Complete the routine declaration or in the aggregate is the same as the
change the routine name to a place number of components in the record type.
holder.
40063:Data declaration error

Task %.16s: Place holder for
initial value expression not allowed in
definition of named persistent
Check:
Complete the data declaration or change
40069:Reference error 40074:Reference error

Task %.16s: Data reference Task %.16s: %.16s
%.16s is ambiguous not entire data reference
Check: Check:
At least one other object sharing the The specified name identifies an object
same name as the referred data is other than data. Check if the desired
visible from this program position. Make data is hidden by some other object with
sure that all object names fulfill the the same name.
naming rules regarding uniqueness.
40075:Reference error
40070:Reference error Task %.16s: %.16s
Task %.16s: Function not function reference
reference %.16s is ambiguous Check:
Check: The specified name identifies an object
At least one other object sharing the other than a function. Check if the
same name as the referred function is desired function is hidden by some other
visible from this program position. Make object with the same name.
sure that all object names fulfill the
naming rules regarding uniqueness. 40076:Reference error
Task %.16s: %.16s
40071:Reference error not label reference
Task %.16s: Label reference Check:
%.16s is ambiguous The specified name identifies an object
Check: other than a label. Check if the desired
At least one other object sharing the label is hidden by some other object
same name as the referred label is with the same name.
visible from this program position. Make
sure that all object names fulfill the 40077:Reference error
naming rules regarding uniqueness. Task %.16s: %.16s
not optional parameter reference in
40072:Reference error conditional argument value
Task %.16s: Procedure Check:
reference %.16s is ambiguous The specified name identifies an object
Check: other than an optional parameter. Change
At least one other object sharing the the name to refer to an optional
same name as the referred procedure is parameter.
sure that all object names fulfill the 40078:Reference error
naming rules regarding uniqueness. Task %.16s: %.16s
not optional parameter reference
40073:Reference error Check:
Task %.16s: Trap reference The specified name identifies an object
%.16s is ambiguous other than an optional parameter. Change
Check: the name to refer to an optional
At least one other object sharing the parameter.
same name as the referred trap is
sure that all object names fulfill the


Task %.16s: %.16s Task %.16s: Reference to
not procedure reference unknown optional parameter
Check: %.16s
The specified name identifies an object Check:
other than a procedure. Check if the The called routine contains no optional
desired procedure is hidden by some parameter (or other object) with the
other object with the same name. specified name.

Task %.16s: %.16s Task %.16s: Reference to
not required parameter reference unknown record component
Check: %.16s
The specified name identifies an object Check:
other than a required parameter. Change The record type contains no record
the name to refer to a required component with the specified name.
parameter.
40081:Reference error Task %.16s: Reference to
Task %.16s: %.16s unknown required parameter
not trap reference %.16s
Check: Check:
The specified name identifies an object The called routine contains no required
other than a trap. Check if the desired parameter (or other object) with the
trap is hidden by some other object with specified name.
the same name.
40082:Reference error Task %.16s: Unknown type name
Task %.16s: %.16s %.16s
not type name Check:
Check: No data type (or other object) with the
The specified name identifies an object specified name is visible from this
other than a type. Check if the desired program position.
type is hidden by some other object with
the same name. 40093:Instruction error
Task %.16s: Assignment target
40083:Type error is read only
Task %.16s: %.16s Check:
not value type The data to be assigned a value may not
Check: be a constant, read only variable or
Only variables which lack initial value, read only persistent.
and VAR mode parameters may be of
semi-value or non-value type. 40094:Data declaration error
Task %.16s: Persistent
40086:Reference error declaration not allowed in routine
Task %.16s: Reference to Check:
unknown label %.16s Persistents may only be declared at
Check: module level. Move the persistent
The routine contains no label (or other declaration from the routine.
object) with the specified name.

40095:Instruction error 40101:Type error

Task %.16s: RAISE without Task %.16s: Type mismatch of
expression only allowed in error handler expected type %.18s and
Check: found type %.18s
Add an error number expression to the Check:
RAISE instruction. The expression is not of the expected
data type.
40096:Instruction error
Task %.16s: RETRY only 40102:Type error
allowed in error handler Task %.16s: Type mismatch of
Check: aggregate, expected type
The RETRY instruction may only be used %.18s
in error handlers. Remove it. Check:
The aggregate does not match the
40097:Instruction error expected data type.
Task %.16s: TRYNEXT only
allowed in error handler 40103:Type error
Check: Task %.16s: Persistent
The TRYNEXT instruction may only be used %.18s %.16s type
in error handlers. Remove it. mismatch
Check:
40098:Parameter error There is already a persistent data with
Task %.16s: switch the same name but with another data
parameter must have transfer mode IN type. Rename the persistent, or change
Check: its data type.
Remove the parameter transfer mode
specifier. If IN transfer mode is not 40104:Data declaration error
sufficient, change the data type of the Task %.16s: Cannot determine
parameter. array dimensions (circular constant
references ?)
40099:Parameter error Check:
Task %.16s: switch Check that any referred constants are
parameter cannot be dimensioned correctly defined. If so, the program is
Check: too complex. Try to rewrite the
Remove the array dimension declarations.
specification, or change the data type
of the parameter. 40105:Data declaration error
Task %.16s: Cannot determine
40100:Parameter error type of constant value (circular
Task %.16s: switch only constant references ?)
allowed for optional parameter Check:
Check: Check that any referred constants are
Change the parameter into an optional correctly defined. If so, the program is
parameter, or change the data type of too complex. Try to rewrite the
the parameter. If the object is not a declarations.
parameter, change the data type.

40106:Data declaration error 40111:Name error

Task %.16s: Cannot evaluate Task %.16s: Global record
constant value expression (circular name %.16s ambiguous
constant references ?) Check:
Check: Global type must have names that are
Check that any referred constants are unique among all the global types, data,
correctly defined. If so, the program is global routines and modules in the
too complex. Try to rewrite the entire program. Rename the record
declarations. or change the conflicting name.
40107:Data declaration error 40112:Reference error

Task %.16s: Cannot determine Task %.16s: Alias name
type of variable value (circular %.16s is ambiguous
constant references?) Check:
Check: At least one other object sharing the
Check that any referred constants are same name as the referred alias name is
correctly defined. If so, the program is visible from this program position. Make
too complex. Try to rewrite the sure that all object names fulfill the
declarations. naming rules regarding uniqueness.
40108:Type error 40113:Name error

Task %.16s: Unknown aggregate Task %.16s: Global alias
type name %.16s ambiguous
Check: Check:
An aggregate may not be used in this Global type must have names that are
position since there is no expected data unique among all the global types, data,
type. Declare data with the desired data global routines and modules in the
type and aggregate value. Use the name entire program. Rename the alias
of the data instead of the aggregate. or change the conflicting name.
40109:Type definition error 40114:Type definition error

Task %.16s: Cannot determine Task %.16s: Type reference
type of record component of alias name %.16s
%.16s is an alias type
(circular type definitions?) Check:
Check: Check that the type of the component is
Check that the type of the component is correctly defined. If so, it could be
correctly defined. If so, it could be a circular definition, the type of a
a circular definition, the type of a component could not refere to the its
component could not refere to the its own record type.
own record type.
40115:Type definition error
40110:Reference error Task %.16s: Cannot determine
Task %.16s: Record name type of alias %.16s
%.16s is ambiguous (circular type definitions?)
Check: Check:
At least one other object sharing the Check that the type of the alias is
same name as the referred record name is correctly defined. If so, it could be
visible from this program position. Make a circular definition, the type of an
sure that all object names fulfill the alias could not refere to a record that
naming rules regarding uniqueness. use this alias as a component.

40116:Reference error 40141:Argument error

Task %.16s: Task %.16s: Argument for
Record component name PERS parameter %.16s is not
%.16s is ambiguous persistent reference or is read only
Check: Check:
At least one other object sharing the Make sure the argument is just
same name as the referred component is a persistent or persistent parameter
visible from this program position. Make reference and it is writeable.
sure that all object names fulfill the Do not use () around the argument.
40142:Argument error
40117:Type definition error Task %.16s: Argument for
Task %.16s: Place holder for VAR parameter %.16s is not
record component not allowed in variable reference or is read only
definition of named record Check:
Check: Make sure the argument is just
Complete the definition or change a variable or variable parameter
the data name to a place holder. reference and it is writeable.
Do not use () around the argument.
40118:Not authorized
Task %.16s: The function: 40157:Instruction error
User defined data types is not Task %.16s: Interrupt number
installed in this system is not static variable reference, is
Check: shared, or is read only
Install the option Developer Functions Check:
in the system. Make sure the interrupt number is just
a variable or variable parameter
40119:Reference error reference. The variable must be
Task %.16s: static and not shared. The variable may
Cannot use the semi-value type not be read only.
%.16s for record components
40158:Value error
40120:Reference error Task %.16s: Integer value
Task %.16s: Illegal reference %G too large
to installed task object Check:
%.16s from shared object The value of the expression must be an
Check: integer value. The current value is
Install the referred object shared, or outside the integer range.
install the referring ReaL object/
archive or RAPID module in each task 40159:Value error
(not shared). Task %.16s: %G not
integer value
Task %.16s: The value of the expression must be an
Cannot use semi-value type for arrays exact integer value. The current value
has a fraction part.

40165:Reference error 40193:Execution error

Task %.16s: Reference to Task %.16s: Late binding
unknown entire data %.16s procedure call error %i
Check: Check:
No data (or other object) with the There is an error in the procedure call
specified name is visible from this instruction. See previous message for
program position. the actual cause.
40166:Reference error 40194:Value error

Task %.16s: Reference to Task %.16s: Division by zero
unknown function %.16s Check:
Check: Cannot divide by 0. Rewrite the program
No function (or other object) with the so that the divide operation is not
specified name is visible from this executed when the divisor is 0.
program position.
40195:Limit error
40168:Reference error Task %.16s: Exceeded maximum
Task %.16s: Reference to number %i of allowed RETRYs
unknown procedure %.16s Check:
Check: The error correction performed before
No procedure (or other object) with the the RETRY instruction is executed, is
specified name is visible from this probably not enough to cure the error.
program position. Check the error handler.
40170:Reference error 40196:Instruction error

Task %.16s: Reference to Task %.16s: Attempt to
unknown trap %.16s execute place holder
Check: Check:
No trap (or other object) with the Remove the place holder or the
specified name is visible from this instruction containing it, or make the
program position. instruction complete. Then continue
execution.
Task %.16s: Variable and trap 40197:Execution error
routine already connected Task %.16s: Function does not
Check: return any value
It is not legal to connect a specific Check:
variable with a specific trap routine The end of the function has been reached
more than once. without a RETURN instruction being
executed. Add a RETURN instruction
40192:Argument error specifying a function return value.
Task %.16s: %.16s
is second present conditional argument 40198:Value error
for excluding parameters Task %.16s: Illegal
Check: orientation value
Arguments may not be present for more %.40s
than one parameter from a list of Check:
parameters that exclude each other. Attempt to use illegal orientation
(quaternion) value

40199:Value error 40205:Value error

Task %.16s: Illegal error Task %.16s: String too long
number %i in RAISE Check:
Check: String value exceeds the maximum allowed
Only error numbers in the range 1-99 are length. Rewrite the program to use
allowed in the RAISE instruction. strings of lesser length.
40200:Limit error 40221:Execution error

Task %.16s: No more interrupt Task %.16s: Execution aborted
number available Check:
Check: Execution was aborted due to a fatal
There is a limited number of interrupt error.
numbers available. Rewrite the program
to use fewer interrupt numbers. This 40222:Limit error
message may also occur as a consequence Task %.16s: Execution stack
of a system error. overflow
Check:
40201:Value error The program is too complex to execute.
Task %.16s: Negative operand Probably the program contains recursive
%i not allowed routines.
Check:
The MOD operator only allows non 40223:Execution error
negative operands. Change the program Task %.16s: Fatal runtime
to make sure that the operator is not error
applied to negative values. Check:
A fatal runtime error has occurred.
40202:Type error Fatal runtime errors causes immediate
Task %.16s: Dimensions %i termination of execution. See previous
and %i of conformant array message for the actual cause.
dimension number %i are incompatible
Check: 40224:Execution error
The array is not of the expected size. Task %.16s: Illegal return
Array assignment may only be performed code %i from ReaL routine
on arrays of identical size. Check:
This is always caused by an internal
40203:Reference error error in the ReaL routine.
Task %.16s: Optional
parameter %.16s not present 40225:Execution error
Check: Task %.16s: Execution could
The value of a non present optional not be restarted
parameter may not be referred. Use the Check:
predefined function Present to check Execution could not be continued after
the presence of the parameter before power failure. Restart the program.
using its value.
40204:Value error
Task %.16s: Array index %i
for dimension number %i out of bounds
(1-%i)
Check:
The array index value is non-positive or
violates the declared size of the array.
40226:Name error 40242:Type error

Task %.16s: Procedure name Task %.16s: Data is not an
%.40s array
is not a RAPID identifier excluding Check:
reserved words The DatObj parameter of the Dim
Check: function must be an array.
The procedure name, must be a legal
RAPID identifier not equal to any of 40243:Value error
the reserved words of the RAPID Task %.16s: Unknown interrupt
language. Change the name expression. number
Check:
40227:Limit error Check that the specified interrupt
Task %.16s: Runtime stack variable has been initialized by
overflow CONNECT, and that the interrupt has been
Check: defined using the ISignalDI or other
The program is too complex to execute. interrupt definition instruction.
Probably the program contains recursive
routines. 40244:Value error
Task %.16s:
40228:Execution error Object %.16s is of
Task %.16s: Unhandled non-value type
non-fatal runtime error %i Check:
Check: Use expression or data object of value
A non-fatal runtime error has occurred or semivalue type.
but was not handled by any ERROR
clause. See previous message for the 40245:Parameter error
actual cause. Parameters in %.16s
and %.16s is not
40229:Execution error matching (late binding)
Task %.16s: Unhandled raise Check:
error %i Make sure that all procedures that are
Check: called from the same late binding node
An error was raised by a RAISE have matching parameters. I.e they
instruction but was not handled by any should be matching concerning base type,
ERROR clause. mode and required/optional parameters.
40230:Execution error 40251:Name error

Task %.16s: Unhandled Task %.16s: Ambiguous symbol
non-fatal runtime error name %.16s
Check: Check:
A non-fatal runtime error has occurred Installed objects must have names that
but was not handled by any ERROR are unique. Rename the object or change
clause. the conflicting name.
40241:Value error
Task %.16s: Array dimension
number %G out of range (1-%i)
Check:
The value of the DimNo parameter of
the Dim function must be an integer
value in the specified range.

40252:Limit error 40258:Parameter error

Task %.16s: Error %i when Task %.16s: switch
creating sdb entry for %.16s parameter %.16s can not be
Check: dimensioned
An error occurred when the persistent Check:
was to be inserted into the shared Remove the array dimension
database. Probably the database is full. specification, or change the data type
of the parameter.
40253:Type definition error
Task %.16s: Alias 40259:Parameter error
%.16s of alias Task %.16s: switch
%.16s not allowed parameter %.16s must have
Check: transfer mode IN (specified value
Is is not possible to define an alias %i)
type equal to another alias type. Check:
Instead, define two alias types equal to Remove the parameter transfer mode
the same atomic or record type. specifier. If IN transfer mode is not
sufficient, change the data type of the
40254:Symbol definition error parameter.
Task %.16s: ANYTYPE#
parameter %.16s cannot be 40260:Symbol definition error
dimensioned Task %.16s: switch only
Check: allowed for optional parameter
Remove the dimension specification. (not for %.16s)
ANYTYPE# includes array types. Check:
Change the parameter into an optional
40255:Symbol definition error parameter, or change the data type of
Task %.16s: ANYTYPE# only the parameter. If the object is not a
allowed for parameter (not for parameter, change the data type.
%.16s)
Check: 40261:Type definition error
Use another type. Task %.16s: Value type class
for %.16s must be one of
40256:Parameter error REAL_SYMVALTYP_VAL, _SEMIVAL,
Task %.16s: alt must not be _NONVAL or
set for first optional parameter _NONE (specified value %i)
%.16s in alternatives list Check:
Check: Change the value type class.
Make sure that only the second and
following in each list of excluding 40262:Data declaration error
optional parameters are marked as Task %.16s: Too many array
alternatives. dimensions for %.16s
(specified value %i)
Task %.16s: REF mode An array may have at most 3 dimensions.
parameter %.16s cannot be
dimensioned
Check:
Remove the array dimension
specification, or change the mode of the
parameter.

40263:Name error 40269:Symbol definition error

Task %.16s: Symbol name Task %.16s: Not enough
%.40s memory for value of data
is not a RAPID identifier excluding %.16s
reserved words Check:
Check: More memory required.
The names of installed objects,
including parameters and components, 40270:Type definition error
must be legal RAPID identifiers not Task %.16s: Private type
equal to any of the reserved words of %.16s can only be semi-value
the RAPID language. Change the name. or non-value type (specified value
%i)
40264:Symbol definition error Check:
Task %.16s: Missing C Change the value type class.
function for %.16s
Check: 40271:Type definition error
A C-function that executes the ReaL Task %.16s: Private type
function being defined, must be %.16s size must be multiple
specified. of 4 (specified value %i)
Check:
40265:Symbol definition error All RAPID types must have a size that is
Task %.16s: Missing value a multiple of four. Change the specified
initialization function for type size.
%.16s
Check: 40272:Type error
A value initialization function must be Task %.16s: Persistent type
specified. mismatch for %.16s
Check:
40266:Reference error There is already a persistent data with
Task %.16s: %.16s the same name but with another data
is not a data type name (object type. Rename the persistent, or change
%.16s) its data type.
Check:
The specified name identifies an object 40273:Reference error
other than a type. Task %.16s: Unknown data type
name %.16s for
40267:Reference error %.16s
Task %.16s: %.16s Check:
is not a value data type (object There is no data type (or other object)
%.16s) with the specified name.
Check:
Only record components, alias types, 40274:Parameter error
variables and VAR mode parameters Task %.16s: Unknown parameter
may transfer mode %i for
be of semi-value or non-value type. %.16s
Check:
40268:Symbol definition error The specified parameter transfer mode is
Task %.16s: Missing value not one of IN, VAR, PERS, INOUT or
conversion function for %.16s REF. Use corresponding
Check: REAL_SYMPARMOD_x.
A value conversion function must be
specified for a semi-value type.
40275:Symbol definition error 40322:Load error

Task %.16s: Unknown symbol Task %.16s: RAPID syntax
definition type %i error(s) in file
Check: %.40s
The symbol definition type tag does not Check:
specify one of the allowed symbol The source file to be loaded contains
types (REAL_SYMDEF_x). RAPID syntax errors. Correct the source
file. The syntax errors are logged in a
40276:Symbol definition error separate file.
Task %.16s: Initialization
function may not be specified for shared 40323:Load error
variable %.16s Task %.16s: Syntax error(s)
with per task value in header in file
Check: %.40s
Remove initialization function, install Check:
variable in all tasks, or make variable The source file to be loaded contains
value shared. syntax error in the file header. Correct
the source file. The syntax errors are
40301:I/O error logged in a separate file.
Task %.16s: Permission denied
(file name 40324:Load error
%.39s) Task %.16s: Keywords not
defined in specified language (file
40302:I/O error %.39s)
Task %.16s: No such file or Check:
directory (file name Cannot load RAPID source code in the
%.39s) national language specified in the file
header.
40303:I/O error
Task %.16s: No space left on 40325:Load error
device (file name Task %.16s: Not enough heap
%.39s) space
Check:
40304:I/O error
There is not enough free memory left.
Task %.16s: I/O error %!
(file name 40326:Load error
%.39s) Task %.16s: Parser stack
Check: full (file
One of: %.39s)
Permission denied (write protected) Check:
No such file or directory The program is too complex to load.
No space left on device
40327:Load error
40321:Load error Task %.16s: Not current RAPID
Task %.16s: version (file
Module loaded with path %.39s)
%.40s Check:
is active Cannot load RAPID source code of the
Check: version specified in the file header.
A module containing routines or data
that are still active cannot be erased.

40351:Memory allocation error 40509:Search warning

Task %.16s: Failed to %s
allocate hash table, use linear list Before performing next search,
make sure that TCP is moved back
40352:Memory allocation error to the start position of the
Task %.16s: Failed to search path.
update persistent expression, keep old Check:
one If no repositioning is done, before
restart of circular search, movement
40501:Timeout
that can cause damage might occur.
%s
%s 40510:Security warning
The move instruction cant restart
40502:Digital input break due to security problem.
%s
Try to move the PP
%s
40511:Parameter error
The parameter %.16s
Device descriptor is
in %.16s is specified
%s
with a negative value
%s The parameter must be set positive.
Check:
40512:Missing ext. axis value
%s
Some active external axis have
40505:File access error incorrect or no order value.
%s Reprogram the position.
%s
40513:Mechanical unit error
Check:
Not possible to activate or
Possible error:
deactivate mechanical unit.
1. Wrong path or filename
2. Max number of simultaneously opened 40514:Execution error
files exceeded Too far from path to perform
3. I/O device reference already in use StartMove of the interrupted
movement.
40506:System access error
Check:
%s
Position the robot to the
%s
interrupted position in the program.
40507:Limit error
40515:Type error
%s
Task %s: Illegal data type
40508:Wrong orientation value of argument for parameter %s
in %s
40516:Value error
Task %s: Illegal value of
argument for parameter %s

40517:Search error 40593:ParId Power Fail

%s Power Fail during load identification
No search hit or more than 1 search results in faulty load result.
hit during stepwise forward execution. Check:
The search instruction is ready and Restart the program execution again
next instruction can be executed. with same run mode (without PP move)
Check: for load identification from beginnig.
Note that no position has been returned
from the search instruction. 40594:ParId user error
Error resulting in raise of PP to the
40518:Type error beginning of the parameter
%s identification procedure.
Check:
40519:End of file found during Start the identification procedure from
%s beginning again.
40521:Parameter error 40595:Argument error
Task %.16s: Unknown type of load
Can not open %.25s. identification.
Only a device specified.
%.40s 40596:ParId Program Stop
Check: Any type of program stop during
Specify a file or directory. load identification is not allowed.
Check:
40522:Limit error Restart the program execution again
Stop watch overflow. for load identification from beginnig.
Check: (From old PP pos. and with same run mode
Recovery: %.16s if try to move PP within program list.)
40590:ParId error 40597:ParId Speed Override
%.40s Speed override not 100 per cent.
%.40s Check:
Check: Change the speed override to 100.
%.40s Restart the program execution again
for load identification from beginnig.
Unknown type of parameter 40600:Argument error
identification. No \WObj specified
for movement with stationary TCP.
40592:ParId Program Stop Check:
Any type of program stop during Add argument \WObj
load identification is not allowed. for actual work object.
Check: If not movement with stationary TCP,
Start the identification procedure from change argument Tool to
beginning again. "robot holds the tool".

40601:Argument error 40607:Execution error

Undefined if robot holds the tool Not allowed to change run mode
or the work object. from forward to backward or vice versa
Check: during running a circular movement.
Check if mismatch between Check:
argument Tool and argument \WObj If possible, select the original run
for data component robhold. mode and press start to continue the
stopped circular movement. If not
40602:Argument error possible, move robot and program pointer
Argument %s has for a new start.
at least one data component
with negative value. 40608:Argument error
Check: Orientation definition error
Set all data components in %s.
in argument %s Check:
to positive values. All used orientations must be normalized
i.e. the sum of the quaternion elements
40603:Argument error squares must equal 1.
Argument %s may not have
a negative value. 40609:Argument error
Check: Argument \WObj specifies a mechanical
Set argument %s to unit with too long name.
a positive value. Check:
Use max. 16 characters to specify the
40604:Argument error name of a mechanical coordinated unit.
Argument Tool has undefined
load of the tool. 40610:Argument error
Check: Argument \WObj specifies a mechanical
Define the actual load of the tool unit name, which is not activated
before use of the tool for jogging or unknown in the system.
or program movement. Check:
The mechanical unit name defined in
40605:Argument error \WObj must correspond to the name
Argument Tool has negative earlier defined in the system
load of the tool. parameters and must be activated.
Check:
Define the correct load of the tool 40611:Execution error
before use of the tool for jogging Not allowed to step backwards
or program movement. with this move instruction.
Check:
40606:Argument error Step backwards to a position
Argument Tool has at least defined with another tool
one inertia data component or work object could result in
with negative value. fualty path.
Check:
Define all inertia data components
(ix, iy or iz) to actual
positive values.

40612:Argument error 40618:Argument error

No argument programmed for Argument %s
the name of the output signal. contains an illegal interrupt number.
Check: Check:
Possible to set one position fix IO Input interrupt number is illegal
such as digital, group of digitals because it has not been allocated by
or analog output signal during the the instruction CONNECT.
robot movement. CONNECT do allocation and connection of
interrupt number to trap routine.
Optional argument %s 40619:Argument error
can only be combined with Argument %s
output signal argument %s. contains an interrupt number, which
is already in use for other purpose.
Argument %s Before reuse of an interrupt variable
is not 0 or 1. again in the program, cancel old
Check: interrupt generation and interrupt
Digital output signals can only be number with instruction IDelete.
set to 0 or 1.
40615:Argument error Argument %s have
Argument %s too large negative value.
is not an integer value. Check:
Check: Set argument %s to
Digital group of output signals, %.16s or more.
process identity or process selector
can only have an integer value. 40622:Argument error
The value of argument Time in ITimer
40616:Argument error is too low for cyclic interrupts.
Argument %s
is outside allowed limits. 40623:Argument error
Check: The value of argument Time in ITimer
Used group of digital output signals is too low for single interrupts.
can only be set within 0 to %s
according configuration in 40624:Argument error
the system parameters. Task %.16s:
Argument %s
40617:Argument error is not between 0 and 2.
Argument %s %.40s
is outside allowed limits. Check:
Check: Specify the flank to generate the
Used analog output signals can only be interrupt.
set within %s to %s 0 Negative flank (high -> low).
according configuration in 1 Positive flank (low -> high).
the system parameters. 2 Both negative and positive flank.

40631:Instruction error 40636:Sensor error

Too many move instructions in No measurement from sensor.
sequence with concurrent RAPID Check:
program execution. Requested data is not available.
Check:
Edit the program to max. 5 MoveX \Conc 40637:Sensor error
in sequence on the basic Not ready yet.
execution level of the program. Check:
Requested function is not ready yet.
No move instructions with concurrent 40638:Sensor error
RAPID program execution are allowed General error.
within the StorePath-RestoPath part of Check:
the program. General error has occurred which is not
Check: specifically connected to the requested
Edit the program so it does not action. Read the block "Error log" if
contain any MoveX \Conc instructions the function is available.
within the StorePath-RestoPath part of
the program. 40639:Sensor error
Sensor busy, try later.
Trigg parameter no %s reference to The sensor is busy with an other
undefined trigg data. function.
Check:
Define trigg data by executing 40640:Sensor error
instruction TriggIO, TriggInt, Unknown command.
TriggEquip or TriggSpeed Check:
before TriggL, TriggC or TriggJ. The function requested from the sensor
is unknown.
Signal reference in parameter %s 40641:Sensor error
contains unknown signal for the robot. Illegal variable or block number.
Check: Check:
All signals should be defined in the Requested variable or block is not
system parameters and should not be defined in the sensor.
defined in the RAPID program. 40642:Sensor error
40635:Reference error External alarm.
Argument reference Check:
in parameter %.16s Alarm from external equipment.
is not a entire persistent variable. 40643:Sensor error
Check: Camera alarm.
Not possible to use record component or Check:
array element in arg. %.16s. Some error has been detected in
Only possible to use entire persistent the camera. Run Camcheck to test if the
variables for Tool, WObj or Load camera is OK.
in any motion instructions.

40644:Sensor error 40651:Use numeric input

Temperature alarm. Use numeric input for the position
Check: instead of a robtarget.
The camera is overheated it needs more Check:
cooling air or water. The position can not be defined with
a robtarget for robot axes.
40645:Sensor error Use the optional parameter for numeric
Value out of range. input of the position.
Check:
The value of the data sent to the 40652:Axis is moving
sensor is out of range. A Robot axis, an external axis
or an independent axis is moving.
40646:Sensor error Check:
Camera check failed. All Robot axes, external axes and
Check: independent axes have to stand still.
The CAMCHECK function failed. The E.g Use MoveL with Fine argument for
camera is broken. Send it for repair. the Robot and ext. axes. And IndRMove
for the independent axes.
40647:Sensor error
Communication time out. 40653:Switch is missing
Check: One of the switch parameters %s
Increase the time out time and check or %s has to be defined.
the connections to the sensor.
40654:Axis is not active
40648:Search error The axis is not active
Not possible to do StorePath while or it is not defined.
searching on basic path level. Check:
Check: The mechanical unit has to be activated
If using program with robot movement and the axis has to be defined, before
in TRAP, then such interrupt must be this instruction is executed and before
deactivated during any searching. a robtarget is saved.
E.g. ISleep - SearchL - IWatch
40655:Axis is not independent
40649:Path limit error The axis is not in independent mode.
%s already done. Check:
Check: It is only possible to get the status
Instruction %s must first be from an axis in independent mode.
executed, before a new %s can
be done. 40656:Execution error
Not possible to set a new scale
40650:Wrong param combination value for the AO signal.
Optional parameters and switches are Check:
not used in a correct combination. The internal process, that control
Check: the output of the AO signal,
No optional parameters and no switch are for some unknown reason "dead".
keeps the old coordinate system.
The switch Old has the same function.
RefPos or RefNum has to be defined with
Short, Fwd or Bwd.

40657:Execution error 40662:Invalid worldzone type

The output of the AO signal are not The switch \%.16s must be
TCP-speed proportional any more. associated with a %.16s
The reason could be following: worldzone.
Check: Check:
- Use of MoveX between TriggX instr. If use of switch \Temp, the datatype
- No setup of TriggSpeed in the used must be wztemporary in WorldZone.
TriggX instr. If use of switch \Stat, the datatype
- The used ScaleLag is too small in must be wzstationary in WorldZone.
relation to actual robot servo lag.
40663:World zone not in use
40658:Parameter error The %.16s argument of the
Parameter %s can only instruction %.16s must refer
be used, if parameter %s to a worldzone that has been defined
is greater than zero. and activated by a WZLimSup or WZDOSet
Check: instruction.
Parameter %s has effect
only in the first TriggX, in a 40664:World zone already in use
sequence of several TriggX, that The %.16s worldzone has
controls the speed proportional already been defined and activated.
AO signal. A world zone can only be defined once.
Check:
40659:Undefined load Use a worldzone with another name.
WARNING: Argument %.16s has
undefined load (mass equal to 0 kg). 40665:Too many world zones
IMPORTANT TO DEFINE CORRECT It is not possible to add the world
LOAD to zone %.16s.
avoid mechanical damages of the robot The world zone table is full
and to get good motion performance.
Check: 40666:Illegal world zones
Define the actual load for the tool Task %.16s:
or the grip load before program Worldzone %.16s is
movement or jogging. defined locally in current routine
Check:
40660:Undefined load Only a global or local in module
WARNING: Argument %.16s has entire world zone argument can be used.
undefined load centre of gravity.
IMPORTANT TO DEFINE CORRECT 40667:Illegal world zones
LOAD to Task %.16s:
avoid mechanical damages of the robot WorldZone %.16s is
and to get good motion performance. not entire data reference.
Check: Check:
Define the actual centre of gravity Only an entire world zone argument
for the tool load or the grip load can be used.
before program movement or jogging
(cog.x, cog.y and cog.z can not be
0 mm at the same time).
40661:Search error
The signal %.16s for the
SearchX instruction is already high
at the start of searching.
40668:shapedata not in use 40674:I/O access error

The %.16s argument of the The signal given in parameter
instruction %.16s must refer %s is not write protected
to a defined shapedata. for user access from TP or RAPID.
Check: Check:
A shapedata is used to store a volume Change the access mode to system type
definition. It must have been defined for the signal in the I/O
by WZBoxDef, WZSphDef or WZCylDef configuration.
prior
to be used by WZLimSup or WZDOSet. 40675:Execution error
Not allowed to change the run mode from
40669:World zone too small forward to backward or vice versa during
At least one side or radius is less running an invisible trap routine.
than the minimal allowed in Check:
instruction %.16s. If possible, select the original run
Check: mode and press start to continue.
Check previous volume definition
instruction. 40700:Syntax error
Task %s: Syntax error
40670:Invalid world zone %s
The index of the world zone argument
%.16s in %.16s 40701:Program memory full
is not a valid index defined by The task %s, has only
WZLimSup or WZDOSet. %i free bytes in its
user space
40671:Illegal use of world zone Check:
Task %.16s: Remove some other module and try
%.16s again.
argument for %.16s
must be a temporay world zone. 40702:File not found
%.40s
40672:World zone already in use Check:
It is not possible to add the world The file path or the file name is wrong
zone %.16s. Another world or the file doesnt exist.
zone with the same name is already
defined in the system. 40704:UnLoad error
%.40s
40673:I/O access error The program module couldnt be unloaded
The signal given in parameter The reason could be:
%s is write protected - Module not loaded with Load instr.
for RAPID access. - Not same file path as used for Load
Check: Check:
Select other user signal or The program module must have been
change the access mode for the signal loaded with the instruction Load.
The file path and name must be the same
in the UnLoad and Load instruction.

40705:Syntax error 40711:Alias type error

Task %s: Syntax error Task %s:
%s The data types for the arguments
Check: FromSignal and ToSignal must be the
More syntax errors will follow this same and must be one of signalxx.
(signalai/ao, signaldi/do, signalgi/go)
40706:Loaded error Check:
The program module is already loaded Change the type
Check: to a valid one.
The module name in the head of the file
%.40s 40712:Event routine error
already exists in the program memory Task %s: Too many event routines,
the routine %s will not be
40707:I/O Unit name invalid executed. Maximum 4 routines
Task %s: could be specified for each event
The unit name Check:
%.40s Encapsulate the routine in one of
doesnt exist or cant be disabled. the others that are specified for
Check: the same event.
The unit name is misspelled, not
defined or cant be disabled. 40713:Alias define error
Task %s:
40708:I/O unit is not enabled FromSignal must be defined in
Task %s: the io-system. ToSignal must not be
I/O unit defined in the io-system, it should
%.40s just be defined as a variable.
was not enabled.
Check: 40714:Argument error
The maximum period of waiting time was Orientation definition error
too short. Increase the waiting time in %s.
or make a retry. Check:
This is probably an off-line generated
40709:I/O unit is not disabled "dummy" position (undefined orienta-
Task %s: tion), that needs to be MODPOS.
I/O unit
%.40s 40715:IOEnable call interrupted
was not disabled. Task %s:
Check: Call to I/O unit
The maximum period of waiting time was %.40s
too short. Increase the waiting time was inerrupted.
or make a retry. Check:
IOEnable or IODisable have been exec
40710:Argument error from an other task. Make a retry.
Task %.16s: Argument error
from %.16s ! 40720:Alias IO installation
The argument is expression value, The task %s, could not
is not present or is of the type switch. refresh all alias IO
Check:
Change the parameter
(%.16s) to a
valid one.

40721:IO installation 40729:I/O error

The task %s, could not Task %.16s
refresh all IO (file name
as RAPID symbols %.39s)
Check: Check:
Check the IO configuration. One of:
Permission denied (write protected)
40722:Mechanical units No such file or directory
The task %s, could not No space left on device
refresh all mechanical
units as RAPID symbols 40730:I/O error
Check: Task %.16s:
Check the Motion %s
configuration. Check:
%s
40724:Save error
The program module 40731:Task %s: %s argument
%.40s for signal %s
couldt be saved. is above its max logical value
Check: Check:
The module name is misspelled or Change the argument or
the module is not loaded. change the max logical value parameter
for the signal.
The reference to the load session is 40732:Task %s: %s argument
not valid for signal %s
Check: is below its min logical value
The specified reference must be same Check:
as in StartLoad. Change the argument or
change the min logical value parameter
40727:Save error for the signal.
Module %.16s:
Missing file source 40733:Task %s: %s argument
Check: for signal %s
Use FilePath argument is below %s argument
to specify the file destination. Check:
Change the arguments.
40728:Frame error
Task %.16s: Unable to 40734:Symbol definition error
calculate new frame. The positions Task %.16s:
have not the required relations or are String too long in
not specified with enough accuracy. text table %.16s
%.40s at index %.16s
Check: Check:
Check if the positions are too close Change the file for the text table
or not specified with enough accuracy. and do a cold start.
Recovery: %.16s
The axis is not defined
Check:
The axis has to be defined, before
this instruction is executed.
40736:Mechanical unit error 40742:Parameter error

Not possible to define a payload on the Task %.16s:
robot with this instruction. The timing parameter dip lag is larger
Check: than the system parameter Event preset
Use the instruction GripLoad time.
instead of MechUnitLoad. %.40s
Check:
40737:Symbol definition error Increase the system parameter
Task %.16s: Event preset time or check the
The requested text or text package equipment dip lag (delay)
does not exist. compensation.
Text table %.16s
Index %.16s 40743:Parameter error
Task %.16s:
40738:I/O error Not a valid subtype in
Unable to access the I/O signal parameter %.16s
%.16s unit %.16s. %.40s
Impossible to restart.
Check: 40744:Parameter error
The connection with the I/O module is Task %.16s:
broken. Reestablish the connection Invalid value in
with the I/O unit. To make it possible %.32s
to restart the program move PP to a in parameter %.16s.
safe restart position. %.40s
40739:Parameter error 40745:Parameter error

Task %.16s: Task %.16s:
None of the option %.32s is less
parameters DO1, GO1, GO2, GO3 or than %.32s
GO4 in parameter %.16s.
are specified. %.40s
%.40s
Check: 40746:Parameter error
At least one of the parameters must be Task %.16s:
specified. %.16s TRUE in parameter
%.16s in
40740:Execution error combination with conveyor coordination.
The PERS variable specified in the %.40s
instruction TriggStopProc can not Check:
be updated, because it not exists Cannot use fine points when leaving
any more. conveyers after coordinated stoppoint.
Check: Use a zone instead.
The program module with the PERS
variable is probably removed from the 40747:Access error
program memory. Task %.16s:
Can not read or write to the system
40741:Context error parameter. The parameter is internal
Instruction %.16s and protected from reading and writing.
may only be used in an event routine. %.40s

40748:Value error 41005:Flush item source first

Task %.16s: Item source %.16s must be
The data to write from parameter flushed before it is used.
CfgData to the system parameter,
is outside valid limits. 41006:Ack item target first
%.40s Item target must be acknowledged
Check: before executing the GetItmTgt(s)
Recovery: %.16s instruction again.
Error occured for item source
40900:Discr. App. System Error %.16s.
%s
Check: 41007:Item target buffer full
%s Item target buffer full for
item source %.16s.
40901:Discr. App. Sys Message
WARNING: A new application or process 41008:Conveyor eio init error
has been ordered Error in the initialization of the
A warm start is required to install a I/O signal for item source
new configuration %.16s, for conveyor
Check: %.16s. Eio signal name
%s %.16s.
40902:Discrete Application 41009:Conveyor does not exist

Task %s: Error for item source
Error from %.16s. Cant %.16s.
find the process %.16s. The conveyor %.16s
Check: does not exist.
Check the installed process(es).
41010:No conveyor name given
41000:Item source exists Error for item source
Item source %.16s %.16s.
already exists. Two item sources may No conveyor name specified.
not have the same name.
41011:Conveyor limits error
41001:Not a valid name Error for item source
Choose %.16s %.16s, conveyor
or %.16s %.16s. The limits are
are incorrectly specified.
41002:Buffer size exceeded
Fatal internal error for item source 41012:Cnv data defined late
%.16s. Try warm start or cold Error for item source
start. Please report this error. %.16s, conveyor
%.16s. The ItmSrcCnvDat
41003:Item source not defined instruction must be called before the
The item source object has not been ItmSrcFlush instruction.
defined.
41100:Too many corrections con-
41004:Itmsrc internal error nected.
Internal error for item source Check:
%.16s. Too many correction descriptors
Error type: %.25s. connected. Max 5 are allowed.

41101:Correction not connected 50024:Corner path failure

Cant write to correction descriptor A corner path was executed as stop point
Check: due to some of the following reasons:
Check that the current correction 1 Time delay
decriptor is connected. 2 Closely programmed points
3 System requires high CPU-load
41102:No corrections connected. Check:
Correction unable to be read. 1 Reduce the number of instructions
Check: between consecutive move instructions
No correction descriptor connected. 2 Reduce speed, use wider spaced
Check if any correction generator is points, use /CONC option
connected. 3 Increase ipol_prefetch_time
5 Motion error messages 50025:Restart too far from path

Check:
50001: Serious motion error Move back to path.
Not possible to proceed motion control
Check: 50026:Singularity or Zone error
Start up the system again 1 Robot too close to singularity
2 MoveL to MoveJ corner zone error
50021:Joint position error Check:
Actual position of joint %s 1 Use the joystick to move away from
is too far away from the ordered the singularity or run a program in
position joint coordinates
Check: 2 Use fine point or modify position
Check trim parameters, external
forces or hardware. 50027:Joint Out of Range
Joint %s is out of working range
50022:Too low DC-link voltage Check:
Check: Use the joystick to move the joint into
Check voltage from Motor On contactors its working range
Replace DC-link
50028:Jog in wrong direction
50023:Stop-/Restart error Joint %s is out of working range
The stop was made when too many move Check:
instructions were queued for execution. Use the joystick to move the joint in
Restart is not possible opposite direction.
Check:
Check the number of move instructions 50029:Robot outside its limits
with concurrency. Move the program The robot has reached the configuration
pointer and start a new movement. limit for the parallelogram
transmission.
Check:
Use the joystick to move the involved
joint into the working range again.

50030:Robot outside its limits 50041:Robot in a singularity

Jogging was made in wrong direction The Robot is too close to a singularity.
when Check:
parallelogram was out of working range During program execution, use SingArea
Check: instruction or joint interpolation.
Use the joystick to move the joint in During jogging, use axis by axis.
opposite direction.
50042:System error
50031:Command not allowed. Check:
System parameters cannot be Increase the distance between close
changed in MOTORS ON state. points and/or decrease speed and/or
Check: change acceleration value.
Change to MOTORS OFF.
50050:Position outside reach
50032:Calibration command error Position for IRB joint %.f
An attempt was made to calibrate while is outside working area.
in MOTORS ON state. Check:
Check: Check the work object.
Change to MOTORS OFF. Check the joint working range.
Move the joint in joint coordinates.
50033:Commutation command error
An attempt was made to commutate the 50052:Joint speed error
motors in MOTORS ON state. The speed of joint %s is too high
Check: relative the ordered speed
Change to MOTORS OFF. Check:
1. Check the tune parameters, external
50035:Synchronization error forces on the joint and hardware.
An attempt was made to synchronize 2. Reduce programmed speed.
in MOTORS ON state.
Check: 50053:Revolution counter error
Change to MOTORS OFF. Too big difference between the counter
in the serial measurement board and
50036:Correct regain impossible the expected value in the robot computer
Correct regain impossible. A stop for joint %s
occurred with too many close points Check:
with corner zones. At restart the robot 1. Update the revolution counter
will move to a point farther forward in 2. Replace serial measurement board
the program. 3. Check resolver and cables
Check:
Reduce the number of close points, 50055:Joint load error
increase the distance between them or Actual torque on joint %s too high
reduce the speed. May be caused by incorrect load data,
too high acceleration, high external
50037:MOTORS ON order ignored process forces, low temperature or
MOTORS ON order ignored since the hardware error
previous stop was not yet acknowledged. Check:
Check: 1. Check load data
Order MOTORS ON again. 2. Reduce acceleration or speed
3. Check hardware

50056:Joint collision error 50063:Circle programming error

Actual torque on joint %s is All circle points on a straight line or
higher than ordered while at low the circle position is too close to the
or zero speed. start or end position of the circle or
Check: conflict when selecting reorientation
May be caused by jam error (the arm Check:
has got stuck) or hardware error. Verify the points in the circle.
Check reorientation or split circle
50057:Joint sync. error segment in two separate segments.
The position of joint %s after
power down/failure is too far away 50065:Kinematics error
from the position before the power The destination of the movement is
down/failure. outside the reach of the robot or too
Check: close to a singularity.
Make a new update of the revo- Check:
lution counter. Change the destination position.
50058:Tool coord. sys. error 50066:Robot not active

The z-direction of the tool coordinate Attempt to coordinate motion or
system is almost parallel with the path calculate position of deactivated
direction. robot %s.
Check: Check:
Change the tool coordinate system to Activate robot via the Motion Unit key,
achieve at least 3 degrees deviation then Jogging window, or program.
between z-direction and path direction. Check work object and program.
50059:Frame error 50067:Unit not active

The definition of robot Attempt to coordinate motion or
fixed tool is not correct. calculate position of deactivated
Check: single unit %s.
Check the tool and object data. Check:
Activate unit via Motion Unit key,
50060:Frame error then Jogging window, or program.
The definition of robot Check work object and program.
fixed tool is not correct.
Check: 50076:Orientation def. error
Check the tool and object data. Orientation is incorrectly defined.
Check:
50061:Frame error Make an accurate normalization of
The definition of robot the quaternion elements.
fixed tool is not correct.
Check: 50078:Too many close positions
Check the tool and object data. Too many consecutive closely spaced
positions.
50062:Circle programming error Check:
Start and end positions for the circle Increase the distance between
are too close. consecutive close positions.

50079:Wrist weaving not possible. 50087:Singularity problems.

Check: Too close to wrist singularity with
Use smaller weaving amplitude or a respect to numerical resolution
larger TCP. for joint 6 of IRB.
Check:
50080:Position not compatible. Change destination position a few
Position cannot be reached with the increments.
given robot configuration
Check: 50088:Restart not possible.
Modify the robot position It is not possible to restart the path
in the program. due to a previous error.
Check:
50082:Deceleration limit Move the program pointer and start
Calculation of joint deceleration time a new movement.
exceeds internal limits for this motion.
You cannot proceed without removing the 50089:Weaving changed
cause(s) of this error (see Check). The ordered weaving is not achieved due
Check: to: high weaving frequency, not allowed
Increase path resolution (sys param or shift of weave method or that
by PathResol for critical movements). SingArea/Wrist is used with wrist weave
Reduce speed, use fine, increase AccSet, Check:
increase Queue time, avoid singularity Increase weave length or period time.
(SingArea\Wrist), inc. dynamic resol. Dont shift between arm and wrist weave.
Use SingArea/Off with wrist weave.
50083:Speed lowered by system.
The speed has been lowered by the system 50091:Restart not possible.
due to dynamic limitations. Restart no longer possible. Change of
Check: unit state made restart of program
Decrease speed and/or do not use close impossible.
positions at high speed and/or increase Check:
acceleration (if below 100%). Move the program pointer and start
a new movement.
50085:Too many user frames.
For mech_unit %s more than one 50092:Axis computer comm. error
user frame has been defined. Incorrect response from axis computer
Check: Check:
Take away one user frame or define Check motion configuration parameters.
one more mech_unit. Check axis computer hardware.
50086:Singularity calc. error 50094:ServoTune not possible.

Too close to wrist singularity with Tuning is not implemented for the
respect to numerical resolution specified Joint.
for joint 4 of IRB.
Check: 50095:Cannot access joint.
Change destination position a few Cannot access external joint. Check
increments. configuration and activation of
external Joints.
50096:ServoTune not allowed.

Tuning is not allowed for the
specified joint.

50100:Manipulator error 50130:Synchronization failed.

There are more configuration or Synchronization failed for joint
numerical errors in motion domain. %s.
Check: Check:
Correct previous ones and try again. Make a new synchronization.
Restart System.
50101:Manipulator config. error
%s is not free 50131:Calibration failed.
for the param. %s Calibration failed for joint
in type %s named %s.
%s. Check:
Check: Make a new calibration.
Use another one. Restart System.
For internal names, see moc_chk.log.
50132:Commutation failed.
50102:Manipulator config. error Commutation failed for joint
%s used in the %s.
parameter %s in Check:
type %s named Make a new commutation.
%s is not Restart System.
defined.
Check: 50133:Test signal error.
Use another one that is defined or No test signals are available
define the used one. for the master robot.
50134:Corr. vector warning
50103:Num. error in manipulator Sensor correction vector calculations
The orientation defined by quaternions failed due to previous error.
including %s in
the type %s named 50135:SoftAct not possible.
%s is not Soft servo is not possible to activate.
normalized.(SQRSUM =1) 50137:Fine point inserted
Check: Corner zone is changed to fine point
Check the quaternions and/or recalculate Too many consecutive Move instructions
them. without fine point
50138:Arm check point outside
50104:Num. error in manipulator The robot has reached the limit for arm
The parameter %s check point
in type %s named Check:
%s is not %s. Use the joystick to move the involved
Check: joint into the working range again
Check the value.
For internal names, see moc_chk.log. 50139:Arm check point outside
Jogging was made in wrong direction when
50128:Manipulator error arm check point was out of working range
Terminating the topic check for Check:
manipulator due to earlier errors. Use the joystick to move the joint in
Check: opposite direction.
Correct the reported errors and run
topic check again.

50140:Payload too large 50145:Kinematic limitation

Heavy payload caused static torque Kinematic limitation, no solution found.
limit to be exceeded on joint %s 1. Long segment.
Check: 2. Position close to singularity.
Check and reduce payload 3. Joint 1, 2 or 3 out of range.
for arm and/or wrist. 4. Position outside reach.
Reduce joint working range to decrease Check:
static torque due to gravity. 1. Insert an intermediary point to
reduce the length of the segment.
50141:Jog or Speed error 2. Use MoveAbsJ.
1. Jogging error 3-4. Check working range.
2. High speed error
3. Robot too close to singularity 50146:Restart limitation
Check: Corner path executed as a stop point.
1. Jog with incremental movement Power fail restart not possible near
2. Reduce the programmed speed the stop point.
Check:
50142:Manipulator config. error Use finepoint in the Move-instr before
Configuration of the manipulator failed. RestoPath, ActUnit, Wait or Stop-instr
%s to make power fail restart possible.
%s
Check: 50147:Power fail restart failed
Check the parameter values under Re-creation of the path failed
System parameters:Manipulator. Check:
Move the program pointer and start
50143:Robot axes config. error a new movement.
Actual configuration is not the same
as ordered and/or reorientation of 50151:MOC_MAILBOX1_ERROR
joint 4/6 is too large. The axis computer driver failed
Check: to generate a new mailbox 1 interrupt
Use SingArea_Wrist, ConfL_Off, since the previous interrupt has
modify position or insert not been serviced properly.
intermediary point. Check:
Reload system
50144:Displ frame uncertain. Replace robot computer board
Calibration of displ frame uncertain
1. Wrong TCP 50152:MOC_MAILBOX2_ERROR
2. Ref. points inaccurate The axis computer driver failed
3. Ref. points badly spaced to generate a new mailbox 2 interrupt
Check: since the previous interrupt has
If estimated error is unacceptable: not been serviced properly.
1. Verify that correct TCP is used. Check:
2. Try more than 3 ref. points. Reload system
3. Be careful when positioning robot Replace robot computer board
to ref. points.

50153:Command not allowed 50159:No external process

The given instruction, or command, was Attempt to coordinate motion or
not allowed since the robot program was calculate position of single %s
executing in a hold state. without an external process.
(%s %d %d) Check:
Check: Check process name in motion and
Modify program or stop program execution process configuration files.
before issuing command.
50160:Cannot reach position
50154:Command not allowed Programmed position of indep. joint
SingArea\Wrist mode interpolation is %s is outside working range and
not supported for the IRB6400C robot. thus cannot be reached.
Check: Check:
Replace SINGAREA\WRIST instruction Change the position.
with Check the joint working area limits.
SINGAREA\OFF. Check the used work object.
50155:Power fail restart failed 50161:Singularity area
Not possible to restart the Move-instr Robot is close to a singularity.
before RestoPath, ActUnit, Wait or Work area with kinematic limitations.
Stop-instr Check:
Check: During jogging, use axis by axis.
Make program free from MOTION During program execution,
WARNING use MoveAbsJ.
50146 Restart limitation, by changing
the Move-instr to finepoint 50162:Internal position error
Move the program pointer and start Error caused by internal
a new movement. numerical limitation
Check:
50156:Independent joint error Reset independant joint
Joint %s is not configurated as an Reduce work area if extended
independent joint. Remove or separate close points
Check:
Modify the program or configurate 50163:External Pos adjustment
the joint as an independent joint. External Pos adjustment too large.
TCP speed, orientation speed, or
50157:Corr. vector warning external position speed exceed
Sensor correction vector X calculations allowed robot performance.
failed due to previous error. Check:
1. Reduce programmed TCP and
50158:Sensor process missing orientation speeds
Sensor process missing during 2. Modify the path
initialization. 3. WaitWObj closer to sync
Named sensor process %s 4. Run in AUTO
could not be found or initialized.
Check: 50164:Ind. deactivation error
Check process name in motion and Independent deactivation error
process configuration files. Deactivation of mechanical unit may not
be done while in independent mode.

50167:Warning: new sync 50174:WObj not connected

Warning: a new object sync signal has The WObj is not connected to the
arrived while conveyor is active and conveyor %s . Robot TCP cannot be
program is running. coordinated to work object.
Check:
50168:New sync on %s Check for missing WaitWObj.
New object sync arrived while conveyor Check for DropWObj occuring before end
was tracking the previous object. of coordination.
Cannot track two objects simultaneously
Check: 50175:Conveyor moving %s
Reduce speed of conveyor Conveyor moving while attempt to
Increase programmed speed coordinate robot TCP to conveyor work
object while in prohibited mode.
50170:Process missing Check:
External control process missing during It is not possible to coordinate to
initialization. conveyor while in Manual Reduced Speed,
Named process %s or stepping in Auto, and the conveyor
could not be found or initialized. is moving.
Check:
Check process name in motion and 50176:Conveyor %s not active
process configuration files. Conveyor mechanical unit was not active
when attempt to coordinate robot TCP to
50171:Speed too low conveyor work object.
Numerical problem when interpolation Check:
of long segments with low speed and Make sure conveyor mechanical unit is
heavy external axes or active. Check for fine point for last
when interpolation close to singularity coordinated motion before DeactUnit.
Check:
Split segments with long interpolation 50177:Unable to restart.
time (path_resolution * 4 minutes) or Conveyor %s moving while attempting
change to joint interpolation or move to restart or before pressing
position away from singularity. Stop or stepping through program
Check:
50172:MoveJ not allowed Make sure conveyor is standing still.
MoveJ not allowed with work object Move the program pointer and start
coordinated with external a new movement.
position mechanical unit.
Check: 50178:Non optimal movement
Change interpolation mode or Non optimal movement
work object. Required torque too high
Manual adjustment of acceleration or
50173:Use fine point speed is needed.
Use fine point when changing tool Check:
or work object coordination Reduce acceleration (AccSet 50 100) in
when work object is coordinated with this movement, restore it afterwards
external pos mechanical unit. (AccSet 100 100). Optimize performance
Check: by search for max acceleration 50-99
Create a fine point and Alternatively, reduce speed.
then change the tool.
Sensor correction vector calculations
failed due to previous error.
50181:Out of coupled range 50188:Non optimal movement

Joint %s and %s are out of Non optimal movement
coupled working range. Required torque too high
Check: Manual adjustment of weave frequency or
Use the joystick to move joints into amplitude is needed.
their coupled working range. Check:
Reduce weave frequency or
50182:Jog in wrong direction weave amplitude in
Joint %s and %s are out of this movement
coupled working range. Alternatively, reduce speed.
Check:
Use the joystick to move joints into 50189:Relay signal not found
their coupled working range. The signal %s for relay %s
is not found in the I/O configuration.
50183:Robot outside work area. The mechanical unit using this relay is
The robot has reached the ignored.
World Zone %s. Check:
Check: Check I/O signal definitions and System
Check the reason of the World Zone. Parameters definition of Manipulator,
Use the joystick to move the robot Types: Relay.
out of the World Zone if needed.
50190:Permanent ipol lock error
50184:Corr. vector warning Scanned no of active joints not equal
Sensor correction vector calculations expected no of joints.
failed due to previous error. Check:
Check configuration of unit using
general kinematics.
Sensor correction vector calculations
failed due to previous error. 50191:Too many TCP speeds
The number of TCP speeds in one
50186:Coordination error.
segment is too large. Maximum number
Not possible to run robot %s
of TCP speeds is %d.
with coordinated base frame.
Check:
Function not installed in this system
Check if one segment has too many
Check:
TCP speeds set or if a sequence of
Install the option Advanced Motion.
segments have increasing DipLag.
50187:Coordination error.
50192:Jogging error
Not possible to coordinate user with
Jogging is started too soon after
robot %s
program stop.
Function not installed in this system
Check:
Check:
Restart and try again.
Install the option Advanced Motion.
50193:Joint sync. error
The speed of joint %s before
power down/failure was too high.
Check:
Make a new update of the
revolution counter.

50194:Internal position error. 50202:No dc link configurated

Error caused by internal The dc-link(%s) and
numerical limitation. drive unit(%s) used
Joint number %2.0f. by joint: %s is not
Check: connected to same serial link.
Calculated reference position = %f Check:
Select another dc-link.
50195:Independent move error Change serial link for drive unit.
Joint %s cannot be moved in Set the parameter -no_dc_link
independent mode. to TRUE.
50196:Calibration error. 50203:Measurement node used
Points 0 and 1 too close The measurement node for joint
%s is already used.
50197:Calibration error.
Check:
Points 0, 1, 2 on a line or
Select another node.
point 2 too close to points 0 or 1
50204:Motion supervision
50198:Calibration error.
Motion supervision triggered
Internal error
for joint %s.
Check:
Possible causes: collision,
Report the occurance.
incorrect load definition,
50199:Calibration error. external process forces.
External joints have been moved Check:
during calibration. If load definition incorrect,
Check: use load identification.
Avoid moving external joints. If external forces, use RAPID
command or system parameters
50200:Torque error. to raise supervision level.
Torque error due to
high speed. 50205:Data logger error:
Check: %s
1 Check load data. Check:
2 Reduce speed. Solution:
%s
50201:Orientation outside reach
The error of the programmed orientation 50206:Probe warning
exceeds the acceptance limit. Probe buffer is full.
Check:
50207:Add intermediate point
1 Adjust robtarget orientation.
Add intermediate point
2 Adjust/check orientations of currently
not coordinated to external pos
used frames: tool frame, base frame,
mechanical unit.
user frame, object frame...
when changing conveyor.
Check:
Create an intermediate point
then change the conveyor.

50208:Missing function 50215:Load identification error

Friction Compensation can not be Axis %d will move outside
activated for joint %s. working range.
Check: Check:
Install the option Advanced Motion. Move the axis to a position
further from the working range
50209:Kinematic limitation. limit.
No accepted solution found.
Residual: %ld deg in orientation, 50216:MS configuration failed
%ld mm in x, EIO signal %s is not configurated
%ld mm in y, but needed for MS process.
%ld mm in z. MS coordination will not work.
Check: Check:
Insert an intermediary point. Check configuration of EIO signals.
Check singularity.
Increase position and orient. tolerance. 50217:MS restart failed
Use MoveAbsJ. MS restart failed due to large path
Check working range. error. Path difference is too large
Check:
50210:Load identification error Verify that ext ax. speed is the same
Check: for both M and S units.
Possible problem: Reduce speed of external axis.
Load identification not allowed Reduce weld length before extern axis
for this robot. motion.
Configuraion angle is too small.
50218:Path not finished
50211:External Drive error. Previous motion path was not finished
External controlled drives can not before new motion was sent.
be used without the option Check:
External Drive Use StorePath when in Trap routines.
Move the program pointer and start
50212:General kinematics a new movement.
General kinematics can not
be used without the option 50219:M/S Communication
General Kinematics M/S communication failure during syn-
chronized welding.
50213:Frame rotation error. Check:
Possibly due to unnormalized Check that both robots receive Stops
quaternion at the same time,
or position out of bounds. Check CAN bus communications,
Check: Increase sync_time_factors under
Check the normalization of Manipulator: MS_PROCESS.
input quaternions
or magnitude of input positions. 50220:No input signal
No input signal to contactor relay
50214:Config error of work area for mechanical unit %s
Possibly the defined work area Check:
are larger than max allowed area. Ensure that an input signal is
connected and configured.

50221:Conveyor %s 50230:Test signal error.

Conveyor outside max dist Invalid axis number %d for mechanical
min dist limits unit %s.
Object Dropped Check:
Check: Check mechanical unit and axis number.
Check limits or
reduce conveyor speed. 50231:Test signal error.
Mechanical unit %s not active.
50222:Mismatch type - MechUnit Check:
Mismatch between selected manipulator Activate mechanical unit before
type and selected mechanical unit. defining test signals.
50223:To long deceleration 50232:Kv saturation

The deceleration time for an axis Kv limited to %d for joint %s
is to long
Check: 50233:Ki saturation
Check the performance characteristics Ki saturated for joint %s
for the axes or reduce the speed. Check:
Reduce Kv or increase Ti
50224:Error when defining load
It is not allowed to define a load 50234:Overflow during logging
on axis %d for mechanical unit An overflow occured when logging
%s. test signals or data log signals.
Check: Check:
Change axis no or mechanical unit. Define fewer signals.
Reduce load on main computer.
50225:Boot safe area inaccur. Reduce network load.
System not synchronized.
Check: 50235:No interrupts received from an
Update all revolution counters. Axis Computer within timeout.
Check:
50226:Underrun in reference master. Replace Axis Computer board(s).
50227:Test signal error. 50236:Reference underrun

Invalid channel number %d. Reference underrun in Main computer
Check: interrupt routine for Axis computer
Allowed channel numbers are 1 - 12 connected to connector board %d
for test signals and 1 - 6 for Check:
data log signals. Reduce load on main computer.
Restart controller.
50228:Test signal error. Replace Axis computer board.
Unknown test signal number %d.
50237:Reference task error
50229:Test signal error. Reference task queue full
Unknown mechanical unit %s. (Slot id = %d)
Check: Check:
Check spelling or configuration. Reduce load on main computer.
Restart controller.
Replace Axis computer board(s).

6 Operator error messages 60006:%s Userframe!

The workobject %s contains
60001: %s missing a coordinated mechanical unit which
Tool %s is not used in has no defined userframe.
current program. Check:
Maybe because it has been deleted or Check the mechanical unit component of
it is not defined. the workobject.
Check:
60007:Jogging not permitted!
Change to another tool using the
Jogging cannot be done in this mode.
Jogging window.
Check:
60002:%s missing Release the joystick and enabling
Wobj %s is not used in device and repeat.
current program. Check also active mechanical unit.
Maybe because it has been deleted or
60008:Tool mass undefined!
it is not defined.
Jogging cannot be done if the used tool
Check:
has an undefined mass
Change to another workobject using
Check:
the Jogging window.
Enter a value for the mass, into the
60003:Directory not created! tooldata for the used tool.
The directory %s cannot be created.
60009:Unsynchronized robot!
Probably, because directory already
The robot or external axis are
exists or the disk is write-protected.
unsynchronized.
Check:
Check:
Check if directory exists or if disk
Synchronize robot or external axis.
is write-protected.
Check also if space on disk is enough. 60010:Orientation error!
Orientation in %s is unnormalized.
60004:Robot Hold confusion!
Check:
The used tool and the used work object
Check orientation value.
cannot both, at the same time, be held
by robot or be stationary. 60011:Parameter faults!
Check: Loading of parameters in
Check the robhold component of the %s
used tool and work object. cannot be fulfilled.
For reason, see
60005:%s missing!
%s
The workobject %s contains
Check:
a coordinated mechanical unit which
Copy the file
cannot be found.
%s
Check:
to a floppy and examine reasons
Check the mechanical unit component
of using an ordinary text editor!
the workobject. 60012:No Parameters loaded!
There are no parameters in
%s
Check:
Check the file
%s
using an ordinary text editor!
60013:Jogging not permitted! 60019:Data input error!

Jogging of mechanical unit is The component %s in data
not possible. type %s is not correct.
Unit is not activated. The limits are
Check: %s!
Activate the mechanical unit. Check:
Check data and enter the correct
60014:Disk is full! value.
No info is saved in Change Log about
the parameter change because no space 60020:PP cannot be set!
available on disk. PP cannot be set to routine
Check: %s because it is defined as
Try to delete files or a trap routine.
reorganize your disk. Check:
Change the definition for the
60015:PP cannot be set! routine %s
PP cannot be set to routine to Procedure.
%s because it has parameters.
Check: 60021:Cannot show items!
Make a routine which call %s or The number of selected items exceeds the
remove the parameters. current memory limit specified for this
configuration. The items can thus not
60016:PP cannot be set! be shown.
PP cannot be set to routine Check:
%s because it resides in a Reduce the number of data or
module which has NOSTEPIN as change the configuration to a memory
module attribute. board with more memory.
Check:
Copy the routine %s to 60022:Cannot show all items!
another module or change the Only %d variables (out of %d)
module attribute. will be listed.
All variables cannot be shown because
60017:PGM_TELLBACK code %d the current memory limit specified for
Check: this configuration will be exceeded.
No more information available. Check:
Reduce the number of data or
60018:RAPID syntax error!
change the configuration to a memory
The program cannot be loaded because of
board with more memory.
syntactical error(s).
Check: 60023:Limit ModPos!
A RAPID syntax check program for the You cannot modify this position because
PC limit modpos is activated with ABS.
or QuickTeach can be used to detect the ABS, absolute mode, means that the
error(s). The file PGMCPL1.LOG on the original position should be saved.
internal RAM disk contains information This cannot be done while tuning.
about the error(s). Check:
If executing, stop the program. Modify
the position in the Program Window.
This will create an original position.
This position will thereafter allow
tuning. Limits are set by Limit Modpos.
60024:Outside Limits! 60032:Cannot calc. user frame!

The change is either outside the It is not possible to calculate a
internal limit 10 mm or exceeds the user frame with the selected approach
limit set by limit modpos parameter points.
Max Trans. Check:
Check: Select new approach points as accurate
A single change cannot exceed 10 mm. as possible.
Do the change in smaller steps.
If Limit Modpos is set and the parameter 60033:Cannot calc. object frame
Max Trans is less than 10 mm this It is not possible to calculate an
parameter has to be changed. object frame with the selected
approach points.
60025:Name not allowed! Check:
The name already exist or is a Select new approach points as accurate
reserved word. as possible.
Check:
Please use an other name. See list of 60034: Volume is not aviable !
reserved words in Rapid manual.
60035: Can not save disk is full
60026:Program memory soon full
Save program or take other 60036:File not found !
appropriate actions. 60037:Cant open/create file !
60027:Cannot calc. tool frame! No file descriptor aviable
It is not possible to calculate the 60038:Invalid number of bytes !
tool frame with the selected approach
points. 60039:File already exists
Check:
Select new approach points as accurate 60040:Illegal name !
as possible.
60041:Can not delete root !
60028:Cannot show all signals!
Only %d signals (out of %d) 60042:Not file !
will be listed.
60043:Not directory !
60029:Cannot show all units!
60044:Not same volume !
Only %d units (out of %d)
will be listed. 60045:File/directory read only
60030:Too many signals! 60046:Root directory if full !
Too many signals are selected for the
Most Common list. Only the first %d 60047:Directory is not empty !
will be listed.
60048:Bad disk !
60031:Incompatible file!
The version of the configuration file 60049:No lable !
is not compatible with this system.
Check: 60050:Invalid parameter !
Check the version of the configuration 60051:No contig space !
file.

60052:Can not change root ! 71002:Invalid unit type

Description\Reason:
60053:File descriptor obsolete - Unit %s: has an unspecified
unit type named: %s.
60054:Deleted !
Check:
60055:No block device ! 1.Check the unit type against the one
specified for the unit
60056:Bad seek !
71003:Invalid unit
60057:Internal error ! Description\Reason:
- The unit specified for the signal %s
60058:File/directory write only is not specified in the unit section
Check:
60059:Disk changed ! 1.Change the name of the unit
2.Add a new unit to the unit list
60060:No disk in driver !
71004:Invalid signal length
60061:Operator ignored warning!
Description\Reason:
A warning about lost
- The length of the digital
calling hierarchy was ignored.
signal %s must be 1
Check:
Check:
No action recommended.
1.Change the length to 1 or remove
60062:Operator ignored warning! the statement.
A warning that the current
71005:Filter time invalid
stack do not have its base
Description\Reason:
in the main routine was ignored.
- Signal %s: The passive filter time
Check:
should be 0 or %d - %d ms
No action recommended
Check:
1.Change the filter time
7 IO & Communication error
messages 71006:Filter time invalid
Description\Reason:
71000:Bus/Type incompatible - Signal %s: The active filter time
Description\Reason: should be 0 or %d - %d ms
- Unit %s has a type Check:
that isnt compatible with its bus 1.Change the filter time
Check:
1. Change the bus for the unit 71007:Logic. value out of range
2. or change the unit type Description\Reason:
- Signal %s: Logical Max is less or
71001:Duplicated address equal to Logical Min
Description\Reason: Check:
- Same address for unit %s and %s 1.Correct the values to be max greater
Check: than min
1.Check the address
2.Check the bus

71008:Phys. value out of range 71018:Activate signal overflow

Description\Reason: Description\Reason:
- Signal %s: Physical Max is less or -Number of activate signals for
equal to Physical Min cross too high
Check: Check:
1.Correct the values to be max greater 1. Only one activate signal must
than min be given
71009:Type invalid 71019:Missing signal definition

- Signal %s: the type of signal -The signal: %s, at cross is
is invalid not defined
Check: Check:
1.Change the type 1. Define the signal name
in signal section
71010:Signal out of range
Description\Reason: 71020:No result signal
- Signal %s: the physical signal Description\Reason:
number + length -1 cannot exceed - Missing result signal
max. physical signal number for Check:
the unit. Maximum value = %d 1. At least one result signal must
Check: be given
1.Change the physical signal number.
2.Change the length. 71021:Duplicate cross signals
3.Check the signal type. Description\Reason:
- The signal: %s, appears both as FROM
71015:Digital Input overflow and as TO.
- Number of digital input channels 1. The same signal can not be given for
for board %s is greater both FROM and TO
than %d
Check: 71022:Physical max too high
1. Reduce the number digital inputs Description\Reason:
- Signal: %s
71016:Digital Output overflow - The physical max value > %.3f
- Number of digital output channels 1. Change value in configuration
for board %s is greater
than %d 71023:Physical min too low
Check: Description\Reason:
1. Reduce the number of digital outputs - Signal: %s
- The physical min value < %.3f
71017:No activate signal Check:
Description\Reason: 1. Change value in configuration
- Missing activate signal for cross
Check:
1. One activate signal must be given

71024:Physical value too high 71034:Dig. output out of range

- Signal: %s - The number of digital outputs is
- Current value = %.1f > out of range at board address %d
- Maxvalue = %.1f max outputs are %d
- Value set to Maxvalue Check:
Check: 1. Change the configuration for
1. Change physical max value in the board
configuration
71036:Name out of range
71025:Physical value too low Description\Reason:
Description\Reason: - The number of characters in
- Signal: %s - name %s
- Current value = %.1f < - is greater than %d characters or
- Minvalue = %.1f - the name is missing.
- Value set to Minvalue Check:
Check: 1. Give a new name that fits within
1. Change physical min value in the limits.
configuration
71037:IO Cross connection fault
71026:Logical value too high Description\Reason:
Description\Reason: - The signal %s appears on both
- Signal: %s FROM and TO in the same chain
- Current value = %.1f > Check:
- Maxvalue = %.1f 1. Correct the configuration for the
- Value set to Maxvalue cross connections where the signal above
Check: is connected.
1. Change logical max value in
configuration 71038:IO Cross depth to high
Description\Reason:
71027:Logical value too low - The Cross connection in the same chain
Description\Reason: - is too deep.
- Signal: %s - First signal name: %s
- Current value = %.1f < Check:
- Minvalue = %.1f 1. Make the Cross connection less deep.
- Value set to Minvalue
Check: 71041:Analog output overflow
1. Change logical min value in Description\Reason:
configuration - Number of analog output for
- board, %s is greater than %d.
71033:Dig. input out of range Check:
Description\Reason: 1. Reduce the number of analog outputs.
- The number of digital inputs is
out of range at board address %d 71042:Analog inputs overflow
max inputs are %d Description\Reason:
Check: - Number of analog inputs for
1. Change the configuration for - board, %s is greater than %d.
the board Check:
1. Reduce the number of analog inputs.

71043:Signal type error 71052:Cross table full.

- The type specified for signal %s - The sum of different FROM signals
cant be connected to specified board added with total sum of TO signals
Check: must not exceed %d
1. Change to another type. Check:
2. Change to another board. 1. Reduce the number of signals.
71044:Physical signal overflow 71053:Connection to board down

- The range of phsig, or length, or - Cant access the board due to
phsig and length for signal %s is communication is down
greater than %d Check:
Check: 1. Check the communication cable to
1. Change the physical signal number the board
2. Change the length. 2. Check if the board is switched off
71045:Filter specification err. 71054:Wrong signal type

- Signal %s : No filter time can be - Signal %s:
specified for this type of signal. The type of signal is wrong
Check: Check:
1. Set filter time to 0 or remove the 1. Change the type
statement.
71055:Invalid signal name
71046:Scaling error Description\Reason:
Description\Reason: - Symbol %s: is not defined
- Signal %s: No scaling can be done. Check:
Check: 1. Change the symbol name above
1. Remove the scaling statements.
71056:Power fail restore full
71049:Parameter Invert error Description\Reason:
Description\Reason: - Symbol %s: could not be setup for
- Signal %s: This type of signal power failure restore.
cant be inverted. The table for power fail is full.
Check: Check:
1. Only digital signals can be inverted. 1. Increase the table size in
startup file.
71050:Cross signal not digital. 2. Remove some other signal from restore
Description\Reason: list.
- Signal %s: Is not a digital signal
Check: 71058:No contact with I/O unit
1. Only digital signals can be cross. Description\Reason:
connected. - No contact with I/O unit: %s
on bus: %s
Check:
1. Check the addresses on all
I/O units connected to the bus
2. Change the address

71059:Error config. Can node 71077:Comm error from rtp1

- Error when configuring Can node - Not possible to deliver
connected at node address %d the received message
Check: Check:
1. Correct the configuration for the 1. Check the communication flow
Can node at given address.
71078:Comm error from rtp1
71061:I/O bus error Description\Reason:
Description\Reason: - The response from the device
- An abnormal rate of errors on has a non valid frame sequence
bus %s has been detected. Check:
Check: 1. Check for noise on the serial
1. Check the bus. line
2. Restart System.
71079:Pulsing group output
71072:No save set on signal Description\Reason:
Description\Reason: - Pulsing group output not allowed.
- Signal %s Check:
has not Set the Store attribute to YES 1. ---
Check:
1. Set the Store attribute. 71080:Unit type table full.
Description\Reason:
71073:Error on I/O Bus - The number of unit types
Description\Reason: must not exceed %d
- An abnormal rate of errors on the Check:
%s Bus has been detected. 1. Reduce the number of unit types.
The connector for External CAN I/O
has been switched off 71081:Physical table full.
1. Check bus terminators. - The number of physical signals
2. Check I/O bus for short-circuit. must not exceed %d
3. Restart system. Check:
1. Reduce the number of physical
71074:Config. out of range signals.
Description\Reason:
- The IBS starting quarter and rack 71082:Signal table full.
size is out of range for Description\Reason:
board %s - The number of user defined signals
Check: plus panel signals must not
1. For starting quarter 1 rack size exceed %d
must be less than 5 Check:
1. Reduce the number of signals.
71076:Comm error from rtp1
Description\Reason: 71083:Symbol table full.
- No response from the Description\Reason:
serial line - The number of symbols
Check: must not exceed %d
1. Check the device or connection Check:
1. Reduce the number of symbols.

71084:Triggr table full. 71093:Invalid unit type.

Description\Reason: - The major revision read from
- The number of Subcribed signals unit %s doesnt match
must not exceed %d value in unit type configuration.
Check: Configuration: %d Actual: %d
1. Reduce the number of Subcribed Check:
signals. 1. Change major revision.
2. or check module.
71085:Unit table full.
Description\Reason: 71094:Too many cross-actors def
- The number of boards Description\Reason:
must not exceed %d - The cross-connection has too
Check: many "From" signals : %s
1. Reduce the number of defined boards. Check:
1. Check the cross configuration.
71090:Invalid unit type.
Description\Reason: 71095:Too long cross-actor str
- The vendor id read from Description\Reason:
unit %s doesnt match - The "From" part in the cross-string
value in unit type configuration is too long : %s
Configuation: %d Actual: %d Check:
Check: 1. Check the cross configuration.
1. Change vendor id in configuration.
2. or check module. 71097:Parameter store error
Description\Reason:
71091:Invalid unit type. - Signal %s: This type of signal
Description\Reason: cant have store option.
- The profile read from Check:
unit %s doesnt match 1. Only digital output signals can
value in unit type configuration. have store.
Configuration: %d Actual: %d
Check: 71098:NFS server lost
1. Change profile in configuration. Description\Reason:
2. Check that the type of board is - The contact with the NFS server
correct. %s was lost.
Check:
71092:Invalid unit type. 1. Check the NFS server.
Description\Reason: 2. Check the network connection.
- The product code read from 3. Check the configuration.
unit %s doesnt match
value in unit type configuration. 71099:Trusted NFS server lost
Configuration: %d Actual: %d Description\Reason:
Check: - The contact with the trusted
1. Change product code in configuration. NFS server %s
2. or check module. was lost.
Check:
1. Check the NFS server.
2. Check the network connection.
3. Check the configuration.

71100:Bus table full. 71105:Disable group failed

- The number of buses - Failed to disable unit %s
must not exceed %d at address %d.%d
Check: Check:
1. Reduce the number of buses. 1. Check I/O system parameters
2. Increase the number of buses 2. Check unit
allowed.
71106:dsqc344 board failure
71101:Unknown bus name. Description\Reason:
Description\Reason: - Faulty or re-started IBS board
- Board %s: Unknown bus Board internal error code: %d
name %s Check:
Check: 1. Check above error, see IBS manual:
1. Change the bus name for the board Firmware Service and Error Messages
at unit type configuration. 2. Update board firmware
3. Replace InterBus-S board
71102:DeviceNet incompatible
Description\Reason: 71107:InterBus-S bus failure
- Node %d: Description\Reason:
Internal info: - Lost contact at address %d.%d
%s,%d Check:
(%s) 1. Check InterBus-S bus
Check: at the above address
1. Disconnect the node from bus 2. Restart the system
2. Contact ABB.
71108:InterBus-S module failure
71103:Error on I/O Bus Description\Reason:
Description\Reason: - The unit %s at address %d.%d
- An abnormal rate of errors on the reported internal unit error
%s Bus has been detected. Check:
The connector for Robot CAN I/O 1. Check the unit at
has been switched off the above address
Check: 2. Restart the system
1. Check bus terminators.
2. Check I/O bus for short-circuit. 71109:InterBus-S module failure
3. Restart system. Description\Reason:
- Incompatible definition
71104:Error on I/O Bus of unit %s
Description\Reason: at address %d.%d!
- An abnormal rate of errors on the Check:
%s Bus has been detected. 1. Check the I/O system parameters
The connectors for External CAN I/O 2. Restart the system
and Robot CAN I/O has been switched
off 71110:InterBus-S module failure
1. Check bus terminators. - Illegal address "%s" on unit %s
2. Check I/O bus for short-circuit. Check:
3. Restart system. 1. Change the address in the system
parameters I/O unit configuration.

71111:Wrong product code. 71118:Battery supervision state

- The product code of unit %s The battery supervision is in wrong
doesnt compare to any known id code. state .
Check: The state is = %s
1. Change product code in configuration. Check:
2. or check module.
71119:IO-unit table full.
71112:Unequal # of units. Description\Reason:
Description\Reason: - Maximum number of IO-units
- Definied number of units is different of type %s exceeded.
to the one binded to the board. Max = %d
Check: Check:
1. Change unit definition in 1. Reduce the number of IO-units.
the configuration.
2. or check the modules. 71120:RAP option not installed.
Description\Reason:
71113:IBS user command failure - The RAP Communication option has to be
Description\Reason: installed when configuring RAP or
- Warning due to: %d using SCWrite.
Check: Check:
1. Check the InterBus-S configuration 1. Reboot and install the
according to above error code. RAP Communication option.
71114:Invalid IP address 71121:RAP start-up failed.

%s is not a valid IP address - The initialization of RAP failed.
Check: Check:
1.Check the Communication configuration. 1. Check internal log for decription.
71115:Invalid subnet mask 71122:Incorrect IP address.

%s is not a valid subnet mask - The address %s
Check: in protocol %s
1. Check the Communication configuration is not a correct IP address.
Check:
71116:Disable & Trust Level = 0 1. Change the address.
Description\Reason:
Unit %s has been configured disabled 71123:No matching trans. prot.
with Trust Level set to 0. Description\Reason:
This is NOT allowed. The transmission protocol %s
Check: given for application protocol %s
1. Change the configuration. could not be found.
Check:
71117:Battery supervision res. 1. Change the transmission protocol.
Description\Reason:
The battery capacity = %d
Check:

71124:Wrong trans prot. for NFS 71130:Too many remote servers

The transmission protocol for The maximum number of servers for
the NFS protocol %s must be remote mounted disks is %d.
TCP/IP. Check:
Check: 1. Reduces the number of servers
1. Change the transmission protocol.
71131:Could not mount directory
71125:Mount Permission denied Description\Reason:
Description\Reason: Mounting directory %s
Permission was denied to mount on the computer %s failed
the directory %s Protocol: %s.
on the server %s. Check:
Check: 1. Check the NFS server setup
1. Change the User or Group ID.
71132:Battery supervision block
71126:Directory not exported Description\Reason:
Description\Reason: The battery superviosion is blocked
Mounting directory %s becaurse a power off/on is made.
as %s failed Will be released %s
since it is not exported on the server Check:
computer %s,Protocol: %s.
Check: 71133:Battery not charged
1. Export the directory on Description\Reason:
the server computer. The battery is not charged after
the first charging state.
71127:IDs not the equal Check:
Description\Reason: 1. Check that the batlow signal is
The User and Group IDs has to have connected to the DSQC347.
the same value for all remote disks 2. Check the battery connections
Check: 3. Check the battery.
71128:Ethernet option not inst. 71134:Parameter value not found

- The Ethernet Services option has to be Unit %s refers to values(%s)
installed when remomte mounted disks that dont exists.
Check: Check:
1. Reboot and install the Ethernet 1. Check unit configuration.
Services option.
71135:Parameter defs. not found
71129:Too many remote disks Description\Reason:
Description\Reason: Unit type %s refers to
The maximum number of remote mounted parameter definitions (%s)
disks is %d. that dont exists.
Check: Check:
1. Reduces the number of remote mounted 1. Check unit type configuration.
disk.

71136:Parameter Error 71142:Parameter Default error

Parameter %s could not be - Signal %s: This type of signal
downloaded to unit %s cant be assigned a default value
Check: Check:
1. Check unit configuration. 1. Only output signals can be assigned
2. Check precceding error messages default values.
71137:Error code from unit 71143:CTS/RTS not allowed

The following error was returned: - Serie channel %s:
%s cant have option RTS/CTS.
Check: Check:
1. Check unit parameter configuration. 1. Remove the option from configuration.
71138:Unknown Parameter 71144:Enable group failed

%s is not a valid parameter - Failed to enable unit %s
for unit %s at address %d.%d
Check: Check:
1. Check unit parameter configuration. 1. Check I/O system parameters
2. Check unit
71139:Access error from IO
Description\Reason: 71145:IBS bus deactivated
- Cannot Read or Write signal %s Description\Reason:
due to communication down. - IBS bus changed into a none
Check: running mode.
1. Check No contact with I/O unit Check:
report for reason. 1. Check the bus and restart the system
71140:Parameter act high error 71146:Subscribe error

- Signal %s: This type of signal - The maxlimit is less then minlimit
cant be set to active high. maxlimit = %f minlimit = %f.
Check: Check:
1. Only output signals can be 1. Make the correction and try again
set to active high.
71147:No response dsqc344
71141:Default out of range Description\Reason:
Description\Reason: - Access to the dsqc344 is denied
- The default value for Check:
signal %s is out of range 1. Check dsqc344 board
Check: 2. Check dsqc344 internal confiuration
1.Change the default value in 3. Reduce cycle time on the slave unit
configuration.
71148:No access to dsqc344
Description\Reason:
- Access to the dsqc344 is denied
due to %d
Check:
1. The dsqc344 is faulty. Replace board
2. Check dsqc344 internal confiuration
71149:IBS command failure 71156:IPC queue full

- Incompatible definition - The ipc queue %s was
due to %d! full, when sending to trap routine.
Check: Check:
1. Check the I/O system parameters 1. Restart the system
71157:Invalid app type
71150:The dsqc344 is busy Description\Reason:
Description\Reason: - Com Unit %s: has an unspecified
- The response service capability Com app type named: %s.
is limited due to IBS configuration Check:
Check: 1.Check the Com app type against
1. Check dsqc344 internal confiuration the one specified for the Com app
2. Change cycle time on the slave unit
71158:Address out of range
71152:InterBus-S bus failure Description\Reason:
Description\Reason: - The address of unit %s is out of
- %s bus failure. range.
Lost contact at Check:
address %d.%d 1.Change the address
Check: 2.Check the address syntax
1. Check InterBus-S bus
at the above address 71159:Signal Access illegal
2. Restart the system Description\Reason:
- Signal %s:
71153:Cant access parameter The number of characters in
Description\Reason: Access %s
- Unit %s has parameters is greater than %d or name missing.
that cant be edited from Check:
the teach pendant. 1. Give a new Access that fits within
Check: the limits.
1. Save the EIO configuration to
a file 71160:Access level illegal
2. Use a text editor to change Description\Reason:
the parameters - Signal %s:
Access level %s in
71154:The unit has no power group %s is illegal.
Description\Reason: - Legal choices all/man/auto/none.
- Unit %s has no power connected Check:
Check: 1. Give a new access level for group
1. Attach power to the unit that fits.
71155:The unit is faulty 71161:Access name not found

- Unit %s has not been correctly - Signal %s
connected The Access name %s
Check: not found in EIO_USER_ACCESS.
1. Diagnose with CMD application Check:
2. Modify the dsqc344 loacal start-up 1. Define %s in EIO_USER_ACCESS
procedure or change Access name.
3. Replace the dsqc344 firmware
71163:Signal on internal unit 71174:Illegal MinSlaveInt

- Signal %s is not allowed - The MinSlaveInt for unit %s is larger
to connect to %s than the MinSlaveInt for the bus = %d.
because the unit is internal Check:
Check: 1. Increase MinSlaveInt for the bus
1. Connect the signal to another unit 2. or set the bus MinSlaveInt to -1
3. Check the unit type configuration
71164:Internal signal in cross
Description\Reason: 71175:Illegal Data_Ctrl_Time
- Signal %s is not allowed Description\Reason:
to be cross connected to - The Data_Ctrl_Time must be larger
signal %s than %d (6 * T_WatchDog for
Check: unit %s)
1. Make sure that none of the signals Check:
are internal. 1. Increase Data_Ctrl_Time for the bus
or set the bus Data_Ctrl_Time to -1
71170:Delay table full or decrease T_WatchDog for the
Description\Reason: I/O Unit.
- The number of delays in a queue is
greater than %d. 71176:Illegal T_TargetRot
1.Make another call - The T_TargetRot must be smaller
than %d (T_WatchDog (%d)
71172:Illegal watchdog time for unit %s)
- The watchdog time for unit %s 1. Decrease T_TargetRot for the bus
must be larger than the largest or set the bus T_TargetRot to -1
min_slave_interval = %d. or increase T_WatchDog for the
Check: I/O Unit
1. Increase the watchdog time
71177:No contact with I/O unit
71171:Illegal I/O Unit Description\Reason:
Description\Reason: - I/O Unit %s is already locked by
- The unit type %s used by unit another master.
%s is a non ABB device Check:
Check: 1. Remove the I/O Unit from the other
1. Make sure that the I/O Plus Option masters configuration.
is installed 2. Restart the system.
71173:Illegal MaxTsdr 71178:Incorrect User Prm Data
- The MaxTsdr for unit %s is larger - I/O Unit %s reports incorrect
than the MaxTsdr for the bus = %d. parameter data.
Check: Check:
1. Increase MaxTsdr for the bus 1. Modify the User Prm Data according
2. or set the bus MaxTsdr to -1 to the DP-slaves manual.
3. Check the unit type configuration 2. Restart the system.

71179:Service not supported 71184:Illegal logical operator

- I/O Unit %s reports that an - A unexpected logical operator found in
unsupported functionality %s at cross-connection actor
was requested. %s.
Check: Check:
1. Check the Sync_Req parameter 1. Correct the cross-connection syntax
2. Check the Freeze_Req parameter in the EIO-configuration file.
71180:Incorrect configuration 71185:Duplicated name

- I/O Unit %s reports incorrect - The name %s has already been
configuration data. used. It has either been used as a
Check: BUS, TYPE, UNIT, or SIGNAL.
1. Check all Module parameters Check:
for the I/O Unit. 1. Remove one of the names
2. Restart the system. in the EIO-configuration file.
71181:Dsqc368 board missing.
Description\Reason: 71186:Illegal serial channel
- ProfiBus DP-master and DP-slave Description\Reason:
board is not connected or is. - The serial channel %s
not working properly. was not possible to create.
(internal info: %d). Check:
Check: 1. Remove the option from configuration.
1. Connect board.
2. Run board diagnostics. 71187:Abnormal rate of errors
3. Replace board. Description\Reason:
- An abnormal rate of errors
71182:Missing signal name on ProfiBus DP-master bus.
Description\Reason: Service IND: %s. Reason: %d
- A signal name was expected at posi- Check:
tion %d in cross-connection actor 1. Check bus connections
%s. 2. Check terminators.
Check:
1. Correct the cross-connection syntax 71188:PBUS disconnected
in the EIO-configuration file. Description\Reason:
2. Restart the system. - A major error on bus has been
detected on ProfiBus DP-master
71183:Missing logical operator bus.
- A logical operator was expected before 1. Check previous message for reason
%s in cross-connection actor 2. A restart is required.
%s.
Check:
1. Correct the cross-connection syntax
in the EIO-configuration file.

71189:Profibus bus param error 71195:Illegal I/O Unit

- Faulty bus parameters has been - The unit %s is not
downloaded into the Profibus system a configured unit
Parameter: %s. Value %d. Check:
Check: 1. Change the name to an existing unit
1. Change bus parameter 2. Add a new unit to the configuration
71190:Illegal module definition 71196:Invalid encoding type

- Unit %s has zero bytes input and - The encoding type: %s for
output according to the module physical signal %s-%d on unit %s
definitions. is invalid.
Check: Check:
1. Check all Module parameters 1. Change the encoding type in the
for the I/O Unit. configuration
71191:No receiver sync 71197:Signal bitswap error

- Profibus master synchronization error. - The NoOfBits and StartBit is not
Check: valid for bitswap on signal %s-%d
1. Check for short circuits at unit %s.
2. Check cable connections Check:
3. Check termination 1. Check that NoOfBits and StartBit
4. Bad shilding is valid for signal bitswap.
NoOfBits = 16 or 32
71192:Physical IO mapping error StartBit = even multiple of NoOfBits
Description\Reason:
- IO Mapping error on unit %s. 71198:Address out of range
Physical signal %s-%d Description\Reason:
overrides %s-%d - The address of bus %s is out of
Check: range.
1. Check configuration for physical Check:
signal mapping 1.Change the address
2.Check the address syntax
71193:Physical IO mapping error
Description\Reason: 71199:Baudrate out of range
- IO Mapping error on unit %s. Description\Reason:
Check: - The baudrate of bus %s is out of
1. Check configuration for physical range.
signal mapping Check:
1.Change the baudrate
71194:Illegal physical signal 2.Check the baudrate syntax
Description\Reason:
- Physical signal %d on unit %s.
is of type %s
it should be of type AI, AO, DI or DO
Check:
1. Check configuration for physical
signal type

71200:Invalid slave response 8 Arcweld error messages

Description\Reason:
- I/O Unit %s sends 110001: Gas supervision
invalid slave responses Check:
Check: Check the welding equipment.
1. Check User_Prm_Data
2. Restart the system. 110002:Water supervision
Check:
71201:Unknown bus Check the welding equipment.
Description\Reason:
- %s can not be found in the system 110003:Arc supervision
Check: Check:
1. Check the bus configuration Check the welding equipment.
2. Check the installed options.
110004:Voltage supervision
71202:Phys. value out of range Check:
Description\Reason: Check the welding equipment.
- Signal %s-%d at unit %s:
Physical Max is less or equal to 110005:Current supervision
Physical Min Check:
Check: Check the welding equipment.
1. Correct the values to be max
110006:Wirefeed supervision
greater than min
Check:
71203:Phys. value out of range Check the welding equipment.
Description\Reason:
110007:Wirestick supervision
- Signal %s-%d at unit %s:
Check:
HighAnalog is less or equal to
Check the welding equipment.
LowAnalog
Check: 110008:Arc ignition failed
1. Correct the values to be max Check:
greater than min Check the welding equipment.
71204:Phys. value out of range 110009:Schedule transfer error
- Signal %s-%d at unit %s: Define a weld schedule strobe input
HighDigital is less or equal to
LowDigital 110010:Schedule transfer error
Check: Check:
1. Correct the values to be max The schedule port was busy with previous
greater than min transfer.
71205:Could not mount directory 110011:Process stopped
Mounting directory %s Process was stopped by digital input.
on the computer %s failed
Protocol: %s. 110012:Arc fill ignition failed
Check: Check:
1. Check the FTP server setup Check the welding equipment.

110013:Torch supervision 110028:Torch supervision

Check: Seam name: %.16s
Check the welding equipment. Time from weld start: %.16s min
Check:
110021:Gas supervision Check the welding equipment.
Seam name: %.16s
Time from weld start: %.16s min 110029:Arc ignition failed
Check:
110022:Water supervision Check the welding equipment.
Seam name: %.16s
Time from weld start: %.16s min 110030:Arc fill ignition failed
Check:
110023:Arc supervision Check the welding equipment.
Seam name: %.16s
Time from weld start: %.16s min 110500:Arcitec welddata error
Check: Loading or storing welddata failed.
Check the welding equipment. Max allowed time for operation has
expired.
110024:Voltage supervision Check:
Seam name: %.16s Check external equipment.
Time from weld start: %.16s min
Check: 110501:Arcitec welddata error
Check the welding equipment. Storing welddata failed.
Check:
110025:Current supervision Check file path and external equipment.
Seam name: %.16s
Time from weld start: %.16s min 110502:Arcitec welddata error
Check: Loading welddata failed.
Check the welding equipment. Check:
Check file path and external equipment.
110026:Wirefeed supervision
Seam name: %.16s 110503:Switch is missing
Time from weld start: %.16s min One of the switch parameters %s
Check: or %s has to be defined.
Check the welding equipment. Check:
Define one of the switch parameters.
110027:Process stopped
Seam name: %.16s 110504:Value error
Time from weld start: %.16s min Argument %.16s must have an
Check: integer value.
Process was stopped by digital input. Check:
The value of the argument must be an
exact integer value. The current value
has a fraction part. Change value.

110505:Argument error 111007:Weave pattern error

Argument %s has a Weave pattern center dwell error
not allowed negative value. (0 - 1) [m]
Check: Check:
Set argument %s to positive. Adjust weave parameters
111000:Weave pattern error 111008:Weave pattern error

Weave interpolation type error Weave pattern right dwell error
[Geometric = 0, Rapid = 1] (0 - 1) [m]
Check: Check:
Adjust weave parameters Adjust weave parameters
111001:Weave pattern error 111009:Weave pattern error

Weave pattern shape error Weave pattern bias error
[No shape = 0, Zig-zag shape = 1] (-1 - 1) [m]
[V-shape = 2, Triangular shape = 3] Check:
Check: Adjust weave parameters
Adjust weave parameters
111010:Weave pattern error
111002:Weave pattern error Weave pattern direction angle error
Weave pattern cycle length error (-PI/2 - PI/2) [rad]
(0 - 1) [m] Check:
111003:Weave pattern error Weave pattern tilt angle error
Weave pattern cycle time error (-PI/2 - PI/2) [rad]
(0 - 100) [s] Check:
111004:Weave pattern error Weave pattern rotation angle error
Weave pattern width error (-PI/2 - PI/2) [rad]
(0 - 1) [m] Check:
111005:Weave pattern error Weave pattern horizontal offset error
Weave pattern height error (-1 - 1) [m]
(0 - 1) [m] Check:
111006:Weave pattern error Weave pattern vertical offset error
Weave pattern left dwell error (-1 - 1) [m]
(0 - 1) [m] Check:

111015:Weave pattern error 112500:Arcweld MMC

Weave pattern sync condition left error Original value is zero.
(0 - 100) [%] Revert causes present value to be zero.
Check: Revert to zero is prohibited.
Adjust weave parameters Check:
Revert to zero can be performed from
111016:Weave pattern error the ArcWare menu when the program is
Weave pattern sync condition right error stopped.
(0 - 100) [%]
Check: 113000:Equipment config error
Adjust weave parameters Check:
AW and EIO configurations do not match
Forbidden combination of bias and shape 114000:Weldguide error
Bias only allowed for Zig-zag shape Check:
Check: Check weldguide parameters
Adjust weave parameters and equipment
111018:Weave pattern error 115000:Arcitec Data Error

Forbidden combination of bias and width Invalid parameter_id: %.16s
Bias must be less than half the width detected.
Check: Check:
Adjust weave parameters Check Arcitec configuration file or
Power Source external communication.
Forbidden combination of dwells and 115001:Arcitec Data Error
cycle length Invalid unit_id: %.16s
Dwells must be less than cycle length detected.
Ramp slope (amplitude/length) is limited Check:
Check: Check Arcitec configuration file or
Adjust weave parameters Power Source external communication.
112000:Board eipaw error 115002:Arcitec Data Error

Incorrect digital output length Invalid transmission length:
Check: %.16s detected.
Change digital output length to 1 Check:
Check Arcitec configuration file or
112001:Board eipaw error Power Source external communication.
Incorrect schedule port length
Check: 115003:Arcitec Data Error
Change shedule port length to %.16s Invalid selection_id: %.16s
detected.
112003:Board eipaw error Check:
Incorrect wirefeeder port length Check Arcitec configuration file or
Check: Power Source external communication.
Change length
112004:Board eipaw error

Schedule number zero is not allowed.
Previous number will still be active.

115004:Arcitec Data Error 117003:Welding equipment error

Arcitec systems with different units. External RAM read/write error in
%.16s and %.16s. Welddata Unit detected at power up.
Check: Check:
Check Arcitec configuration file. At least one memory cell in external
microprocessor memory failed in read
115005:Arcitec Data Error /write test. Running with this error
Units not defined for Arcitec system. gives unpredictable result.
Check: Replace Welddata Unit.
Check Arcitec configuration file.
117004:Welding equipment error
115006:Arcitec Data Error DC supply voltage for 5 Volt regulator
Illegal number: %.16s in Welddata Unit has been down.
of tuning parameters. Check:
Check: Indicates that there is a problem in
Check Arcitec configuration file. power supply but the function is
probably not affected. Check incoming
116000:Track error power supply to Welddata Unit.
Check:
Check joint definition 117012:Welding equipment error
Welddata Unit CAN-controller for
116001:Track start error internal bus is in WARNING state.
Check: Check:
Check joint definition Change data several times or reset
116002:Track max path corr error welding equipment with power switch.
Check: If the error do not disappear, check
Check joint definition bus connections and/or exchange
Welddata Unit.
116003:Track communication error
Check: 117013:Welding equipment error
Check hardware Welddata Unit CAN-controller for
external bus is in WARNING state.
117001:Welding equipment error Check:
EPROM checksum error in Welddata Unit Change data several times or reset
detected at power up. welding equipment with power switch.
Check: If the error do not disappear, check
EPROM in Welddata Unit is faulty. bus connections and/or exchange
Running with this error gives Welddata Unit.
unpredictable result.
Exchange EPROM. 117014:Welding equipment error
Welddata Unit CAN-controller for
117002:Welding equipment error internal bus is in BUS-OFF state.
Internal RAM read/write error in Check:
Welddata Unit detected at power up. Reset welding equipment with power
Check: switch. If the error do not disappear,
At least one memory cell in internal check bus connections and/or exchange
microprocessor memory failed in read Welddata Unit.
/write test. Running with this error
gives unpredictable result.
Replace Welddata Unit.

117015:Welding equipment error 117020:Welding equipment error

Welddata Unit has detected that a Non-volatile RAM data value failure
received internal CAN message was lost detected in Welddata Unit at power up.
(Overwritten by a later message). Non numeric setting parameter out of
Check: range.
Reset welding equipment with power Check:
switch. Welding equipment will be reset to a
default state. Data in Welddata Unit
117016:Welding equipment error will be lost. Possible to run without
Welddata Unit has detected that a limitations.
received external CAN message was lost
(Overwritten by a later message). 117021:Welding equipment error
Check: Invalid combination of non-numeric
Reset welding equipment with power setting parameters in Welddata Unit
switch. detected at power up.
Check:
117017:Welding equipment error Welding equipment will be reset to a
Welddata Unit lost contact with default state. Data in Welddata Unit
Wirefeed Unit. will be lost. Reset welding equipment
Check: with power switch.
Check connection cable between Welddata
Unit and wirefeed control board, check 117022:Welding equipment error
power supply to wirefeed control board. CAN-bus (external) transmit buffer
overflow in Welddata Unit.
Welddata Unit has lost contact with Welddata Unit are unable to transmit
Olivia Unit. data at the needed rate. Could be
Check: caused by unnormal occupation on the
Check connection cable between bus. Reset welding equipment with
Welddata Unit and Olivia unit, check power switch.
power supply to Olivia Unit
117019:Welding equipment error CAN-bus (external) receive buffer
Non-volatile RAM data value failure overflow in Welddata Unit.
detected in Welddata Unit at power up. Check:
Checksum error. Welddata Unit are unable to process
Check: received messages at the needed rate.
Probably caused by low memory backup Reset welding equipment with power
battery voltage. Welding equipment switch.
will be reset to a default state. Data
in Welddata Unit will be lost. 117024:Welding equipment error
Possible to run without limitations. Fragments not in number order when
Welddata Unit received a fragmented
message.
Check:
The parts of a fragmented message were
not received in proper order. A weld
data block transmission has been faulty
received. Reset welding equipment with
power switch.

117025:Welding equipment error 117202:Welding equipment error.

Incompatible format of weld data block. Internal RAM read/write error in
Welddata Unit received data that is Powersource Control Unit detected at
stored in another program version with power up.
other format version. Check:
Check: At least one memory cell in internal
Find data with correct version or enter microprocessor memory failed in read
new data. /write test. Running with this error
117026:Welding equipment error Replace Powersource Control Unit.
Program execution error.
Watch dog in Welddata Unit program 117204:Welding equipment error
activated. DC supply voltage to 5 Volt regulator in
Check: Powersource Control Unit has been down.
Reset welding equipment with Check:
power switch. Indicates that there is a problem in
power supply but the function is
117027:Welding equipment error probably not affected. Check incoming
Undocumented Welddata Unit error. power supply to Powersource Control Unit
Check:
Request additional information from 117205:Welding equipment error
ESAB/ABB. High DC inverter bus voltage. Hardware
will shut down inverter till voltage
117028:Welding equipment error comes down to normal.
Undocumented Welddata Unit error. Check:
Check: Might be caused by high mains impedance
Request additional information from or transients, possible to restart
ESAB/ABB. welding as soon as voltage has dropped
below limit.
Undocumented Welddata Unit error. 117206:Welding equipment error
Check: Temperature in power source heatsink too
Request additional information from high. Inverter is shut down until
ESAB/ABB. temperature switch is closed again.
Check:
117201:Welding equipment error Ensure that there is no obstacle that
EPROM checksum error in Powersource reduces the cooling airflow that passes
Control Unit. through the heatsink of the powersource.
Check: Wait until temperature switch is closed.
EPROM in Powersource Control Unit is
faulty. Running with this error gives 117207:Welding equipment error
unpredictable result. High current in inverter circuit. Might
Replace EPROM. be caused by component failure.
Check:
Reset welding equipment with power
switch. Check that the power source does
not consume unnormal high current
without start command. If so: there is
a component failure.


PCB supply voltage 15VC on Powersource Program execution error.
Control Unit to high or to low. Watch dog in Powersource Control Unit
Check: program activated.
Replace Powersource Control Unit. Check:
Reset welding equipment with
117209:Welding equipment error power switch.
PCB supply voltage -15V on Powersource
Control Unit to high or to low. 117227:Welding equipment error
Check: Undocumented Powersource Control Unit
Replace Powersource Control Unit. error.
Check:
117210:Welding equipment error Request additional information from
PCB supply voltage 15VB on Powersource ESAB/ABB.
Control Unit to high or to low.
Replace Powersource Control Unit. Undocumented Powersource Control Unit
error.
Long term difference between requested Request additional information from
and actual weld current value. ESAB/ABB.
Check:
Hardware problem in current servo system 117229:Welding equipment error
(Power source control board or inverter Undocumented Powersource Control Unit
block) or unnormal load conditions error.
(= bad welding). Check:
Request additional information from
117212:Welding equipment error. ESAB/ABB.
Internal CAN communication failure CAN
circuits in Powersource Control Unit 117301:Welding equipment error
is in WARNING state. EPROM checksum error in Wirefeed unit
Check: detected at power up.
Change data several times or reset Check:
welding equipment with power switch. If EPROM in Wirefeed unit is faulty.
the error do not disappear, check bus Running with this error gives
connections and/or exchange Powersource unpredictable result.
Control Unit. Exchange EPROM.

Powersource Control Unit has detected Internal RAM read/write error in
that a received internal CAN message was Wirefeed Unit detected at power up.
lost (overwritten by a later message). Check:
Check: At least one memory cell in internal
Reset welding equipment with power microprocessor memory failed in read
switch. /write test. Running with this error
Replace Wirefeed Unit.


DC supply voltage for 5 Volt regulator Wirefeed Unit has detected that a
in Wirefeed Control Unit has been down. received internal CAN message was lost
Check: (overwritten by a later message).
Indicates that there is a problem in Check:
power supply but the function is Reset welding equipment with power
probably not affected. Check incoming switch.
power supply to Wirefeed Control Unit.
Reset welding equip. with power switch.11 117326:Welding equipment error
Program execution error.
117308:Welding equipment error Watch dog in Wirefeed Unit program
PCB supply voltage 15V on Wirefeed activated.
Control Unit to high or to low. Check:
Check: Reset welding equipment with
Check incoming power supply from power switch.
transformer. Reset the welding equipment
with power switch. If the error do not 117327:Welding equipment error
disappear, replace Wirefeed Control Unit Undocumented Wirefeed Unit error.
Check:
117309:Welding equipment error Request additional information from
PCB supply voltage 24V on Wirefeed ESAB/ABB.
Control Unit to high or to low.
Check incoming power supply from Undocumented Wirefeed Unit error.
transformer. Reset the welding equipment Check:
with power switch. If the error do not Request additional information from
disappear, replace Wirefeed Control Unit ESAB/ABB.

Long term difference between requested Undocumented Wirefeed Unit error.
and actual wirefeed velocity. Speed Check:
fault, speed deviated > 1.5 m/min Request additional information from
during time longer than time in ESAB/ABB.
configuration
117500:File error
Check:
Failed open file.
Check MotorControlErrorTimeLimit in
File name unknown.
Wirefeed Control configuration.
Check:
Hardware problem in wirefeed servo
Check file name.
system or voltage drop in 42 V AC
supply. 117501:File error
Failed writing to file.
Check:
Internal CAN communication failure
Check file name.
CAN circuits in Wirefeed Unit is in
WARNING state. 117502:File error
Check: Failed reading from file.
Change wirefeed speed several times Check:
or reset welding equipment with power Check file name.
switch. If the error do not disappear,
check bus connections and/or exchange
Wirefeed Unit.

117503:Illegal schedule number 119000:Installation error

Schedule number %.16s External axes are not allowed in this
is not allowed. type of robot configuration
Check: Check:
Change schedule number. Remove mechanical units
117504:Communication error 119500:Communication failure

Message header form Arcitec Master slave data transfer failed
power source unknown. Check:
Check: Restart the robots
Check connection to power source.
Check Arcitec configuration file. 119501:Master slave IO error
%.16s is not defined
Arcitec power source is not responding. Check configuration
Check:
Check connection to power source. 119502:Master slave missmatch
Both robots master in seam %.10s
Messages from Arcitec power source are Check robot programs
not possible to evaluate.
Messages are too short. 119503:Master slave missmatch
Check: Both robots slave in seam %.10s
Check connection to power source. Check:
Check Arcitec configuration file. Check robot programs
118000:Ext CAN com failure 119504:Start point missmatch

Too many requests without response in seam %.10s
Check: Check:
Check communication configuration Check robot programs
118500:Arcitec tuning error 119505:End point missmatch

There are no Arcitec system defined. in seam %.10s
Check: Check:
Define Arcitec system or do not write Check robot programs
towards Power Source.
119506:To short execution time
118501:Arcitec tuning error in seam %.10s
Parameter does not exist. Check:
Check: Check robot programs
Change parameter identity.
119507:Restart not possible
118502:Arcitec tuning error Restart not possible after switching
Parameter must be numerical. mech units.
Check: Move the PP before starting
Change parameter identity.
119508:Weld speed modified
118503:Arcitec tuning error in MsArc instruction %.10s of seam %.10s
Parameter value outside limits. Programmed, Actual: %.20s
Check:
Change parameter value.

119509:External axis modified 120014:Error Number %d

in MsArc instruction %.10s of seam %.10s Check:
Programmed, Actual: %.20s See Nc gun manual
119510:Seam name not found 120057:Gun jog. forbidden

Seam %.20s not found Gun jogging is not allowed
Check: when axis not synchronised
Check the seam setup table Check:
1.Axis calibration state
9 Spotweld error messages
120058:Gun Calibration Ok
120001: Spot weld system error
120060:Gun Position Error
Spot weld proc not idle
Gun cant reach the position
Check:
reference
Set the process state defined by SwInit
Check:
to idle
1.The drive for power on
120002: Spot weld system error 2.The encoder
Parameter %s 3.Mechanical parts or stuck tips
120003:SwStart Timeout negative 120061:Gun refer. overrun

Swit timer cant consume
120004:SwInit Interrupt negative the position reference received
Check:
120005:ProcId. The reason is: 1.Swit timer is welding and a move
-ProcId does not correspond to the instr. is executing concurrently
value given from SwInit
-The spot weld process has been 120062:Gun Force error
cancelled Gun cant apply the force
reference
120006:Spot weld comm. error Check:
Reason: %s 1.Make a gun init
2.Drive and force sensor calibration
120007:Comm. error
Response slower than poll rate 120063:Gun Refer. underrun
Swit timer has no more
120008:No more BOSCH connection reference to consumme
120010:Spot gun error Check:
Reason:%s 1.Serial link and comm log error
120011:Spot gun bad config. 120064:Gun Force sensor fault

Reason: %s force sensor out of
order
120012:IO signal missing Check:
Check: 1.Force sensor wiring
1.Configure the mandatory 2.Change sensor
signals used
120065:Gun motor overcurrent
120013:PERS var missing motor current too great
the swtimer.sys module doesnt Check:
fit with this kind of gun 1.Drive calibration
Check: 2.Mechanical unit or obstacle
2.Replace it
120066:Gun reference fault 130003:Trig plane error

gap between references In PaintL %s: One trig plane, %s,
too great are defined outside the programmed
Check: path.
1.Robot or gun calibration Check:
2.Gun position Change eventdata or reprogram path.
120067:Gun command not allowed 130004:Trig plane error

Motion forbidden during In PaintL %s: Two trig planes, %s
an action and %s, are defined outside the
Check: programmed path.
1.Wait until the end of Check:
the action before ordering new one Change eventdata or reprogram path.
120070:Gun drive fault 130005:Trig plane error

fault detected by drive unit In PaintL %s: Three trig planes, %s,
Check: %s, and %s, are defined outside the
1.drive unit leds programmed path.
Check:
120075:Gun encoder error Change eventdata or reprogram path.
Check:
1.Encoder wring 130006:Trig plane error
In PaintL %s: Four trig planes, %s,
120084:Gun wrong pos computed %s, %s and %s, are defined outside the
inconsystency between revolution programmed path.
counter and encoder value Check:
Check: Change eventdata or reprogram path.
1.Drive and swit measurement bus
2.Make a gun first init 130007:Trig plane error
In PaintL %s: Four trig planes, %s,
120085:Gun revol. counter error %s, %s and %s and more are defined
Check: outside the programmed path.
1.Encoder wiring Check:
Change eventdata or reprogram path.
120090:Gun not calibrated
No calibration done or lost 131000:Argument error.
Check: The argument is not an integer.
1.Make a gun first init Check:
Change the argument to an integer.
10 Paint error messages.
131001:Argument error.
130001: Equipment error. The argument is not an array.
Paint process and motion stopped. Check:
Check: Change the argument to an array.
Check the paint equipment.
130002:Equipment error The argument is not a persistent
Paint process stopped. variable.
Check: Check:
Check the paint equipment. Change the argument to a persistent.

The array argument has too many
dimensions.
Check:
Change the array to one dimension.
131004:Brush table error.

Only brush table %s is allowed.
Check:
Change to allowed brush table.
131005:Brush number error.

Only brush numbers less than or
equal to %s is allowed.
Check:
Change to allowed brush number.
132000:Brush number error.

The brush number is outside the limits
for the activated brush table.
Check:
Change argument within limits.
132001:Brush table error.

There is no brush table activated.
Check:
Activate a brush table.
132500:Unable to open symbol.

Output for symbol %s not found.
NOTE: No paint-related outputs availa-
ble
due to this error.
Check:
1. Output for symbol not defined.
2. Output for symbol has wrong name.
3. Internal problem (memory etc..)
Try a restart.
132501:Paint System not inst.

Paint System not available
or not installed.
Check:
PaintWare process not activated, due to
incomplete Paint System configuration.
1. Use IPS option diskette to install.
2. Custom-configure Paint System
using the Teach Pendant.


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System and Error Messages

1 Operational error messages ........................................................................................... 7

Users Guide/BaseWare OS 4.0 16-5

1 Operational error messages

10005:Program stopped 10015:Manual mode selected

Users Guide/BaseWare OS 4.0 16-7

10030:All axes commutated 10049:Protected area not finish

10036:Rev counter not updated 10051:Event routine error

10041:Program erased 10053:Regain ready

16-8 Users Guide/BaseWare OS 4.0

10071:Backup error 10081:Background task %s

10087:Purge state: %s.

Users Guide/BaseWare OS 4.0 16-9

2 System error messages 20050:Not allowed command

20076:Not allowed command 20112:Program 1 in ctrl

20081:Not allowed command 20114:Program 3 in ctrl

20102:Teachp (joystick) in ctrl 20131:Unable to read file

Users Guide/BaseWare OS 4.0 16-11

20133:Cannot modify instance 20143:Start main rejected.

20135:Line too long 20147:Load and start rejected.

16-12 Users Guide/BaseWare OS 4.0

20153:Mot. On, Start rejected. 20162:Write error

Users Guide/BaseWare OS 4.0 16-13

20172:SYS_FAIL 20207:Backplane Enable open

16-14 Users Guide/BaseWare OS 4.0

20221:Chain conflict 20228:Ordered ES conflict

Users Guide/BaseWare OS 4.0 16-15

20235:Immediate AS conflict 20251:Transformer temp. high

16-16 Users Guide/BaseWare OS 4.0

20261:Strings to long 20305:Fan stopped

Users Guide/BaseWare OS 4.0 16-17

20314:AXC EN Supervision fault 20552:Manipulator fault

20501:HW Motor On relay open 20554:Collition sensor active

20551:Purge system fault 3 Hardware error messages

16-18 Users Guide/BaseWare OS 4.0

31138:Overflow serial console 31215:Floppy Disk Error

31203:Floppy Disk Error 31217:Floppy Disk Error

31206:Floppy Disk Error 31219:Floppy Disk Error

Users Guide/BaseWare OS 4.0 16-19

31223:Floppy Disk Error 31403:DMA error

31227:Floppy Disk Error 31411:Axis computer error

16-20 Users Guide/BaseWare OS 4.0

31605:Memory error IO-computer 33159:Manual Mode Speed Warning

32248:Mailbox 2 interrupt error 33201:Axis cpu Read Error

33211:Position Control Underrun

Users Guide/BaseWare OS 4.0 16-21

33212:DMA Time out Error 33312:Axis computer error

16-22 Users Guide/BaseWare OS 4.0

33404:Over writing drive sys. 33409:Access violation.

Users Guide/BaseWare OS 4.0 16-23

33415:Drive system error 33504:Axis computer not found

33503:Axis computer synch fail

16-24 Users Guide/BaseWare OS 4.0

33509:Message queue error 37001:Contactor activate Error

37013:Main computer error

Users Guide/BaseWare OS 4.0 16-25

37014:Main computer error 37027:Main computer error

37015:Main computer error 37028:Main computer error

37016:Main computer error 37029:Main computer error

37017:Main computer error 37030:Main computer error

37018:Main computer error 37031:Main computer error

37019:Main computer error 37032:Main computer error

37020:Main computer error 37033:Main computer error

37021:Main computer error 37034:Main computer error