ROBOTICS Operatingmanual TroubleshootingIRC5...Overviewofthismanual Aboutthismanual Thismanualcontainsinformation,proceduresanddescriptions,fortroubleshooting IRC5basedrobotsystems

ROBOTICS

Operating manualTroubleshooting IRC5

Trace back information:Workspace R18-2 version a12Checked in 2018-10-16Skribenta version 5.3.008

Operating manualTroubleshooting IRC5

RobotWare 6.08

Document ID: 3HAC020738-001Revision: AA

© Copyright 2005-2018 ABB. All rights reserved.Specifications subject to change without notice.

The information in this manual is subject to change without notice and should notbe construed as a commitment by ABB. ABB assumes no responsibility for any errorsthat may appear in this manual.Except as may be expressly stated anywhere in this manual, nothing herein shall beconstrued as any kind of guarantee or warranty by ABB for losses, damages topersons or property, fitness for a specific purpose or the like.In no event shall ABB be liable for incidental or consequential damages arising fromuse of this manual and products described herein.This manual and parts thereof must not be reproduced or copied without ABB'swritten permission.Keep for future reference.Additional copies of this manual may be obtained from ABB.

Original instructions.


ABB AB, RoboticsRobotics and MotionSe-721 68 Västerås

Sweden

Table of contents7Overview of this manual ...................................................................................................................

111 Safety111.1 Safety signals in the manual ................................................................................131.2 Safety symbols on product labels .........................................................................191.3 Safety symbols on controller labels ......................................................................231.4 Safety during troubleshooting ..............................................................................241.5 Applicable standards .........................................................................................261.6 Safety tools ......................................................................................................271.7 Safe troubleshooting ..........................................................................................271.7.1 Robot without axes' holding brakes are potentially lethal ................................281.7.2 Live voltage inside Drive Module ................................................................301.7.3 Hot parts may cause burns .......................................................................

312 Introduction to troubleshooting312.1 Overview of troubleshooting ................................................................................332.2 Standard toolkit ................................................................................................342.3 Tips and tricks while troubleshooting ....................................................................342.3.1 Troubleshooting strategies ........................................................................362.3.2 Work systematically .................................................................................372.3.3 Keeping track of history ............................................................................382.4 Filing an error report ..........................................................................................

413 Troubleshooting by fault symptoms413.1 Start-up failures ................................................................................................433.2 Controller not responding ...................................................................................443.3 Low controller performance .................................................................................463.4 All LEDs are off at controller ................................................................................483.5 No voltage in service outlet .................................................................................503.6 Problem starting the FlexPendant .........................................................................513.7 Problem connecting FlexPendant to the controller ...................................................523.8 Erratic event messages on FlexPendant ................................................................533.9 Problem jogging the robot ...................................................................................543.10 Reflashing firmware failure ..................................................................................553.11 Inconsistent path accuracy .................................................................................563.12 Mechanical noise or dissonance ..........................................................................583.13 Manipulator crashes on power down .....................................................................593.14 Problem releasing Robot brakes ..........................................................................613.15 Intermittent errors .............................................................................................623.16 Force starting of Boot Application ........................................................................

634 Troubleshooting by unit634.1 Troubleshooting LEDs in the controller ..................................................................654.2 Troubleshooting the FlexPendant .........................................................................664.3 Troubleshooting communications .........................................................................674.4 Troubleshooting fieldbuses and I/O units ...............................................................684.5 Troubleshooting the computer unit .......................................................................704.6 Troubleshooting the panel board ..........................................................................724.7 Troubleshooting the drive system .........................................................................744.8 Troubleshooting the axis computer .......................................................................764.9 Troubleshooting the system power supply .............................................................814.10 Troubleshooting the power distribution board .........................................................864.11 Troubleshooting the contactor interface board ........................................................884.12 Troubleshooting the customer I/O power supply .....................................................

Operating manual - Troubleshooting IRC5 53HAC020738-001 Revision: AA

© Copyright 2005-2018 ABB. All rights reserved.

Table of contents

915 Troubleshooting by event log915.1 Event log messages ..........................................................................................925.2 How to read RAPID event log messages ................................................................945.3 1 xxxx .............................................................................................................

1205.4 2 xxxx .............................................................................................................1605.5 3 xxxx .............................................................................................................2125.6 4 xxxx .............................................................................................................3255.7 5 xxxx .............................................................................................................3665.8 7 xxxx .............................................................................................................4055.9 9 xxxx .............................................................................................................4505.10 11 xxxx ............................................................................................................5385.11 12 xxxx ............................................................................................................5415.12 13 xxxx ............................................................................................................5805.13 15 xxxx ............................................................................................................5815.14 17 xxxx ............................................................................................................

5836 Circuit diagrams5836.1 Circuit diagrams ................................................................................................

587Index

6 Operating manual - Troubleshooting IRC53HAC020738-001 Revision: AA


Table of contents

Overview of this manualAbout this manual

This manual contains information, procedures and descriptions, for troubleshootingIRC5 based robot systems.

UsageThis manual should be used whenever robot operation is interrupted by malfunction,regardless of whether an error event log message is created or not.

Who should read this manual?This manual is intended for the following personnel:

• Machine and robot operators qualified to perform very basic troubleshootingand reporting to service personnel.

• Programmers qualified to write and change RAPID programs.• Specialized troubleshooting personnel, usually very experienced service

personnel, qualified for methodically isolating, analyzing and correctingmalfunctions within the robot system.

PrerequisitesThe reader should:

• Have extensive experience in troubleshooting industrial electro-mechanicalmachinery.

• Have in depth knowledge of the robot system function.• Be familiar with the actual robot installation at hand, its surrounding

equipment and peripherals.

References

Document IDReference:

3HAC021313-001Product manual - IRC5IRC5 of design M2004

3HAC047136-001Product manual - IRC5IRC5 of design 14

3HAC027098-001Operating manual - Emergency safety information

3HAC031045-001Operating manual - General safety information

3HAC050941-001Operating manual - IRC5 with FlexPendant

3HAC032104-001Operating manual - RobotStudio

3HAC027097-001Operating manual - Getting started, IRC5 and RobotStudio

3HAC050948-001Technical reference manual - System parameters

3HAC050961-001Application manual - MultiMove

The product documentation is available in several languages.

Continues on next pageOperating manual - Troubleshooting IRC5 73HAC020738-001 Revision: AA


Overview of this manual

Revisions

DescriptionRevision

First edition.-

Information has been added.AThe document has been partly restructured.

Information on how to submit error report has been changed.BInformation on RAPID change logs have been added.Event log messages have been added.

Updated Event log messages.C

Updated Event log messages.D

Updated Event log messages.E

Minor corrections. Updated Event log messages.F

Minor corrections. Updated Event log messages.G

New information in section Serial Measurement Unit regarding the batterypack.

H

More detailed information about troubleshooting power supplies DSQC604, 661 and 662.Removed safety I/O signals: DRV1PANCH1, DRV1PANCH2, DRV1SPEED.New drive system introduced. Drive System 04 and Drive System 09 areboth described.

Released with RobotWare 5.13.JThe chapter Safety updated with:

• Updated safety signal graphics for the levels Danger and Warning,see Safety signals in the manual on page 11.

• New safety labels on the manipulators, see Safety symbols onproduct labels on page 13.

• Updated the graphic in the section Live voltage inside Drive Moduleon page 28.

The contents in the following sections were updated:• Corrections regarding drive system information in chapter Descrip-

tions and background information.• Restructured the chapters as per the new document startergy.• Updated the graphic in the Recommended actions of the section No

voltage in service outlet on page 48.• Updated the Possible causes in the section Problem starting the

FlexPendant on page 50.• Updated the graphics in the section LEDs in the Control Module.• Updated the graphic in Possible causes of the section Problem re-

leasing Robot brakes on page 59.

Updated Event log messages.K

Released with RobotWare 5.14.LEvent number series on page 92 added.

Released with RobotWare 5.14.02.MUpdated Event log messages.

Released with RobotWare 5.15.NUpdated Event log messages.

Released with RobotWare 5.15.01.PUpdated the section Overview of troubleshooting on page 31.

Continues on next page8 Operating manual - Troubleshooting IRC5

3HAC020738-001 Revision: AA© Copyright 2005-2018 ABB. All rights reserved.

Overview of this manualContinued

DescriptionRevision

Released with RobotWare 5.60.• The document has been partly restructured.• New main computer DSQC1000 is introduced.• Old main computer DSQC 639 is removed throughout the manual.• The dual controller is removed throughout the manual.• Updated Event log messages.

Q

Released with RobotWare 5.61.• Added a note in the section Event number series on page 92.• Added Slovenian Event log messages.• Added the Event log message io_elogtext.xml.• Updated the name of the connectors and other minor updates in

Troubleshooting the system power supply on page 76 andTroubleshooting the power distribution board on page 81.

R

Released with RobotWare 6.0.• Added information on Restarting a locked FlexPendant on page 65.• Added information on Type of event log messages on page 91.• Added the Event log message pymc_elogtext.xml.

S

Released with RobotWare 6.01.• Added the description of event log message types. See Type of

event log messages on page 91.• Added a note on the possibility of a slight difference between the

English event logs and translated event logs in Type of event logmessages on page 91.

T

Released with RobotWare 6.02.• Added Safety tools on page 26.

U

Released with RobotWare 6.03.• Added event logs for functional safety, see 9 xxxx on page 405.• Added event logs for Connected Service Embedded, see 17 xxxx

on page 581.

V

Released with RobotWare 6.04.• Updated event logs for RobotWare 6.04.

W

Released with RobotWare 6.05.• New main computer DSQC1024 is introduced.• Updated event logs for RobotWare 6.05. Added the event logs for

Integrated Vision.

X

Released with RobotWare 6.06.• Updated event logs for RobotWare 6.06.• Removed main computer DSQC1024.

Y

Released with RobotWare 6.07.• Updated event logs for RobotWare 6.07.• Safety section restructured.

Z

Released with RobotWare 6.08.• Updated event logs for RobotWare 6.08.

AA



Overview of this manualContinued

This page is intentionally left blank

1 Safety1.1 Safety signals in the manual

Introduction to safety signalsThis section specifies all safety signals used in the user manuals. Each signalconsists of:

• A caption specifying the danger level (DANGER, WARNING, or CAUTION)and the type of danger.

• A brief description of what will happen if the the danger is not eliminated.• Instruction about how to eliminate danger to simplify doing the work.

Danger levelsThe table below defines the captions specifying the danger levels used throughoutthis manual.

SignificanceDesignationSymbol

Warns that an accident will occur if the instructionsare not followed, resulting in a serious or fatal injuryand/or severe damage to the product. It applies towarnings that apply to danger with, for example,contact with high voltage electrical units, explosionor fire risk, risk of poisonous gases, risk of crushing,impact, fall from height, and so on.

DANGER

Warns that an accident may occur if the instructionsare not followed that can lead to serious injury, pos-sibly fatal, and/or great damage to the product. Itapplies to warnings that apply to danger with, forexample, contact with high voltage electrical units,explosion or fire risk, risk of poisonous gases, riskof crushing, impact, fall from height, etc.

WARNING

Warns for electrical hazards which could result insevere personal injury or death.

ELECTRICALSHOCK

Warns that an accident may occur if the instructionsare not followed that can result in injury and/ordamage to the product. It also applies to warningsof risks that include burns, eye injury, skin injury,hearing damage, crushing or slipping, tripping, im-pact, fall from height, etc. Furthermore, it applies towarnings that include function requirements whenfitting and removing equipment where there is a riskof damaging the product or causing a breakdown.

CAUTION

Warns for electrostatic hazards which could resultin severe damage to the product.

ELECTROSTATICDISCHARGE (ESD)



1 Safety1.1 Safety signals in the manual

SignificanceDesignationSymbol

Describes important facts and conditions.NOTE

Describes where to find additional information orhow to do an operation in an easier way.

TIP



1 Safety1.1 Safety signals in the manualContinued

1.2 Safety symbols on product labels

Introduction to labelsThis section describes safety symbols used on labels (stickers) on the product.Symbols are used in combinations on the labels, describing each specific warning.The descriptions in this section are generic, the labels can contain additionalinformation such as values.

Note

The safety and health symbols on the labels on the product must be observed.Additional safety information given by the system builder or integrator must alsobe observed.

Types of labelsBoth the manipulator and the controller are marked with several safety andinformation labels, containing important information about the product. Theinformation is useful for all personnel handling the robot, for example duringinstallation, service, or operation.The safety labels are language independent, they only use graphics. See Symbolson safety labels on page 13.The information labels can contain information in text (English, German, andFrench).

Symbols on safety labels

DescriptionSymbol

Warning!

xx0900000812

Warns that an accident may occur if the instructions are notfollowed that can lead to serious injury, possibly fatal, and/orgreat damage to the product. It applies to warnings that applyto danger with, for example, contact with high voltage electricalunits, explosion or fire risk, risk of poisonous gases, risk ofcrushing, impact, fall from height, etc.

Caution!

xx0900000811

Warns that an accident may occur if the instructions are notfollowed that can result in injury and/or damage to the product.It also applies to warnings of risks that include burns, eye injury,skin injury, hearing damage, crushing or slipping, tripping, im-pact, fall from height, etc. Furthermore, it applies to warningsthat include function requirements when fitting and removingequipment where there is a risk of damaging the product orcausing a breakdown.

Prohibition

xx0900000839

Used in combinations with other symbols.



1 Safety1.2 Safety symbols on product labels

DescriptionSymbol

See user documentation

xx0900000813

Read user documentation for details.Which manual to read is defined by the symbol:

• No text: Product manual.• EPS: Application manual - Electronic Position Switches.

Before disassemble, see product manual

xx0900000816

Do not disassemble

xx0900000815

Disassembling this part can cause injury.

Extended rotation

xx0900000814

This axis has extended rotation (working area) compared tostandard.

Brake release

xx0900000808

Pressing this button will release the brakes. This means thatthe robot arm can fall down.



1 Safety1.2 Safety symbols on product labelsContinued

DescriptionSymbol

Tip risk when loosening bolts

xx0900000810

The robot can tip over if the bolts are not securely fastened.

xx1500002402

Crush

xx0900000817

Risk of crush injuries.




Continued

DescriptionSymbol

Heat

xx0900000818

Risk of heat that can cause burns. (Both signs are used)

3H

AC

44

31

-1/0

6

!

xx1300001087

Moving robot

1

2

34

56

xx0900000819

The robot can move unexpectedly.

xx1000001141

1

2 3

4

xx1500002616




DescriptionSymbol

Brake release buttons

xx0900000820

xx1000001140

Lifting bolt

xx0900000821

Chain sling with shortener

xx1000001242

Lifting of robot

xx0900000822

Oil

xx0900000823

Can be used in combination with prohibition if oil is not allowed.

Mechanical stop

xx0900000824




Continued

DescriptionSymbol

No mechanical stop

xx1000001144

Stored energy

xx0900000825

Warns that this part contains stored energy.Used in combination with Do not disassemble symbol.

Pressure

xx0900000826

Warns that this part is pressurized. Usually contains additionaltext with the pressure level.

Shut off with handle

xx0900000827

Use the power switch on the controller.

Do not step

xx1400002648

Warns that stepping on these parts can cause damage to theparts.




1.3 Safety symbols on controller labels

Introduction to labelsThis section describes safety symbols used on labels (stickers) on the controller.Symbols are used in combinations on the labels, describing each specific warning.The descriptions in this section are generic, the labels can contain additionalinformation such as values.

Note

The safety and health symbols on the labels on the product must be observed.Additional safety information given by the system builder or integrator must alsobe observed.

Types of labelsBoth the manipulator and the controller are marked with several safety andinformation labels, containing important information about the product. Theinformation is useful for all personnel handling the robot, for example duringinstallation, service, or operation.The information labels can contain information in text (English, German, andFrench).

Symbols on safety labels

DescriptionLabel

Electrical shock

xx1400001151

ESD sensitive components inside the controller.

xx1400001162

Disconnect power supply before servicing the controller.

xx1400001161

Disconnect power supply before servicing the controller (onlyfor welding equipment).

xx1400001160

Disconnect power supply before servicing the controller (forcontrollers without UL mains switch).

xx1700000354



1 Safety1.3 Safety symbols on controller labels

DescriptionLabel

High voltage inside the module even if the main switch is inthe OFF position.

xx1400001156

Lifting instruction for the IRC5 controller.

xx1400001157

Required installation space.

xx1400001155

QR code for ABB Basic Care service agreement.

xx1400001154



1 Safety1.3 Safety symbols on controller labelsContinued

DescriptionLabel

Read the user manual before servicing.

xx1400001152

Electrical safety check of the robot system (internal).

xx1400001158

Functional test of the robot system (internal).

xx1400001159

Rating label

xx1400001163

CE label

xx1800000835



1 Safety1.3 Safety symbols on controller labels

Continued

DescriptionLabel

UR certified (component)

xx1400002060

UL certified (robot with controller)

xx1400002061

SafeMove label (for SafeMove Basic and SafeMove Advancedsoftware).

xx1700000355

Safety UL label (for the Functional Safety solution togetherwith UL mark).

xx1700000353



1 Safety1.3 Safety symbols on controller labelsContinued

1.4 Safety during troubleshooting

GeneralAll normal service work; installation, maintenance and repair work, is usuallyperformed with all electrical, pneumatic and hydraulic power switched off. Allmanipulator movements are usually prevented by mechanical stops etc.Troubleshooting work differs from this. While troubleshooting, all or any powermay be switched on, the manipulator movement may be controlled manually fromthe FlexPendant, by a locally running robot program or by a PLC to which thesystem may be connected.

Dangers during troubleshootingThis implies that special considerations unconditionally must be taken whentroubleshooting:

• All electrical parts must be considered as live.• The manipulator must at all times be expected to perform any movement.• Since safety circuits may be disconnected or strapped to enable normally

prohibited functions, the system must be expected to perform accordingly.



1 Safety1.4 Safety during troubleshooting

1.5 Applicable standards

Note

The listed standards are valid at the time of the release of this document. Phasedout or replaced standards are removed from the list when needed.

Standards, EN ISOThe product is designed in accordance with the requirements of:

DescriptionStandard

Safety of machinery - General principles for design - Risk as-sessment and risk reduction

EN ISO 12100:2010

Safety of machinery, safety related parts of control systems -Part 1: General principles for design

EN ISO 13849-1:2015

Safety of machinery - Emergency stop - Principles for designEN ISO 13850:2015

Robots for industrial environments - Safety requirements -Part1 Robot

EN ISO 10218-1:2011

Robots and robotic devices -- Coordinate systems and motionnomenclatures

ISO 9787:2013

Manipulating industrial robots, performance criteria, and relatedtest methods

ISO 9283:1998

Classification of air cleanlinessEN ISO 14644-1:2015 i

Ergonomics of the thermal environment - Part 1EN ISO 13732-1:2008

EMC, Generic emissionEN 61000-6-4:2007 +A1:2011IEC 61000-6-4:2006 +A1:2010(option 129-1)

EMC, Generic immunityEN 61000-6-2:2005IEC 61000-6-2:2005

Arc welding equipment - Part 1: Welding power sourcesEN IEC 60974-1:2012 ii

Arc welding equipment - Part 10: EMC requirementsEN IEC 60974-10:2014 ii

Safety of machinery - Electrical equipment of machines - Part1 General requirements

EN IEC 60204-1:2006

Degrees of protection provided by enclosures (IP code)IEC 60529:1989 + A2:2013i Only robots with protection Clean Room.ii Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.

European standards

DescriptionStandard

Safety of machinery - Ergonomic design principles - Part 1:Terminology and general principles

EN 614-1:2006 + A1:2009

Safety of machinery - Two-hand control devices - Functionalaspects - Principles for design

EN 574:1996 + A1:2008



1 Safety1.5 Applicable standards

Other standards

DescriptionStandard

Safety requirements for industrial robots and robot systemsANSI/RIA R15.06

Safety standard for robots and robotic equipmentANSI/UL 1740

Industrial robots and robot Systems - General safety require-ments

CAN/CSA Z 434-14



1 Safety1.5 Applicable standards

Continued

1.6 Safety tools

Safeguarding mechanismsYour robot system can be equipped with a vast range of safeguards such as doorinterlocks, safety light curtains, safety mats, and others. The most common is thedoor interlock of the robot cell that temporarily stops the robot if you open it.

IRC5The IRC5 controller has three separate safeguarding mechanisms, the generalmode safeguarded stop (GS), the automatic mode safeguarded stop (AS) and thesuperior safeguarded stop (SS).

are...Safeguards connected to...

always active regardless of the operating mode.the GS mechanism

only active when the system is in automatic mode.the AS mechanism

always active regardless of the operating mode.the SS mechanism

See your plant or cell documentation to see how your robot system is configuredand where the safeguarding mechanisms are placed and how they work.

Safety supervisionThe emergency stop and safeguarding mechanisms are supervised so that anyfailure is detected by the controller and the robot is stopped until the problem issolved.

Built-in stop functionsThe controller continuously monitor hardware and software functionality. If anyproblems or errors are detected the robot is stopped until the problem has beensolved.

then...If the failure is...

a simple program stop is issued (SYSSTOP).simple and can easily be solved

a SYSHALT is issued which results in a protectivestop.

minor and can be solved

a SYSFAIL is issued which results in an emergencystop. The controller must be restarted in order toreturn to normal operation.

major, for instance concerns brokenhardware

Restricting the robot's working rangeThe robot's working range can be restricted by means of mechanical stops orsoftware functions, or by a combination of both.See your plant or cell documentation to see how your robot system is configured.



1 Safety1.6 Safety tools

1.7 Safe troubleshooting

1.7.1 Robot without axes' holding brakes are potentially lethal

DescriptionSince the robot arm system is quite heavy, especially on larger robot models, it isdangerous if the holding brakes are disconnected, faulty, worn or in any wayrendered non-operational.For example, a collapsing manipulator may kill or seriously injure a person standingbeneath it.

Safe handling

Info/illustrationAction

Weight specifications etc. may be found inthe Product manual of each robot model.

If you suspect that the holding brakes arenon-operational, secure the robot armsystem by some other means beforeworking on it.

1

How to correctly connect an externalvoltage supply is detailed in the Productmanual of each robot model.

If you intentionally render the holdingbrakes non-operational by connecting anexternal voltage supply, the utmost caremust be taken!

DANGER

NEVER stand inside the robot working areawhen disabling the holding brakes unlessthe arm system is supported by some othermeans.

2

DANGER

Under no circumstance stand under themanipulator arm.



1 Safety1.7.1 Robot without axes' holding brakes are potentially lethal

1.7.2 Live voltage inside Drive Module

DescriptionThe Drive Module has live voltage potentially accessible directly behind the rearcovers and inside the front cover, even when the main switches have been switchedoff.

A

en1000000049



1 Safety1.7.2 Live voltage inside Drive Module

SECTION A-A

B

en1000000050

Live voltage at transformer terminals even if the main power switches havebeen switched off.

A

Live voltage at Motors ON terminals even if the main power switches havebeen switched off.

B

Safe handlingRead this information before opening the rear cover of either module.

ActionStep

Make sure the incoming mains power supply has been switched off.1

Use a voltmeter to verify that there is not voltage between any of the terminals.2

Proceed with the service work.3



1 Safety1.7.2 Live voltage inside Drive Module

Continued

1.7.3 Hot parts may cause burns

DescriptionDuring normal operation, many parts become hot. Touching these may causeburns.There is also a risk of fire if flammable materials are put on hot surfaces.

Note

The drive parts in the cabinet can be hot.

Safe handlingAlways use your hand, at some distance, to feel if heat is radiating from thepotentially hot component before actually touching it.Wait until the potentially hot component has cooled if it is to be removed or handledin any other way.The bleeder can be hot, up to 80 degrees.Do not put anything on hot metal surfaces, e.g. paper or plastic.



1 Safety1.7.3 Hot parts may cause burns

2 Introduction to troubleshooting2.1 Overview of troubleshooting

How to use this manual when troubleshootingThe following table details how to put the information in this manual to best useduring troubleshooting the robot system.

DescriptionType• Fault without event log messages• Fault combinations

Troubleshooting by fault symptoms

• FlexPendant• Data communication• Fieldbus and I/O units• Power supply

Troubleshooting by unit

• IndicationsDescription and backround information• How to read event log messages• Event log messages

Troubleshooting by event logs

Troubleshooting manual

Each fault or error is first detected as a symptom, for which an errorevent log message may or may not be created. It could be an errorevent log message on the FlexPendant, an observation that thegearbox on axis 6 is getting hot or that the controller can not bestarted. The faults displaying an event log message are listed in theend of this manual.

Troubleshooting byfault symptoms

See Troubleshooting by fault symptoms on page 41.

Describes how to troubleshoot if the following does not work cor-rectly, for example:

• FlexPendant• computer unit• fieldbus and I/O units• power supply

See Troubleshooting by unit on page 63.

Troubleshooting byunit

Lists all the available event log messages. These may be displayedeither on the FlexPendant or using RobotStudio. Having access toall messages will be useful during troubleshooting.

Troubleshooting byevent logs

See Troubleshooting by event log on page 91.

Additional informationIn addition to the information given in this document, other documents may providevital information, e.g. the Circuit Diagram.Such useful documents are listed in the section Circuit diagrams on page 583.

Read the event logsThe error event logs which may be viewed on either the FlexPendant orRobotStudio, contain lots of information about any malfunction detected by thesystem.



2 Introduction to troubleshooting2.1 Overview of troubleshooting

Read the circuit diagramsThe circuit diagrams contain a lot of information useful, or even essential, to atrained troubleshooter. See Circuit diagrams on page 583.

Check the LEDs on the electronic unitsIf a fault is thought to be caused by an electronic unit (circuit board in the controlleror other), the LEDs on the unit front may give leads.



2 Introduction to troubleshooting2.1 Overview of troubleshootingContinued

2.2 Standard toolkit

GeneralListed are tools required to perform the actual troubleshooting work. All toolsrequired to perform any corrective measure, such as replacing parts, are listed intheir Product Manual section respectively.

Contents, standard toolkit, IRC5

RemarkTool

Tx10Screw driver, Torx

Tx25Screw driver, Torx

Tx25Ball tipped screw driver, Torx

4 mmScrew driver, flat blade



Phillips-1Screw driver

8 mmBox spanner

Contents, standard toolkit, troubleshooting

Rem.ToolArt. no.Qty

Contents as specified above.Normal shop tools--

-Multimeter-1

-Oscilloscope-1

-Recorder-1



2 Introduction to troubleshooting2.2 Standard toolkit

2.3 Tips and tricks while troubleshooting

2.3.1 Troubleshooting strategies

Isolate the fault!Any fault may give rise to a number of symptoms, for which error event logmessages may or may not be created. In order to effectively eliminate the fault, itis vital to distinguish the original symptom from the consequential ones.A help in isolating the fault may be creating a historical fault log as specified insection Make a historical fault log! on page 37.

Split the fault chain in two!When troubleshooting any system, a good practice is to split the fault chain in two.This means:

• identify the complete chain.• decide and measure the expected value at the middle of the chain.• use this to determine in which half the fault is caused.• split this half into two new halves, etc.• finally, a single component may be isolated. The faulty one.

ExampleA specific IRB 7600 installation has a 12 VDC power supply to a tool at themanipulator wrist. This tool does not work, and when checked, there is no 12 VDCsupply to it.

• Check at the manipulator base to see if there is 12 VDC supply. Measurementshow there are no 12 VDC supply. (Reference: Circuit Diagram in the Productmanual, IRC5)

• Check any connector between the manipulator and the power supply in thecontroller. Measurement show there are no 12 VDC supply. (Reference:Circuit Diagram in the Product manual, IRC5)

• Check the power supply unit LED.

Check communication parameters and cables!The most common causes of errors in serial communication are:

• Faulty cables (e.g. send and receive signals are mixed up)• Transfer rates (baud rates)• Data widths that are incorrectly set.

Check the software versions!Make sure the RobotWare and other software run by the system are the correctversion. Certain versions are not compatible with certain hardware combinations.Also, make a note of all software versions run, since this will be useful informationto the ABB support people.



2 Introduction to troubleshooting2.3.1 Troubleshooting strategies

How to file a complete error report to your local ABB service personnel is detailedin section Filing an error report on page 38.



2 Introduction to troubleshooting2.3.1 Troubleshooting strategies

Continued

2.3.2 Work systematically

Do not replace units randomly!Before replacing any part at all, it is important to establish a probable cause forthe fault, thus determining which unit to replace.Randomly replacing units may sometimes solve the acute problem, but also leavesthe troubleshooter with a number of units that may/may not be perfectly functional.

Replace one thing at a time!When replacing a presumably faulty unit that has been isolated, it is important thatonly one unit be replaced at a time.Always replace components as detailed in the Repairs section of the Productmanual of the robot or controller at hand.Test the system after replacing to see if the problem has been solved.If replacing several units at once:

• it is impossible to determine which of the units was causing the fault.• it greatly complicates ordering a new spare part.• it may introduce new faults to the system.

Take a look around!Often, the cause may be evident once you see it. In the area of the unit actingerroneously, be sure to check:

• Are the attachment screws secured?• Are all connectors secured?• Are all cabling free from damage?• Are the units clean (especially for electronic units)?• Is the correct unit fitted?

Check for tools left behind!Some repair and maintenance work require using special tools to be fitted to therobot equipment. If these are left behind (e.g. balancing cylinder locking device orsignal cable to a computer unit used for measuring purposes), they may causeerratic robot behavior.Make sure all such tools are removed when maintenance work is complete!



2 Introduction to troubleshooting2.3.2 Work systematically

2.3.3 Keeping track of history

Make a historical fault log!In some cases, a particular installation may give rise to faults not encountered inothers. Therefore, charting each installation may give tremendous assistance tothe troubleshooter.To facilitate troubleshooting, a log of the circumstances surrounding the fault givesthe following advantages:

• it enables the troubleshooter to see patterns in causes and consequencesnot apparent at each individual fault occurrence

• it may point out a specific event always taking place just before the fault, forexample a certain part of the work cycle being run.

Check up the history!Make sure you always consult the historical log if it is used. Also remember toconsult the operator, or similar, who was working when the problem first occurred.

At what stage did the fault occur?What to look for during troubleshooting depends greatly of when the fault occurred:was the robot just freshly installed? Was it recently repaired?The table gives specific hints to what to look for in specific situations:

then:If the system has just:

Check:• the configuration files• connections• options and their configuration

been installed

Check:• all connections to the replaced part• power supplies• that the correct part has been fitted

been repaired

Check:• software versions• compatibilities between hardware and software• options and their configuration

had a software upgrade

Check:• connections• software versions

been moved from one siteto another (an alreadyworking robot)



2 Introduction to troubleshooting2.3.3 Keeping track of history

2.4 Filing an error report

IntroductionIf you require the assistance of ABB support personnel in troubleshooting yoursystem, you may file a formal error report as detailed below.In order for the ABB support personnel to better solve your problem, you mayattach a special diagnostics file that the system generates on demand.The diagnostics file includes:

• Event log A list of all system events.• Backup A backup of the system taken for diagnostics purposes.• System information Internal system information useful to ABB support

personnel.NOTE that it is not required to create or attach any additional files to the errorreport if not explicitly requested by the support personnel!

Creating the diagnostics fileThe diagnostics file is created manually as detailed below.

Action

Tap ABB, then Control Panel and then Diagnostics.A display is shown:

en0500002175

1

Specify the name you want for the diagnostics file, the save folder of it and tap OK.The default save folder is C:/Temp, but any folder may be selected, for instance anexternally connected USB memory.This may take a couple of minutes, while “Creating file. Please wait!” is displayed.

2

To shorten file transfer time, you may compress the data into a zip-file.3



2 Introduction to troubleshooting2.4 Filing an error report

Action

Write a regular e-mail addressed to your local ABB support personnel, and makesure to include the following information:

• Robot serial number• RobotWare version• External options• A written fault description. The more detailed, the easier for the ABB support

personnel to assist you.• if available, enclose the license key.• attach the diagnostics file!

4

Mail it!5



2 Introduction to troubleshooting2.4 Filing an error report

Continued


3 Troubleshooting by fault symptoms3.1 Start-up failures

IntroductionThis section describes possible faults during start-up and the recommended actionfor each failure.

ConsequencesProblem starting the system

Symptoms and causesThe following are the possible symptoms of a start-up failure:

• LEDs not lit on any unit.• Earth fault protection trips.• Unable to load the system software.• FlexPendant not responding.• FlexPendant starts, but does not respond to any input.• Disk containing the system software does not start correctly.

Recommended actionsThe following are the recommended actions to be taken during a start-up failure:

Note

This may be due to a loss of power supply in many stages.


Your plant or cell documentation canprovide this information.

Make sure the main power supply to the systemis present and is within the specified limits.

1

How to strap the mains transformeris detailed in the product manual forthe controller.

Make sure that the main transformer is correctlyconnected to the mains voltage levels at hand.

2

Make sure that the main switches are switchedon.

3

If required, troubleshoot the powersupply units as explained in sectionTroubleshooting the system powersupply on page 76.

Make sure that the power supply to the controlleris within the specified limits.

4

If no LEDs lit, proceed to section All LEDs areoff at controller on page 46.

5

If the system is not responding, proceed to sec-tion Controller not responding on page 43.

6

If the FlexPendant is not responding, proceed tosection Problem starting the FlexPendant onpage 50.

7



3 Troubleshooting by fault symptoms3.1 Start-up failures


If the FlexPendant starts, but does not commu-nicate with the controller, proceed to sectionProblem connecting FlexPendant to the control-ler on page 51.

8



3 Troubleshooting by fault symptoms3.1 Start-up failuresContinued

3.2 Controller not responding

DescriptionThis section describes the possible faults and the recommended actions for eachfailure:

• Robot controller not responding• LED indicators not lit

ConsequencesSystem cannot be operated using the FlexPendant.

Possible causes

Recommended actionSymptoms

Ensure that the mains power supply is working andthe voltage level matches that of the controller re-quirement.

Controller not connected to themains power supply.

1

Ensure that the main transformer is connected cor-rectly to the mains voltage level.

Main transformer is malfunction-ing or not connected correctly.

2

Ensure that the mains fuse (Q1) inside the controlleris not tripped

Main fuse (Q1) might havetripped.

3



3 Troubleshooting by fault symptoms3.2 Controller not responding

3.3 Low controller performance

DescriptionThe controller performance is low, and seems to work irrationally.If the controller is not responding at all, proceed as detailed in section Controllernot responding on page 43.

ConsequencesThese symptoms can be observed:

• Program execution is sluggish, seemingly irrational and sometimes stalls.

Possible causesThe computer system is experiencing too high load, which may be due to one, ora combination, of the following:

• Programs containing too high a degree of logical instructions only, causingtoo fast program loops and in turn, overloads the processor.

• The I/O update interval is set to a low value, causing frequent updates anda high I/O load.

• Internal system cross connections and logical functions are used toofrequently.

• An external PLC, or other supervisory computer, is addressing the systemtoo frequently, overloading the system.

Recommended actions


Suitable places to add WAIT instructionscan be:

• In the main routine, preferablyclose to the end.

• In a WHILE/FOR/GOTO loop,preferably at the end, close to theENDWHILE/ENDFOR etc. part ofthe instruction.

Check whether the program contains logicalinstructions (or other instructions that take “notime” to execute), since such programs maycause the execution to loop if no conditionsare fulfilled.To avoid such loops, you can test by addingone or more WAIT instructions. Use only shortWAIT times, to avoid slowing the programdown unnecessarily.

1

ABB recommends these poll rates:• DSQC 327A: 1000• DSQC 328A: 1000• DSQC 332A: 1000• DSQC 377A: 20-40• All others: >100

Make sure the I/O update interval value foreach I/O board is not too low. These valuesare changed using RobotStudio.I/O units that are not read regularly may beswitched to “change of state” operation asdetailed in the RobotStudio manual.

2

Heavy communication with PLCs orother external computers can causeheavy load in the robot system maincomputer.

Check whether there is a large amount of crossconnections or I/O communication betweenPLC and robot system.

3



3 Troubleshooting by fault symptoms3.3 Low controller performance


The robot system have a number offixed system inputs and outputs thatmay be used for this purpose.

Try to program the PLC in such a way that ituses event driven instructions, instead oflooped instructions.

4

Heavy communication with PLCs orother external computers can causeheavy load in the robot system maincomputer.



3 Troubleshooting by fault symptoms3.3 Low controller performance

Continued

3.4 All LEDs are off at controller

DescriptionNo LEDs at all are lit in the controller.

ConsequencesThe system cannot be operated or started at all.

Possible causesThe symptom can be caused by (the causes are listed in order of probability):

• The system is not supplied with power.• The main transformer is not connected for the correct mains voltage.• Circuit breaker F6 (if used) is malfunctioning or open for any other reason.• Contactor K41 is malfunctioning or open for any other reason.

en1000000051



3 Troubleshooting by fault symptoms3.4 All LEDs are off at controller

Recommended actions

InformationAction

Make sure the main switch has beenswitched on.

1

Use a voltmeter to measure incoming mainsvoltage.

Make sure the system is supplied withpower.

2

The voltages are marked on the terminals.Make sure they match the shop supplyvoltage.

Check the main transformer connection.3

The circuit breaker F6 is shown in the circuitdiagram in the product manual for the control-ler.

Make sure circuit breaker F6 (if used)is closed in position 3.

4



3 Troubleshooting by fault symptoms3.4 All LEDs are off at controller

Continued

3.5 No voltage in service outlet

DescriptionSome controllers are equipped with service voltage outlet sockets, and thisinformation applies to these modules only.No voltage is available in the controller service outlet for powering external serviceequipment.

ConsequencesEquipment connected to the controller service outlet does not work.

Probable causesThe symptom can be caused by (the causes are listed in order of probability):

• Tripped circuit breaker (F5)• Tripped earth fault protection (F4)• Mains power supply loss• Transformers incorrectly connected

xx0500001403

Recommended actions

InformationAction

Make sure any equipment connected to the serviceoutlet does not consume too much power, causingthe circuit breaker to trip.

Make sure the circuit breaker in thecontroller has not been tripped.

1



3 Troubleshooting by fault symptoms3.5 No voltage in service outlet

InformationAction

Make sure any equipment connected to the serviceoutlet does not conduct current to ground, causingthe earth fault protection to trip.

Make sure the earth fault protectionhas not been tripped.

2

Refer to the plant documentation for voltage val-ues.

Make sure the power supply to therobot system is within specifica-tions.

3

xx0500002028

Make sure the transformer (A) sup-plying the outlet is correctly connec-ted, i.e. input and output voltagesin accordance with specifications.

4

Refer to the plant documentation for voltage val-ues.



3 Troubleshooting by fault symptoms3.5 No voltage in service outlet

Continued

3.6 Problem starting the FlexPendant

DescriptionThe FlexPendant is not responding, either completely or intermittently.No entries are possible, and no functions are available.If the FlexPendant starts but does not display a screen image, proceed as detailedin section Problem connecting FlexPendant to the controller on page 51.

ConsequencesThe system cannot be operated using the FlexPendant.


• The system has not been switched on.• The FlexPendant is not connected to the controller.• The cable from the controller is damaged.• The cable connector is damaged.• FlexPendant power supply from controller is faulty.

Recommended actionsThe following actions are recommended (listed in order of probability):

InformationAction

How to connect the FlexPendant to thecontroller is detailed in Operating manu-al - Getting started, IRC5 and RobotStu-dio.

Make sure the system is switched on andthat the FlexPendant is connected to thecontroller.

1

If faulty, replace the FlexPendant.Inspect the FlexPendant cable for any visibledamage.

2

If possible, test by connecting a differentFlexPendant to eliminate the FlexPendantand cable as error sources.

3

If possible, test the FlexPendant with a differ-ent controller to eliminate the controller aserror source.

4



3 Troubleshooting by fault symptoms3.6 Problem starting the FlexPendant

3.7 Problem connecting FlexPendant to the controller

DescriptionThe FlexPendant starts but does not display a screen image.No entries are possible, and no functions are available.See also section Problem starting the FlexPendant on page 50.

ConsequencesThe system cannot be operated using the FlexPendant.


• The Ethernet network has problems.• The main computer has problems.


InformationAction

Check all cables from power supply unit to maincomputer, making sure these are correctly con-nected.

1

Make sure the FlexPendant has been correctlyconnected to the controller.

2

All indication LEDs and their signific-ance are specified in sectionTroubleshooting LEDs in the control-ler on page 63.

Check all indication LEDs on all units in the con-troller.

3

Check all status signals on the main computer.4



3 Troubleshooting by fault symptoms3.7 Problem connecting FlexPendant to the controller

3.8 Erratic event messages on FlexPendant

DescriptionThe event messages displayed on the FlexPendant are erratic and do not seemto correspond to any actual malfunctions on the robot. Several types of messagescan be displayed, seemingly erroneously.This type of fault may occur after major manipulator disassembly or overhaul, ifnot performed correctly.

ConsequencesMajor operational disturbances due to the constantly appearing messages.


• Internal manipulator cabling not correctly performed. Causes may be: faultyconnection of connectors, cable loops too tight causing the cabling to getstrained during manipulator movements, cable insulation chafed or damagedby rubbing short-circuiting signals to earth.


InformationAction

Refit any cabling as detailed in theproduct manual for the robot.

Inspect all internal manipulator cabling, especiallyall cabling disconnected, connected re-routed orbundled during recent repair work.

1

Inspect all cable connectors to make sure theseare correctly connected and tightened.

2

Replace any faulty cabling as de-tailed in the product manual for therobot.

Inspect all cable insulation for damage.3



3 Troubleshooting by fault symptoms3.8 Erratic event messages on FlexPendant

3.9 Problem jogging the robot

DescriptionThe system can be started but the joystick on the FlexPendant does not work.

ConsequencesThe robot can not be jogged manually.


• The joystick is malfunctioning.• The joystick may be deflected.


InformationAction

How to change operating mode isdescribed inOperatingmanual - IRC5with FlexPendant.

Make sure the controller is in manual mode.1

Make sure the FlexPendant is connected cor-rectly to the Control Module.

2

Press Reset button located on theback of the FlexPendant.

Note

The Reset button resets the FlexPend-ant not the system on the Controller.

Reset the FlexPendant.3



3 Troubleshooting by fault symptoms3.9 Problem jogging the robot

3.10 Reflashing firmware failure

DescriptionWhen reflashing firmware, the automatic process can fail.

ConsequencesThe automatic reflashing process is interrupted and the system stops.

Possible causesThis fault usually occurs due to a lack of compatibility between hardware andsoftware.

ConsequencesThe following actions are recommended (listed in order of probability):

InformationAction

The logs may also be accessed fromRobotStudio.

Check the event log for a message specifyingwhich unit failed.

1

Was the relevant unit recently replaced?2If YES; make sure the versions of the old andnew unit is identical.If NO; check the software versions.

Was the RobotWare recently replaced?3If YES; make sure the versions of the old andnew unit is identical.If NO; proceed below!

Check with your local ABB representative fora firmware version compatible with your hard-ware/software combination.

4



3 Troubleshooting by fault symptoms3.10 Reflashing firmware failure

3.11 Inconsistent path accuracy

DescriptionThe path of the robot TCP is not consistent. It varies from time to time, and issometimes accompanied by noise emerging from bearings, gearboxes, or otherlocations.

ConsequencesProduction is not possible.


• Robot not calibrated correctly.• Robot TCP not correctly defined.• Parallel bar damaged (applies to robots fitted with parallel bars only).• Mechanical joint between motor and gearbox damaged. This often causes

noise to be emitted from the faulty motor.• Bearings damaged or worn (especially if the path inconsistency is coupled

with clicking or grinding noises from one or more bearings).• The wrong robot type may be connected to the controller.• The brakes may not be releasing correctly.

Recommended actionsIn order to remedy the symptom, the following actions are recommended (theactions are listed in order of probability):

Info/IllustrationAction

How to define these are detailed inOperatingmanual - IRC5 with FlexPendant.

Make sure the robot tool and work objectare correctly defined.

1

Update if required.Check the revolution counters’ positions.2

How to calibrate the robot is detailed in Op-erating manual - IRC5 with FlexPendant.

If required, recalibrate the robot axes.3

Replace faulty bearing as specified in theproduct manual for the robot.

Locate the faulty bearing by tracking thenoise.

4

Replace the faulty motor/gearbox as spe-cified in the product manual for the robot.

Locate the faulty motor by tracking thenoise.

5

Study the path of the robot TCP to estab-lish which axis, and thus which motor,may be faulty.

Replace the faulty parallel bar as specifiedin the product manual for the robot.

Check the trueness of the parallel bar(applies to robots fitted with parallel barsonly).

6

Make sure the correct robot type is con-nected as specified in the configurationfiles.

7

Proceed as detailed in section Problem re-leasing Robot brakes on page 59.

Make sure the robot brakes work prop-erly.

8



3 Troubleshooting by fault symptoms3.11 Inconsistent path accuracy

3.12 Mechanical noise or dissonance

DescriptionMechanical noise or dissonance that has not been observed before can indicateproblems in bearings, motors, gearboxes, or similar. Be observant of changes overtime.A faulty bearing often emits scraping, grinding, or clicking noises shortly beforefailing.

ConsequencesFailing bearings cause the path accuracy to become inconsistent, and in severecases, the joint can seize completely.

Possible causesThe symptom can be caused by:

• Worn bearings.• Contaminations have entered the bearing grooves.• Loss of lubrication in bearings.• Loose heat sinks, fans, or metal parts.

If the noise is emitted from a gearbox, the following can also apply:• Overheating.

Recommended actionsThe following actions are recommended:

InformationAction

CAUTION

Before approaching the potentially hot robotcomponent, observe the safety informationin section Hot parts may cause burns onpage 30.

1

Verify that the service is done according tothe maintenance schedule.

2

If a bearing is emitting the noise, determinewhich one and make sure that it has suffi-cient lubrication.

3

If possible, disassemble the joint and meas-ure the clearance.

4

Bearings inside motors are not to be re-placed individually, but the complete motoris replaced.

5

Make sure the bearings are fitted correctly.6

Tighten the screws if a heat sink, fan, ormetal sheet is loose.

7



3 Troubleshooting by fault symptoms3.12 Mechanical noise or dissonance

InformationAction

Robots performing certain, extremelyheavy duty work cycles may be fitted withvented oil plugs. These are not fitted tonormal duty robots, but can be pur-chased from your local ABB representat-ive.

Too hot gearbox oil may be caused by:• Incorrect oil quality or level.• The robot work cycle runs a specific

axis too hard. Investigate whether itis possible to program small "coolingperiods" into the application.

• Overpressure created inside gearbox.

8



3 Troubleshooting by fault symptoms3.12 Mechanical noise or dissonance

Continued

3.13 Manipulator crashes on power down

DescriptionThe manipulator is able to work correctly while Motors ON is active, but whenMotors OFF is active, it collapses under its own weight.The holding brake, integral to each motor, is not able to hold the weight of themanipulator arm.

ConsequencesThe fault can cause severe injuries or death to personnel working in the area orsevere damage to the manipulator and/or surrounding equipment.

Possible causesThe symptom can be caused by:

• Faulty brake.• Faulty power supply to the brake.

Recommended actionsThe following actions are recommended:

InformationAction

Determine which motor(s) causes the robotto collapse.

1

See the circuit diagram.Check the brake power supply to the col-lapsing motor during the Motors OFF state.

2

If found faulty, the motor must be replacedas a complete unit.

Remove the resolver of the motor to see ifthere are any signs of oil leaks.

3

If found faulty, the motor must be replacedas a complete unit.

Remove the motor from the gearbox to in-spect it from the drive side.

4



3 Troubleshooting by fault symptoms3.13 Manipulator crashes on power down

3.14 Problem releasing Robot brakes

DescriptionWhen starting robot operation or jogging the robot, the internal robot brakes mustrelease in order to allow movements.

ConsequencesIf the brakes do not release, no robot movement is possible, and a number of errorlog messages can occur.


• Brake contactor (K44) does not work correctly.• The system does not go to status Motors ON correctly.• Faulty brake on the robot axis.• Supply voltage 24V BRAKE missing.

en1000000051



3 Troubleshooting by fault symptoms3.14 Problem releasing Robot brakes

Recommended actionsThis section details how to proceed when the robot brakes do not release.

InformationAction

A ‘tick’ should be audible, or youmay measure the resistance acrossthe auxiliary contacts on top of thecontactor.

Make sure the brake contactor is activated.1

A ‘tick’ should be audible, or youmay measure the resistance acrossthe auxiliary contacts on top of thecontactor.

Make sure the RUN contactors (K42 and K43) areactivated. NOTE that both contactors must beactivated, not just one!

2

The location of the push buttonsdiffer, depending on robot model.Please refer to the product manualfor the robot!

Use the push buttons on the robot to test thebrakes.If just one of the brakes malfunctions, the brakeat hand is probably faulty and must be replaced.

3

If none of the brakes work, there is probably no24V BRAKE power available.

Check the power supply to make sure 24V BRAKEvoltage is OK.

4

The event log messages can alsobe accessed using RobotStudio.

A number of other faults within the system cancause the brakes to remain activated. In suchcases, event log messages will provide additionalinformation.

5



3 Troubleshooting by fault symptoms3.14 Problem releasing Robot brakesContinued

3.15 Intermittent errors

DescriptionDuring operation, errors and malfunctions may occur, in a seemingly random way.

ConsequencesOperation is interrupted, and occasionally, event log messages are displayed, thatsometimes do not seem to be related to any actual system malfunction. This sortof problem sometimes affects the Emergency stop or Enable chains respectively,and may at times be very hard to pinpoint.

Probable causesSuch errors may occur anywhere in the robot system and may be due to:

• external interference• internal interference• loose connections or dry joints, e.g. incorrectly connected cable screen

connections.• thermal phenomena , e.g. major temperature changes within the workshop

area.

Recommended actionsIn order to remedy the symptom, the following actions are recommended (theactions are listed in order of probability):


Check all the cabling, especially the cables in theEmergency stop and Enable chains. Make sure allconnectors are connected securely.

1

All indication LEDs and theirsignificance are specified insection Troubleshooting LEDsin the controller on page 63.

Check if any indication LEDs signal any malfunctionthat may give some clue to the problem.

2

The event log messages maybe viewed either on the Flex-Pendant or using RobotStudio.

Check the messages in the event log. Sometimesspecific error combinations are intermittent.

3

If possible, keep track of themalfunctions in a log or similar.

Check the robot’s behavior, etc, each time that typeof error occurs.

4

Check whether any condition in the robot workingenvironment also changes periodically, e.g, interfer-ence from any electric equipment only operatingperiodically.

5

If possible, keep track of themalfunctions in a log or similar.

Investigate whether the environmental conditions(such as ambient temperature, humidity, etc) has anybearing on the malfunction.

6



3 Troubleshooting by fault symptoms3.15 Intermittent errors

3.16 Force starting of Boot Application

DescriptionRobot Controller always runs in one of the following two modes:

• Normal operation mode (a user created system is selected to run)• Boot Application mode (advanced maintenance mode)

In rare occasions, a serious error (in software or configuration of the selectedsystem), may prevent the controller from starting properly in the normal operationmode. A typical case is when a controller is restarted after a network configurationchange, causing the controller to be non responsive from FlexPendant, RobotStudio,or FTP. To rescue the robot controller from this situation, a new way (forcestarting of Boot Application through main power switch) to forcestart of the controller in Boot Application mode has been implemented.

ConsequencesThe system has startup problems or the FlexPendant cannot connect to the system.

Recommended actionRepeat the following action three times in a row:

1 Turn ON the main power switch.2 Wait approximately for 20 seconds.3 Turn OFF the main power switch.

The currently active system is de-selected and a forced start of Boot Applicationis done in the following startup. This makes it possible to rescue some data froma system that does not start properly.

Note

This action shall not affect any of the files in the directories belonging to thede-selected system and this action has no effect if the controller is already in theBoot Application mode.



3 Troubleshooting by fault symptoms3.16 Force starting of Boot Application

4 Troubleshooting by unit4.1 Troubleshooting LEDs in the controller

GeneralThe controller features a number of indication LEDs, which provide importantinformation for troubleshooting purposes. If no LEDs light up at all when switchingthe system on, troubleshoot as detailed in section All LEDs are off at controller onpage 46All LEDs on the respective units, and their significance, are described in thefollowing sections.All units with LEDs are shown in the illustration below:

Units with LEDs in the controller

J

H

D

E

F

A

G

B

C

xx1300000858

Troubleshooting the customer I/O power supplyon page 88

Customer I/O power supplyA

Troubleshooting the computer unit on page 68Computer unitB

LED board on page 64LED boardC

Troubleshooting the power distribution board onpage 81

Power distribution boardD

Troubleshooting the system power supply onpage 76

System power supplyE

Troubleshooting the contactor interface board onpage 86

Contactor interface boardF

Troubleshooting the drive system on page 72Drive systemG

Troubleshooting the panel board on page 70Panel boardH

Troubleshooting the axis computer on page 74Axis computerJ



4 Troubleshooting by unit4.1 Troubleshooting LEDs in the controller

LED boardThe function of the LEDs on the LED board are identical to those on the panelboard, see section Troubleshooting the panel board on page 70.Should the LED board not be working, but the panel board is, the problem is thecommunication between these boards or the LED board itself. Check the cablingbetween them.



4 Troubleshooting by unit4.1 Troubleshooting LEDs in the controllerContinued

4.2 Troubleshooting the FlexPendant

GeneralThe FlexPendant communicates, through the panel board, with the main computer.The FlexPendant is physically connected to the panel board through a cable inwhich the +24 V supply and two enabling device chains run and emergency stop.

ProcedureThe procedure below details what to do if the FlexPendant does not work correctly.


If the FlexPendant is completely is not responding,proceed as detailed in section Problem starting theFlexPendant on page 50.

1

If the FlexPendant starts, but does not operate cor-rectly, proceed as detailed in section Problem con-necting FlexPendant to the controller on page 51.

2

If the FlexPendant starts, seems to operate, butdisplays erratic event messages, proceed as de-tailed in section Erratic event messages on Flex-Pendant on page 52.

3

Check the cable for connections and integrity.4

Check the 24 V power supply.5

Read the error event log message and follow anyinstructions of references.

6

Restarting a locked FlexPendantIn case the FlexPendant is locked by a software error or misuse you can unlock iteither using the joystick, or using the reset button (located on the back onFlexPendant with USB port).Use this procedure to unlock the FlexPendant using the joystick.

InformationAction

The joystick must be moved to itsutmost limit. Therefore, use slowand distinct movements.

Move the joystick to the right three times, with fulldeflection.

1

Move the joystick to the left once, with full deflec-tion.

2

Move the joystick down once, with full deflection.3

The FlexPendant is restarted.A dialog is displayed. Tap Reset.4



4 Troubleshooting by unit4.2 Troubleshooting the FlexPendant

4.3 Troubleshooting communications

OverviewThis section details how to troubleshoot data communication in the Control andDrive Modules.

Troubleshooting procedureWhen troubleshooting communication faults, follow the outline detailed below:

Info/illustrationsAction

Faulty cables (e.g. send and receive signals are mixedup).

1

Transfer rates (baud rates).2

Data widths that are incorrectly set.3



4 Troubleshooting by unit4.3 Troubleshooting communications

4.4 Troubleshooting fieldbuses and I/O units

Further informationInformation about how to troubleshoot the fieldbuses and I/O units can be foundin the manual for the respective fieldbus or I/O unit.



4 Troubleshooting by unit4.4 Troubleshooting fieldbuses and I/O units

4.5 Troubleshooting the computer unit

Computer unit partsThe illustration below shows the placement of the parts in the computer unit.

A B

E

C

D

F

xx1300000851

TypeDescription

DSQC1000 or DSQC1018Computer unitA

-Mass Memory with boot loader 2GBB

DSQC1003Expansion Board completeC

DSQC 688PROFINET Slave Fieldbus AdapterD

DSQC 667PROFIBUS Slave Fieldbus AdapterD

DSQC 669Ethernet/IP Slave Fieldbus AdapterD

DSQC1004DeviceNet Slave Fieldbus AdapterD

DSQC1006DeviceNet Master/Slave PCIexpressE

DSQC1005PROFIBUS-DP Master/Slave PCIexpressE

-Fan with receptacleF

For more information and spare part numbers, see Product manual - IRC5.



4 Troubleshooting by unit4.5 Troubleshooting the computer unit

LEDsThe illustration below shows the LEDs on the computer unit:

xx1300000857

SignificanceDescription

Normal startup:• OFF, During a normal startup the LED is off until COM Express

module inside the computer unit is started.• SOLID ON, After completion of startup LED is solid on.

Failure during startup (off between blinks). One to four short blinks, onesecond off. This is repeated until power off.

• Internal fail of power, FPGA, and/or the COM Express module.• Replace the computer unit.

Power failure during runtime (fast flashing between blinks). One to fiveblinks, 20 fast flashing blinks. This is repeated until power off.

• Temporary voltage drop, cycle the power to the controller.• Check the power supply voltage to the computer unit.• Replace the computer unit.

POWER(green)

(Disc activity.)DISC-ActIndicates that the computer is writing to the SD-card.(yellow)

Startup sequence:1 SOLID RED, loading bootloader.2 FLASHING RED, loading image.3 FLASHING GREEN, loading RobotWare.4 SOLID GREEN, system ready.

Fault indication:• SOLID RED forever, check the SD-card.• FLASHING RED forever, check the SD-card.• FLASHING GREEN forever, view error messages on FlexPendant

or CONSOLE.

STATUS(red/green)

(Network Status)NSNot used.(red/green)

(Module Status)MSNot used.(red/green)

For information about the LEDs on the AnybusCC slave fieldbus adapter and thePCIExpress master/slave fieldbus board, see the corresponding fieldbus manual.



4 Troubleshooting by unit4.5 Troubleshooting the computer unit

Continued

4.6 Troubleshooting the panel board

LocationThe panel board unit, DSQC 643, is located as shown in the illustration below.

DC EBA

xx1300000679

Operator’s panelA

Computer unitB

Drive systemC

Axis computerD

Panel board unitE



4 Troubleshooting by unit4.6 Troubleshooting the panel board

LEDsThe illustration below shows the LEDs on the Panel board:

A

xx0400001076

Panel board LEDsA

The panel board LEDs are described from top to bottom below:


GREEN flashing: serial communication error.Status LEDGREEN steady: no errors found and system is running.RED flashing: system is in power up/self test mode.RED steady: other error than serial communication error.

YELLOW when Emergency stop (ES) chain 1 closedIndication LED, ES1

YELLOW when Emergency stop (ES) chain 2 closedIndication LED, ES2

YELLOW when General stop (GS) switch chain 1 closedIndication LED, GS1

YELLOW when General stop (GS) switch chain 2 closedIndication LED, GS2

YELLOW when Auto stop (AS) switch chain 1 closedIndication LED, AS1

YELLOW when Auto stop (AS) switch chain 2 closedIndication LED, AS2

YELLOW when Superior stop (SS) switch chain 1 closedIndication LED, SS1

YELLOW when Superior stop (SS) switch chain 2 closedIndication LED, SS2

YELLOW when ENABLE1=1 and RS-communication is OKIndication LED, EN1



4 Troubleshooting by unit4.6 Troubleshooting the panel board

Continued

4.7 Troubleshooting the drive system

LocationThe illustration shows the location of drive units in the controller.

D

BA C

xx1300000808

Additional Rectifier Unit (only used for additional axes in combination with smallrobots)

A

Main Drive Unit for small robotsB

Main Drive Unit for large robotsC

Additional Drive Units (for additional axes)D



4 Troubleshooting by unit4.7 Troubleshooting the drive system

LEDsThe illustration below shows the indication LEDs on the Main Drive Unit andAdditional Drive Units.

xx0800000486

Main Drive UnitA

Main Drive Unit Ethernet LEDsB

Additional Drive UnitC

Additional Drive Unit Ethernet LEDsD


Shows the status of Ethernet communication between an additional axiscomputer (2, 3 or 4) and the Ethernet board.

• GREEN OFF:10 Mbps data rate has been selected.• GREEN ON:100 Mbps data rate has been selected.• YELLOW flashing: The two units are communicating on the Ethernet

channel.• YELLOW steady: A LAN link is established.• YELLOW OFF: A LAN link is not established.

Ethernet LEDs(B and D)



4 Troubleshooting by unit4.7 Troubleshooting the drive system

Continued

4.8 Troubleshooting the axis computer

LocationThe illustration below shows the location of the axis computer, DSQC 668, in thecontroller.

A

xx1300000809

Axis computerA



4 Troubleshooting by unit4.8 Troubleshooting the axis computer

LEDsThe illustration below shows the LEDs on the Axis computer:

xx0800000485

Status LEDA

Ethernet LEDB


Normal sequence during startup:1 RED steady: Default at power-up.2 RED flashing: Establish connection to main computer and load

program to axis computer.3 GREEN flashing: Start-up of axis computer program and connect

peripheral units.4 GREEN steady. Start-up sequence ready. Application is running.

The following indicates errors:• OFF: No power to axis computer or internal error (hardware/firm-

ware).• RED steady (forever): The axis computer has failed to initialize

basic hardware.• RED flashing (forever): Missing connection to main computer,

main computer start-up problem or RobotWare installation problem.• GREEN flashing (forever): Missing connections to peripheral units

or RobotWare start-up problem.

Status LED

Shows the status of Ethernet communication between an additional axiscomputer (2, 3 or 4) and the Ethernet board.

• GREEN OFF:10 Mbps data rate has been selected.• GREEN ON:100 Mbps data rate has been selected.• YELLOW flashing: The two units are communicating on the Ether-

net channel.• YELLOW steady: A LAN link is established.• YELLOW OFF: A LAN link is not established.

Ethernet LED



4 Troubleshooting by unit4.8 Troubleshooting the axis computer

Continued

4.9 Troubleshooting the system power supply

LocationThe illustration below shows the location of the system power supply, DSQC 661,in the controller.

C

A

B

xx1300000813


Power distribution boardB

System power supplyC



4 Troubleshooting by unit4.9 Troubleshooting the system power supply

LEDs

en1000000041

DC OK indicatorA


GREEN: When all DC outputs are above the specified minimum levels.DC OK indicatorOFF: When one or more DC output/s below the specified minimum level.

Required test equipmentEquipment needed for troubleshooting:

• Ohmmeter• Resistive load (e.g. main computer on +24V_PC)• Voltmeter

Preparations

Action

Check the FlexPendant for errors and warnings.1

Make sure that the control system power supply is in run-time mode.2Do this by waiting 30 seconds after power-on.




Continued

Troubleshooting procedureThe troubleshooting table is supposed to be used as a detailed instruction togetherwith the troubleshooting flowchart.

ActionNoteTest

If the LED is:• GREEN, the DSQC 661

should be working prop-erly.

• PULSING GREEN, the DCoutput is probably not con-nected to any unit (load) orthere may be a short circuiton the output. Proceed withstep 2.

• OFF, either the DSQC 661is faulty or it does not havesufficient input voltage.Proceed with step 4.

The indicator LED is labelledas DC OK led.

Check the indicatorLED on DSQC 661.

1

If the connection is OK, proceedwith step 3.

Make sure that the powersupply is connected toDSQC 662.

Check connectionbetween DC outputand the connectedunit.

2

If the connection is faulty or thepower supply is not connected toDSQC 662, repair connection/con-nect it. Verify that the fault hasbeen fixed and restart this guideif necessary.

A minimum load of 2A is re-quired on the DC outputconnector X2 for the DSQC661 to work properly.

If no short circuit is found, pro-ceed with step 4.

Check both the DC outputconnector X2 on DSQC 661and the input connector X1on DSQC 662.

Check for short circuiton DC output.

3

If a short circuit is found on DSQC661, proceed with step 10.

Measure the resistancebetween voltage pins andground. The resistanceshould not be less than 10ohms.

Note

Do not measure the resist-ance between pins. Dualpins are used for both powersupply and ground.

If a short circuit is found on DSQC662, get that unit working. Verifythat the fault has been fixed andrestart this guide if necessary.

The DC output connector X2is shown in the Circuit Dia-gram in Product manu-al - IRC5.



4 Troubleshooting by unit4.9 Troubleshooting the system power supplyContinued

ActionNoteTest

If the correct voltage is detectedand the DC OK led is green, thepower supply is working properly.

DSQC 661 requires a minim-um load of 2A in order to de-liver +24V.

Measure the DCvoltage while the out-put is connected toDSQC 662 or someother load.

4

If the correct voltage is detectedand the DC OK led is off, thepower supply is regarded as faultybut does not have to be replacedinstantly.

Measure the voltage using avoltmeter at the DC outputconnector X2. The voltageshould be: +24V < U < +27V.If the voltage measured atthe load falls below +24 V,voltage drops in the cablesand connectors.

If no or the wrong voltage is detec-ted, proceed with step 5.

The DC output connector X2is shown in the Circuit Dia-gram in Product manu-al - IRC5.

If the input voltage is correct,proceed with step 10.

Measure the voltage using avoltmeter. Voltage should be:172 < U < 276V.

Measure the inputvoltage to the DSQC661.

5

If no or the wrong input voltage isdetected, proceed with step 6.The AC input connector X1

is shown in the Circuit Dia-gram in Product manu-al - IRC5.

If the switches are closed, pro-ceed with step 7.

Make sure that they areclosed.

Check switches Q1-2.6

If the switches are open, closethem. Verify that the fault hasbeen fixed and restart this guideif necessary.

Their physical location isshown in the Circuit Diagramin Product manual - IRC5.

If the fuses are open, proceedwith step 8.

Make sure that they areopen.

Check main fuse F2and optional fuse F6if used.

7

If the fuses are closed, open them.Verify that the fault has been fixedand restart this guide if necessary.

Their physical location isshown in the Circuit Diagramin Product manual - IRC5.

If the input voltage is correct,proceed with step 9.

Make sure that the in-put voltage to thecabinet is the correctone for that particularcabinet.

8

If the input voltage is incorrect,adjust it. Verify that the fault hasbeen fixed and restart this guideif necessary.

If the cabling is OK, the problemis likely to be the transformer T1or the input filter. Try to get thispart of the supply working. Verifythat the fault has been fixed andrestart this guide if necessary.

Make sure that the cabling iscorrectly connected and notfaulty.

Check the cabling.9

If the cabling is found unconnec-ted or faulty, connect/replace it.Verify that the fault has been fixedand restart this guide if necessary.

How to replace the unit isdetailed in Product manu-al - IRC5.

The DSQC 661 maybe faulty, replace itand verify that thefault has been fixed.

10




Continued

Troubleshooting flowchart

DSCQC 661

1. DC OK LED

PULSINGGREEN OFF GREEN

Fix connections 2. Check Outputconnections

4. Measure DCoutput

Correct DCLevel

Connectionsnot OK

Short circuit onunit(s)

ConnectionsOK

No short circuit

3. Check for shortcircuits on outputsFix short circuit Short circuit on

output(s)

Correct AClevel7. Check fuses F2

(F6)6. Check switches

Q1-25. Measure AC

inputSwitchesclosed

Wrong AClevel

Open fuses 8. Measure ACto cabinet

Close switchesQ1-2

Switches openFuses openFusesclosed

9. Checkcabling Adjust AC input

AC okAC not ok

Fix cablingProbable cause ofdysfunction:

transformer T1 orfilter

Faultycabling

Cabling OK

10. ReplaceDSQC 661

The power supplyunit worksproperly

Wrong DClevel

xx1200001313



4 Troubleshooting by unit4.9 Troubleshooting the system power supplyContinued

4.10 Troubleshooting the power distribution board

LocationThe power distribution board, DSQC 662, is located on the left side as shown inthe illustration below.

C

A

B

xx1300000813




CAUTION

Hot surface on top of the power distribution board unit.Risk of burns. Be careful when removing the unit.Do not route or place cables on top of the power distribution board.



4 Troubleshooting by unit4.10 Troubleshooting the power distribution board

LEDs

A

en1000000042

DCOK indicatorA


GREEN: When DC output is above the specified minimum level.DCOK indicatorOFF: When the DC output below the specified minimum level.

Required test equipmentEquipment needed for troubleshooting:

• Ohmmeter• Resistive load (e.g. main computer on +24V_PC)• Voltmeter

Preparations

NoteAction

Check the FlexPendant for errors and warnings.1

Note

When the AC power has been cutoff, the indicator LED (Status LED)on DSQC 662 will turn red andstay red until UltraCAP is empty.This may take a long time and iscompletely normal. It does notmean that there is somethingwrong with the 662.

Make sure that the power distribution board is inrun-time mode.Do this by waiting 1 minute after power-on.

2



4 Troubleshooting by unit4.10 Troubleshooting the power distribution boardContinued

Troubleshooting procedureThe troubleshooting table is supposed to be used as a detailed instruction togetherwith the troubleshooting flowchart.

ActionNoteTest

If the LED is:• GREEN, the DSQC 662

should be working properly.• PULSING GREEN, a USB

communication error hasoccurred. Proceed withstep 2.

• RED, the input/outputvoltage is low, and/or thelogic signal ACOK_N ishigh. Proceed with step 4.

• PULSING RED, one ormore DC outputs are underspecified voltage level.Make sure cables are prop-erly connected to its re-spective units. Proceedwith step 4.

• PULSING RED/GREEN, afirmware upgrade error hasoccurred. This is not sup-posed to happen duringruntime mode, proceedwith step 6.

• OFF, either the DSQC 662is faulty or it does not havesufficient input voltage.Proceed with step 4.

The indicator LED is labelledStatus LED.

Check the indicatorLED on DSQC 662.

1

If the connection seems OK, pro-ceed with step 6.

Check USB connec-tion on both ends.

2

If there is a problem with the con-nection, proceed with step 3.

If the communication comes backup, verify that the fault has beenfixed and restart this guide if ne-cessary.

Make sure that the USBcable is properly connectedon both ends.

Try to fix the commu-nication between thepower supply and thecomputer by recon-necting the cable.

3

If unable to fix the communication,proceed with step 6.

If the correct voltage is detectedon all outputs and the Status LEDis green, the power supply isworking properly.

Make sure that at least oneunit is connected at all times.A minimum load of 0.5- 1A isrequired on at least one out-put for the DSQC 662 to workproperly.

Disconnect one DCoutput at a time andmeasure its voltage.

4

If the correct voltage is detectedon all outputs and the Status LEDis NOT green, the power supply isregarded as faulty but does nothave to be replaced instantly.

Measure the voltage using avoltmeter. The voltageshould be: +24V < U < +27V.

If no or the wrong voltage is detec-ted, proceed with step 5.

The DC outputs are shownin the Circuit Diagram inProduct manual - IRC5.




Continued

ActionNoteTest

If the input voltage is correct, pro-ceed with step 6.

Measure the voltage using avoltmeter. Input voltageshould be: 24 < U < 27V andACOK_N should be 0V.

Measure the inputvoltage to the DSQC662 and the ACOK_Nsignal.

5

If no or the wrong input voltage isdetected, troubleshoot DSQC 661.

Make sure that connectorsX1 and X2 are connectedproperly on both ends.The DC input connector X1and ACOK_N connector X2are shown in the Circuit Dia-gram in Product manu-al - IRC5.

How to replace the unit isdetailed in Product manu-al - IRC5.

The DSQC 662 maybe faulty, replace itand verify that thefault has been fixed.

6



4 Troubleshooting by unit4.10 Troubleshooting the power distribution boardContinued

Troubleshooting flowchart

DSCQC 662

1. DC OK LED

PULSINGGREEN OFF

6. ReplaceDSQC 662

The power supplyunit worksproperly

TroubleshootDSQC 661

PULSINGRED-GREEN PULSING

RED RED GREEN

2. Check USBConnection

4.Measure DCoutputs

Correct DC level

Low DCinput/outputOutputs low

3.Fix connection

Connected

Problemwith USB

Notconnected

USBCommunication

error

ConnectionOK

Firmwareupgrade error

24v ok

24v not ok

Wrong DC level

5.Measure24V_DC input and

AC ok

xx1200001314




Continued

4.11 Troubleshooting the contactor interface board

LocationThe illustration below shows the location of the contactor interface board, DSQC611, in the controller.

A

B

C

D

E

xx0400001058

MOTOR ON contactor K42A

MOTOR ON contactor K43B

Brake contactorC

Jumpers (3pcs)D

Contactor interface boardE

LEDsThe illustration below shows the LEDs on the Contractor interface board:

A

xx0400001091

Status LEDA



4 Troubleshooting by unit4.11 Troubleshooting the contactor interface board

Description

GREEN flashing: serial communication error.Status LEDGREEN steady: no errors found and system is running.RED flashing: system is in power-up/self-test mode.RED steady: other error than serial communication error.



4 Troubleshooting by unit4.11 Troubleshooting the contactor interface board

Continued

4.12 Troubleshooting the customer I/O power supply

LocationThe customer I/O power supply, DSQC 609, is located as shown in the figure below.

C

A

B

xx1300000813




CAUTION

If there are two or more Customer I/O power supply units mounted in a row andtoo close to each other, there will be a heating problem and the units can bedamaged.To avoid damaging the Customer I/O power supply units, the units must beseparated with 3 pcs of exterior support.



4 Troubleshooting by unit4.12 Troubleshooting the customer I/O power supply

LEDsThe illustration below shows the LEDs on the Customer Power Supply Module:

A

en1000000037

DCOK indicatorA


GREEN: When all DC outputs are above the specified minimum levels.DCOK indicatorOFF: When one or more DC output/s below the specified minimum level.



4 Troubleshooting by unit4.12 Troubleshooting the customer I/O power supply

Continued


5 Troubleshooting by event log5.1 Event log messages

Type of event log messagesThe IRC5 supports three types of event log messages:

DescriptionType

These messages are used to log information into the event log, but that donot require specific actions on the part of the user. Informational messagesdo not take focus on a display device for the controller.

Information

These messages are used to remind the user that something is not necessarilycorrect in the system but that operation continues. These messages are placedinto the event log but do not take focus on a display device.

Warning

These messages indicate something is seriously wrong with the system andthat operation has stopped. They are used when an immediate action shouldbe taken by the user.

Error

Note

The message type is not contained in the actual message text, but in the codeitself when the message is generated. Messages can only appear as one typeand the message should be written to provide information about its type.

Note

The version of the translated event logs as shown in the translated manuals maydiffer slightly to the English version due to late corrections.



5 Troubleshooting by event log5.1 Event log messages

5.2 How to read RAPID event log messages

Event number seriesThe event messages are divided into the following groups depending on whichpart of the robot system it refers to.

Note

Not all event log messages are translated to all languages. However, the Englishversion of the manual contains all event log messages that are included in therelated RobotWare release.

Type of eventNumber series

Operational events; events dealing with handling of the system.1 xxxx

System events; events dealing with system functions, system states,and so on.

2 xxxx

Hardware events; events dealing with system hardware, manipulatorsas well as controller hardware.

3 xxxx

Program events; events dealing with RAPID instructions, data, and soon.

4 xxxx

Motion events; events dealing with the control of the manipulatormovements and positioning.

5 xxxx

I/O events; events dealing with inputs and outputs, data buses, and soon.

7 xxxx

User events; events defined by the user.8 xxxx

Functional safety events; events related to functional safety.9 xxxx

Process events; application specific events, arc welding, spot welding,and so on.

11 xxxx

0001 - 0199 Continous Application Platform0200 - 0399 Discrete Application Platform0400 - 0599 Arc0600 - 0699 Spot0700 - 0799 Bosch0800 - 0899 Dispense1000 - 1200 Pick and Place1400 - 1499 Production manager1500 - 1549 BullsEye1550 - 1599 SmartTac1600 - 1699 Production Monitor1700 - 1749 TorchClean1750 - 1799 Navigator1800 - 1849 Arcitec1850 - 1899 MigRob1900 - 2399 PickMaster RC2400 - 2449 AristoMig2500 - 2599 Weld Data Monitor2600 - 2649 GSI2700 - 2702 Integrated Vision4800 - 4814 Miscellaneous Process



5 Troubleshooting by event log5.2 How to read RAPID event log messages

Type of eventNumber series

Configuration events; events dealing with the configuration of the sys-tem.

12 xxxx

Paint13 xxxx

RAPID15 xxxx

Connected Service Embedded event logs which are generated duringstarting, registering, unregistering, losing connectivity, and so on.

17 xxxx



5 Troubleshooting by event log5.2 How to read RAPID event log messages

Continued

5.3 1 xxxx

10002, Program pointer has been reset

DescriptionThe program pointer of task arg has been reset.

ConsequencesWhen started, program execution will start on the firstinstruction of the task's entry routine. NOTE that the manipulatormay move to unexpected position when restarted!

Probable causesThe operator has probably requested this action manually.

10009, Work memory full

DescriptionThe task arg has no memory left for new RAPID instructions ordata.

Recommended actionsSave the program and then restart the system.

10010, Motors OFF state

DescriptionThe system is in the Motors OFF state. It enters this state eitherafter switching from Manual mode to Automatic, or after theMotors ON circuit has been opened during program execution.

ConsequencesNo operation will be possible until after closing the Motors ONcircuit. The manipulator's axes are meanwhile held in positionby mechanical holding brakes.

10011, Motors ON state

DescriptionThe system is in the Motors ON state.

ConsequencesThe Motors ON circuit has been closed, enabling power supplyto the manipulator's motors. Normal operation may be resumed.

10012, Safety guard stop state

DescriptionThe system is in the Guard stop state. It enters this state eitherafter switching from Automatic mode to Manual, or after theMotors ON circuit has been opened by an Emergency Stop,General Stop, Automatic Stop or Superior Stop, or in manualmode if enabling device was released.

ConsequencesNo operation will be possible until after closing the Motors ONcircuit. The manipulator's axes are meanwhile held in positionby mechanical holding brakes.

Probable causesAny safety device connected to the system's stop inputs havebeen opened. These are shown in the Circuit Diagram.

Recommended actionsCheck which safety device caused the stop. Close the device.To resume operation, switch the system back to state MotorsON.

10013, Emergency stop state

DescriptionThe system is in the Emergency stop state, since the MotorsON circuit has been opened by an Emergency Stop device.

ConsequencesAll program execution and thus robot actions are immediatelyhalted. The robot axes are meanwhile held in position bymechanical holding brakes.

Probable causesAny emergency stop device connected to the emergency stopinput have been opened. These may be internal (on thecontroller or on the FlexPendant) or external (devices connectedby the system builder). The internal devices are shown in theCircuit Diagram.

Recommended actionsCheck which emergency stop device caused the stop.Close/reset the device. To resume operation, switch the systemback to state Motors ON by pressing this button on the ControlModule.

10014, System failure state

DescriptionExecution of all NORMAL tasks has been stopped due tomalfunction.

ConsequencesNo start of program execution or manual manipulator joggingwill be possible until after the system has been restarted.



5 Troubleshooting by event log5.3 1 xxxx

Probable causesA large number of malfunctions may cause this condition.Please use the FlexPendant or RobotStudio to check otherevent log messages for events occurring at this time!

Recommended actionsDetermine what caused the stop by studying the event log.Remedy the fault. Restart the system as detailed in theOperator's Manual.

10015, Manual mode selected

DescriptionThe system is in the Manual mode.

ConsequencesProgrammed operation is possible, but only with a max. speedof 250 mm/s. The manipulator may also be jogged manuallyafter pressing the enabling device on the FlexPendant.

10016, Automatic mode requested

DescriptionThe system has been ordered to go to the Automatic mode.

ConsequencesThe system will go to the Automatic mode after confirmed fromFlexPendant.

10017, Automatic mode confirmed

DescriptionThe system is in the Automatic mode.

ConsequencesThe enabling device is disconnected. The robot can movewithout human intervention.

10018, Manual mode full speed requested

DescriptionThe system has been ordered to go to the Manual mode withoutany speed restraints.

ConsequencesThe system will go to the Manual mode full speed.

10019, Manual mode full speed confirmed

DescriptionThe system is in the Manual mode without any speed restraints.

ConsequencesProgrammed operation is possible while pressing thehold-to-run button on the FlexPendant. The manipulator mayalso be jogged manually after pressing the enabling device onthe FlexPendant.

10020, Execution error state

DescriptionThe program execution in task arg has been stopped due to aspontaneous error.

ConsequencesNo program execution will be possible until the error has beenremoved.

Probable causesA large number of malfunctions may cause this condition.Please use the FlexPendant or RobotStudio to check otherevent log messages for events occurring at this time!

Recommended actionsDetermine what caused the stop by studying the event log.Remedy the fault. If necessary, move Program Pointer to mainbefore pressing start button.

10021, Execution error reset

DescriptionThe program execution in task arg has left a spontaneous errorstate.

10024, Collision triggered

DescriptionSome mechanical part of the manipulator has collided with apiece of fixed equipment in the cell.

ConsequencesManipulator movement is interrupted and program executionis stopped.

10025, Collision confirmed

DescriptionThe collision detection has been confirmed.

Recommended actions

10026, Collision retraction

DescriptionThe manipulator has attempted to back away from the obstacle,into which it collided, and succeeded.



5 Troubleshooting by event log5.3 1 xxxxContinued

ConsequencesThe system is ready to go back to normal operation.

10027, Collision retraction fail

DescriptionThe manipulator has attempted to back away from the obstacle,into which it collided, and failed.

ConsequencesThe system is NOT ready to go back to normal operation.

Probable causesThis may be caused by the robot being stuck to the object intowhich it collided.

Recommended actionsGo to Manual Mode. Manually run the robot away from theobject. Resume operation by restarting the program.

10030, All axes commutated

DescriptionAfter checking, the system has found all manipulator axes tobe commutated.

ConsequencesNormal operation is possible.

10031, All axes calibrated

DescriptionAfter checking, the system has found all manipulator axes tobe calibrated.


10032, All revolution counters updated

DescriptionAfter checking, the system has found all revolution countersfor all manipulator axes to be updated.


10033, All axes synchronized

DescriptionAfter checking, the system has found all manipulator axes tobe synchronized.


10034, Axis not commutated

DescriptionAfter checking, the system has found that one or moremanipulator axes are not commutated.

ConsequencesTo enable operation, all manipulator axes must be commutated.

Probable causesThe manipulator drive motor and related units may have beenaltered, e.g. after replacing a faulty unit.

Recommended actionsCommutate the manipulator axes as detailed in the manipulatorProduct Manual.

10035, Axis not calibrated

DescriptionAfter checking, the system has found that one or moremanipulator axes are not calibrated.

ConsequencesTo enable operation, all manipulator axes must be calibrated.


Recommended actionsCalibrate the manipulator axes as detailed in the manipulatorProduct Manual.

10036, Revolution counter not updated

DescriptionAfter checking, the system has found that the revolutioncounters of one or more manipulator axes are not updated.

ConsequencesTo enable operation, the revolution counters of all manipulatoraxes must be updated.


Recommended actionsUpdate the revolution counters of all manipulator axes asdetailed in the manipulator Product Manual.




10037, Axis not synchronized

DescriptionAfter checking, the system has found that one or moremanipulator axes are not synchronized.

ConsequencesTo enable operation, all manipulator axes must be synchronized.


Recommended actionsSynchronize the manipulator axes as detailed in the manipulatorProduct Manual.

10038, Robot memory is OK

DescriptionDuring startup, the system has found that all data in the robotmemory is OK.

ConsequencesOperation is possible.

10039, Robot memory is not OK

DescriptionDuring startup, the system has found that data in the robotmemory is not OK.

ConsequencesAll data must be OK before automatic operation is possible.Manually jogging the robot is possible.

Probable causesThere are differences between the data stored in the robot andthe controller. This may be due to replacement of SMB-board,controller or both.

Recommended actionsUpdate the robot memory as detailed in Operator's Manual,IRC5.

10040, Program loaded

DescriptionA program or program module has been loaded into task arg.After loading, arg bytes memory remain. The size of the loadedprogram is arg bytes.

10041, Program deleted

DescriptionA program or program module was deleted from task arg.

ConsequencesIf the deleted program contained the task entry routine, theprogram will no longer be executable.

Probable causesThe program may have been removed manually.

Recommended actionsDefine an entry routine in one of the task's remaining programs,or: Load a program containing an entry routine.

10042, Axis synchronized

DescriptionA fine calibration or update of revolution counter(s) was made.

10043, Restart failed

DescriptionThe task arg can't restart.

10044, Program Pointer updated

DescriptionThe task arg could have changed the Program Pointer position.

Recommended actions

10045, System restarted

DescriptionSystem was restarted.

Recommended actions

10046, System reset

DescriptionLoading the original system installation settings.

Recommended actions

10048, Background task did stop

DescriptionThe task arg stopped without reason.

Recommended actions




10051, Event routine error

DescriptionThe task arg could not start the specified system event routinearg. The routine is either unknown to the system or the programis unlinkable.

Recommended actionsInsert the routine in a system module or: Correct the programor: Make sure that someone else does not have mastershipover motion.

10052, Regain start

DescriptionA regain movement has started.

Recommended actions

10053, Regain ready

DescriptionThe regain movement is ready.

Recommended actions

10054, Regain rejected

DescriptionRegain on path not possible, as one client has already orderedit.

Recommended actionsA new regain movement is ordered during an already startedregain movement. Reduce the number of start orders from e.g.system I/O

10055, Path process restarted

DescriptionThe path process has been restarted.

Recommended actions

10056, System shutdown initiated

DescriptionSystem shutdown is now initiated and steps are taken to stopactivities and store the current state for the next startup.

Recommended actions

10060, Test of enable chain

DescriptionThe enable chain is always tested at startup. If the test failedan error message concerning enable will follow.

Recommended actionsIf enable chain test at startup failed the related error messagewill be "Enable chain timeout"

10061, A target has been modified

DescriptionA target in module arg in task arg has been modified or tuned.Start line arg, column arg, end line arg.

10062, A module has been edited.

DescriptionModule arg in task arg has been edited between lines: arg, argby arg.

10063, Module has been edited

DescriptionModule arg in task arg has been edited.

10064, A module has been erased.

DescriptionModule arg in task arg has been erased.

10065, New user has started to modify RAPID.

DescriptionUser arg has started with RAPID program modifications in taskarg.

10066, Not possible to load system module

DescriptionSystem module arg in task arg cannot be loaded since the fileis not found.

10067, Program Pointer Reset

DescriptionUnable to reset the program pointer for task arg.

ConsequencesThe program will not start.




Probable causesNo program is loaded. The main routine is missing. There areerrors in the program.

Recommended actionsLoad program if no program is loaded. Check that the programhas a main routine. If there is no main routine, add one. Checkfor errors in the program and correct them. See previous errormessages in the Event log.

10068, Start Program

DescriptionUnable to start program for task arg.

ConsequencesThe program will not execute.

10074, NFS server up

DescriptionThe control system communicates correctly with the NFS serverarg.

10075, NFS server down

DescriptionThe control system is not able to communicate correctly withthe NFS server arg.

ConsequencesIf the server arg is defined as TRUSTED, robot programexecution will be stopped. If the server is defined asNON-TRUSTED, execution will proceed. These definitions arespecified in the Application manual - Robot communication andI/O control.

Probable causesIf this message is displayed at first start-up, the serverconfiguration may be incorrect. If displayed during operation,the previously working communication has been lost due to abroken connection. Also see the I/O event log!

Recommended actionsCheck the NFS server configuration. Check all communicationhardware, cables and such. Check NFS client configuration onthe controller.

10076, FTP server up

DescriptionThe control system communicates correctly with the FTP serverarg.

10077, FTP server down

DescriptionThe control system is not able to communicate correctly withthe FTP server arg.

ConsequencesIf the server arg is defined as TRUSTED, robot programexecution will be stopped. If the server is defined asNON-TRUSTED, execution will proceed. These definitions arespecified in the Application manual - Robot communication andI/O control.

Probable causesIf this message is displayed at first start-up, the serverconfiguration may be incorrect. If displayed during operation,the previously working communication has been lost due to abroken connection. Also see the I/O event log!

Recommended actionsCheck the FTP server configuration. Check all communicationhardware, cables and such. Check the FTP client configurationon the controller.

10078, A module has been edited

DescriptionModule arg in task arg has been edited before line: arg by arg.

10079, A module has been edited

DescriptionModule arg in task arg has been edited after line: arg by arg.

10080, An updated RAPID file is found

DescriptionThe SEMISTATIC task arg has an older version of a moduleinstalled than the source arg

Recommended actionsRestart the system with a "Reset RAPID" to install the newerversion.

10081, Background task arg

DescriptionFailed to load a newer version of a module. The source of themodule is arg.

Recommended actionsSee previous messages for the possible root cause or restartthe system with a "Reset RAPID" to load the newer version.




10082, RAPID Task supervision

DescriptionTask arg is not running. The system will be set in SysFail state.It's now impossible to change to motors on arg.

Recommended actionsSee previous messages for the cause. Restart the system toreset the error state.


DescriptionTask arg is not running. The system will be set in motors offstate. arg

Recommended actionsSee previous messages for the cause.


DescriptionTask arg is not running. All NORMAL tasks will also be stopped.

Recommended actionsSee previous messages for the cause.


DescriptionTask arg can't be stopped. The trustLevel is set to a safety level.

Recommended actionsIf the task should be possible to stop change the trustLevel ortask type in the system parameters menu.

10086, Robot is purged OK

DescriptionPurging pressure regained after a purge fault.

Recommended actions

10087, Purge state: arg.

DescriptionState changed.

Recommended actions

10090, Reset RAPID done

DescriptionReset RAPID is done.

ConsequencesAfter restart the system's state will be resumed except formanually loaded programs and modules. Static and semistatictasks are restarted from the beginning, not from the state theyhad when the system was stopped.Modules will be installed and loaded in accordance with the setconfiguration. System parameters will not be affected.

Probable causesReset RAPID was ordered by the user. The system forced ResetRAPID due to inconsistent data, malfunction or unrecoverabletask state.

10091, Restart not possible

DescriptionA restart after collision detection is not possible beforeacknowledge the error dialogue.

Recommended actions

10092, (Re)start not possible

Description(Re)start is not possible due to lost contact with IO module argconfigured with trustlevel.

Recommended actions

10093, (Re)start not possible

Description(Re)start of task arg is not possible before a controller restartis done.

Recommended actionsThe background task is configured with Trustlevel set to SysHalt

10095, At least one task is unchecked in the taskselection panel

DescriptionOne or more of the NORMAL tasks are unchecked in the taskselection panel when performing a (re)start.

Recommended actions

10096, arg not active!

DescriptionThe workobject arg contains a coordinated mechanical unitwhich is not activated.




Recommended actionsActivate the mechanical unit and perform the operation again.


DescriptionThe task arg is set in blocked state and the program is for thatreason not possible to restart from the current program position.

Recommended actionsThe Program Pointer must be moved before restart.


DescriptionThe task arg has been in system failure state and the programis for that reason not possible to restart from the currentprogram position.

Recommended actionsThe Program Pointer must be moved before restart.

10099, Program start rejected

DescriptionThe system has performed a soft stop, and the program maynot be restarted.

ConsequencesThe system goes to the Motors OFF state and cannot be started.The full meaning of this status is described in the Troubleshooting manual, IRC5.

Probable causesThe soft stop may be caused by opening the safety circuit.

Recommended actionsCheck the safety circuits for an open switch. Go to Motors ONand restart the program.

10106, Time for service

DescriptionIt's time for service for robot arg because it is arg days sincethe last service.

Recommended actions

10107, Close to service

DescriptionIt remains arg days for robot arg until it's time for service.

Recommended actions

10108, Time for service

DescriptionIt's time for service for robot arg cause it's arg hours ofproduction since last service.

Recommended actions

10109, Close to service

DescriptionIt remains arg hours of production for robot arg to next service.

Recommended actions

10110, Gearbox needs service

DescriptionThe gearbox at arg of robot arg needs service.

Recommended actions

10111, Gearbox reached service interval

DescriptionThe gearbox at arg of robot arg has reached arg of its serviceinterval.

Recommended actions

10112, SIS calendar notification

DescriptionThe system date and time has changed.This could cause problems with the SIS calendar notification.

Recommended actionsThe SIS parameters Calendar Limit and Calendar Warning mightneed to be changed

10115, Serial memory data aremoved from robotmemory to controller memory

DescriptionSerial memory data are moved from robot memory to controllermemory by arg.

Recommended actions

10116, Serial memory data are moved fromcontroller memory to robot memory

DescriptionSerial memory data are moved from controller memory to robotmemory by arg.




Recommended actions

10117, Serial memory data in robot memory iscleared

DescriptionSerial memory data in robot memory is cleared by arg.

Recommended actions

10118, Serial memory data in controller memoryis cleared

DescriptionSerial memory data in controller memory is cleared by arg.

Recommended actions

10120, Program stopped

DescriptionThe task arg has stopped. The reason is that an external orinternal stop after current instruction has occurred.

Recommended actions


DescriptionThe task arg has stopped. The reason is that the task hasreached an exit instruction.

Recommended actions


DescriptionThe task arg has stopped. The reason is that the task is ready.

Recommended actions


DescriptionThe task arg has stopped. The reason is that the task is readywith this step.

Recommended actions


DescriptionThe task arg has stopped. The reason is that the task hasreached a break instruction.

Recommended actions


DescriptionThe task arg has stopped. The reason is that an external orinternal stop has occurred.

Recommended actions


DescriptionThe task arg has stopped. The reason is that an error hasoccurred.

Recommended actions

10127, Backward execution not possible

DescriptionThe task arg has stopped. The reason is that it is not possibleto execute backward past beginning of instruction list.

Recommended actions

10128, Backward execution not possible

DescriptionThe task arg has stopped. The reason is that it is not possibleto execute backward past the instruction.

Recommended actions


DescriptionThe task arg has stopped. The reason is that the event routinefor RESET or POWER_ON is ready.

Recommended actions


DescriptionThe task arg has stopped. The reason is that the task is readywith this move step.

Recommended actions


DescriptionThe task arg has stopped. The reason is that the routine calledfrom system IO interrupt or a service routine is ready.

Recommended actions





DescriptionThe task arg has stopped. The reason could not be determined.

Recommended actions


DescriptionThe task arg has stopped. The reason is that the task is readywith the execution of the UNDO handlers.

10134, POWER_ON event routine stopped

DescriptionThe system was stopped while execution a POWER_ON eventroutine.

ConsequencesWARNING: Moving program pointer will leave the system in anundefined state because many applications rely on thePOWER_ON routine completion.

Probable causesPOWER_ON event routines can be stopped for many reasons.You may need to look for other event log messages but thenormal ones are: Stop button Rapid Stop instruction Executionerror

Recommended actionsUnless there is an error then the POWER_ON routines willcomplete their task if you press start and when done thenexecution will stop again, without any normal RAPID code beingexecuted.


DescriptionThe task arg has stopped. The reason is that an external orinternal stop after current cycle has occurred.

Recommended actions


DescriptionThe task arg has stopped. The reason is that the task hasreached a stop instruction.

Recommended actions


DescriptionThe task arg has stopped. The reason is that the task hasreached a stop\AllMoveTask instruction.

Recommended actions


DescriptionThe task arg has stopped. The reason is that an stop fromsystem input has occurred.

Recommended actions

10140, Speed adjusted

DescriptionThe speed has been adjusted to arg% by arg.

10141, Program pointer moved to cursor

DescriptionThe program pointer of task arg in module arg has been movedto position arg by arg.

10142, Call routine

DescriptionThe program pointer in task arg has been moved to routine argby arg.

10143, Cancel call routine

DescriptionThe execution of the called routine has been canceled in taskarg by arg.

10144, Simulate of Wait instruction

DescriptionA wait instruction (WaitTime, WaitUntil, WaitDO, etc.) has beensimulated in task arg by arg.

Recommended actions

10145, Task selection panel is set

DescriptionTask arg has been added in Task Selection Panel by arg.

Recommended actions




10146, Task selection panel is cleared

DescriptionTask arg has been removed in Task Selection Panel by arg.

Recommended actions

10147, Setting of variable

DescriptionVariable arg has changed to value arg by arg.

Recommended actions

10148, Setting of IO

DescriptionIO signal arg has changed value to arg by arg.

Recommended actions

10149, Program Pointer moved to routine

DescriptionThe program pointer in task arg has been moved to routine argby arg.

Recommended actions

10150, Program started

DescriptionExecution of task arg has been started from the first instructionof the task's entry routine. The originator could not bedetermined.

Recommended actions


DescriptionExecution of task arg has been started from the first instructionof the task's entry routine. The originator is an external client.

Recommended actions


DescriptionExecution of task arg has been started from the first instructionof the task's entry routine. The start order was initiated by anaction causing the UNDO handler to execute.

10153, Run mode is changed

DescriptionRun mode has been changed to single cycle by arg.

10154, Run mode is changed

DescriptionRun mode has been changed to continuous mode by arg.

10155, Program restarted

DescriptionExecution of task arg has been restarted from where it waspreviously stopped. The originator could not be determined.

Recommended actions


DescriptionExecution of task arg has been restarted from where it waspreviously stopped. The originator is an external client.

Recommended actions


DescriptionExecution of task arg has been restarted from where it waspreviously stopped. The restart order was initiated by an actioncausing the UNDO handler to execute.


DescriptionStepwise forward execution of task arg has been started.


DescriptionStepwise backward execution of task arg has been started.

10160, Pulsing of IO

DescriptionIO signal arg has been pulsed by arg.

Recommended actions


Descriptionrefuse to start. Task is empty.




Recommended actions


Descriptionrefuse to start. Wrong state.

Recommended actions


Descriptionrefuse to start. Can't set PP to the main routine.

Probable causesThe module that contains the main routine was not loaded sincethe module file is missing in the target directory.The module that contains the main routine was not loaded sincethe configuration file has no entry for automatic loading of themodule.The main routine is missing.The main entry is corrupted.

Recommended actionsLoad the module manually or perform a system reset after thecause of the problem is removed.


Descriptionrefuse to start. Can't set the execution mode.

Recommended actions


Descriptionrefuse to start. The start order failed.

Recommended actions


Descriptionrefuse to start due to a syntax error.

Recommended actions


Descriptionrefuse to start. Can't load module.

Probable causesThe module file is missing in the target directory.

Recommended actionsCopy the module file to the target directory. Reset the system.

10177, Task refuses to start

DescriptionTask arg:There is not sufficient program memory or the program memoryis fragmented. Modules could be missing or data may not havebeen installed.

Recommended actionsUnload/reload modules and restart the system. Split large datastructures. Do Reset RAPID. Increase stack size for task.

10178, A static/semistatic task can't be stepped

DescriptionTask arg can't be started.A static/semistatic task can only run in continuous mode.

ConsequencesNo tasks will be started.

Probable causesTrying to step (forward or backward) a static/semistatic task.

Recommended actionsStart arg in continuous mode.

10185, Task could not be prepared for start

DescriptionTask arg:There is not sufficient program memory or the program memoryis fragmented. Modules could be missing or data may not havebeen installed.

Recommended actionsUnload/reload modules and restart the system. Split large datastructures. Do Reset RAPID.

10190, Protected area not done

DescriptionA power fail did occur in the middle of a protected area for thetask arg. The system is trying to selfheal.

Recommended actions





DescriptionA power fail did occur in the middle of a protected area for thetask arg. A pending error is removed from the queue.

Recommended actions


DescriptionA power fail did occur in the middle of a protected area for thetask arg. A pending exit is removed from the queue.

Recommended actions


DescriptionA power fail did occur in the middle of a protected area for thetask arg. This may result in an extra program cycle.

Recommended actions


DescriptionA power fail did occur in the middle of a protected area for thetask arg. The task will be restarted from the main routine.

Recommended actions


DescriptionA power fail did occur in the middle of a protected area for thetask arg. All tasks are reset and all user programs are lost.

Recommended actionsTry to save the user program and restart the system.


DescriptionA power fail did occur in the middle of a protected area for thetask arg.

Recommended actions

10200, Event logs are cleared

DescriptionUser arg has cleared all event logs.

Recommended actions

10201, Event logs for one domain is cleared

DescriptionUser arg has cleared domain argX XXX.

Recommended actions

10202, Date and/or time is changed

DescriptionDate and/or time is changed to arg by arg.

Recommended actions

10205, Configuration parameter changed

DescriptionA configuration parameter has been changed in domain: argby arg.

Recommended actions

10206, Configuration file has been loaded

DescriptionA configuration file arg has been loaded by arg.

Recommended actions

10210, Execution cancelled

DescriptionThe restart will clear the execution in task arg of a POWER ONsystem event routine.

Recommended actions


DescriptionThe restart will clear the execution in task arg of a STOP systemevent routine.

Recommended actions


DescriptionThe restart will clear the execution in task arg of anEMERGENCY STOP system event routine.

Recommended actions





DescriptionThe restart will clear the execution in task arg of a STARTsystem event routine.

Recommended actions


DescriptionThe restart will clear the execution in task arg of a RESTARTsystem event routine.

Recommended actions


DescriptionThe restart will clear the execution in task arg of a RESETsystem event routine.

Recommended actions


DescriptionThe restart will clear the execution in task arg of an INTERNALsystem event routine.

Recommended actions


DescriptionThe restart will clear the execution in task arg of a USER routine.

Recommended actions


DescriptionThe restart will clear the execution in task arg.

Recommended actions


DescriptionThe restart will clear the execution in task argof a STEP systemevent routine.

Recommended actions

10230, Backup step ready

DescriptionThe backup step Prepare is ready.

Recommended actions


DescriptionThe backup step Configuration is ready.

Recommended actions


DescriptionThe backup of Task is ready.

Recommended actions


DescriptionThe backup of Controller Settings is ready.

Recommended actions

10250, Restore step ready

DescriptionThe restore step Prepare is ready.

Recommended actions


DescriptionThe restore step Configuration is ready.

Recommended actions


DescriptionThe restore of Task is ready.

Recommended actions


DescriptionThe restore of User Task is ready.

Recommended actions





DescriptionThe restore of Controller Settings is ready.

Recommended actions


DescriptionThe restore of Safety Settings is ready.

Recommended actions

10260, System diagnostics info generated

DescriptionSystem diagnostics information was successfully generated tofile arg

10261, System diagnostics info unavailable

DescriptionUser requested to save diagnostics system information to filearg. System was unable to fulfill this request.

ConsequencesDiagnostics system information is normally used when reportinga problem with the system to ABB support.

Probable causesThe system is in such state that it is not possible to generatethe requested information.Please check that the device has enough space left.

Recommended actionsIf you are experiencing a problem with the system contact ABBsupport.

10262, System log has been created

DescriptionA system log has been created.A System Diagnostics has to be created using FlexPendant orRobotStudio.

Probable causesThe system log was triggered by the error event: arg

Recommended actionsCreate a System Diagnostics and attach it to your error reportif reported to ABB support.

10270, Cyclic Brake Check Done

DescriptionThe Cyclic Brake Check has been done for all brakes supervisedby Safety Controllers.

10271, Cyclic Brake Check Started

DescriptionThe Cyclic Brake Check has been started.

10272, Brake Check Done

DescriptionThe Brake Check has been done for all brakes.

10273, Brake Check Started

DescriptionThe Brake Check has been started.

10274, Brake Maintenance

DescriptionThe arg indicates that the mechanical brake for axis arg onmechanical unit arg is in need of brake maintenance.

ConsequencesThe brake maintenance is automatically started on axis arg.The brake will then be tested again.

10275, Brake Performance

DescriptionThe arg shows that the mechanical brake for axis arg formechanical unit arg is fully functional.

10280, The coordinate system has been changedto World frame

DescriptionThe coordinate system has been changed to World frame inmechanical unit arg by arg.

10281, The coordinate system has been changedto Base frame

DescriptionThe coordinate system has been changed to Base frame inmechanical unit arg by arg.




10282, The coordinate system has been changedto Tool frame

DescriptionThe coordinate system has been changed to Tool frame inmechanical unit arg by arg.

10283, The coordinate system has been changedto Object frame

DescriptionThe coordinate system has been changed to Object frame inmechanical unit arg by arg.

10284, Non motion execution mode is set

DescriptionThe non motion execution mode has been set by arg.

ConsequencesThe mechanical unit will not move when executing.

10285, Non motion execution mode has beenreset

DescriptionThe non motion execution mode has been reset by arg.

ConsequencesThe mechanical unit will move while executing.

10286, Payload has been changed

DescriptionThe payload has been changed to arg in task arg by arg.

10287, Total load has been changed

DescriptionThe total load has been changed to arg in task arg by arg.

10288, The Work Object has been changed

DescriptionThe Work object has been changed to arg in task arg by arg.

10289, The tool has been changed

DescriptionThe tool has been changed to arg in task arg by arg.

10290, The robot has been calibrated

DescriptionThe mechanical unit arg, axis arg has been calibrated by arg.

10291, Goto position

DescriptionThe functionality Goto position has been used by arg.

10292, Revolution Counter updated

DescriptionThe revolution counter for robot arg, axis arg has been updatedby arg.

10293, Path Supervision is set to On

DescriptionThe Path supervision for task arg is set to On by user: arg.

10294, Path Supervision is set to Off

DescriptionThe Path supervision for task arg is set to Off by user: arg.

10295, The Sensitivity for Path Supervision isupdated

DescriptionThe Sensitivity for task arg for Path Supervision is set to arg%by user: arg.

10296, Jog Supervision is set to On

DescriptionThe Jog supervision for task arg is set to On by user: arg.

10297, Jog Supervision is set to Off

DescriptionThe Jog supervision for task arg is set to Off by user: arg.

10298, The Sensitivity for Jog Supervision isupdated

DescriptionThe Sensitivity for task arg for Jog Supervision is set to arg%by user: arg.




10300, A Reset RAPID is ordered

DescriptionReset RAPID has been ordered from the system.

Recommended actions

10301, Reset RAPID is ordered

DescriptionReset RAPID has been ordered manually or automatically duringa configuration.

Recommended actions

10304, An update has been ordered

DescriptionAn update of program configuration is done.

Recommended actions

10350, Update of task failed

DescriptionThe system could not update task arg to the new configuration.

Recommended actions

10351, A task is removed

DescriptionThe task arg was removed because of configuration changes.

Recommended actions

10352, A task is added

DescriptionThe task arg was installed because of configuration changes.

Recommended actions

10353, A task is reinstalled

DescriptionThe task argwas reinstalled because of configuration changes.

Recommended actions

10354, Restore aborted due to lost system data.

DescriptionThe system is using a backup of the system data, since thesystem data was not properly saved at last shutdown. Due to

this, a previously ordered Restore from directory arg wasattempted again, but was aborted.

ConsequencesNo RAPID programs or modules will be loaded.

Probable causesThe system data was not properly saved at last shutdown.

Recommended actionsAfter recovering from the system data loss by a(B)ackup-Restart or system re-installation, please verify thatthe backup directory arg is OK, and perform the Restore again.

10355, Restore error

DescriptionError during the restore of Task. Trying to load to unknowntask, arg.

ConsequencesLoading has been aborted for arg.

Probable causesThe current system doesn't have the same options as the oneused to create the backup.

10400, User arg logged on

DescriptionUser arg logged on using arg.

10401, User arg logged off

DescriptionUser arg using arg logged off.

10420, New unsafe robot path

DescriptionThe robot path has been cleared after a target has beenmodified in task arg. The robot will for that reason move towardsthe position pointed out by the move instruction at the programpointer. Move instructions between the modified target and theprogram pointer will be skipped.

ConsequencesThe programmed speed is used for this movement.The new untested path may contain obstacles that might causea collision.

Recommended actionsCheck your program pointer and move it if necessary.Reduce the speed.




10421, Planned path not aborted

DescriptionA target that may be part of the planned robot path has beenmodified. The new target position will be used the next time theinstruction with the target is executed.

ConsequencesThe current planned path is using the old target position.

Recommended actionsIf the current planned path is unsafe, move the program pointerto abort it.

10450, Update package rejected by the controller

DescriptionIt was not possible to prepare update of the current RobotWaresystem using update package with ID: arg. Error code is: arg.

ConsequencesThe system remains unchanged.

Recommended actionsContact the package provider or ABB support.

10451, Update of RobotWare System failed

DescriptionIt was not possible to apply update of the current RobotWaresystem using update package with ID: arg. Error code is: arg.

ConsequencesThe system remains unchanged.

Recommended actionsContact the update Deployment Package provider or ABBsupport.

10452, Update of RobotWare System done

DescriptionUpdate of the current RobotWare system using the DeploymentPackage 'arg' has been successful.A file with update summary can be found at the followinglocation: arg.Backup of the system prior to the update is located at: arg.Status code for auto restore of the backup: arg(0=pending/1=failed/2=not requested).

ConsequencesThe current system has been updated as specified by theupdate package.

10453, Update package deleted

DescriptionUpdate package with the following ID: argwas deleted from thecontroller.

ConsequencesUpdate package is no longer available. Disk space used by thepackage has been reclaimed.

10454, Incomplete update package deleted

DescriptionIncomplete update package with the following ID: arg wasdeleted from the controller.

ConsequencesDisk space used by the update has been reclaimed.

10455, Update of RobotWare System error

DescriptionUpdate of the current RobotWare System did not completeproperly.

ConsequencesThe current RobotWare system may be in an undefined stateand it may need to be repaired.

Recommended actionsManually check if all products in the current system haveexpected versions and then load a backup if desired. Deleteand re-install the current RobotWare system. Use disk recoveryfunctionality.

10456, Insufficient disk space to perform request

DescriptionAvailable disk space on the controller was insufficient to performthe requested action. Required space: argMB. Available space:arg MB.

ConsequencesThe requested action has been aborted and the system remainsunchanged.

Recommended actionsRemove unnecessary files from the controller disk and try again.

10457, Event routines are deferred

DescriptionThe arg event routine arg in task arg could not start. Executionsof event routines are deferred until next start order for this task.




Recommended actionsCheck earlier events in the event log for the reason why thistask could not start.

11020, Backup error

DescriptionAn error occurred while preparing to create a backup.Unknown error.

ConsequencesThe backup request is aborted.No backup was created.

Recommended actionsarg

11024, Backup error

DescriptionAn error occurred while preparing to create a backup.A directory/file couldn't be created.


Probable causesYou may not have write access to the backup drive.The drive might be full.If it is a network drive, you might have lost connection.

Recommended actionsVerify that the backup drive isn't write protected If it is a networkdrive, verify that controller hasn't lost contact

11025, Backup error

DescriptionAn error occurred while preparing to create a backup.The backup directory couldn't be created.


Probable causesThe path might be too long.You may not have write access to the backup drive.The drive might be full.If it is a network drive, you might have lost connection.


11026, Backup error

DescriptionAn error occurred while preparing to create a backup.Error while creating the backinfo.txt file.


Probable causesYou may not have write access to the backup drive.The drive might be full.If it is a network drive, you might have lost connection.


11029, Backup error

DescriptionAn error occurred while preparing to create a backup.The given backup path is too long.


Probable causesThe given backup path has exceeded the maximum allowedarg characters.

Recommended actionsUse a shorter path to create the backup.

11031, Backup error

DescriptionAn error occurred while preparing to create a backup.Error while searching for a file/entry.



11036, Backup error

DescriptionAn error occurred while preparing to create a backup.Write error.





Probable causesYou may not have write access to the backup drive.The drive might be full.If it is a network drive, you might have lost connection.Do not create a backup inside the HOME directory.


11037, Backup error

DescriptionAn error occurred while preparing to create a backup.At least one modules name is too long.



11039, Backup error

DescriptionAn error occurred while preparing to create a backup.The drive is full.



11041, Backup error

DescriptionAn error occurred while preparing to create a backup.Error while verifying the system.system.xml isn't installed in the system


Probable causessystem.xml isn't installed in the system

Recommended actionsReset the system.

11042, Backup error

DescriptionAn error occurred while preparing to create a backup.Error while verifying the system.system.xml isn't present in the SYSTEM directory.


Probable causessystem.xml isn't present in the SYSTEM directory.

Recommended actionsReset the system.

11044, Backup error

DescriptionError while verifying the backup path.


Probable causesThe backup path contains an invalid character.

Recommended actionsVerify the backup path.

11045, Backup error

DescriptionError while creating the backup directory due to missing accessrights.


Probable causesMissing access rights in the given backup path.

Recommended actionsVerify the access rights.

11120, Backup error

DescriptionError during the backup step Configuration.Unknown error.





11127, Backup error

DescriptionError during the backup step Configuration.Error while reading configuration parameters.


11128, Backup error

DescriptionError during the backup step Configuration.Error writing configuration parameters.


Probable causesThe destination is write protected. The controller has lostcontact with a mounted device (e.g. NFS, FTP, USB).

Recommended actionsVerify that the destination isn't write protected. Verify thatcontroller hasn't lost contact with a mounted device.

11129, Backup error

DescriptionError during the backup step Configuration.The given backup path is too long.



Recommended actionsUse a shorter path to where to create the backup.

11130, Backup error

DescriptionError during the backup step Configuration.No more objects.


11136, Backup error

DescriptionError during the backup step Configuration.Write error.




11220, Backup error

DescriptionError during the backup of Task.Unknown error.


11222, Backup error

DescriptionError during the backup of Task.The backup already contains directories that are to be created.


11223, Backup error

DescriptionError during the backup of Task.The directory lacks at least one necessary item.


11224, Backup error

DescriptionError during the backup of Task.The directory does not exist.





11225, Backup error

DescriptionError during the backup of Task.Directory cannot be created.




11226, Backup error

DescriptionError during the backup of Task.Error while writing the backup.




11229, Backup error

DescriptionError during the backup step Prepare.The given backup path is too long.



Recommended actionsUse a shorter path to create the backup.

11230, Backup error

DescriptionError during the backup of Task.No more objects.


11231, Backup error

DescriptionError during the backup of Task.The directory lacks at least one necessary item.


11236, Backup error

DescriptionError during the backup of Task.Write error.


Recommended actionsCheck: No space left on device. Corrupt device.

11237, Backup error

DescriptionError during the backup of Task.At least one modname is too long.


11238, Backup error

DescriptionError during the backup of Task.Low on program memory.

ConsequencesThe backup request is aborted.




No backup was created.

Probable causesThe backprocess needs program memory to store persistentvariables.

Recommended actionsStop the program before taking the backup. Reduce the numberof persistent variables in program. Reduce the rapid program.

11261, Backup removed

DescriptionError while creating a backup at path: arg


Probable causesCheck for other error messages regarding backup.

11262, Backup error

DescriptionError during the backup of Controller Settings.


Probable causesCheck for other error messages regarding backup.

11263, Backup operation failed

DescriptionThe user arg does not have the required UAS grantUAS_BACKUP for the requested backup operation.

ConsequencesThe backup operation was not performed.

Probable causesThe user does not have the required UAS grant, is not loggedon or has an invalid user id.

Recommended actionsLog in as another user that has the required UAS grant, or addthe grant to the existing user. If shown after a SystemDiagnostics file generation, please regenerate it after solvingthe UAS issues.


DescriptionError during the restore step Prepare.Unknown error.

Recommended actionsarg.


DescriptionError during the restore step Prepare.The directory lacks at least one necessary item.



DescriptionError during the restore step Prepare.The directory does not exist.



DescriptionError during the restore step Prepare.The path is too long.

Probable causesThe maximum allowed arg characters has been exceeded.

Recommended actionsMake sure no files with deep structures or long names havebeen added to the backup used to restore from.


DescriptionError during the restore step Prepare.No more objects.



DescriptionError during the restore step Prepare.The directory lacks at least one necessary item.






DescriptionError during the restore step Prepare.The system version doesn't match the backup.



DescriptionError during the restore step Prepare.Error restoring configuration parameters.



DescriptionError during the restore step Prepare.Mismatch between current system and the backup.



DescriptionError during the restore step Prepare.Write error.



DescriptionError during the restore step Configuration.Unknown error.

Probable causesOne possible reason could be that the system name containsunsupported characters.


DescriptionError during the restore step Configuration.The directory lacks at least one necessary item.


DescriptionError during the restore step Prepare.The path is too long.

Probable causesThe maximum allowed arg characters has been exceeded.

Recommended actionsMake sure no files with deep structures or long names havebeen added to the backup used to restore from.


DescriptionError during the restore step Configuration.No more objects.


DescriptionError during the restore step Configuration.The directory lacks at least one necessary item.


DescriptionError during the restore step Configuration.Error restoring configuration parameters.


DescriptionError during the restore step Configuration.Write error.

Probable causesThere might be some files located in the target HOME directorythat are in use. The restore operation cannot overwrite thefile(s).

Recommended actionsCheck if there are any open files, and if so, close them.


DescriptionError during the restore of Task.Unknown error.





DescriptionError during the restore of Task.No more objects


DescriptionError during the restore of Task.The directory lacks at least one necessary item.


DescriptionError during the restore of Task.Write error.


DescriptionError during the restore of User Task.Unknown error.


DescriptionError during the restore of User Task.The directory lacks at least one necessary item.


DescriptionError during the restore of User Task.Unknown task.


DescriptionError during the restore of Controller Settings.


DescriptionError during the restore of Safety Settings.

12510, Network subnet mask illegal

DescriptionThe subnet mask arg for network interface arg is illegal.

ConsequencesThe network interface will not be configured, and may not beused.

Probable causesThe network subnet mask may be mistyped.

Recommended actionsMake sure the network subnet mask is correct.

12511, Network interface IP address illegal

DescriptionThe network IP address arg for interface arg is illegal/missing.

ConsequencesThe interface will not be configured, and may not be used.

Probable causesThe network IP address may be mistyped or it already existson the network.

Recommended actionsMake sure the interface IP address is correct and not aduplicate.

12512, Network gateway IP address illegal

DescriptionThe gateway IP address arg is illegal/missing or the destinationIP address arg is illegal.

ConsequencesThe network will not be reached, and may not be used.

Probable causesThe gateway IP and/or destination IP addresses may bemistyped.

Recommended actionsMake sure the gateway IP and destination IP addresses arecorrect.

12513, No parameters from the DHCP server

DescriptionThe network interface arg has not received any parametersfrom the DHCP server.


Probable causesThe LAN connection is not working -The DHCP server is notactivated.




Recommended actionsMake sure the LAN cable is working and correctly connected.Make sure the DHCP server is activated. Set the LAN IP addressmanually.

12514, Network interface initialization error

DescriptionThe network interface arg could not be initialized.


Probable causesThe network parameters may be wrong. Although unlikely, thehardware may be faulty, requiring replacement.

Recommended actionsMake sure the network parameters for the interface at hand arecorrect. Isolate the cause, by replacing the suspected hardware.

12515, Network interface IP addresses overlap

DescriptionThe network IP address for 'arg' is overlapping with IP addressfor 'arg'.


Probable causesThe network IP address and subnet mask overlaps with otherIP address and subnet mask.

Recommended actionsMake sure the interface IP address and subnet mask are correct.

12610, Available RAM memory low

DescriptionThe available amount of RAM memory is low. Total RAMmemory size: arg bytes. Free: arg bytes.

ConsequencesThe system may run out of memory.

Recommended actionsIt is recommended to restart the system.

12611, Available RAM memory very low

DescriptionThe available amount of RAM memory is very low. Total RAMmemory size: arg bytes. Free: arg bytes.

ConsequencesThe system may run out of memory. Memory allocation fornon-production critical functionality will be rejected.

Recommended actionsIt is highly recommended to restart the system.

12612, Available RAM memory too low

DescriptionThe available amount of RAM memory is too low. Total RAMmemory size: arg bytes. Free: arg bytes.

ConsequencesThe system will enter System Failure State.

Recommended actionsPlease restart the system.

12700, Missing time zone information

DescriptionNo time zone information has been specified.

Recommended actionsPlease use the FlexPendant or RobotStudio to set the time zonefor your location.




5.4 2 xxxx

20010, Emergency stop state

DescriptionThe emergency stop circuit has previously been broken, andwhile broken, an attempt was made to operate the robot.

ConsequencesThe system remains in state "Waiting for Motors ON afteremergency stop".

Probable causesAn attempt has been made to maneuver a control, beforeswitching the system back to status Motors ON.

Recommended actionsTo resume operation, switch the system back to state MotorsON by pressing the Motors ON button on the Control Module.

20011, Emergency stop state.

DescriptionEmergency stop reset is required.

Recommended actionsFirst release the Emergency stop button and then press thepanel button.

20012, System failure state active

DescriptionFatal non-recoverable system error. Controller restart isrequired.

Recommended actionsTurn the mains switch off and on again if the soft restartcommand is ignored or not possible to reach.

20025, Stop order timeout

DescriptionThe stop order was carried out as a forced guard stop when noacknowledgement was received within the expected time.

Recommended actions

20030, Axis not commutated

DescriptionOne or several internal drive unit axes are not commutated.

Recommended actions

20031, Axis not calibrated.

DescriptionOne or several absolute/relative measurement axes are notcalibrated.

Recommended actionsCheck what axis that are not calibrated and calibrate them.

20032, Rev. counter not updated

DescriptionRevolution counter is not updated. One or several absolutemeasurement axes are not synchronized.

Recommended actionsMove the axes to the sync position and update the revolutioncounters.

20033, Axis not synchronized.

DescriptionOne or several relative measurement axes are not synchronized.

Recommended actionsOrder Motors On and synchronize all mechanical units in thelist.

20034, Robot memory is not OK

DescriptionThis action or state is not allowed since data in the robotmemory is not OK.


Probable causesThere are differences between the data stored in the robot andthe controller. This may be due to replacement of SMB-board,controller or both, or manually cleared robot memory.





20051, Not allowed command

DescriptionThe command is only allowed when the client is in control ofthe resource (program/motion).

ConsequencesThe system remains in the same status, and the requestedaction will not be performed.

Recommended actionsCheck if the client is in control, by checking "Write Access" inRobotStudio. Check if the client who ought to be in control reallyis.


DescriptionThe command is NOT allowed when the program is executing.


Recommended actionsMake sure the program is not executing.


DescriptionThe command is not allowed when the file containing systempersistent data is invalid (the system has been started usinglast good auto saved system data).


Recommended actionsRevert to last auto saved system data (restart mode "Revert tolast auto saved"). Reset the system (restart mode "Resetsystem"). Reinstall the system.


DescriptionThe command is not allowed in Auto mode.


Recommended actionsMake sure the system is NOT in Auto Mode.


DescriptionThe command is not allowed when changing to Auto mode.


Recommended actionsMake sure the system is NOT changing to Auto Mode.


DescriptionThe command is not allowed in Manual mode.


Recommended actionsMake sure the system is NOT in Manual Mode.


DescriptionThe command is not allowed in Manual full speed mode.


Recommended actionsMake sure the system is NOT in Manual full speed Mode.


DescriptionThe command is not allowed when changing to Manual fullspeed mode.


Recommended actionsMake sure the system is NOT changing to Manual full speedMode.


DescriptionThe command is only allowed in Manual mode (reduced or fullspeed).





Recommended actionsMake sure the system is NOT in Auto mode or changing toManual Mode (reduced or full speed).


DescriptionThe system input action arg is not allowed in Manual full speedmode.


Recommended actionsMake sure the system is NOT in Manual full speed Mode.


DescriptionThe system input action arg is not allowed when changing toManual full speed mode.


Recommended actionsMake sure the system is NOT changing to Manual full speedMode.


DescriptionThe command is not allowed in current energy state.


Probable causesThe system is in an energy saving state.


DescriptionThe command is not allowed when the robot is manually jogged.


Probable causesThe system is manually jogged.


DescriptionThe command is not allowed in Motors ON state.


Recommended actionsMake sure the system is in Motors OFF state.


DescriptionThe command is not allowed while changing to Motors ONstate.


Recommended actionsInvestigate by whom and why the action was requested, and,if required, correct the reason.


DescriptionThe command is not allowed in Motors OFF state.


Recommended actionsMake sure the system is in Motors ON state.


DescriptionThe command is not allowed while changing to Motors OFFstate.


Recommended actionsInvestigate by whom and why the action was requested, and,if required, correct the reason.





DescriptionThe command is not allowed in Guard Stop state.


Recommended actionsMake sure the system is NOT in Guard Stop state.


DescriptionThe command is not allowed in Emergency Stop state.

ConsequencesEmergency stop reset is required.

Recommended actionsMake sure the system is NOT in Emergency Stop state.


DescriptionThe command is not allowed in system failure state.

ConsequencesA non-recoverable system error has occurred, and a controllerrestart is required.

Recommended actionsMake sure the system is NOT in Emergency Stop state. Performa restart as detailed in the Operator's Manual, IRC5. If restartingis not possible, switch the main power OFF and then back ON.


DescriptionThe command is not allowed when axis has not beencommutated.


Recommended actionsCommutate the axis as detailed in the Additional Axes Manual.Investigate by whom and why the action was requested, and,if required, correct the reason.


DescriptionThe command is not allowed when axis is not calibrated.


Recommended actionsCalibrate the axis as detailed in the Calibration PendulumInstruction or the Instructions for Level-meter calibration,depending on which equipment to be used.


DescriptionThe command is not allowed when axis revolution counter isnot updated.


Recommended actionsUpdate the revolution counter as detailed in Operator's Manual,IRC5.


DescriptionThe command is not allowed when axis is not synchronized.


Recommended actionsSynchronize the axis as detailed in the Calibration PendulumInstruction or the Instructions for Level-meter calibration,depending on which equipment to be used.


DescriptionThis command is not allowed since data in the robot memoryis not OK.






20088, Automatic Mode Rejected

DescriptionThe speed could not be set to 100% when automatic mode wasrequested.

ConsequencesThe system cannot enter automatic mode.

Probable causesThe speed could not be set to 100%.

Recommended actionsSwitch back to manual mode. 2a) Set the speed in the QuickSetmenu.2b) or set System Parameter Controller/Auto ConditionReset/AllDebugSettings/Reset to No if the system should be indebug mode when switching to auto. Switch back to automaticmode and confirm.


DescriptionThe call chain was altered to begin at a routine other than mainand could not be reset to main when automatic mode wasrequested.


Probable causesProgram pointer could not be set to Main.

Recommended actionsSwitch back to manual mode. 2a) Move PP to main.2b) or if the program always shall start at the new routine,change System Parameter "Main entry" (Domain Controller,Type Task) to the new routine name.2c) or set System Parameter Controller/Auto ConditionReset/AllDebugSettings/Reset to No if the system should be indebug mode when switching to auto. Switch back to automaticmode and confirm.


DescriptionNot allowed in state System IO Start Blocked.

Recommended actions


DescriptionOne or more of the NORMAL tasks were disabled and couldnot be enabled when automatic mode was requested.


Probable causesIt is not possible to reset Task Selection Panel in synchronizedblock.

Recommended actionsSwitch back to manual mode. 2a) Set PP to main.2b) or step out of synchronized block.2c) or set System Parameter Controller/Auto ConditionReset/AllDebugSettings/Reset to No if the system should be indebug mode when switching to auto. Switch back to automaticmode and confirm.

20094, Load name could not be found

DescriptionLoad name arg could not be found.

ConsequencesIt is not possible to jog without a correct defined load.

Probable causesThe module with the load definition is probably deleted.

Recommended actionsLoad module with load definition. Choose other load.

20095, Tool name could not be found

DescriptionTool name arg could not be found.

ConsequencesIt is not possible to jog without a correct defined tool.

Probable causesThe module with the tool definition is probably deleted.

Recommended actionsLoad module with tool definition. Choose other tool.

20096, WorkObject name could not be found

DescriptionWorkObject name arg could not be found.

ConsequencesIt is not possible to jog without a correct defined workobject.




Probable causesThe module with the workobject definition is probably deleted.

Recommended actionsLoad module with workobject definition. Choose otherworkobject.

20097, Not allowed to jogwith LOCALPERS Load

DescriptionThe object arg is of type LOCAL PERS and is not possible tojog.

Recommended actionsChange Load.

20098, Not allowed to jogwith LOCAL PERS Tool


Recommended actionsChange Tool.

20099, Not allowed to jogwith LOCALPERSWorkObject


Recommended actionsChange Work Object.

20101, FlexPendant (program) in control.

DescriptionThe FlexPendant programming window has focus and is incontrol of the program server.

Recommended actionsChange to the production window and perform the commandagain.

20103, Controller busy updating Task SelectionPanel.

DescriptionThe Task Selection Panel is having an update. It is not possibleto do the requested command.

Recommended actionsPerform the command again or restart the controller andperform the command again.

20104, The system path is too long.

DescriptionThe system path is too long. It is not possible for the systemto act in a safe way.

ConsequencesThe system will enter system failure state.

Recommended actionsMove the system to a location with a shorter file path.

20105, Backup already in progress

DescriptionA backup is already in progress.

ConsequencesThe command "Backup" from System Input Signal will berejected.

Recommended actionsUse System Output Signal "Backup in progress" to control if abackup can be started.

20106, Backup path

DescriptionThere are errors in the backup path or the backup name in theconfiguration for the System Input Backup. The directory forthe backup cannot be created. Backup path: arg. Backup name:arg.

ConsequencesThe command "Backup" from System Input Signal will berejected.

Recommended actionsVerify that configured path and name for the System InputBackup are correct.

20111, FlexPendant (program) in control

DescriptionThe FlexPendant programming window has focus and is incontrol of the program server.

Recommended actionsChange to the production window and perform the commandagain.




20120, System IO in control

DescriptionSee Title.

Recommended actions

20126, Load data has changed

DescriptionThe active load arg was removed and replaced with arg. Theload data was located in task: arg connected to mechanical unitarg.

ConsequencesThe load definition for jogging may not be correct.

Probable causesThe load data was removed. The module containing the originaltool definition may have been deleted.

Recommended actionsIf you require the old definition, locate the program or moduleof the original load data and load it.

20127, Tool data has changed

DescriptionThe active tool arg was removed and replaced with arg. Thetool data was located in task: arg connected to mechanical unitarg.

ConsequencesThe tool definition for jogging may not be correct.

Probable causesThe tool data was removed. The module containing the originaltool definition may have been deleted.

Recommended actionsIf you require the old definition, locate the program or moduleof the original tool data and load it.

20128, Work object data has changed

DescriptionThe active work object argwas removed and replaced with arg.The work object data was located in task: arg connected tomechanical unit arg.

ConsequencesThe work object definition for jogging may not be correct.

Probable causesThe work object data was removed. The module containing theoriginal tool definition may have been deleted.

Recommended actionsIf you require the old definition, locate the program or moduleof the original work object data and load it.

20130, Active Task Menu is restored

DescriptionDuring a controller restart, the "Active Task Menu" is restoredin Auto mode.

ConsequencesIf one or several tasks were unchecked, they are now checkedagain after the restart in Auto mode.

Probable causesA controller restart has been performed.

Recommended actionsGo to manual mode. Uncheck the unwanted tasks. Go back toAuto mode.


DescriptionOne or more logical I/O signals were blocked and could not beunblocked when automatic mode was requested.


Probable causesSome blocked I/O signal could not be unblocked.

Recommended actionsSwitch back to manual mode. 2a) Check Event Log for errorsrelated to I/O,2b) or set System Parameter Controller/Auto ConditionReset/AllDebugSettings/Reset to No if the system should be indebug mode when switching to auto. Switch back to automaticmode and confirm.

20132, Blocked I/O signals

DescriptionOne or more logical I/O signals were blocked during startup inautomatic mode.

ConsequencesBlocked signals will be unblocked.

Probable causesSystem was switched to automatic mode during a controllerrestart.System parameter AllDebugSettings is set to Yes.




Recommended actionsNone, system has automatically reset debug settings. To keepdebug settings in auto: Switch back to manual mode. Set systemparameter Controller/Auto ConditionReset/AllDebugSettings/Reset to NO. Switch back to automaticmode and confirm. For more info, see the Technical ReferenceManual - System Parameters.

20133, Debug Settings in Auto

DescriptionOne or more logical I/O signals were blocked during startup inautomatic mode.

ConsequencesBlocked I/O signals will stay blocked. System will not be in fullproduction mode in auto.

Recommended actionsFor full production mode: Switch back to manual mode. Setsystem parameter Controller/Auto ConditionReset/AllDebugSettings/Reset to YES. Switch back to automaticmode and confirm. For more info, see the Technical ReferenceManual - System Parameters.

20134, Call Chain

DescriptionThe call chain has been altered to begin at a routine other thanmain.

ConsequencesProgram pointer will be reset to main routine.

Probable causesSystem was switched to automatic mode during controllerrestart. System parameter AllDebugSettings is set to Yes.

Recommended actionsFor debug mode in auto: Switch back to manual mode. Setsystem parameter AllDebugSetting, reset to NO. Switch backto automatic mode and confirm. For more info, see the TechnicalReference Manual - System Parameters.


DescriptionThe call chain has been altered to begin at a routine other thanmain.

ConsequencesProgram pointer will not be set to main. System will not be infull production mode in auto.


20136, Reduced Speed

DescriptionThe system was running at reduced speed during startup inautomatic mode.

ConsequencesSpeed will be set to 100%.

Probable causesSystem was switched to automatic mode during controllerrestart.

Recommended actionsNone, system has automatically reset debug settings.To keep debug settings in auto: Switch back to manual mode.Set system parameter Controller/Auto ConditionReset/AllDebugSettings/Reset to NO. Switch back to automaticmode and confirm. For more info, see the Technical ReferenceManual - System Parameters.


DescriptionThe system was running at reduced speed during startup inautomatic mode.

ConsequencesSpeed will stay unchanged. System will not be in full productionmode in auto.


20138, Disabled Tasks

DescriptionOne or more of the NORMAL tasks were disabled during thestartup when in automatic mode.

ConsequencesAll disabled normal tasks will be enabled.




Probable causesSystem was switched to automatic mode during controllerrestart. System parameter AllDebugSettings is set to Yes.

Recommended actionsNone, system has automatically reset debug settings. To keepdebug settings in auto: Switch back to manual mode. Set systemparameter Controller/Auto ConditionReset/AllDebugSettings/Reset to NO. Switch back to automaticmode and confirm. For more info, see the Technical ReferenceManual - System Parameters.


DescriptionOne or more of the NORMAL tasks were disabled during startupin automatic mode.

ConsequencesDisabled tasks will stay disabled. System will not be in fullproduction mode in auto.


20140, Motors On rejected

DescriptionMotors On, via System IO, was rejected.

Recommended actions

20141, Motors Off rejected

DescriptionMotors Off, via System IO, was rejected.

Recommended actions

20142, Start rejected

DescriptionStart/restart of program, via System IO, was rejected.

ConsequencesProgram will not be possible to start.

Probable causesThe reason could be that the robot is outside of regain distance.The program was executing. An ongoing Backup operation.

Recommended actionsJog robot into regain zone or move the program pointer. Stopprogram before activating System Input Start.

20143, Start at main rejected

DescriptionStart of program at main, via System IO, was rejected.


Probable causesThe program was executing. An ongoing Backup operation.

Recommended actionsStop program before activating System Input Start at Main.

20144, Stop rejected

DescriptionStop of program, via System IO, was rejected.

Recommended actions

20145, Stop cycle rejected

DescriptionStop of program after cycle, via System IO, was rejected.

Recommended actions

20146, Manual interrupt rejected

DescriptionManual interrupt of program, via System IO, was rejected.

ConsequencesThe manual interrupt will not be executed.

Probable causesThe program was executing. An ongoing Backup operation.

Recommended actionsStop program before activating System Input Interrupt.

20147, Load and start rejected

DescriptionLoad and start of program, via System IO, was rejected.


Probable causesThe arguments for the System Input Load and Start are wrong.The module was loaded, but the system failed to set the




program pointer. The program was executing. An ongoingBackup operation.

Recommended actionsCheck the following: Correct arguments for System Input Loadand Start. Defined and correct name of the program file to beloaded (including mass memory unit). Defined and correct nameof the task that the program should be loaded in. Programstopped before activating System Input Load and Start.

20148, Confirm rejected

DescriptionEmergency Stop reset confirm, via System IO, was rejected.

Recommended actions

20149, Error reset rejected

DescriptionProgram execution error reset, via System IO, was rejected.

Recommended actions

20150, Load failure

DescriptionLoad of program, via System IO, failed.


Probable causesThe arguments for the System Input Load are wrong. Themodule was loaded, but the system failed to set the programpointer. The program was executing. An ongoing Backupoperation.

Recommended actionsCheck the following: Correct arguments for System Input Load.Defined and correct name of the program file to be loaded(including mass memory unit). Defined and correct name of thetask that the program should be loaded in. Program stoppedbefore activating System Input Load.

20153, Motors On and Start rejected

DescriptionMotors On and Start/Restart of program, via System IO, wasrejected.


Probable causesThe reason could be that the robot is outside of regain distance.The program was executing. An ongoing Backup operation.

Recommended actionsJog robot into regain zone or move the program pointer. Stopprogram before activating System Input Motors On and Start.

20154, Stop instruction rejected

DescriptionStop of program after instruction, via System IO, was rejected.

Recommended actions

20156, Undefined Argument

DescriptionInterrupt routine name for System IO Manual Interrupt is notdefined.

Recommended actionsConfigure the interrupt routine name.

20157, Undefined Argument

DescriptionProgram name for System IO LoadStart is not defined.

Recommended actionsConfigure the program name.

20158, No System Input signal

DescriptionA System Input has been configured to an I/O-signal that doesnot exist. System Input: arg. Signal Name: arg.

ConsequencesThe system goes to system failure state.

Recommended actionsAdd signal arg to eio.cfg or remove System Input arg fromeio.cfg. For every System Input a signal must be configured.

20159, No System Output signal

DescriptionA System Output has been configured to an I/O-signal that doesnot exist. System Output: arg. Signal Name: arg.





Recommended actionsAdd signal arg to eio.cfg or remove System Output arg fromeio.cfg. For every System Output a signal must be configured.

20161, Path not found

DescriptionThe system module arg in task arg has a correspondingspecification in the configuration for "Task modules" that pointout a non-existing file path.

Recommended actionsView "Task modules" in the "System Parameter" menu andchange the path in the item for this system module.

20162, Write error

DescriptionA write error occur when the system try to save the systemmodule arg at arg in task arg. Or the file system was full.

Recommended actionsView "Task modules" in the "System Parameter" menu andchange the path in the item for this system module.

20164, Reconfig failed

DescriptionThere are still some unsaved system modules.

Recommended actionsRead error descriptions in earlier messages. Try another systemstart.

20165, Program Pointer lost.

DescriptionRestart is no longer possible from current position.

Recommended actionsThe program has to be started from the beginning.

20166, Refuse to save module

DescriptionThe module arg is older than the source at arg in task arg.

Recommended actions

20167, Unsaved module

DescriptionThe module arg is changed but not saved in task arg.

Recommended actions

20170, The system was stopped

DescriptionAn error was detected, which stopped the system.

ConsequencesThe system goes to status SYS STOP and the robot is stoppedalong the path. The full meaning of this status is described inthe Trouble Shooting Manual, IRC5.

Probable causesA number of errors may cause this status transition.

Recommended actionsCheck other event messages occurring at the same time todetermine the actual cause. Fix the cause of the fault.

20171, The system was halted

DescriptionAn error was detected, which halted the system.

ConsequencesThe system goes to status SYS HALT, the program and robotmotion is stopped and the motors are switched OFF. The fullmeaning of this status is described in the Trouble ShootingManual, IRC5.


Recommended actionsCheck other event messages occurring at the same time todetermine the actual cause. Fix the cause of the fault. Restartthe program.

20172, The system has failed

DescriptionAn error was detected, which caused the system to fail.

ConsequencesThe system goes to system failure state. The program and robotmotion is stopped and the motors are switched OFF. The fullmeaning of this status is described in the Trouble ShootingManual, IRC5.


Recommended actionsCheck other event messages occurring at the same time todetermine the actual cause. Fix the cause of the fault. Performa controller restart as detailed in the Operator's Manual, IRC5.




20176, Analog System Output Outside Limits

DescriptionThe value arg for the System Output arg, signal arg, is outsideits limits (logical min: arg m/s, logical max: arg m/s).

ConsequencesThe new value is not set; the previous value of the analoguesignal is preserved.

Probable causesThe logical upper and/or lower limit for the signal may bedefined wrongly.

Recommended actionsAdjust the values of the logical upper and/or lower limit for thesignal and restart the controller.

20177, Short circuit in Motor phase circuit

DescriptionThe motor or motor cable for joint arg in drive module arg, driveunit number arg, is a short circuit.

ConsequencesNo operation will be possible until after correcting the fault. Thesystem goes to status SYS HALT.

Probable causesThis may be caused by a faulty motor or motor cable. It mayalso be caused by contamination in the contactors for the cablesor a failure of the motor windings.

Recommended actionsMake sure the motor cable is correctly connected to the driveunit. Check the cable and motor by measuring their resistancerespectively. Disconnect before measuring. Replace any faultycomponent.

20178, Wrong task name configured

DescriptionWrong task name arg configured for System Input arg.

ConsequencesThe digital input signal will not be connected to the specifiedevent.

Recommended actionsChange the configuration and restart the controller.

20179, Disk memory critically low

DescriptionThe amount of free storage capacity on the disk has reacheda critical level. It is now less than 10 Mb. Execution of RAPIDprograms is stopped.

ConsequencesThe disk memory is very close to being completely full. Whenthis happens the system will not be able to function.

Probable causesToo much data on the disk.

Recommended actionsSave the files on some other disk connected to the network.Erase data from disk. After removing files from the drive, restartthe program.

20181, System Reset rejected.

DescriptionSystem Reset via System IO not allowed.

Recommended actions

20182, The System Input Signal QuickStop isineffective.

DescriptionA stop action has already started.

Recommended actions

20184, Incorrect argument for System Inputs

DescriptionAn undefined Start Mode has been declared for System IO.

Recommended actions

20185, Incorrect Name

DescriptionAn undefined Name has been declared in current runchn_boolconfiguration.

Recommended actions

20187, Diagnostics record file created

DescriptionDue to any of a number of faults, a system diagnostics file wascreated at arg. This file contains internal debug info and isintended for trouble shooting and debugging purposes.




ConsequencesThe system will react to the error causing the stop as specifiedin its own event log text.

Probable causesA number of errors may cause this. Faults causing the systemto go to system failure state will generally also create adiagnostics record file.

Recommended actionsIf required, the file may be appended to an error report sent toyour local ABB representative.

20188, System data is not valid

DescriptionThe contents of the file, arg, containing system persistent datais invalid. Internal error code: arg. The system has been startedusing last good system data saved earlier at arg.

ConsequencesAny changes made in the system configuration or RAPIDprograms since arg will be rejected.

Recommended actionsCheck other event messages occurring at the same time todetermine the actual cause. If acceptable, revert to the last autosaved system data. Reinstall the system. Check the availabledisk storage capacity. If required, erase data to increase freestorage capacity.

20189, Robot data not valid

DescriptionCould not load the system independent robot data from file arg.The file exists but the content is not valid. Internal code: arg.

Recommended actionsCheck other logged messages for needed actions. Make surethere is free memory left on the device.

20192, Disk memory low

DescriptionThe amount of free storage capacity on the disk is less than 25MB. When reaching 10 MB, execution of RAPID programs willbe stopped.

ConsequencesThe disk memory is close to being completely full. When thishappens the system will not be able to function.

Probable causesToo much data on the disk.

Recommended actionsSave the files on some other disk connected to the network.Erase data from disk.

20193, Robot data update warning

DescriptionAxis sync values and service information data (SIS) wasrestored from backup.The system independent robot data was not saved duringsystem shutdown. The data was restored from latest backup.

Recommended actionsMake sure there is free memory left on the device.The backup battery may be drained. Check the hardware log.

20194, System data backup could not be created

DescriptionThe system was restored successfully but a backup of thecurrent system data could not be created.

Recommended actionsMake sure there is free memory left on the device arg.

20195, System data from last shutdown is lost

DescriptionNormally, all system data is saved on shutdown. During thelast shutdown saving data has failed. The system has beenstarted using last good system data saved earlier at arg.

ConsequencesAny changes made in system configuration or RAPID programssince arg will NOT be available after restart. Any such changeswill have to be re-implemented.

Probable causesThe backup energy bank may have been drained at the time ofthe shutdown. The storage disk may be full.

Recommended actionsCheck other event messages occurring at the same time todetermine the actual cause. If acceptable, restart using revertto last auto saved to accept the last good system data. Reinstallthe system. Check the available disk storage capacity. Ifrequired, erase data to increase free storage capacity.

20196, Module saved

DescriptionDuring reconfiguration of the system a changed and not savedmodule was found.




The module was saved to arg.

Recommended actions

20197, System data from last shutdown cannotbe found

DescriptionNormally, all system data is saved on shutdown. The filecontaining system persistent data cannot be found. The systemhas been started using last good system data saved earlier atarg.

ConsequencesAny changes made in system configuration or RAPID programssince arg will NOT be available after restart. Any such changeswill have to be re-implemented.

Probable causesThe file containing the saved system data may have beenmanually moved or deleted.

Recommended actionsCheck the location and availability of the saved system datafile. If acceptable, restart using revert to last auto saved toaccept the last good system data. Reinstall the system.

20199, System SoftStop Rejected

DescriptionThe System Input SoftStop is not allowed.

Recommended actions

20270, Access error

DescriptionPanel Module access error.

Recommended actionsExamine your I/O configuration files.

20280, Symbol conflict

DescriptionThe signal arg defined in the IO configuration conflict withanother program symbol with the same name.Due on that fact the signal will not be mapped to a programvariable.

Recommended actionsRename the signal in the IO configuration.

20281, IO configuration error

Descriptionarg arg with signal name arg has wrong signal type. Found argexpected arg.

Recommended actionsChange your configuration and restart the controller.

20282, Resource and index exist

DescriptionResource arg.Index arg.

Recommended actions

20283, Text database is full.

DescriptionResource arg.Index arg.

Recommended actions

20284, Wrong Signal Type For System Input

DescriptionThe System Input arg is configured with an I/O-signal of wrongtype.The I/O-signal arg is of type arg and this System Input requiresan I/O-signal of type arg.

Recommended actionsChange the configuration for the specified System Input.

20285, Wrong Signal Type For System Output

DescriptionThe System Output arg is configured with an I/O-signal of wrongtype.The I/O-signal arg is of type arg and this System Output requiresan I/O-signal of type arg.

Recommended actionsChange the configuration for the specified System Output.

20286, Not Unique I/O-Signal For System Output

DescriptionEach System Output must have a unique I/O-signal configured.It is not possible to configure same I/O-signal to several SystemOutputs.System Output: arg.




Signal Name: arg.

Recommended actions

20287, Not Unique I/O-signal For System Input

DescriptionEach System Input must have a unique I/O-signal configured.It is not possible to configure same I/O-signal to several SystemInputs.System Input: arg.Signal Name: arg.

20288, Unknown System Output Type

DescriptionThe configured System Output type is unknown by the system.Unknown System Output: arg.

Recommended actionsVerify that the System Output name is correctly spelled.

20289, Unknown System Input Type

DescriptionThe configured System Input type is unknown by the system.Unknown System Input: arg.

Recommended actionsVerify that the System Input name is correctly spelled.

20290, Unknown Mechanical Unit Name ForSystem Output

DescriptionA System Output is configured with a mechanical unit namewhich is unknown by the system.System Output: arg.Mechanical unit name: arg.

Recommended actionsThe specified mechanical unit must be configured in order tobe used by System Outputs.Verify that the mechanical unit name is correctly spelled.

20291, Unknown System Input Restriction Type

DescriptionThe configured System Input Restriction Type is unknown bythe system.Unknown System Input Restriction: arg.

Recommended actionsVerify that the System Input Restriction name is correctlyspelled.

20292, Unknown System Input Restriction

DescriptionThe configured System Input Restriction is unknown by thesystem.System Input Restriction Type: arg.Unknown System Input Restriction: arg.

Recommended actionsVerify that the System Input Restriction name is correctlyspelled.

20293, The Requested Action is Restricted

DescriptionThe requested arg is restricted by the system input arg set byI/O signal arg.

ConsequencesThe action called for will not take place.

Probable causesSystem input arg may be set by external equipment, such asPLCs, etc. for a number of reasons.

Recommended actionsInvestigate why the system input was set, and, if required,correct the reason.

20294, Action arg cannot be fulfilled.

DescriptionThe requested action cannot be fulfilled since the IO unit is notresponding.

ConsequencesIt is not possible to decide if there are any restrictions set tothe action.

Probable causesThe requested action will not be fulfilled until the I/O unit isenabled again.

Recommended actionsNever disable a unit with System Inputs/Outputs.




20295, Signal cannot be used as System Output.

DescriptionThe System Output arg is configured with an I/O-signal withwrong category. The I/O-signal arg belongs to category Safetyand cannot be used as System Output.

Recommended actionsChoose another signal or set to another category.

20296, Wrong task name configured

DescriptionWrong task name arg configured for System Output arg.

ConsequencesThe digital output signal will not be connected to the specifiedevent.


20297, System Output Communication Failure

DescriptionUnable to set the value of the I/O signal arg connected to theSystem Output arg.

ConsequencesThe system goes to status SYS HALT.

Probable causesThe connection to the I/O unit may have been lost.

20298, Unknown Mechanical Unit Name ForSystem Input

DescriptionA System Input is configured with a mechanical unit name whichis unknown by the system.System Input: arg.Mechanical unit name: arg.

Recommended actionsThe specified mechanical unit must be configured in order tobe used by System Inputs.Verify that the mechanical unit name is correctly spelled.

20321, Not-a-Number

DescriptionNot-a-Number was found in task arg.A symbol of type 'arg' was found holding an undefined number.

ConsequencesThe undefined number was replaced with 'arg'.

20322, Positive infinity

DescriptionPositive infinity was found in task arg.A symbol of type 'arg' was found holding positive infinity.

ConsequencesThe positive infinity was replaced with 'arg'.

20323, Negative infinity

DescriptionNegative infinity was found in task arg.A symbol of type 'arg' was found holding negative infinity.

ConsequencesThe negative infinity was replaced with 'arg'.

20324, Incorrect argument for System IO Signal

Descriptionarg set to signal arg has an incorrect argument.

ConsequencesIt will not be possible to use arg.

Probable causesThe configuration has probably been edited outside a properconfiguration editor.

Recommended actionsThe system IO signal must be reconfigured, preferably with theconfiguration editor on RobotStudio or on FlexPendant.

20325, SC arg supervision not activated

DescriptionThere is no user configuration in Safety Controller (SC), i.e.safety supervision is disabled.

ConsequencesSC cannot stop robot movement.

Probable causesThere is no user configuration in SC or there is no SC connectedin the drive module arg.

Recommended actionsDownload a new user configuration to SC. Activate theconfiguration by restarting the controller and enter the pin code.




20326, Incorrect argument for System IO Signal

Descriptionarg set to signal arg has an incorrect argument. The delay mustnot be a negative value.

ConsequencesIt will not be possible to use arg.

Recommended actionsThe system IO signal must be reconfigured.

20350, Not a valid task name

DescriptionThe task name arg cannot be used as a name of a task. It iseither already used as an installed symbol, a reserved word inthe system or too long (max. 16 characters).

ConsequencesThe task will not be installed in the system.

Recommended actionsChange the configuration of the task name and restart thecontroller.

20351, Max number of tasks exceeded

DescriptionThe maximum number of tasks, arg, of the configuration typearg is exceeded.

ConsequencesAll configured tasks will not be installed.


20352, Not a valid Motion Planner name

DescriptionThe Motion Planner name for Mechanical Unit Group arg in argis not correct.The reason can be one of the following: Empty name. Notpresent in the Motion configuration. Already in use by anotherMechanical Unit Group.

ConsequencesThe system will not be able to use.


20353, Mechanical unit not found

DescriptionThe mechanical unit arg in arg cannot be found in the list ofconfigured mechanical units.

ConsequencesIt is not possible to execute any RAPID instructions that usethe configured mechanical units.

Probable causesThe unit is probably not present in the Motion configuration.


20354, The argument is undefined

DescriptionThe configured argument arg for task arg is not a valid type.

ConsequencesThe behavior of the task will be undefined.


20355, Mechanical Unit Group name not correct

DescriptionThe configured name of arg in task arg is not correct.The reason could be: The argument is not used in theconfiguration. The configured name is not a member of theMechanical Unit Group. The configured name is already usedby another task.

ConsequencesThe task will not be installed or it will not be possible to executeRAPID motion instructions.


20356, Maximum number of Motion tasksexceeded

DescriptionOnly arg tasks are allowed to control mechanical units i.e.execute RAPID move instructions.





20357, No configured Motion task

DescriptionNo task is configured to control mechanical units i.e. executeRAPID move instructions.

ConsequencesIt is not possible to execute any RAPID move instructions.

Recommended actionsReinstall the system and be sure to include a robot.

20358, No members of arg configured

DescriptionThe configuration type is required in a multi robot system.

ConsequencesIt is not possible to execute any RAPID move instructions.


20359, Cfg type arg is configured

DescriptionThe type was found but not expected in a system with currentoptions.

Recommended actionsCheck if the right configuration file is loaded or remove allinstances of the type.Restart the controller.

20360, Unknown event in cfg type arg

DescriptionThe event arg is not a system event.


20361, Only shared modules in the shared task

DescriptionThe module arg is not configured shared and cannot be loadedinto the shared task.


20362, Not defined task name

DescriptionThe task arg in cfg type arg is not configured in the system.


20363, Module not a system module

DescriptionThe module arg loaded from the file arg is not a system module.

Recommended actionsChange the file suffix or add a module attribute to the module.Load the module again or restart the controller.

20364, Max number of Mechanical Unit Groupsexceeded

DescriptionThe maximum number of Mechanical Unit Groups, arg, of theconfiguration type arg is exceeded.

ConsequencesExceeded instances are ignored.


20365, Update of configuration is done

DescriptionAll tasks are reset to its main routine due to configurationchanges.

Recommended actions

20366, Type error in task configuration

DescriptionThe task arg is configured with wrong type. Task configured tocontrol mechanical units i.e. execute RAPID move instructionsmust be of type arg.

ConsequencesThe task will not be installed.


20367, No configured mechanical units

DescriptionThe instance arg of configuration type arg has no mechanicalunit argument.

ConsequencesIt will not be possible to perform any actions against the motionsystem, i.e. execute RAPID move instructions.





20368, Not connected Mechanical Unit Group

DescriptionThere is no Motion task connected with the Mechanical UnitGroup arg.

ConsequencesIt will not be possible to use the mechanical units that belongto this group.

Probable causesThe cause of this error can be a missing RAPID task instancein the Controller domain of the configuration or a task that hasnot been configured as a Motion task.

Recommended actionsAdd a Motion task instance that is connected to the MechanicalUnit Group. Change an existing non Motion task to a Motiontask. Remove the Mechanical Unit Group. Check for misspellednames.

20369, Confusing configuration of systemparameters.

DescriptionThere is a mixture of old and new structure of type SystemMisc.

ConsequencesIt is possible that not the correct parameters are configured.

Probable causesConfiguration of old and new structure has been loaded intothe system.

Recommended actionsCheck that the correct parameters are configured. Update theparameters in System Misc with correct values. Save theController domain and replace the old configuration file.

20370, Failed to read configuration data for regaindistance

DescriptionThe system failed to read the configuration data for the type<arg>. The regain distance is the limit when the system willwarn before a start with regain movement.

ConsequencesDefault value for the regain distance will be used.

Probable causesThe sys.cfg file loaded into the system does not contain anyregain distance information. No sys.cfg file has been loadeddue to file errors.

Recommended actionsLoad a new sys.cfg file and restart the controller.

20371, A default Mechanical Unit Group is used

DescriptionThe configuration of task arg has no connection to arg. Theattribute arg is required in a MultiMove system and is missing.

ConsequencesThe task performs no movement by the mechanical unit, butcan read motion data. The RAPID functions may fail, if theyread motion data and is connected to the wrong mechanicalunit. The Mechanical Unit Group in arg has been connected tothe task.

Probable causesThe attribute was not specified when the configuration wascreated. The configuration file could have been created in anon-multi move system.

Recommended actionsMake sure the correct Mechanical Unit Group is connected tothe task.

20372, Failed to read configuration data.

DescriptionThe system failed to read the configuration data for the type<arg>.

ConsequencesHotedit or modpos will not be possible.

Probable causesThe sys.cfg file loaded into the system does not contain hoteditand modpos information. No sys.cfg file has been loaded dueto file errors.

Recommended actionsLoad a new sys.cfg file and restart the controller.

20373, Missing task name

DescriptionNo task is given for module arg in cfg type arg.





20380, No Motion Planner connected tomechanical unit

DescriptionThe mechanical unit arg has no Motion Planner connected.

ConsequencesIt is not possible to use this mechanical unit in any operationssuch as calibration or activation.

Probable causesThe cause of this error is probably an error in the configuration.

Recommended actionsCheck the Motion and/or Controller configuration.

20381, Error when recreating path after powerfail

DescriptionThe path wasn't successfully recreated.

ConsequencesThe Program Pointer must be moved before restarting theprogram. It's recommended to move the robot to a safe positionthough the robot might not follow the original path whenrestarted.

Probable causesA number of errors may cause this. Faults causing the systemto go to system failure state will generally also cause pathrecreate after power failure to fail.

Recommended actionsCheck other event messages occurring at the same time todetermine the actual cause. Fix the cause of the fault. Movethe robot to a safe position before restarting. The robot maynot follow the original path.

20390, Start rejected

DescriptionStart/restart of program, via System IO, was rejected.The reason is that write access is held by arg using arg.

Recommended actions

20391, Start at main rejected

DescriptionStart of program at main, via System IO, was rejected.The reason is that write access is held by arg using arg.

Recommended actions


DescriptionManual interrupt of program, via System IO, was rejected.The reason is that write access is held by arg using arg.

Recommended actions

20393, Load and start rejected

DescriptionLoad and start of program, via System IO, was rejected.The reason is that write access is held by arg using arg.

Recommended actions

20394, Motors On and Start rejected.

DescriptionMotors On and Start/restart of program, via System IO, wasrejected.The reason is that write access is held by arg using arg.

Recommended actions

20395, Load rejected

DescriptionLoad of program via System IO, was rejected.The reason is that write access is held by arg using arg.


DescriptionManual interrupt of program, via System IO, was rejected intask arg.Manual interrupt is not allowed during synchronized movement.


DescriptionManual interrupt of program, via System IO, was rejected intask arg.The interrupt is connected to arg, which is not a valid RAPIDprocedure.

Consequencesarg will not be executed.

Probable causesarg does not exist. arg is not a procedure (PROC) that takeszero (0) parameters.




Recommended actionsMake sure that arg is an existing procedure (PROC) that takeszero (0) parameters.


DescriptionA stopped static/semi-static task (alias background task) couldnot be started when automatic mode was requested.


Probable causesA stopped static/semi-static task could not be started.

Recommended actionsSwitch back to manual mode. Make sure that allstatic/semi-static tasks has a program/module containing theconfigured production entry. Make sure that no static/semi-statictask has any syntax errors. Switch back to automatic mode andconfirm.

20399, Static/Semi-static task started

DescriptionAt least on static/semi-static task (alias background task) wasnot executing after startup in automatic mode.

ConsequencesExecution was started in at least one static/semi-static task.

Probable causesSystem was switched to automatic mode during a controllerrestart.

Recommended actionsNone, system has automatically reset debug settings. To keepdebug settings in auto: Switch back to auto mode. Set systemparameter Controller/Auto ConditionReset/AllDebugSettings/Reset to NO. Switch back to automaticmode and confirm. For more info, see the Technical ReferenceManual - System Parameters.

20400, Debug Settings In Auto

DescriptionA static/semi-static task (alias background task) has beenstopped.

ConsequencesThe static/semi-static task will not be started.System will not be in full production mode in auto.

Recommended actionsFor full production mode: Switch back to manual mode. Setsystem parameter Controller/Auto ConditionReset/AllDebugSettings/Reset to Yes. Switch back to automaticmode and confirm. For more info, see the Technical ReferenceManual - System Parameters.

20401, Too many CFG instances

DescriptionThere are too many instances arg of type arg in topic arg.

ConsequencesThe wrong instance may be used and cause unexpectedbehavior.

Probable causesThere are multiple instances of argof type arg in topic arg.

Recommended actionsRemove all instances but one.


DescriptionAn active RAPID Spy session could not be deactivated whenautomatic mode was requested.


Probable causesRAPID Spy could not be deactivated.

Recommended actionsSwitch back to manual mode. Use an external client, e.g.RobotStudio, to deactivate RAPID Spy. Switch back to automaticmode and confirm.

20403, RAPID Spy deactivated

DescriptionRAPID Spy was deactivated after startup in automatic mode.

ConsequencesRAPID Spy was deactivated.

Probable causesSystem was switched to automatic mode during controllerrestart.

Recommended actionsNone, system has automatically reset debug settings. To keepdebug settings in auto: Switch back to manual mode. Set systemparameter Controller / Auto Condition Reset / AllDebugSettings




/ Reset to NO. Switch back to automatic mode and confirm. Formore info, see the Technical Reference Manual - SystemParameters.

20404, Debug Settings In Auto

DescriptionRAPID Spy is active.

ConsequencesRAPID Spy will not be deactivated.System will not be in full production mode in auto.

Recommended actionsFor full production mode: Switch back to manual mode. Setsystem parameter Controller / Auto Condition Reset /AllDebugSettings / Reset to Yes. Switch back to automaticmode and confirm. For more info, see the Technical ReferenceManual - System Parameters.

20408, PP to Main rejected

DescriptionSetting PP to Main, via System IO, was rejected.The reason is that write access is held by arg using arg.

20409, PP to Main rejected

DescriptionSetting PP to Main, via System IO, was rejected.

ConsequencesPP wasn't set to Main.

Probable causesThe reason could be that the program was executing or that noprogram is loaded containing the Main procedure.

Recommended actionsMake sure the program execution is stopped and that a programcontaining the Main procedure is loaded.

20410, Energy Saving has been reset

DescriptionEnergy Saving has been reset. Before being reset, the systemwas in Energy Saving Mode: arg.

ConsequencesThe system is no longer in any Energy Saving mode.

Probable causesThe system has been restarted, intentional or caused by apower fail.

20411, Energy saving activated

DescriptionThe robot system has entered an energy saving state.

ConsequencesThe robot system will not be able to perform any normal tasks.

20412, Energy saving deactivated

DescriptionThe robot system has resumed from an energy saving state.

ConsequencesThe robot system will now be able to perform any normal tasks.

20413, Motors On failed

DescriptionMotors On failed when the controller was resuming from anenergy saving state.

ConsequencesThe system will resume from energy saving state, but remainin Motors Off/Guard Stop.

Probable causesThe controller: is no longer in Auto mode, is in system failurestate, is in emergency stop state.

20414, Program start failed

DescriptionStart of program execution failed when the controller wasresuming from an energy saving state.

ConsequencesThe system will resume from energy saving state, but remainin stopped state.

Probable causesThe controller: is no longer in Auto mode, is in system failurestate, is in emergency stop state.

20415, Motors On/Program Start failed

DescriptionMotors On and/or Start of program execution failed when thecontroller was resuming from an energy saving state.

ConsequencesThe system will resume from energy saving state, but remainin Motors Off.

Probable causesThe system is in Emergency Stop state.




Recommended actionsMake sure the emergency stop button has been released andthat the emergency stop has been reset (pressing Motors Onbutton or using System Input action 'Reset Emergency Stop').

20416, Energy saving blocked

DescriptionThe robot system has been blocked from entering an energysaving state.

ConsequencesThe robot system will not be able to enter an energy savingstate until being unblocked.

20417, Energy saving unblocked

DescriptionThe robot system has left blocked state.

ConsequencesThe robot system will now be able to enter an energy savingstate.

20418, Energy saving already active

DescriptionThe robot system has already entered energy saving state.There is no support for switching between energy saving modes.To enter a different energy saving mode, the robot system mustfirst be resumed.

ConsequencesThe robot system will remain in the previously entered savingmode.

Probable causesThe robot system has already entered energy saving state.

Recommended actionsTo enter a different energy saving mode, the robot system mustfirst be resumed.

20425, Write Access rejected

DescriptionRequesting Write Access, via System IO, was rejected.

ConsequencesWrite Access was not granted.

Probable causesThe reason could be that another client already holds writeaccess or that the system isn't in Auto mode.

Recommended actionsMake sure that no other client, e.g. RobotStudio, holds writeaccess and that the system is in Auto mode.

20426, Write Access rejected

DescriptionRequesting Write Access, via System IO, was rejected.The reason is that write access is held by arg using arg.

20440, Failed to initialize FWupgrade framework

DescriptionThe firmware upgrade framework for hardware boards couldnot be initialized.

ConsequencesNo firmware upgrade of hardware boards will be performed.

Probable causesAn invalid xml file in the controller installation:arg.

Recommended actionsFor developers: Correct the file. Use the hw_compatibility.xsdschema to verify. For other users: Reinstall the system.

20441, Failed to initialize firmware patch

DescriptionFailed to initialize the firmware patch handling for hardwareboards.

ConsequencesNo firmware patches for hardware boards will be applied.

Probable causesThe firmware patch file was invalid:arg.

Recommended actionsCorrect the patch file. Use the schema hw_compatibility.xsd toverify.

20443, Multiple firmware upgrade restarts

DescriptionA new restart to firmware upgrade mode was ordered after twoconsecutive upgrade restarts.

ConsequencesNo further restart to firmware upgrade mode was performed.

Probable causesFirmware upgrade of a hardware board has most likely failed.The board's firmware or hardware may be corrupt.




Recommended actionsCheck the event log for previous error messages.

20444, The SD card was removed

DescriptionThe SD card was removed.

ConsequencesThe system will enter system failure state.

Probable causesThe SD card was removed or there is a glitch in the contactbetween the SD card and the connector.

Recommended actionsPerform a restart as detailed in the Operator's Manual, IRC5.

20445, The USB to Serial adapter was removed

DescriptionThe USB to Serial adapter was removed.

ConsequencesThe USB to serial port is not accessible.

Probable causesThe USB to Serial adapter was removed or there is a glitch inthe contact between the USB to Serial adapter or the connector.

Recommended actionsPerform a restart as detailed in the Operator's Manual, IRC5.

20446, Failed to access the HOME directory

DescriptionThe system failed to access the HOME directory during startup.The system has tried to create a new HOME directory torecover.

ConsequencesThe system has entered system failure state.If a new HOME directory was created: arg then it will be empty.

Probable causesThe HOME directory was missing or renamed before the rebootof the system.

Recommended actionsCheck the contents in the HOME directory for any missing fileor folder. Copy any missing contents to the HOME directoryfrom a Backup and reboot the system or do a restore from aBackup to recover.

20450, SC arg CBC Speed exceeded

DescriptionCyclic Brake Check (CBC) speed limit is exceeded in SafetyController (SC) on mechanical unit arg. Either CBC test intervalhas expired or a previous brake check failed.

Recommended actionsDecrease speed and execute Brake check.

20451, SC arg Not synchronized

DescriptionSafety Controller (SC) arg is not synchronized with supervisedmechanical units.

Recommended actionsMove all mechanical units supervised by Safety Controller argto the synchronization positions defined in the safetyconfiguration.

20452, SC arg Synchronized

DescriptionSafety Controller (SC) arg is now synchronized to supervisedmechanical units. Safety supervision can be used.

20453, SC arg: Wrong Sync. Position

DescriptionThe positions of the supervised mechanical units do not matchthe synchronization positions defined in the safety configurationfor Safety Controller (SC) arg on axis arg.

Recommended actionsCheck that all supervised mechanical units are positioned atthe configured synchronization position. Check that thesynchronization switch is working properly. Check that motorcalibration and revolution counters are updated and correct.Check that the synchronization position in the safetyconfiguration is correct. Check for configuration error. Downloadmotor calibration values. Check if axis 4 or 6 is configured asindependent, if YES, check that the EPS configuration isconfigured likewise.

20454, SC arg Servo-Lag Limit exceeded

DescriptionSafety Controller (SC) arg detected a too big difference betweenthe ordered and actual position, for mechanical unit arg on axisarg.




Recommended actionsCheck for collision. If using external axis, check Servo Lagsettings in the safety configuration. If using Soft Servo, Checkthat the Operational Safety Range (OSR) Tolerance in the safetyconfiguration is not set too low. Verify that revolution countersare updated. Check for communication problems to the maincomputer, axis computer or the serial measurement board.Check if tool weight is correctly defined.

20455, SC arg Incorrect Position Value

DescriptionIncorrect position value from serial measurement boarddetected by Safety Controller (SC) arg on mechanical unit arg.

Recommended actionsCheck resolver and resolver connections. Replace serialmeasurement board. Replace resolver.

20456, SC arg Reference Data Timeout

DescriptionThe robot controller has stopped sending reference data toSafety Controller (SC) arg.

Recommended actionsCheck previous error logs for possible causes. Restart the robotcontroller.

20457, SC arg Changed safety configuration

DescriptionThe safety configuration for Safety Controller (SC) arg haschanged contents or does not fit with the used hardware.

Probable causesNew safety configuration has been downloaded, the normalcase. The configuration does not fit with the used hardware.Typically when the event message with request for new pincode is repeated. Corrupt safety configuration. Typically whenthe event message with request for new pin code is repeated.

Recommended actionsCheck for new event messages that indicates if a new safetyconfiguration has been downloaded. If no new safetyconfiguration has been downloaded and this event messagecomes after a restart, download a new safety configuration tothe Safety Controller. Create and download a new safetyconfiguration if this event message comes after every restartand there is a request for new pin code again.

20458, SC arg Internal Failure

DescriptionInternal Failure in Safety Controller (SC) arg.

Recommended actionsCheck Safety Controller cabling. Check Safety Controller healthon LED. Replace Safety Controller if remaining error.

20459, SC arg Input/Output Failure

DescriptionI/O Error on Safety Controller (SC) arg.

Recommended actionsCheck Safety Controller cabling. Check Safety Controller health.Restart robot controller, after performing recommended actions.

20460, SC arg safety configuration not found

DescriptionFailed to retrieve safety configuration for Safety Controller (SC)arg.

Recommended actionsRestart robot controller. Download a safety configuration to theSC. Reinstall system.

20461, SC arg Robot Configuration not found

DescriptionFailed to retrieve robot configuration for Safety Controller (SC)arg.

Recommended actionsRestart robot controller. Reinstall system.

20462, SC arg Calibration Offset not found

DescriptionFailed to retrieve motor calibration offsets for Safety Controller(SC) arg.

Recommended actionsDownload new calibration offsets to the SC.

20463, SC arg safety configuration downloaded

DescriptionDownload of safety configuration was successful for SafetyController (SC) arg.




20464, SC arg OSR Limit exceeded

DescriptionSafety Controller (SC) arg detected a too big difference betweenthe ordered and actual position inside Operational Safety Range(OSR), for mechanical unit arg on axis arg.

Recommended actionsCheck for collision. Check that Operational Safety Range (OSR)Tolerance in the safety configuration is not set too low.Synchronize the Safety Controller, if the revolution countershave been updated since last synchronization.

20465, SC arg SAS Speed exceeded

DescriptionSafe Axis Speed (SAS) violation on mechanical unit arg axisarg on Safety Controller (SC).

Recommended actionsDecrease speed on axis arg.


DescriptionI/O Error on Safety Controller (SC) arg I/O arg Type arg.Type 1: Input.Type 2: Output.

Probable causesWrong connection to I/O terminals on SC. Two channel I/Omismatch.

Recommended actionsCheck SC cabling. Check SC health. Restart robot controller,after performing recommended actions.

20467, SC arg STS speed exceeded

DescriptionSafe reduced Tool Speed (STS) in Safety Controller (SC) onmechanical unit arg too high. Cause arg.

Probable causesTool0 speed. Elbow speed. Tool speed. Additional axis speed.

Recommended actionsReduce tool speed.

20468, SC arg STZ violation

DescriptionSafe Tool Zone (STZ) arg is violated on mechanical unit arg.Tool arg was active.

Cause arg.

Probable causesExceeded speed. Wrong tool position. Wrong tool orientation.Wrong elbow position. Wrong tool point 1 position. Wrong toolpoint 2 position. Wrong tool point 3 position. Wrong tool point4 position. Wrong tool point 5 position. Wrong tool point 6position. Wrong tool point 7 position. Wrong tool point 8position.

Recommended actionsReduce speed. Move robot tool to safe position. Adjust toolorientation.

20469, SC arg SAR violation

DescriptionSafe Axis Range (SAR) arg is violated on mechanical unit argaxis arg.

Recommended actionsMove mechanical unit to safe position.

20470, SC arg Synchronization Pre-warning

DescriptionSynchronization required for mechanical units supervised bySafety Controller (SC) arg in less than arg hour(s).

Recommended actionsPerform synchronization before the time limit expires.

20471, SC arg Synchronization Timeout

DescriptionSynchronization time limit expired for Safety Controller (SC)arg.

Recommended actionsPerform synchronization.

20472, SC arg New safety configuration

DescriptionSafety Controller (SC) arg has received a new safetyconfiguration. A new PIN-code is needed to activate.

Recommended actionsLog in as a user with safety configuration grants. Enter newPIN-Code for the Safety Controller in the Control Panel.




20473, SC arg Dual Computer mismatch

DescriptionSafety Controller (SC) arg have had conflicting values for aSafety Output for too long.

ConsequencesThe Safety Controller has entered a Safe State and issue anerror after 10 minutes of internal mismatch, if recommendedactions are not performed.

Probable causesThe mechanical unit have been parked at a position on, or closeto, a supervised or monitored function limit for too long time.Internal computation error in Safety Controller.

Recommended actionsMove all mechanical units' axes and tools well inside or outsidemonitored and supervised function limits.

20474, SC arg I/O Supply Failure

DescriptionI/O supply voltage level for Safety Controller (SC) arg is out ofrange.

Probable causesEither the voltage is out of limits or the voltage is missing.

Recommended actionsConnect 24V supply with correct voltage level to I/O supplyterminals. Restart robot controller.

20475, SC arg Synchronization rejected

DescriptionSafety Controller (SC) arg is not correctly configured forsynchronization.

Probable causesSafety configuration PIN is not set or is incorrect. Safetyconfiguration is empty. Safety configuration is corrupt ormissing. Safety Controller connected to the wrong SMB bus.I/O power supply missing.

Recommended actionsVerify and check possible causes.

20476, SC arg Disabled

DescriptionSafety Controller (SC) arg is disabled.

ConsequencesAll safety supervision has been disabled in the Safety Controller.Risk for safety hazards.

Recommended actionsDownload a safety configuration to the Safety Controller.

20477, SC arg SMB Communication Failure

DescriptionSafety Controller (SC) arg failed to communicate with serialmeasurement board (SMB).

Recommended actionsMake sure that the cabling from SMB to Safety Controller isconnected to the right SMB connector and functional. Restartthe robot controller.

20478, SC arg Main Supply Failure

DescriptionThe main power supply voltage for Safety Controller (SC) argis out of range.

Probable causesEither the voltage is out of limit or the voltage is missing.

Recommended actionsCheck Safety Controller cabling. Check voltage from powersupply. Restart robot controller.

20479, SC arg Additional Axis missing

DescriptionAn additional axis that is supervised by Safety Controller (SC)arg is no longer present in the system configuration.

Recommended actionsReinstall the supervised additional axis, or download a safetyconfiguration without supervision of the additional axis.

20480, SC arg SST violation

DescriptionSafe Stand Still (SST) arg in Safety Controller (SC) is violatedon mechanical unit arg axis arg.

Recommended actionsVerify RAPID program. Verify process equipment. Check thatmovement is not ongoing when SST is active. Check previousevent messages.




20481, SC arg OVR active

DescriptionOverride Operation (OVR) active on Safety Controller (SC) arg.SafeMove will stop the robot after approximately 20 minuteswith OVR active.Speed is limited to 250 mm/s or 18 degrees/s.

Recommended actionsDeactivate signal connected to OVR input.

20482, SC arg OVR time out

DescriptionOverride Operation (OVR) has been active too long time onSafety Controller (SC) arg.

Recommended actionsRestart robot controller. Toggle signal connected to OVR input.Activate Confirm stop by pressing Motors On push button. Jogrobot back into working area. Deactivate signal connected toOVR input.

20483, SC arg CBC soon required

DescriptionCyclic Brake Check (CBC) required in less than arg hours.

Recommended actionsPerform a brake check before the time limit expires.

20484, SC arg CBC needs to be done

DescriptionCyclic Brake Check (CBC) time limit expired in Safety Controller(SC) or last brake check failed.

Recommended actionsPerform a brake check.

20485, SC arg Too low brake torque

DescriptionToo low brake torque in Safety Controller (SC) on mechanicalunit arg axis arg.

Probable causesAxis has not been tested. Worn out brake(s).

Recommended actionsCheck that the failing axis is activated. If failing axis is activatedreplace brake(s) as soon as possible.

20486, SC arg CBC interrupted or incorrect

DescriptionSafety Controller (SC) has detected that the last Cyclic BrakeCheck (CBC) on mechanical unit arg was interrupted orincorrect.

Recommended actionsCheck previous event messages. Perform a new brake checkonly if needed, typically if event message 20485 also has beendisplayed.

20487, SC arg Unsynchronized speed exceeded

DescriptionExceeded axis speed when Safety Controller (SC) arg wasunsynchronized.

Recommended actionsJog mechanical unit to synch position with low axis speed.Reduce speed to 250 mm/s or 18 degrees/s.

20488, SC argUnsynchronized time limit expired

DescriptionAvailable time to move the robot when unsynchronized hasexpired for Safety Controller (SC) arg.

Recommended actionsDo a Confirm stop by pressing the Motors ON push button oractivate system input. Synchronize SC arg.

20489, SC arg has been disabled

DescriptionSafety Controller (SC) arg has been disabled and no supervisionfunctions are active.

Probable causesEither a system reset has been performed or it's the first startupof SC.

Recommended actionsDownload a configuration to SC arg.

20490, SC arg OVR Speed exceeded

DescriptionOverride (OVR) Speed limit exceeded on mechanical unit arg.

Probable causesIf Override (OVR) is active, then OVR speed limitations will beactive.




Recommended actionsDecrease speed. Deactivate OVR.

20491, SC arg Override active during startup

DescriptionOverride digital input was active during startup on SC arg.

20492, SC arg SST violation in Brake test

DescriptionMovement detected during Brake test on Safety Controller (SC)arg. Mechanical unit arg. Axis arg.

Probable causesInterrupted braketest. Worn out Brakes.

Recommended actionsRestart CBC. Replace Brake.

20493, SC arg SBR triggered

DescriptionSafe Brake Ramp (SBR) on Safety Controller (SC) wasinterrupted by a Class 0 stop due to slow deceleration onmechanical unit arg. This is normal and occurs in cases whena stop1 is to slow. Check for other safety controller eventmessages.

Recommended actionsChange parameter value for SBR in Motion configuration.Trigger a new stop to test the Brake Ramp. If this happensfrequently, check the Application manual for mechanical units'configuration.

20494, SC arg Tool change incorrect

DescriptionIncorrect tool change with Tool arg on mechanical unit arg.

Recommended actionsCheck if correct tool. Decrease speed if needed. Perform a newtool change.

20501, ES panel open

DescriptionThe emergency stop panel has previously been broken, andwhile broken, an attempt was made to operate the robot.

ConsequencesThe system remains in the Emergency Stop status.

Probable causesAn attempt has been made to maneuver a control, e.g. theenabling device.

Recommended actionsTo resume operation, first reset the emergency stop panelbutton. Then switch the system back to state Motors ON bypressing the Motors ON button on the Control Module.

20502, ES pendant open

DescriptionThe emergency stop pendant has previously been broken, andwhile broken, an attempt was made to operate the robot.



Recommended actionsTo resume operation, first reset the emergency stop pendantbutton. Then switch the system back to state Motors ON bypressing the Motors ON button on the Control Module.

20503, ES ext.cat.0 open

DescriptionThe emergency stop external has previously been broken, andwhile broken, an attempt was made to operate the robot.



Recommended actionsTo resume operation, first reset the emergency stop externalbutton. Then switch the system back to state Motors ON bypressing the Motors ON button on the Control Module.

20505, Delayed stop open

DescriptionDelayed stop open.





Recommended actionsTo resume operation, first reset the delayed stop button. Thenswitch the system back to state Motors ON by pressing theMotors ON button on the Control Module.

20506, Test Stop open

DescriptionThe Test Mode Safeguarded Stop circuit has been broken.


Probable causesOne or more of the switch connected in series with the TestMode Safeguarded Stop circuit have been opened, which maybe causes by a large number of faults. This is only possiblewhile in the Manual operational mode.

Recommended actionsLocate the switch, reset it and restart the controller. Checkcables and connections.

20507, Hardware chain open

DescriptionRelays (KA16 and KA17) on Safety Interface Board (SIB) notactivated.

ConsequencesMotor on command rejected.

Recommended actionsPress motor ON button to close the chain.

20521, Test Stop conflict

DescriptionStatus conflict for the Test Stop chain.


Recommended actionsPlease check the two-channel safety guard that caused thestatus conflict.

20525, ES panel conflict

DescriptionStatus conflict for the Emergency Stop panel chain.

ConsequencesThe system goes to status emergency stop.


20526, ES pendant conflict

DescriptionStatus conflict for the Emergency Stop pendant chain.



20527, ES ext.cat.0 conflict

DescriptionStatus conflict for the Emergency Stop ext.cat.0 chain.



20528, HV Interlock input conflict

DescriptionOnly one of the two input signals in the high voltage chains isopened.

ConsequencesPaint enable chain opens.


20529, Cabin Interlock input conflict

DescriptionOnly one of the two input signals in cabin interlock chains isopened.


Recommended actionsCheck cables and connections.




20531, Delayed Stop conflict

DescriptionStatus conflict for the delayed stop circuit.



20534, Mode selector conflict

DescriptionAny of the connections to the mode selector are faulty.



20535, AUX Interlock conflict

DescriptionOnly one of the two AUX interlock chains was opened. Normallyused on CBS door interlock.



20536, Motor on chain conflict

DescriptionOnly one of the two motor on chain signals in run chain isopened.



20550, Glitch test fault

DescriptionStatus active when firmware on Process Interface Board (PIB)did not detect any glitch test pulse for 30 seconds.


Recommended actionsCheck other error messages for primary fault reason. Checkfor communication problems between PIB and Main Computer(MC).

20556, Enable 2 AXC 1 open

DescriptionStatus active when enable from Axis Computer 1 open.


Recommended actionsCheck other error messages for primary fault reason. If no othererror messages, please check line voltage for one phasemissing.

20557, Enable 2 AXC 2 open

DescriptionStatus active when enable from Axis Computer 2 open.


Recommended actionsCheck other error messages for primary fault reason. If no othererror messages, please check line voltage for one phasemissing.

20558, Manipulator fault

DescriptionStatus active when power to manipulator arg connected toManipulator Interface Board (MIB) arg is lost, or manipulator'senable chain conditions is not OK.


Recommended actionsCheck the power to the manipulator. Check that the enablechain on Manipulator Controller Board (MCOB/MCB) is OK.Check for over temperature in Manipulator motors. Checkmanipulator signals through Power Distribution Board (PDB).See the Circuit Diagram.

20559, Collision sensor active

DescriptionStatus active when digital collision sensor on ManipulatorController Board (MCOB) arg is active.





Recommended actionsCheck the collision sensors connected to MCOB.

20560, Axis limit on MCOB

DescriptionStatus active when limit sensor on Manipulator Controller Board(MCOB) arg is active.


Recommended actionsCheck the limit sensors connected to MCOB.

20561, Manipulator software has opened enablechain

DescriptionStatus active when Manipulator Controller Board (MCOB/MCB)arg software has opened the enable chain.


Recommended actionsCheck other error messages for primary fault reason. Checkfor brake fault.

20562, Reset ES fault

DescriptionStatus active when Reset Emergency Stop input is activatedfor more than 3 seconds.


Recommended actionsCheck the connection of external reset of Emergency Stop.Check the motor on push button.

20563, Servo disconnect open

DescriptionStatus active when Servo disconnect switch on system arg isoff.


Recommended actionsIf Servo disconnect switch is not installed, check the disablelink on Manipulator Interface Board (MIB).

20564, Brake rel. on axes 1 & 7

DescriptionStatus active when manual brake release on axes 1 and 7enabled.


Recommended actionsCheck switch for manual brake release of axes 1 and 7.

20565, External enable 1 open

DescriptionStatus active when external enable 1 on Manipulator ControllerBoard (MCOB) arg is open.


Recommended actionsCheck connection on MCCB X25.

20566, External enable 2 open

DescriptionStatus active when external enable 2 on Manipulator ControllerBoard (MCOB) arg is open.


Recommended actionsCheck connection on MCCB X43.

20567, Power low on MCOB

DescriptionStatus active when power below 16V on Manipulator ControllerBoard (MCOB) arg.


Recommended actionsCheck power on MCOB.




20568, Hardware enable open on MCOB/MCB

DescriptionStatus active when firmware on Manipulator Controller Board(MCOB/MCB) arg has opened the enable chain.


20569, Watchdog fault on MCOB/MCB

DescriptionStatus active when watchdog on Manipulator Controller Board(MCOB/MCB) arg fails.


20570, FlexPendant wiring error

DescriptionStatus active when Process Interface Board (PIB) detects faulton emergency stop pendant and enabling device signals (glitchtest).


Recommended actionsCheck cables and connections to FlexPendant. Check PendantInterface Board (TIB) and Manipulator Interface Board (MIB).

20571, HV Interlock open

DescriptionPaint system High Voltage (HV) interlock is opened by externalinterlock connection.


Recommended actionsCheck manual switch for disconnecting of the HV system.

20572, Cabin Interlock open

DescriptionCabin Interlock is opened by external interlock connection.


Recommended actionsCheck cabin ventilation and other cabin safety functions.

20573, Controller ID is Missing

DescriptionController ID is the controller's unique identity. It is by defaultequal to the serial number of the controller's cabinet. Thesoftware configuration of the controller is missing this identityinformation.

Probable causesThis may happen if the storage media of the controller has beenreplaced or reformatted.

Recommended actionsRead the serial number of the controller from the controllercabinet to find out what the controller ID should be. UseRobotStudio tools to set this value for the controller.

20574, Process Interlock open

DescriptionProcess Interlock is opened by external interlock connection.


Recommended actionsCheck manual switch for disconnecting of the process system.

20575, AUX Interlock open

DescriptionAUX Interlock is opened by external interlock connection.Normally used for Cartridge Bell System (CBS).


Recommended actionsCheck cables and equipment connected to AUX inputs.

20576, System 2 Interlock open

DescriptionSystem 2 Interlock is opened. Normally used for Cartridge BellSystem (CBS) or paint pumps.


Recommended actionsCheck cables and equipment connected to system 2.

20577, HV ON open

DescriptionHigh Voltage (HV) switch on operating panel is opened.





Recommended actionsGive acknowledge on motor ON and switch on the HV key toclose the HV interlock chain.

20581, SPI communication towards SIB is down

DescriptionStatus active when cyclic enable 1 test fails from SafetyInterface Board (SIB).


Recommended actionsCheck status on Serial Peripheral Interface (SPI) status. Checkcables between Process Interface Board (PIB) and SIB.

20582, SPI communication towards MIB is down

DescriptionStatus active when cyclic enable 1 test fails from ManipulatorInterface Board (MIB) arg.


Recommended actionsCheck cables and Serial Peripheral Interface (SPI) status. Checkcables between SIB and Manipulator Interface Board (MIB).

20583, Watchdog towards PIB software fails

DescriptionStatus active when firmware on Process Interface Board (PIB)discover watchdog fault between PIB firmware and PIB software.


Probable causesToo high processor load on PIB software.

20584, Fault on internal SPI

DescriptionStatus active when firmware on Process Interface Board (PIB)discover watchdog fault towards Safety Interface Board (SIB)and Manipulator Interface Board (MIB).


Probable causesSerial Peripheral Interface (SPI) communication is down on SPI1.

Recommended actionsCheck cables between PIB, SIB and MIB.

20585, Enable chain opened from IPS

DescriptionStatus active when enable chain is opened from signalSafety/PibSw/Enable.


Recommended actionsCheck the actuator connected to signal Safety/PibSw/Enable.

20586, Watchdog fault towards PIB firmware

DescriptionStatus active when software on Process Interface Board (PIB)discover watchdog fault towards PIB firmware caused by faulton FPGA.


20587, Watchdog fault towards PIB firmware

DescriptionStatus active when software on Process Interface Board (PIB)discover watchdog fault towards PIB firmware caused by faulton the In-System Micro Controller.


Probable causesFirmware not running.

20588, Watchdog fault between PIB and MC

DescriptionProcess Interface Board (PIB) has detected a watchdog faulttowards Main Computer (MC).


Probable causesBroken Ethernet cable between PIB and MC. High network load.




Recommended actionsIf problem persists: Check MC. Check Ethernet cable betweenPIB and MC. Restart the controller.

20589, Watchdog fault between PIB and MCOB

DescriptionStatus active when agent connection on CAN between ProcessInterface Board (PIB) and Manipulator Controller Board (MCOB)is down.


Recommended actionsCheck CAN cables. Check MCOB status.

20590, Open circuit mask not set

DescriptionThe open circuit mask for brakes on Manipulator ControllerBoard (MCOB/MCB) arg is not set. The mask should be setfrom Process Interface Board (PIB) during start-up.

ConsequencesThis message will be given every time the brakes are released,until the open circuit mask on MCOB/MCB is set.

Probable causesIPS configuration on PIB is not loaded or configuration file forbrake settings is missing.

Recommended actionsCheck that IPS configuration is loaded during start-up. Checkthat IPS configuration file for brake settings are installed onPIB.

20591, FlexPendant hot plug timeout

DescriptionThe FlexPendant hot plug button is pressed for too long time.


Recommended actionsPress motor ON button to close the chain.

20592, External process enable open

DescriptionStatus active when external process enable connection onManipulator Controller Board (MCB) arg is open.


Recommended actionsCheck connection on MCB X2.

20593, IO power low on MCB

DescriptionStatus active when IO power below 16V on ManipulatorController Board (MCB) arg.


Recommended actionsCheck power on MCB.

20594, Communication fault between PIB andMC

DescriptionProcess Interface Board (PIB) has detected a communicationfault towards Main Computer (MC).


Probable causesBroken Ethernet cable between PIB and MC. High network load.

Recommended actionsCheck Ethernet cable between PIB and MC. Check MC. Restartthe controller.

20595, SPI communication towards PSA is down

DescriptionStatus active when cyclic enable 1 test fails from Paint SafetyAdapter Board (PSA).


Recommended actionsCheck status on Serial Peripheral Interface (SPI) status. Checkcables between MIB and Paint Safety Adapter Board (PSA).

20600, Unofficial RobotWare release

DescriptionThe current RobotWare is not an officially supported release.Unofficial RobotWare releases may only be used for time-limitedtest and validation purposes.

ConsequencesABB will not provide long-term support on unofficial releases.




Recommended actionsIf this is a production system, install an official RobotWarerelease as soon as possible.

20601, Too long paths when unpackingRobotWare files

DescriptionThe RobotWare installation package was not properly unpackedon the controller. Some files in the package have a path that istoo long and could not be handled by the controller software.During the installation process the controller software wasupgraded to handle longer paths, so a re-installation of thesystem should solve the problem.

ConsequencesSome RobotWare files are missing on the controller and yoursystem may not be able to operate properly.

Recommended actionsRe-install the system by using SystemBuilder. If the error is stillpresent after the re-installation, contact customer support.

20602, Unofficial RobotWare image

DescriptionThe current RobotWare main computer image is not the original,and is hence not officially supported.

ConsequencesABB will not provide long-term support on unofficial RobotWarereleases.

Probable causesThe officially released main computer image has been replaced,e.g., for the purpose of collecting diagnostic data for a specificproblem.

Recommended actionsIf this is a production system, install an official RobotWarerelease as soon as possible.

20610, Motor phase short circuit

DescriptionThe drive unit for joint arg has reported short circuit. The jointis connected to drive module arg with unit position arg andnode arg.

ConsequencesNo operation will be possible until the fault is corrected. Thesystem goes to Motors Off state with zero torque.

Probable causesShort circuit in cables or connectors between the phases or toground. Short circuit in motor between the phases or to ground.

Recommended actionsCheck/replace cables and connectors. Check/replace motor.

20620, The system has entered an internal testmode

DescriptionA feature to perform ABB Robotics internal tests has beenenabled in arg.

ConsequencesThe system may not behave as expected.

Recommended actionsRestart the controller when the test has been performed. If thiswas an unexpected message, please contact your contact yourlocal ABB representative for assistance.

20630, Camera job missing Output to Rapid

DescriptionThe camera arg has a job loaded that is not created with the"Use Output to Rapid" functionality. The "Use Output to Rapid"functionality will be disabled until the next state change fromprogram mode to run mode.

ConsequencesAll functionality that requires the use of output to Rapid, e.g.CamGetResult, is turned off. CamGetParameter is not affectedand will still work.

Probable causesThe "Use Output to Rapid" configuration parameter is set toYes, but was supposed to be set to No. The job loaded into thecamera is not correct or is not compatible with this version ofRobotWare.

Recommended actionsSet the camera in program mode. Load a valid job into thecamera or use Robot Studio to create one. In RobotStudio inthe "Vision"-tab, select "Output to RAPID" to convert parametersto RAPID variables and save the job. Set the "Use Output toRapid" configuration parameter to No, if that functionality is notindended to be used.

20631, Communication failure with camera

DescriptionThe robot controller failed to communicate with camera arg.




ConsequencesCamera results may be lost.

Recommended actionsCheck camera status. Check cabling between the robotcontroller and the camera.

20632, IP address of the camera has changed

DescriptionThe IP address of the camera arg has changed. It is necessaryto restart the controller to use the Integrated Vision functionality.

Recommended actionsRestart the controller.

20633, Integrated Vision not installed

DescriptionThe option Integrated Vision is not installed on this system.

ConsequencesNo communication with the camera is possible.

Probable causesThe Integrated Vision functionality have been used or configuredwithout the Integrated Vision option installed.

Recommended actionsIf the Integrated Vision option is needed: configure a newsystem with this option, and install the system. If the IntegratedVision option is not needed: remove the use of Integrated Visionfunctionality, i.e. RAPID or configuration data.

20634, No result for current camera job

DescriptionThe robot controller did not receive any result for camera arg.

ConsequencesThe robot controller will not recognize any positional data inthe image.

Probable causesNo part tools have been defined for the current job loaded incamera arg.

Recommended actionsUse RobotStudio to add a Part Location Tool or a PartInspection Tool to the job. Follow the instruction in theRobotStudio context menu and save the job.

20635, Too many cameras connected

DescriptionNumber of cameras connected to the robot controller is arg.Max number of cameras for a robot controller is arg.

ConsequencesThe robot controller will not communicate with all the cameras.

Probable causesMaximum number of cameras for a robot controller have beenexceeded.

Recommended actionsReduce the number of cameras connected to the robotcontroller.

20636, Duplicated camera name

DescriptionThe camera configuration is invalid. The camera name arg havebeen used for more than one camera.

ConsequencesThe robot controller will not communicate with cameras withthe same name.

Probable causesTwo or more cameras with the same name have beenconfigured.

Recommended actionsRename the cameras so that they have unique names andrestart the controller.

20637, Camera permission denied

DescriptionPermission denied to login to the camera with ip address argusing username arg.

ConsequencesThe robot controller cannot login to the camera.

Probable causesUsername and/or password is not correct.

Recommended actionsFrom RobotStudio Integrated Vision Add-In use "Set ControllerUser" to select camera login credentials to be used by thecontroller.




20638, Option missing

DescriptionYou are trying to use functionality that require the RobotWareOption arg.

Recommended actionsCheck the options of your system.Correct your system options and reset the system.

20639, Camera connection up

DescriptionThe robot controller communicates correctly with the cameraarg with IP address arg.

20640, Camera connection down

DescriptionThe connection to camera arg with IP address arg has beenlost.

ConsequencesThe robot controller cannot access the camera.

Recommended actionsCheck cabling and camera settings.

20641, New camera detected

DescriptionA new camera with mac address arg has been detected.

20642, DryRun configuration error

DescriptionError while reading the DryRun configuration file arg.

ConsequencesThe DryRun configuration failed. All signals might not havebeen added to the Dryrun configuration.

Probable causesThe file does not follow the recommended XML format.

Recommended actionsReview the DryRun configuration file arg and make sure it iscorrect. See the recommended XML format in the userdocumentation.



ConsequencesThe DryRun configuration failed. The signal arg was not addedto the DryRun configuration.

Probable causesThe file does not follow the recommended XML format. Thesignal arg is missing in the I/O configuration.

Recommended actionsReview the DryRun configuration file arg and make sure thatthe entry for signal arg is correct. See the recommended XMLformat in user documentation.



ConsequencesThe DryRun configuration failed. The signal arg was not addedto the DryRun configuration.

Probable causesThe maximum number of allowed configured signals in DryRunhas been exeeded. No more than arg signals can be configuredfor DryRun.

Recommended actionsReduce the number of signals in the DryRun configuration.


DescriptionUnexpected error during the DryRun configuration.

ConsequencesAll signals might not have been added to the DryRunconfiguration.

Recommended actionsReview all DryRun configuration files and make sure that theyare correct. See the recommended XML format in userdocumentation.

20646, DryRun aborted

DescriptionDryRun was aborted by a Stop.

ConsequencesDryrun was aborted and no signal values have been updated.

Recommended actionsDryRun will be executed in fully at next program start.





DescriptionDryRun was aborted by a Power Fail.

ConsequencesAll signal values might not have been updated as planned andPP might be in wrong place.

Recommended actionsMove PP to Main to restart the production cycle and refresh allsignal values.


DescriptionDryRun was aborted by an execution error.

ConsequencesDryrun was aborted and no signal values have been updated.

Recommended actionsSolve the error and try to start again.


DescriptionError while configuring DryRun, a signal named arg alreadyexists.

ConsequencesThe DryRun configuration failed. The original configuration ofsignal arg was kept in the DryRun configuration.

Probable causesThe signal arg is duplicated in the DryRun configuration.

Recommended actionsReview all DryRun configuration files and make sure that signalarg is only present once.


DescriptionDryRun was aborted when program execution reached end ofmain without reaching position where program pointer wasplaced when DryRun started.

ConsequencesAll signal values might not have been updated as planned andPP might be in wrong place.

Probable causesThe program pointer's original position could not be reachedwhile restarting execution in DryRun mode from the beginningof the routine.

Recommended actionsMove PP to Main to restart the production cycle and refresh allsignal values.

20651, Image request timed out

DescriptionAn image request for camera arg has timed out.

ConsequencesIf the camera is still processing the image then new commandstowards the camera may not respond and also timeout. If/whenthe current processing image completes it will insert the resultsinto the database.

Probable causesThe timeout set in configuration for the maximum time for imagerequests may be set too low. The camera may be in an errorstate. The communication with the camera is down.

Recommended actionsIf the image processing time is larger than the maximum timeset in configuration for image requests, then adjust theconfiguration. Start and try again. If the problem remain, restartthe camera.

20652, Camera job is not valid

DescriptionThe job loaded into the camera arg is not correct or is notcompatible with this version of RobotWare.

ConsequencesThe camera will reset to program mode.

Probable causesThe job loaded into the camera is not correct or is notcompatible with this version of RobotWare. The "Use Outputto Rapid" configuration parameter is set to Yes, but wassupposed to be set to No.

Recommended actionsIf the usage of output to Rapid functionality, e.g. CamGetResult,is not indended to be used, then set the "Use Output to Rapid"configuration to No. If the "Use of Output to Rapid" functionalityis needed then a correct job has to be loaded into the camera.Make sure that the fields in the "Output to Rapid" tab is savedbefore loading the job.

20653, DryRun rejected

DescriptionDryRun was rejected due to unfinished movement.




ConsequencesStart will be rejected until unfinished movement has beencleared.

Probable causesDryRun execution cannot handle unfinished movement.

Recommended actionsAbort unfinished movement: Set PP to Cursor, i.e. to theposisiton where PP currently is Set PP to Main

20655, No job is loaded in the camera

DescriptionThere is no job loaded in the camera arg or the active job in thecamera has not been saved.

ConsequencesIf there is no job loaded in the camera, the robot controller willnot recognize any positional data in the image.

Recommended actionsIf no job exists on the camera, use RobotStudio to create a joband add a Part Location Tool or a Part Inspection Tool to thejob. Follow the instruction in the RobotStudio context menuand save the job. If an active job exists on the camera, savethe job.

20656, Camera refresh started

DescriptionAn update of camera information has been ordered by anexternal client.

ConsequencesIf a camera is busy doing any time consuming operation suchas loading a job or processing an image, the camera refreshservice for that specific camera will be postponed until theongoing operation is finished.

20657, Camera IP address changed

DescriptionThe IP address of camera arg with MAC address arg haschanged.Old IP address arg.New IP address arg.

ConsequencesFor the controller to connect to a configured camera that hasa new IP address, it is necessary to warmstart the controller.

Recommended actionsIf a configured camera has changed IP address, warmstart thecontroller.

20658, Camera updated

DescriptionThe camera arg with IP addressarg and MAC address arg hasbeen updated.

20659, Camera instruction

DescriptionThe camera arg is of type arg. The instruction arg is notavailable on a camera arg.




5.5 3 xxxx

31810, DeviceNet master/slave board is missing

DescriptionThe DeviceNet master/slave board does not work.

ConsequencesNo communication on the DeviceNet network is possible.

Probable causesThe DeviceNet master/slave board is either malfunctioning ormissing.

Recommended actionsMake sure a DeviceNet master/slave board is installed. Replacethe board if faulty.

31910, PROFIBUS master board is missing

DescriptionThe PROFIBUS master board does not work.

ConsequencesNo communication on the Profibus is possible.

Probable causesThe PROFIBUS master board is either malfunctioning ormissing.

Recommended actionsMake sure a PROFIBUS master board is installed. Replace theboard if faulty.

31911, Profibus board update error

DescriptionThe RobotWare software was not able to download new driversoftware to the PROFIBUS master board. The arg channel (charg) of the Profibus board could not be programmed. Internalerror code:arg.


Probable causesThe RobotWare software may be corrupt or the board hardwaremay be malfunctioning.

Recommended actionsRestart the controller to reattempt downloading the software.Reinstall the present system files. Create and run a new systemto download the driver software. Replace the board if faulty.

31912, PROFIBUS master board failure

DescriptionThe PROFIBUS master board did not start up correctly.


Probable causesThe PROFIBUS master board hardware may be malfunctioning.

Recommended actionsRestart the controller. Replace the PROFIBUS master board iffaulty.

31913, PROFIBUS master board internal error

DescriptionThe PROFIBUS master board reported internal error arg.

ConsequencesNo communication on the PROFIBUS network is possible.



31914, PROFIBUS network startup error

DescriptionPROFIBUS network startup error arg. Check cabling, terminatorsand modules then restart.

Recommended actions

31915, PROFIBUS network error

DescriptionPROFIBUS master network error.Internal errorError code arg.

ConsequencesCertain expected associated errors may be delayed.

Probable causesFaulty PROFIBUS cabling, terminators and/or module(s).Duplicated PROFIBUS addresses.




Recommended actionsCheck cabling, terminators and modules.

31916, PROFIBUS network OK

DescriptionPROFIBUS regained contact on the master network.

Recommended actions

31917, PROFIBUS master board exception

DescriptionA fatal error has occurred on the PROFIBUS master board. argchannel in task arg. Parameters arg.




32501, Main computer fpga not reachable

DescriptionThe system cannot contact the fpga on the main computer.

ConsequencesNo communication with the safety system is possible. Thesystem goes to system failure state.

Probable causesThe main computer fpga is malfunctioning.

Recommended actionsReplace the unit if faulty.

32530, No Communication With The SafetySystem

DescriptionThere is no serial communication between the safety systemand the robot communication card.


Probable causesProbably hardware fault in cable between safety system andRobot Communication Card. The safety system, or its powersupply, may also be faulty.

Recommended actionsRestart the controller to resume operation. Make sure the cablebetween robot communication card and safety system isworking and correctly connected. Check the safety systempower supply. Replace the unit if faulty.

32540, Drive unit firmware re-flash started

DescriptionIn drive module arg, a required upgrade of the firmware in thedrive unit at unit position arg has started. The old firmwarerevision arg is replaced with revision arg.

Recommended actionsWait for the firmware upgrade process to complete. Do not turnoff system power!

32541, Drive unit firmware re-flash complete

DescriptionIn drive module arg, the upgrade of the firmware in the driveunit with unit position arg is completed. New revision is arg.

32542, Drive unit hardware not supported

DescriptionIn drive module arg, the system cannot use the drive unit withhardware identity arg because the hardware revision arg is notsupported.

ConsequencesThe system is unable to use the drive unit. The system goes tosystem failure state.

Probable causesThe RobotWare version is too old to support the drive unit.

Recommended actionsUpgrade the system to a RobotWare version supporting thedrive unit revision. Replace the drive unit to one with compatiblerevision.

32543, Drive unit firmware re-flash failed

DescriptionIn drive module arg, the upgrade of the firmware in the driveunit at unit position arg failed.

ConsequencesThe required upgrade of the drive unit firmware is notperformed.




Recommended actionsCheck other hardware event log messages for detailedexplanation of the error condition. Try again by restart thecontroller using the main power switch.

32544, Drive unit firmware file not found

DescriptionThe file arg, required to upgrade a drive unit's firmware, is notfound.


Probable causesThe RobotWare installation does not contain the firmware file.

Recommended actionsReinstall the system.

32545, Drive unit firmware file type error

DescriptionThe file arg, required to upgrade a drive unit's firmware, is ofwrong type.


Probable causesThe RobotWare installation is faulty.


32546, Drive unit firmware file error

DescriptionThe file arg, required to upgrade a drive unit's firmware, is notusable because it failed the integrity check.


Probable causesThe RobotWare installation is faulty.


32550, Firmware re-flash started

DescriptionA required update of the arg firmware has started. File used:[arg].

Recommended actionsWait for the re-flash to complete.

32551, Firmware re-flash completed

DescriptionThe update of arg firmware has completed successfully.

32552, Firmware re-flash failed

DescriptionThe update of arg firmware failed.Internal error code:arg.

Recommended actionsCheck other error messages for detailed explanation. Restartthe controller. Reinstall the system. Replace the arg.

32553, Firmware file is corrupt

DescriptionThe firmware file [arg] is corrupt. Internal error code:arg.


32554, Firmware file not found

DescriptionThe firmware file [arg] is not found.


32555, Safety System Unit Not Supported

DescriptionThe system cannot use the safety system unit arg, revision arg.

ConsequencesThe system is unable to use the affected hardware.

Recommended actionsChange the affected hardware to a compatible version.




32560, Axis computer firmware re-flash started

DescriptionIn drive module arg, a required upgrade of the firmware in theaxis computer arg with hardware identity arg has started. Theold firmware revision arg is replaced with revision arg.

Recommended actionsWait for the firmware upgrade process to complete. Do not turnoff system power!

32561, Axis computer firmware re-flash complete

DescriptionIn drive module arg, the upgrade of the firmware in the axiscomputer arg with hardware identity arg is completed. Newrevision is arg.

32562, Axis computer communication error

DescriptionThe system failed to communicate with the axis computer indrive module arg when trying to read firmware information.

ConsequencesThe system is unable to determine if an upgrade is required ofthe firmware in the affected drive module. The system goes tosystem failure state.

Probable causesThis may be due to a cable break, bad connector or high levelsof interference in the cable between the main computer andthe axis computer.

Recommended actionsMake sure the cable between the main computer and the axiscomputer is not damaged and that both connectors are correctlyconnected. Make sure no extreme levels of electromagneticinterference are emitted close to the robot cabling.

32563, Axis computer hardware not supported

DescriptionIn drive module arg, the system cannot use the axis computerwith hardware identity arg because the hardware revision argis not supported.

ConsequencesThe system is unable to use the axis computer. The systemgoes to system failure state.

Probable causesThe RobotWare version is too old to support the axis computerunit.

Recommended actionsReplace the axis computer to one with compatible revision.Upgrade the system to a RobotWare version supporting theaxis computer revision.

32564, Axis computer firmware re-flash failed

DescriptionIn drive module arg, the upgrade of the firmware in the axiscomputer arg with hardware identity arg failed.

ConsequencesThe required upgrade of the axis computer firmware is notperformed.

Recommended actionsCheck other hardware event log messages for detailedexplanation of the error condition. Retry again by restarting thecontroller using the main power switch.

32565, Axis computer firmware file not found

DescriptionThe file arg, required to upgrade an axis computer's firmware,is not found.


Probable causesThe RobotWare installation does not contain the firmware file.


32567, Axis computer firmware file type error

DescriptionThe file arg, required to upgrade an axis computer firmware, isof wrong type.

ConsequencesThe required upgrade of the axis computer's firmware is notperformed.

Probable causesThe firmware file is corrupt.





32568, Axis computer firmware file error

DescriptionThe file arg, required to upgrade an axis computer's firmware,is not usable because it failed the integrity check.


Probable causesThe firmware file is corrupt.


32569, Corrupt axis computer hardware

DescriptionIn drive module arg, the axis computer flash memory has acorrupt content.

Recommended actionsRetry again by restarting the controller using the main powerswitch. If the problem remains then replace the axis computer.


DescriptionA required update of the arg firmware has started. Replacingold firmware version: [arg].



DescriptionThe update of arg firmware has completed successfully. Newversion: [arg]. Internal code:[arg]


DescriptionThe upgrade of arg firmware failed.Current version:arg. Internal error code:arg.

Recommended actionsCheck other hardware eventlog messages for detailedexplanation of the error condition. Reinstall the system.

32573, Unable to download firmware file

DescriptionThe firmware file arg is not found. Internal error code:arg.


32574, Corrupt axis computer hardware

DescriptionThe arg flash memory has a corrupt content. Internal errorcode:arg.

Recommended actionsCheck other hardware event log messages for detailedexplanation of the error condition. Restart the controller. Iffailure occurs again, replace the axis computer.

32575, Found no axis computer board

DescriptionSystem failed to detect any connected axis computer.

Recommended actionsCheck system for axis computer board. Check Ethernet cablesbetween the main computer and the axis computer. Restart thecontroller.

32576, Axis firmware: No communication

DescriptionThe system failed to communicate with axis board arg whentrying to check the firmware version.

ConsequencesThe system is unable to check and if necessary upgrade thefirmware in the affected axis computer.

Recommended actionsCheck system for axis computer board. Check Ethernet cablesbetween the main computer and the axis computer. Restart thecontroller.

32577, Axis computer hardware data error

DescriptionIn drive module arg, the axis computer has corrupt informationstored on the unit.


Probable causesThe integrity check of the axis computer information stored onthe unit has failed.




Recommended actionsRetry again by restarting the controller using the main powerswitch. Replace the faulty axis computer.


DescriptionA required update of the arg firmware has started. Internal code:[arg].File: [arg].



DescriptionThe update of arg firmware has completed successfully. Internalcode:[arg]

Recommended actionsNo action required.


DescriptionThe update of arg firmware failed.Internal error code:arg.

Recommended actionsCheck other error messages for detailed explanation. Reinstallthe system.

32583, Firmware file corrupt

DescriptionThe update of arg firmware failed.The firmware file [arg] is corrupt.Internal error code:arg.



DescriptionThe update of arg firmware failed.The firmware file [arg] is not found.Internal error code:arg.


32585, No Safety System Found By AxisComputer

DescriptionAxis computer failed to detect the safety system.

Recommended actionsCheck communication cables between the axis computer andthe safety system. Check power supply to the safety system.Restart the controller.


DescriptionA required update of the arg firmware in drive module arg hasstarted.File: [arg].

Recommended actionsWait for the re-flash to complete, this will take approximately3.5 minutes.


DescriptionThe update of arg firmware in drive module arg has successfullycompleted.

Recommended actionsNo action required.


DescriptionThe update of arg firmware in drive module arg has failed.

Recommended actionsCheck other error messages for detailed explanation. Reinstallthe system.

32593, Firmware file corrupt

DescriptionThe update of arg firmware in drive module arg has failed.The firmware file [arg] is corrupt.



DescriptionThe update of arg firmware in drive module arg has failed.The firmware file [arg] is not found.





32601, Interbus master/slave board is missing

DescriptionThe Interbus master/slave board does not work.

ConsequencesNo communication on the Interbus is possible.

Probable causesThe Interbus master/slave board is either malfunctioning ormissing.

Recommended actionsMake sure an Interbus master/slave board is installed. Replacethe board if faulty.

32651, Serial port hardware is not accessible

DescriptionThe system has tried to address the serial port arg, and failed.

ConsequencesThe optional serial port hardware cannot be accessed. Theconnector and the physical channel using the connector willnot be available for use.

Probable causesThe serial port hardware is missing or malfunctioning.

Recommended actionsMake sure the required serial port hardware has been correctlyinstalled and is not faulty. Replace the serial port hardware.

33503, Revolution counter update failure

DescriptionUpdate of the revolution counter for joint arg failed.

ConsequencesJoint not synchronized.

Probable causesJoint missing or not active. Measurement system error.

Recommended actionsCheck if joint active. Check configuration files. Checkmeasurement system.

33601, Anybus module is missing

DescriptionThe Anybus module is missing.

ConsequencesNo communication with the Anybus module is possible.

Probable causesThe Anybus module is either malfunctioning or missing.

Recommended actionsMake sure a Anybus module is installed. Replace the moduleif faulty.

34100, Drive system not supported

DescriptionThe configured drive system in drive module arg is not of typeDrive System '04.


Probable causesWrong drive module key used, i.e., the configuration does notmatch hardware. Wrong hardware used in the system.

Recommended actionsReinstall the system with a drive module key that matches thehardware. Replace the drive module with one that supportsDrive System '04.

34101, Drive system not supported

DescriptionThe configured drive system in drive module arg is not of typeDrive System '09.


Probable causesWrong drive module key used, i.e., the configuration does notmatch hardware. Wrong hardware used in the system.

Recommended actionsReinstall the system with a drive module key that matches thehardware. Replace the drive module with one that supportsDrive System '09.

34200, Lost communication with all drive units

DescriptionIn drive module arg, the axis computer has lost communicationwith all drive units.





Probable causesCommunication problem between drive units and the axiscomputer.

Recommended actionsCheck that all cables are properly connected. Check that thedrive units have logic power. Check/replace Ethernet cables.Check for other hardware event log messages. Check the eventlog for power supply unit error messages. Check the cablingbetween the power supply unit and the drive unit. Check the24V output from the power supply unit.

34202, Lost communication with drive unit

DescriptionIn drive module arg, the axis computer has lost communicationwith the drive unit at unit position arg.


Probable causesCommunication problem between the drive unit and the axiscomputer.

Recommended actionsCheck that all cables are properly connected. Check that thedrive unit has logic power. Check/replace Ethernet cables.Check for other hardware event log messages. Check the eventlog for power supply unit error messages. Check the cablingbetween the power supply unit and the drive unit. Check the24V output from the power supply unit.

34203, Motor current too high

DescriptionThe motor current is too high for joint arg, connected to drivemodule argwith the drive unit at unit position arg and node arg.

ConsequencesNo operation will be possible until the fault is corrected. Thesystem goes to Motors Off state.

Probable causesThe motor configuration is incorrect. The axis load may be toohigh or the motor may have stalled (maybe due to a collision).The motor is too small for the drive unit. Short circuit betweenmotor phases or ground.

Recommended actionsCheck that the motor configuration is correct. Check that therobot has not collided. If possible, reduce the speed of the user

program. Check that the axis load is not too high for the motor.Verify that the maximum motor current is not too smallcompared to the maximum current of the drive unit. Check themotor cable and motor by measuring their resistancerespectively. Disconnect before measuring.

34251, Incoming mains phase missing

DescriptionIn drive module arg, the rectifier unit at drive unit position arghas detected a power loss in one phase.

ConsequencesThe system may stop with DC link too low voltage.

Probable causesIncoming mains voltage loss of one phase. Some malfunctionin cabling or internal 3-phase components. The rectifier unit isfaulty.

Recommended actionsCheck all incoming mains phases to the cabinet. Check allinternal 3-phase components (main switch, mains filter, fuse,contactors) and cabling in the drive module.

34252, Incoming mains missing

DescriptionIn drive module arg, the rectifier unit at drive unit position arghas detected a mains voltage loss.


Probable causesIncoming mains voltage loss. Some malfunction in the cablingor in internal 3-phase components. The rectifier unit is faulty.

Recommended actionsCheck the incoming mains voltage. Check all the internal3-phase components (main switch, mains filter, fuse, contactors)and cabling in the drive module.

34255, Rectifier temperature error

DescriptionIn drive module arg, the rectifier unit at drive unit position arghas reached a too high temperature level.

ConsequencesNo operation will be possible until the rectifier has cooled down.The system goes to Motors Off state.




Probable causesThe cooling fans may be faulty or the air flow may be obstructed.The ambient temperature may be too high. The system may berunning with a too high torque for extended periods of time.

Recommended actionsVerify that the fans are running and that the air flow is notobstructed. Verify that the ambient temperature does not exceedthe cabinet's temperature rating. If possible, rewrite the userprogram to reduce the amount of hard acceleration and harddeceleration. Reduce the static torque due to gravity or externalforces.

34256, Rectifier temperature warning

DescriptionIn drive module arg, the rectifier unit at drive unit position argis approaching a too high temperature level.

ConsequencesIt is possible to continue but the margin to maximum allowedtemperature is too low to sustain long term operation.

Probable causesThe cooling fans may be faulty or the air flow may be obstructed.The ambient temperature may be too high. The system may berunning with a too high torque for extended periods of time.

Recommended actionsVerify that the fans are running and that the air flow is notobstructed. Verify that the ambient temperature does not exceedthe cabinet's temperature rating. If possible, rewrite the userprogram to reduce the amount of hard acceleration and harddeceleration. Reduce the static torque due to gravity or externalforces.

34257, Open circuit in bleeder resistor circuit

DescriptionIn drive module arg, the bleeder resistor connected to therectifier unit at drive unit position arg has too high resistance(open circuit).

ConsequencesNo operation will be possible until the fault is corrected. Thesystem goes to Motors Off state.WARNING HIGH VOLTAGE: THE DC LINK WILL NOT BEDISCHARGED WHEN THE SYSTEM IS POWERED OFF.

Probable causesThis may be caused by a faulty bleeder resistor cable or a faultybleeder resistor.

Recommended actionsWARNING HIGH VOLTAGE CAN BE PRESENT. Make sure thebleeder resistor cable is properly connected to the rectifier unit.Disconnect the bleeder and check the cable and measure thebleeder resistance. The expected resistance should beapproximately arg ohms.

34258, Short circuit in bleeder resistor circuit

DescriptionIn drive module arg, the bleeder resistor connected to therectifier unit at drive unit position arg is indicating a short circuit.

ConsequencesNo operation will be possible until the fault is corrected. Thesystem goes to Motors Off state.WARNING HIGH VOLTAGE: THE DC LINK WILL NOT BEDISCHARGED WHEN THE SYSTEM IS POWERED OFF.

Probable causesThis may be caused by a faulty bleeder resistor cable or a faultybleeder resistor.

Recommended actionsWARNING HIGH VOLTAGE CAN BE PRESENT. Make sure thebleeder resistor cable is correctly connected to the rectifier unit.Disconnect the bleeder and check the cable and measure thebleeder resistance. The expected resistance should beapproximately arg ohms. Check for bleeder short circuit againstground.

34261, Rectifier startup error

DescriptionIn drive module arg, the inrush control relay in the rectifier unitat drive unit position arg indicates an error.


Probable causesThis may be caused by a faulty rectifier inrush control relay.

Recommended actionsRestart the controller and try again. If the problem remains thenreplace the unit.




34262, Incoming mains frequency warning

DescriptionIn drive module arg, the incoming mains voltage has wrongfrequency. The rectifier unit at drive unit position arg hasreported the problem.

ConsequencesThe system may stop with DC link voltage too low.

Probable causesThe incoming mains frequency is not within specification. Shortcircuit between motor phases or ground.

Recommended actionsCheck and adjust incoming mains frequency. Check the motorcable and motor by measuring their resistance respectively.Disconnect before measuring.


DescriptionIn drive module arg, the dc-link in the rectifier unit at drive unitposition arg has too low voltage.


Probable causesLow AC-voltage level to rectifier input. This may be caused bya faulty rectifier inrush control resistor. A short circuit is presenton the dc-link.

Recommended actionsRestart the controller and try again. Check incoming mainsvoltage. Check all internal 3-phase components (main switch,mains filter, fuse, contactors) and cabling in the drive module.If new installed system with mains transformer - checktransformer voltage selection. If drive unit has additional axes- check dc-link wiring. If the problem remains then replace theunit.

34264, Rectifier inrush limitation active in MotorsOn

DescriptionIn drive module arg, the inrush control resistor in the rectifierunit at drive unit position arg is wrongly engaged.

ConsequencesThe system goes to Motors Off state to protect the hardware.

Probable causesThis error occur when the DC link voltage becomes too low andall mains phases are missing.

Recommended actionsCheck the hardware event log for other errors. Check incomingmains voltage. Check that the correct voltage is selected withjumpers on the transformer (optional). Check all internal 3-phasecomponents (main switch, mains filter, fuse, contactors) andcabling in the drive module.

34265, DC link short circuit error

DescriptionIn drive module arg, the DC link in the rectifier unit at drive unitposition arg is short circuit.


Probable causesDC link cables for an additional drive unit is damaged or wronglyconnected. Internal error in rectifier unit or drive unit.

Recommended actionsCheck DC link cables and connectors.

34266, Rectifier inrush limitation and bleederactive

DescriptionIn drive module arg, with rectifier unit at drive unit position arg,the inrush control resistor is active at the same time as thebleeder resistor is active.The inrush control resistor is located in the rectifier unit.The bleeder resistor is connected to the rectifier unit or thedrive unit with embedded rectifier.

ConsequencesThe system goes to Motors Off state to protect the hardware.

Probable causesThis problem is most likely to occur when the incoming mainsvoltage is too high to the rectifier.

Recommended actionsCheck that the incoming mains voltage is according tospecification for the drive unit. Check that the correct voltageis selected with jumpers on the transformer (optional).




34267, Too many rectifiers connected

DescriptionIn drive module arg the system has detected more rectifiersthan the system can handle. The limit was reached when driveunit at unit position arg was detected.

ConsequencesNo operation will be possible until the fault is corrected. Thesystem goes to system failure state.

Probable causesToo many drive unit that are equipped with rectifiers areconnected.

Recommended actionsVerify that the proper drive units' types are connected to thedrive unit communication link. Disconnect unused drive unit(s).

34268, Rectifier charging error

DescriptionIn drive module arg, the dc-link in the rectifier unit at drive unitposition arg has too low voltage.


Probable causesLow AC-voltage level to rectifier input. This may be caused bya faulty rectifier bleeder. The bleeder resistor or its wiring isfaulty. A short circuit is present on the dc-link.

Recommended actionsRestart the controller and try again. Check incoming mainsvoltage. If new installed system with mains transformer - checktransformer voltage selection. Check bleeder resistor and itswiring. If the problem remains then replace the unit.

34300, Unknown drive unit type

DescriptionIn drive module arg, the drive unit at unit position arg has anunknown hardware identity arg.


Probable causesThe drive unit is either unsupported or faulty.

Recommended actionsVerify that the drive unit is supported by the RobotWare version.Upgrade RobotWare if needed. Replace drive unit.

34303, Motor current warning

DescriptionFor joint arg, the current controller detected a too large torquecurrent deviation for the motor. The joint is connected to drivemodule arg in the drive unit at unit position arg and node arg.

ConsequencesOperation will be possible but system is close to a stoppingerror.

Probable causesThe motor data in the configuration files may be wrong. Themotor cables are not correctly connected or damaged. Shortcircuit in motor cable between phase to phase or phase toground. The DC link voltage may be too low. The incomingmains voltage is not within specification.

Recommended actionsVerify that the motor data in the configuration file is correct forthis joint. How to check the configuration file is detailed in theTrouble Shooting Manual. Verify that the motor cables are notdamaged or badly connected. Verify that the motor cables hasno short circuits internally or to ground. Verify that no DC linkerrors are present in the event log. Verify that the incomingmains voltage is within the specification.


DescriptionFor joint arg, the current controller detected a too large currentdeviation for the motor. The joint is connected to drive modulearg in the drive unit at unit position arg and node arg.



Recommended actionsVerify that the motor data in the configuration file is correct forthis joint. How to check the configuration file is detailed in theTrouble Shooting Manual. Verify that the motor cables are not




damaged or badly connected. Verify that the motor cables hasno short circuits internally or to ground. Verify that no DC linkerrors are present in the event log. Verify that the incomingmains voltage is within the specification.

34306, Drive unit temperature error

DescriptionThe drive unit for joint arg has reached a too high temperaturelevel. The joint is connected to drive module arg with the driveunit at unit position arg and node arg.


Probable causesThe cooling fans may be faulty or the air flow may be obstructed.The cooling fins are covered by dust reducing the cooling effect.The ambient temperature may be too high. The joint may berunning with a too high torque for extended periods of time.

Recommended actionsVerify that the fans are running and that the air flow is notobstructed. Clean the cooling fins. Verify that the ambienttemperature does not exceed the cabinet's temperature rating.If possible, rewrite the user program to reduce the amount ofhard acceleration and hard deceleration. Reduce the statictorque due to gravity or external forces.

34307, Drive unit temperature warning

DescriptionThe drive unit for joint arg is approaching a too high temperaturelevel. The joint is connected to drive module arg with the driveunit at unit position arg and node arg.



Recommended actionsVerify that the fans are running and that the air flow is notobstructed. Clean the cooling fins. Verify that the ambienttemperature does not exceed the cabinet's temperature rating.If possible, rewrite the user program to reduce the amount of

hard acceleration and hard deceleration. Reduce the statictorque due to gravity or external forces.

34308, Drive unit critical temperature error

DescriptionThe drive unit for joint arg has reached a critical hightemperature level. The joint is connected to drive module argwith the drive unit at unit position arg and node arg.



Recommended actionsVerify that the fans are running and that the air flow is notobstructed. Clean the cooling fins. Verify that the ambienttemperature does not exceed the cabinet's temperature rating.If possible, rewrite the user program to reduce the amount ofhard acceleration and hard deceleration. Reduce the statictorque due to gravity or external forces.

34309, Drive transistor current too high

DescriptionThe drive unit transistor current is too high for joint arg. Thejoint is connected to drive module arg with the drive unit at unitposition arg and node arg.


Probable causesThe motor configuration is incorrect. The axis load may be toohigh or the motor may have stalled (maybe due to a collision).Short circuit between motor phases or ground.

Recommended actionsCheck that the motor configuration is correct. Check that therobot has not collided. If possible, reduce the speed of the userprogram. Check that the axis load is not too high for the driveunit. Check the motor cable and motor by measuring theirresistance respectively. Disconnect before measuring.




34311, Drive inverter saturated warning

DescriptionThe drive unit for joint arg has reached maximum output voltage.The joint is connected to drive module arg with the drive unitat unit position arg and node arg.


Probable causesThe motor is not properly connected to the drive unit. The motordata in the configuration is not correct. The DC link voltage istoo low. Short circuit between motor phases or ground.

Recommended actionsCheck motor cables and connectors. Check configuration ofmotor parameters. Check for other hardware event logmessages. Check incoming mains voltage to the rectifier unit,adjust the mains tolerance min value. Check the motor cableand motor by measuring their resistance respectively.Disconnect before measuring.

34312, Missing drive unit

DescriptionFor joint arg, the system cannot find configured drive unit. Thejoint is configured for drive module arg, in the drive unit at unitposition arg.


Probable causesA joint is configured but drive unit is not found.

Recommended actionsVerify that the drive module contains the drive unit for theconfigured joint. Verify that the configuration for the drive unitposition is correct. Verify that the cables between drive unitsare correctly inserted in the correct connector position. If thecable is correctly connected, then it may be damaged andshould be replaced. Check the event log for power supply uniterror messages. Check the cabling between the power supplyunit and the drive unit. Check the 24V output from the powersupply unit.

34313, Wrong type of drive unit

DescriptionIn drive module arg, the hardware identity for drive unit at unitposition arg is different from the one specified in the

configuration. Installed drive unit hardware identity is arg, andthe configured identity is arg.


Probable causesThe drive unit type does not match the one specified in theinstallation key.

Recommended actionsVerify that the drive unit position is correct, i.e., the Ethernetcables are correctly connected. Verify that the drive modulekey match the installed hardware. Replace the drive unit withthe one specified in the drive module key.

34314, Missing drive unit node

DescriptionFor joint arg, the drive unit does not support the node numberconfigured. The joint is configured for drive module arg, in thedrive unit at unit position arg with node arg.


Probable causesThe configured drive unit node is not supported for theconfigured type of drive unit.

Recommended actionsCheck the drive unit node number in the configuration.

34316, Motor current error

DescriptionFor joint arg, the current controller detected a too large torquecurrent deviation for the motor. The joint is connected to drivemodule arg in the drive unit at unit position arg and node arg.

ConsequencesThe system goes to Motors Off state.


Recommended actionsVerify that the motor data in the configuration file is correct forthis joint. How to check the configuration file is detailed in theTrouble Shooting Manual. Verify that the motor cables are not




damaged or badly connected. Verify that the motor cables hasno short circuits internally or to ground. Verify that no DC linkerrors are present in the event log. Verify that the incomingmains voltage is within the specification. Change the mainstolerance min so that it reflects the actual mains voltage.

34317, Motor current error

DescriptionFor joint arg, the current controller detected a too large currentdeviation for the motor. The joint is connected to drive modulearg in the drive unit at unit position arg and node arg.



Recommended actionsVerify that the motor data in the configuration file is correct forthis joint. How to check the configuration file is detailed in theTrouble Shooting Manual. Verify that the motor cables are notdamaged or badly connected. Verify that the motor cables hasno short circuits internally or to ground. Verify that no DC linkerrors are present in the event log. Verify that the incomingmains voltage is within the specification. Change the mainstolerance min so that it reflects the actual mains voltage.

34318, Drive inverter saturated error

DescriptionThe drive unit for joint arg has reached maximum output voltage.The joint is connected to drive module arg with the drive unitat unit position arg and node arg.


Probable causesThe motor is not properly connected to the drive unit. The motordata in the configuration is not correct. The DC link voltage istoo low. Short circuit between motor phases or ground.

Recommended actionsCheck motor cables and connectors. Check configuration ofmotor parameters. Check for other hardware event logmessages. Check incoming mains voltage to the rectifier unit.

Check the motor cable and motor by measuring their resistancerespectively. Disconnect before measuring.

34319, Drive unit critical error

DescriptionThe drive unit for joint arg gives an unspecified error, but islikely due to over temperature or short circuit. The joint isconnected to drive module argwith the drive unit at unit positionarg and node arg.


Probable causesThe cooling fans may be faulty or the air flow may be obstructed.The cooling fins are covered by dust reducing the cooling effect.The ambient temperature may be too high. The joint may berunning with a too high torque for extended periods of time.Short circuit in cables or connectors between the phases or toground. Short circuit in motor between the phases or to ground.

Recommended actionsVerify that the fans are running and that the air flow is notobstructed. Clean the cooling fins. Verify that the ambienttemperature does not exceed the cabinet's temperature rating.If possible, rewrite the user program to reduce the amount ofhard acceleration and hard deceleration. Reduce the statictorque due to gravity or external forces. Check/replace cablesand connectors. Check/replace motor.

34320, Too many drive nodes connected

DescriptionIn drive module arg the system has detected more drive nodesthan the system can handle. The error occurred when drive unitat unit position arg was detected.


Probable causesToo many drive units is connected to the drive unitcommunication link. The connected drive units can be of wrongtypes, and may be equipped with too many drive nodes.

Recommended actionsVerify that the proper drive unit types are connected to the driveunit communication link. Disconnect unused drive unit(s).




34321, Drive unit configuration error

DescriptionIn drive module arg the drive unit at position arg has aconfiguration error due to a mismatch between the drive unitand measurement system. The drive unit can only support argjoints having same measurement excitation. The error occurredwhen adding joint arg to the system.


Probable causesToo many joints are using same measurement excitation andall are using same drive unit.

Recommended actionsMove the joint arg or another joint with same node excitationto the other excitation (EXC1 - EXC2), by reroute the jointmeasurement node connection both in hardware and inconfiguration. Restart the controller.

34322, Drive unit configuration error

DescriptionIn drive module arg the drive unit at position arg is using wrongrectifier.


Probable causesA drive unit must always configure a rectifier with lower or sameunit position as the inverter. There must not be any otherrectifier with unit position between the configured rectifier anddrive unit.

Recommended actionsCheck that configuration file for additional axis is of type drivesystem 09. Change used rectifier (dc_link) in the additional axisconfiguration. Remove unused rectifier mounted betweenconfigured rectifier and drive unit.

34400, DC link voltage too high

DescriptionIn drive module arg, the drive unit at unit position arg has a DClink voltage that is too high.


WARNING HIGH VOLTAGE: THE DC LINK MAY BEDISCHARGED VERY SLOWLY (APPROXIMATELY 1 HOUR)WHEN THE SYSTEM IS POWERED OFF.

Probable causesThe bleeder resistor is not connected or faulty. The userprogram may contain too much deceleration of the manipulator'saxes. This fault is more likely if the system contains additionalaxes.

Recommended actionsWARNING HIGH VOLTAGE CAN BE PRESENT. Make sure thebleeder resistor cable is properly connected to the rectifier unit.Disconnect the bleeder and check the cable and measure thebleeder resistance. The expected resistance should beapproximately arg ohms. Rewrite the user program to reducethe amount of hard decelerations.

34401, DC link voltage too low warning

DescriptionIn drive module arg, the drive unit at unit position arg has a DClink voltage that is close to minimum limit.

ConsequencesOperation will be possible but the system is close to a stoppingerror.

Probable causesThe incoming mains voltage to the rectifier unit is out ofspecification.

Recommended actionsCheck for other hardware event log messages regarding mainsvoltage problem. Check incoming mains voltage. Change themains tolerance min so that the mains voltage is inside thespecified interval. Check that the correct voltage is selectedwith jumpers on the transformer (optional). Check all internal3-phase components (main switch, mains filter, fuse, contactors)and cabling in the drive module.

34402, DC link voltage too low

DescriptionIn drive module arg, the DC link voltage is too low for the driveunit at unit position arg.





Probable causesThe incoming mains voltage to the rectifier unit is out ofspecification.

Recommended actionsCheck for other hardware event log messages regarding mainsvoltage problem. Check incoming mains voltage. Change themains tolerance min so that the mains voltage is inside thespecified interval. Check that the correct voltage is selectedwith jumpers on the transformer (optional). Check all internal3-phase components (main switch, mains filter, fuse, contactors)and cabling in the drive module.

34404, DC link voltage is critically high

DescriptionIn drive module arg, the drive unit at unit position arg has a DClink voltage that is critically high.

ConsequencesNo operation will be possible until the fault is corrected. Thesystem goes to Motors Off state with zero torque.WARNING HIGH VOLTAGE: THE DC LINK MAY BEDISCHARGED VERY SLOWLY (APPROXIMATELY 1 HOUR)WHEN THE SYSTEM IS POWERED OFF.



34405, DC link voltage too high warning

DescriptionIn drive module arg, the drive unit at unit position arg has a DClink voltage that is close to maximum limit.

ConsequencesOperation will be possible but the system is close to a stoppingerror.WARNING HIGH VOLTAGE: THE DC LINK MAY BEDISCHARGED VERY SLOWLY (APPROXIMATELY 1 HOUR)WHEN THE SYSTEM IS POWERED OFF.



34406, Drive unit power supply error

DescriptionIn drive module arg, the drive unit with unit position arg hasdetected problem with the logic power.


Probable causesThe 24V logic supply to the drive is temporary or constantlylost.

Recommended actionsCheck the event log for power supply unit error messages.Check the cabling between the power supply unit and the driveunit. Check the 24V output from the power supply unit.

34407, Drive unit internal error

DescriptionIn drive module arg, the drive unit at unit position arg hasindicated an internal error.

ConsequencesThe system goes to system failure state with zero torque.

Probable causesAn internal error has occurred in the drive unit firmware.

Recommended actionsRestart the controller by using the main power switch.

34408, Drive unit hardware data error

DescriptionIn drive module arg, the drive unit at unit position arg hascorrupt information stored on the unit.





Probable causesThe integrity check of the drive unit information stored on thedrive unit has failed.

Recommended actionsRetry again by restarting the controller using the main powerswitch. Replace the faulty drive unit.

34409, Drive unit startup error

DescriptionThe system has failed to complete the initialization phase of adrive unit. The drive unit is located in drive module arg at unitposition arg.


Probable causesThe system has failed to complete the initialization phase ofthe drive unit.

Recommended actionsRetry by restarting the controller using the main power switch.Check for other hardware event log messages.

34410, Too many drive units connected

DescriptionIn drive module arg the system has detected more drive unitsthan the system can handle. The maximum number of driveunits supported is arg, but arg was detected.


Probable causesToo many drive unit that are connected.

Recommended actionsDisconnect unused drive unit(s).

34411, DC link error

DescriptionThe system has detected an unexpected low DC bus voltagein a drive unit that is not used by any joints. The drive unit islocated in drive module arg at unit position arg.


Probable causesIncoming mains are missing. The DC bus cable is faultyconnected to the drive unit. Short circuit on a DC bus. It can beboth inside the drive unit and in the cables.

Recommended actionsCheck incoming mains. Check DC cabling. Check if there areany short circuit. Replace the drive unit(s).

34423, Incompatible drive unit types

DescriptionThe configured drive system in drive module arg containsincompatible drive unit types.


Probable causesDrive units of type DSQC462 are not compatible with any otherdrive unit types and may not be used in the same drive module.

Recommended actionsCheck the configuration to make sure that only compatible driveunit types are use within the same drive module.

37001, Motors ON contactor activation error

DescriptionMotors ON contactor arg in drive module arg failed to closewhen ordered.

ConsequencesThe mechanical unit cannot be run manually or automatically.

Probable causesThe run chain for the contactor is open. There are problems inthe contactor itself, either mechanical or electrical. TheFlexPendant enabling device may have been toggled tooquickly, or the system may not be configured correctly. On rareoccasions, this fault may occur in combination with other faults,in which case this may be found in the error log.

Recommended actionsTo resume normal operation, first acknowledge the error, thenrelease the enabling device and press it again after approx.one second. Check cables and connections on the safetysystem. Check any other error log messages coinciding in timewith this one for clues. Check the system motion configurationregarding Motors ON relay. How to check the configuration file




is detailed in the Trouble Shooting Manual. Warning: Furtheruse of robot is not permitted until the fault is found andeliminated.

37043, Safety signals overloaded

DescriptionThe AC_ON or SPEED signals draw too much current.

ConsequencesThe safety system shuts down the signals, causing the systemto go to either system failure state (for AC_ON) or status SYSHALT (for SPEED).

Probable causesA load connected to the circuit may be too high, or the safetysystem may be malfunctioning. See the circuit diagram!

Recommended actionsCheck all loads connected to the AC_ON and SPEED circuits.Check the safety system cabling and connectors, and replaceany faulty unit if required.

37044, Overload on Panel Board digital outputsignals

DescriptionThe panel board user digital outputs draw too much current.

ConsequencesThe panel board shuts down the signals, causing the systemto go to status SYS HALT.

Probable causesA load connected to the circuit may be too high, or the panelboard may be malfunctioning. See the circuit diagram!

Recommended actionsCheck all loads connected to the user digital outputs. Checkthe panel board cabling and connectors, and replace any faultyunit if required.

37045, Faulty external computer fan

DescriptionThe external computer fan in the control module spins tooslowly.

ConsequencesNo system consequence. The control module temperature willrise.

Probable causesFaulty fan, cabling or power supply. See the circuit diagram!

Recommended actionsCheck the cabling to the external computer fan. Check the fan,and replace any faulty unit if required.

37046, Safety signals overloaded

DescriptionThe 24 V PANEL supply draws too much current.

ConsequencesThe safety system shuts down the signal, causing the systemto go to status SYS HALT.

Probable causesA load connected to the circuit may be too high, or the safetysystem unit may be malfunctioning. See the circuit diagram!

Recommended actionsCheck all loads connected to the 24V PANEL circuit. Checkcabling on the safety system.

37049, Activation contactor activation error

DescriptionThe activation relay for mechanical unit arg failed to close.

ConsequencesThe mechanical unit cannot be run manually or automatically.

Probable causesThe activation relay configured within the system may be faulty,or the system may not be configured correctly.

Recommended actionsCheck the contactor and make sure its connections areconnected correctly. Check the system motion configurationregarding the activation relay. How to check the configurationfile is detailed in the Trouble Shooting Manual.

37050, Overtemperature in main computer

DescriptionThe temperature in the main computer unit or the main computerprocessor is too high.

ConsequencesThe system might get damaged.

Probable causesThe unit may be overloaded, its fans may be malfunctioning orthe air flow may be restricted.

Recommended actionsMake sure the fans are operating. Check that air flow to the unitfans is not restricted.




37053, Check the CMOS battery voltage level

DescriptionThe CMOS battery on the computer board might be empty.

ConsequencesAfter restart of the system, the system time will be reset.The system will also use an erroneous setup or no restart willbe possible.

Probable causesThe system time has never been set. The CMOS battery isfaulty/empty.

Recommended actionsSet the system time, restart the system with power switch andcheck if this event message is reported again. If this error isreported again, replace the CMOS battery and set the systemtime.

37054, Faulty computer unit fan

DescriptionThe fans in the computer unit spin too slowly.

ConsequencesNo system consequence. The computer unit temperature willrise.


Recommended actionsCheck the cabling to the computer unit fan. Check the fan.Check the fan power supply. Replace the faulty component ifrequired.

37056, Cooling fan error

DescriptionCooling unit fan has stopped or is rotating very slowly (Lessthan arg rpm).

Recommended actionsCheck the fan cables. Replace the fan.

37062, Computer module power supply warning

DescriptionThe arg V voltage of the computer module power supply is argV, which is out of the allowed range.

Consequences

Probable causesThe power supply unit, cabling, input voltage to the powersupply or the output load may cause the faulty voltage level.See the Trouble Shooting Manual and circuit diagram!

Recommended actionsCheck all cabling to the power supply unit. Measure the outputand input voltage levels. Replace the faulty unit if required.

37069, Faulty backup Power Supply

DescriptionThe backup energy bank in the control module supplying thebackup voltage is faulty.

ConsequencesAfter switching the power off, no system data changes will besaved, unless "Shutdown main computer" has been done first.

Probable causesThis may be caused by a faulty backup energy bank, cablingor charger.

Recommended actionsDo "Shutdown main computer" before turning the main poweroff or wait until battery has been charged! Check the backupenergy bank cabling and connectors. Check the backup energybank. Check the power supply. Replace the faulty unit ifrequired.

37070, Overtemperature in ControlModule PowerSupply

DescriptionThe temperature in the control module power supply is too high.

ConsequencesThe system is shut down immediately.

Probable causesThis may be caused by poor cooling, too high a load on thepower supply or by a faulty power supply.

Recommended actionsCheck the cooling fan. Check the output power. Replace anyfaulty unit if required.

37074, Purge pressure too low

DescriptionPurge system number arg associated with manipulator interfaceboard (MIB) arg.




Recommended actionsCheck the purge air supply and search for leaks in: The purgeunit. The flexible hose conduit. The manipulator itself.

37075, Purge pressure too high


Recommended actionsCheck the purge unit and the air supply.

37076, Unexpected low purge flow


Recommended actionsCheck the purge unit and the air supply. Search for leaks in thepurge system.

37077, Unexpected high purge flow


Recommended actionsCheck the purge unit and the air supply.

37078, Purge timers differ

DescriptionUnacceptable divergence between process interface board(PIB) and manipulator interface board (MIB) arg purge timers.

ConsequencesThe purge timer will be restarted.

Recommended actionsCheck Serial Peripheral Interface (SPI) cables. Replace MIB iffaulty. Replace PIB if faulty.

37080, Purge configuration not valid

DescriptionThe purge time key on manipulator interface board (MIB) argX19 is not valid.

ConsequencesDefault time (300s) is used.

Probable causesFaulty or missing purge time key.

Recommended actionsCheck that the purge time key is correctly mounted. Replacepurge time key.

37081, Purge timers differ

DescriptionUnacceptable divergence between CPLD and FPGA firmwareon manipulator interface board (MIB) arg purge timers.

ConsequencesThe purge timer will be restarted.

Recommended actionsReplace MIB if faulty.

37082, Divergence between PIB andMIB outputs

DescriptionProcess interface board (PIB) and manipulator interface board(MIB) arg are not agreed concerned to output status for purgerelay and power relay.

ConsequencesPurge sequence is restarted.

37083, Purge sensor has detected pressurefailure

DescriptionPurge fault reported from manipulator interface board (MIB)arg. The purging system has detected pressure not OK fromsensors. Motors and paint equipments are switched off andmain computer may be informed to disconnect the serialmeasurement unit (SMU). Depends on signal timing.

ConsequencesMotors and paint equipments are turned off, run chain openedand maybe also disconnected SMU.

Recommended actionsCheck air supply. Check that air outlet is not blocked. Checkpurge sensors and cabling for purge sensors.

37090, Temp. too high, sensor arg

DescriptionSystem overheat detected on manipulator controller board(MCOB) arg. Sensors 1-7: motor 1-7. Sensor 8: Serialmeasurement board. Run chain has been opened.




Recommended actionsWait until the overheated motor or equipment has cooled down.

37094, Activate connection error

DescriptionCould not activate arg. Connection relay input arg indicates noconnection.

Recommended actionsCheck that if mechanical unit is connected. Check theconnection relay input signal setup.

37095, Brake power fault

DescriptionThe supervision of brake power on manipulator controller board(MCOB) arg has detected fault on the power signal and turnedON all brakes.

Recommended actionsCheck brake power on MCOB. Check brake power relay incabinet. Check for disturbances on the brake power signal onMCOB. Check for short circuit on brakes.

37096, Brake power fault

DescriptionThe supervision of brake power on manipulator controller board(MCOB/MCB) arg has detected fault on the power signal andturned ON all brakes.

Recommended actionsCheck brake power on MCOB/MCB. Check brake power frompower supply in cabinet. Check for disturbances on the brakepower signal on MCOB/MCB. Check for short circuit on brakes.

37097, Brake short circuit fault

DescriptionThe supervision of brakes on manipulator controller board(MCOB/MCB) arg has detected a short circuit on axis arg andturned ON all brakes.

Recommended actionsCheck for short circuit on brakes.

37098, Brake open circuit fault

DescriptionThe supervision of brakes on manipulator controller board(MCOB/MCB) arg has detected an open circuit on axis arg andturned ON all brakes.

Recommended actionsCheck for open circuit on brakes.

37099, Temp. too high, sensor arg

DescriptionSystem overheat detected on manipulator controller board(MCOB/MCB) arg. Sensors supervised on motors, Serialmeasurement unit (SMU) or process equipment. Run chain hasbeen opened.Sensors 1-8: Robot motors 1-8. Sensor 9: SMU. Sensors 10-14:Process 1-5. Please refer to current robot configuration for moredetails.

Recommended actionsWait until the overheated motor or equipment has cooled down.

37100, I/O node flash disk error

DescriptionFlash name: arg.Flash disk function: arg.Error description: arg

Recommended actionsReport error.

37101, Brake Failure

DescriptionThe brakes for mechanical unit arg fail to engage.

ConsequencesThe mechanical unit may collapse when the motors are turnedoff.

Probable causesThe configuration of brake relay may be incorrect, or the brakerelay may be faulty. If an external brake relay is being used,the relay must be correctly defined in the motion configurationfile.

Recommended actionsCheck that the external brake relay (if used) is correctly definedin the configuration file. Check that the corresponding I/O signalis correctly defined in the I/O configuration file. How to checkthe configuration files is detailed in the Trouble ShootingManual.




37102, Power supply warning, faulty 24V COOLlevel

DescriptionThe 24V COOL output of the control module power supply isout of range.

ConsequencesNo system consequence.

Probable causesThe control module power supply unit cabling or the outputload may cause the faulty voltage level. The power suppliesare shown in the Trouble Shooting Manual and the circuitdiagram!

Recommended actionsCheck all cabling to the control module power supply unit.Check the output voltage level, and replace any faulty unit ifrequired.

37103, Power supply warning, faulty 24V SYSlevel

DescriptionThe 24V SYS output of the control module power supply is outof range.

ConsequencesNo system consequence.

Probable causesThe control module power supply unit, cabling or the outputload may cause the faulty voltage level. The power suppliesare shown in the Trouble Shooting Manual and the circuitdiagram!

Recommended actionsCheck all cabling to the control module power supply unit.Check the output voltage level, and replace any faulty unit ifrequired.

37104, There is no backup voltage available!

DescriptionThe backup energy bank maintaining the backup voltage is notfunctional.

ConsequencesAfter switching the power off, a B type restart must beperformed. No system data changes will be saved at power off.


Recommended actionsBefore working on the system, perform a controlled shutdownto ensure all system data is correctly saved. Check the cablesand connectors of the backup energy bank. Check the backupenergy bank. Check the power supply. Replace the faulty unitif required.

37105, Regained communication with PowerSupply

DescriptionThe main computer has regained communication with thecontrol module power supply.

37106, Low backup energy bank voltage level

DescriptionThe voltage in the computer unit backup energy bank is toolow to be functional.

ConsequencesNo system consequence. No system data changes will be savedat power off.


Recommended actionsBefore working on the system, perform a controlled shutdownto ensure all system data is correctly saved. Check the cablesand connectors of the backup energy bank. Check the backupenergy bank. Check the power supply. Replace the faulty unitif required.

37107, Faulty backup energy bank

DescriptionThe backup energy bank in the control module maintaining thebackup voltage is not functional.

ConsequencesIf switching the power off, a B type restart must be performed.No backup will be made at power off.


Recommended actionsBefore working on the system, perform a controlled shutdownto ensure all system data is correctly saved. Check the backup




energy bank cable and connector. Check the backup energybank. Replace the faulty unit if required.

37108, Lost communication: Power supply andcomputer

DescriptionThe main computer has lost communication with the controlmodule power supply.

ConsequencesThe main computer cannot retrieve status info or switch thepower supply off. No system data changes will be saved atpower off.

Probable causesThe USB cable from the main computer to the control modulepower supply may be faulty or disconnected, or the powersupply may be faulty.

Recommended actionsBefore working on the system, perform a controlled shutdownto ensure all system data is correctly saved. Check the cablingand connectors to the control module power supply. Check thepower supply unit, and replace any faulty unit if required.

37109, Brake Release Failure

DescriptionThe brakes for mechanical unit arg fail to release.

ConsequencesThe mechanical unit may not move when the motors are turnedon.

Probable causesThe configuration of brake relay may be incorrect, or the brakerelay may be faulty. If an external brake relay is being used,the relay must be correctly defined in the motion configurationfile.

Recommended actionsCheck that the external brake relay (if used) is correctly definedin the configuration file. Check that the corresponding I/O signalis correctly defined in the I/O configuration file. How to checkthe configuration files is detailed in the Trouble ShootingManual. Check I/O signals are correctly connected.

37110, Missing signal for Leak Detection

DescriptionLeak detection is enabled, but no signal is configured for thesupervision.

Recommended actionsConfigure the signal under Configuration/Process/FoundryPrime Leak Detection.

37111, Leak Detected

DescriptionTo high leak detected for more than arg seconds.

Recommended actionsCheck the system for leaks.

37200, Power fault: Emergency Stop supply

DescriptionPower fault on 24V emergency stop supply. Feedback fromsafety interface board (SIB).


Recommended actionsCheck cables and connections. Check power supply.

37201, Power fault: 24V Fail-safe supply

DescriptionPower fault on 24V fail-safe supply. Feedback from safetyinterface board (SIB).



37202, Power fault: 24V I/O supply

DescriptionPower fault on 24V I/O supply. Feedback from safety interfaceboard (SIB).



37203, Power fault: 24V SYS supply

DescriptionPower fault reported when 24V SYS < 18V. Feedback frommanipulator interface board (MIB) arg.






37204, Power fault: 24V I/O supply

DescriptionPower fault reported when 24V I/O < 18V. Feedback frommanipulator interface board (MIB) arg.



37205, Power fault: 12V Purge supply

DescriptionPower fault reported when 12V purge < 10.8V. Feedback frommanipulator interface board (MIB) arg.



37206, Power fault: 12V FlexPendant supply

DescriptionPower fault on 12V FlexPendant supply. Feedback from pendantinterface board (TIB).



37207, Battery charge low

DescriptionLess than 2 months until the battery backup to serialmeasurement board (SMB) is discharged. Counting from firsttime this message was displayed. The battery is mounted onmanipulator interface board (MIB).

Recommended actionsReplace battery mounted on MIB.

37208, Overtemperature in transformer

DescriptionThe temperature in the transformer is too high.




37209, Overtemperature in cabinet

DescriptionThe temperature in the cabinet is too high.




37210, Fault on contactor KM1

DescriptionA fault is observed on motor contactor KM1.


Recommended actionsCheck cables and connections. Check contactor.
















37214, Run chain 1 feedback conflict

DescriptionSafety interface board (SIB) and manipulator interface board(MIB) arg reports divergence on run chain 1 feedback signals.


Recommended actionsCheck cables and connections. Replace SIB if faulty. ReplaceMIB if faulty.

37215, Run chain 2 feedback conflict

DescriptionSafety interface board (SIB) and manipulator interface board(MIB) arg reports divergence on run chain 2 feedback signals.



37216, Brake chain 1 feedback conflict

DescriptionSafety interface board (SIB) and manipulator interface board(MIB) arg reports divergence on brake chain 1 feedback signals.



37217, Brake chain 2 feedback conflict

DescriptionSafety interface board (SIB) and manipulator interface board(MIB) arg reports divergence on brake chain 2 feedback signals.



37218, Cabin Interlock chain 1 feedback conflict

DescriptionSafety interface board (SIB) and manipulator interface board(MIB) arg reports divergence on cabin interlock chain 1 feedbacksignals.



37219, Cabin Interlock chain 2 feedback conflict

DescriptionSafety interface board (SIB) and manipulator interface board(MIB) arg reports divergence on cabin interlock chain 2 feedbacksignals.



37220, HV Interlock chain 1 feedback conflict

DescriptionSafety interface board (SIB) and manipulator interface board(MIB) arg reports divergence on high voltage (HV) interlockchain 1 feedback signals.






37221, HV Interlock chain 2 feedback conflict

DescriptionSafety interface board (SIB) and manipulator interface board(MIB) arg reports divergence on high voltage (HV) interlockchain 2 feedback signals.



37222, System 2 Interlock chain feedback conflict

DescriptionSafety interface board (SIB) and manipulator interface board(MIB) arg reports divergence on system 2 interlock chainfeedback signals.



37223, Main relay chain feedback conflict

DescriptionSafety interface board (SIB) and manipulator interface board(MIB) arg reports divergence on main relay chain feedbacksignals.



37224, Cabin Interlock chain 1 conflict

DescriptionDivergence on cabin interlock chain 1 between input and outputsignals on safety interface board (SIB).


Recommended actionsCheck cables and connections. Replace SIB if faulty.

37225, Cabin Interlock chain 2 conflict

DescriptionDivergence on cabin interlock chain 2 between input and outputsignals on safety interface board (SIB).



37226, HV Interlock chain 1 conflict

DescriptionDivergence on high voltage (HV) interlock chain 1 betweeninput and output signals on safety interface board (SIB).



37227, HV Interlock chain 2 conflict

DescriptionDivergence on high voltage (HV) interlock chain 2 betweeninput and output signals on safety interface board (SIB).



37228, Cabin Interlock chain conflict from SIB

DescriptionOnly one of the two cabin interlock chains is opened. Reportedfrom safety interface board (SIB).


Recommended actionsReplace SIB if faulty.

37229, HV Interlock chain conflict from SIB

DescriptionOnly one of the two high voltage (HV) interlock chains isopened. Reported from safety interface board (SIB).






37230, Brake Performance Warning

DescriptionThe cyclic brake check indicates that the brake for themechanical unit arg axis no arg has not full braking torque.

ConsequencesThis is only a warning and no immediate action need to betaken.

37231, Brake Performance Error

DescriptionThe function Cyclic Brake Check has found that the mechanicalbrake for the mechanical unit arg axis no arg has too low brakingtorque.

ConsequencesWARNING: The brake performance is too low for this axis.Until the brake is verified to have sufficient/approved brakingtorque, it is only possible to move the robot with the specifiedmanual reduced speed ("Reduced max speed (mm/s)")according to the setup in the configurator for Cyclic BrakeCheck.

Recommended actionsRun the Cycle Brake Check once more. Replace the motor withits brake.

37232, Cyclic Brake Check Configuration Error

DescriptionThe cyclic brake check has found that the mechanical brakefor the mechanical unit arg axis no arg has no defined braketorque requirement level.

ConsequencesThe cyclic brake check will continue but no valid brake checkwill be done for this axis.

Probable causesThe motion configuration data are not correct specified for thisaxis.

Recommended actionsThe motion configuration data are not correct specified for thisaxis: Specify a value for parameter max_static_arm_torque ifaxis shall be tested. Deactivate Cyclic Brake Check in theconfiguration if the axis should not be tested. Parameter

'Deactivate Cyclic Brake Check for axis', topic Motion, type'Arm'.

37233, Cyclic Brake Check Configuration Error

DescriptionThe cyclic brake check has found that the mechanical brakefor the mechanical unit arg axis no arg should be testedaccording to the configuration. But the actual mechanical unitcannot be included in the Safety Controller, becauseactivation/deactivation at runtime is allowed.

ConsequencesThe cyclic brake check will continue with other mechanicalunits.


Recommended actionsThe motion configuration data are not correct specified for thisaxis: Cyclic Brake Check has been specified but should not bedone for this axis The mechanical unit must be active at startupand deactivation must not be allowed.

37234, Brake Performance Warning

DescriptionThe Brake Check indicates that the mechanical brake for themechanical unit arg axis no arg has not full braking torque.

ConsequencesThis is only a warning and no immediate action need to betaken.

37235, Brake Performance Error

DescriptionThe Brake Check has found that the mechanical brake for themechanical unit arg axis no arg has too low braking torque.

ConsequencesWARNING: The brake performance is too low for this axis.

Recommended actionsRun the Brake Check once more. Replace the motor with itsbrake.

37236, Brake Check Configuration Error

DescriptionThe Brake Check has found that the mechanical brake for themechanical unit arg axis no arg should be tested. The actual




mechanical unit cannot be included in the test, becauseactivation/deactivation at runtime is allowed.

ConsequencesThe Brake Check will continue with other mechanical units.


Recommended actionsThe motion configuration data are not correct specified for thisaxis: Brake Check has been specified but should not be donefor this axis. The mechanical unit must be active at startup anddeactivation must not be allowed.

37237, Brake Check Configuration Error

DescriptionThe brake check has found that the mechanical brake for themechanical unit arg axis no arg has no defined brake torquerequirement level.

ConsequencesThe brake check will continue but no valid brake check will bedone for this axis.


Recommended actionsThe motion configuration data are not correct specified for thisaxis: Specify a value for parameter max_static_arm_torque ifaxis shall be tested. Deactivate BrakeCheck in the configurationif the axis should not be tested. Parameter 'Deactivate CyclicBrake Check for axis', topic Motion, type 'Arm'.

37240, Cabin Interlock chain conflict from MIB

DescriptionOnly one of the two cabin interlock chains is opened. Reportedfrom manipulator interface board (MIB) arg.



37241, HV Interlock chain conflict from MIB

DescriptionOnly one of the two high voltage (HV) chains is opened.Reported from manipulator interface board (MIB) arg.



37242, Run chain conflict from SIB

DescriptionOnly one of the two run chain feedback signals from safetyinterface board (SIB) was opened.



37243, Brake chain conflict from SIB

DescriptionOnly one of the two brake chain signals from safety interfaceboard (SIB) was opened.



37244, Run chain conflict from MIB arg

DescriptionOnly one of the two run chain feedback signals from manipulatorinterface board (MIB) was opened.



37245, Brake chain conflict from MIB arg

DescriptionOnly one of the two brake chain feedback signals frommanipulator interface board (MIB) was opened.






37246, Emergency Stop relay conflict

DescriptionOnly one of the two emergency stop chains was opened internalon safety interface board (SIB).


Recommended actionsPress emergency stop and reset emergency stop once again.Replace SIB if faulty.

37247, Circulation Fan arg malfunction

DescriptionCirculation fan for the drive systems at the cabinet rear sidehas stopped or is rotating very slowly.

ConsequencesThe drive systems temperature will rise.


Recommended actionsCheck the fan cables. Check the power supply. Check the fan.

37248, Circulation Fan arg malfunction

DescriptionCirculation fan in the cabinet front door has stopped or isrotating very slowly.

ConsequencesThe temperature in the cabinet will rise.



37249, Glitch in Emergency Stop circuits

DescriptionTwo or several status changes detected on signal within fewmilliseconds. This message is most likely caused by badconnections in ES_INPUT circuits.

ConsequencesMotors and paint equipments are maybe switched off.

Recommended actionsCheck cables and connections on the safety system forES_INPUT.

37250, Glitch in Auto Mode Stop circuit

DescriptionTwo or several status changes detected on signal within fewmilliseconds. This message is most likely caused by badconnections in MODE_STOP circuits.

ConsequencesMotors are maybe switched off.

Recommended actionsCheck cables and connections on the safety system forAuto_Mode_Stop (or Test_Mode_Stop / Enabling Device).

37251, Glitch in Delayed Stop circuit

DescriptionTwo or several status changes detected on signal within fewmilliseconds. This message is most likely caused by badconnections in DLY_STOP circuits.


Recommended actionsCheck cables and connections on the safety system forDLY_STOP.

37252, Glitch in General Mode Stop circuit

DescriptionTwo or several status changes detected on signal within fewmilliseconds. This message is most likely caused by badconnections in GM_STOP circuits.


Recommended actionsCheck cables and connections on the safety system forGM_STOP.

37253, Glitch in Run Chain on SIB

DescriptionTwo or several status changes detected on signal within fewmilliseconds. This message is most likely caused by badconnections in safety interface board (SIB) Run_Chain circuits.


Recommended actionsCheck cables and connections on the safety system. Check forother error messages for external connections (interlocks).




37254, Glitch in Run Chain on MIB

DescriptionTwo or several status changes detected on signal within fewmilliseconds. This message is most likely caused by badconnections in manipulator interface board (MIB) Run_Chaincircuits.

ConsequencesMotors for CBS and CBS motion are maybe switched off.

Recommended actionsCheck cables and connections on the safety system. Check forother error messages for external connections (interlocks).

37255, Glitch in Cabin Interlock circuit

DescriptionTwo or several status changes detected on signal within fewmilliseconds. This message is most likely caused by badconnections in cabin interlock circuits.

ConsequencesPaint equipments are maybe switched off.

Recommended actionsCheck cables and connections on the safety system for cabininterlock.

37256, Glitch in High Voltage Interlock circuit

DescriptionTwo or several status changes detected on signal within fewmilliseconds. This message is most likely caused by badconnections in high voltage interlock circuits.

ConsequencesHigh voltage is maybe switched off.

Recommended actionsCheck cables and connections on the safety system for HVinterlock.

37257, Glitch in System 2 Interlock circuit

DescriptionTwo or several status changes detected on signal within fewmilliseconds. This message is most likely caused by badconnections in system 2 interlock circuits.


Recommended actionsCheck cables and connections on the safety system for system2 interlock.

37258, Glitch in Process Interlock circuit

DescriptionTwo or several status changes detected on signal within fewmilliseconds. This message is most likely caused by badconnections in process interlock circuits.


Recommended actionsCheck cables and connections on the safety system for processinterlock.

37259, Glitch in AUX Interlock circuit

DescriptionTwo or several status changes detected on signal within fewmilliseconds. This message is most likely caused by badconnections in AUX run chain circuits. Normally used forCartridge Bell System (CBS) doors.

ConsequencesSystem 2 Motors and motion are maybe switched off.

Recommended actionsCheck cables and connections on the safety system for AUXrun chain.

37260, Brake driver fault

DescriptionThe supervision of brakes on manipulator controller board(MCOB) arg has detected a driver fault on axis arg and turnedON all brakes.

Recommended actionsCheck/exchange MCOB.

37261, Circulation Fan malfunction

DescriptionCirculation fan for the PDB has stopped or is rotating veryslowly.

ConsequencesThe power distribution board (PDB) temperature will rise.






37262, Divergence between PSA outputs and SIBinputs

DescriptionPaint Safety Adapter has tried to turn off an interlock input, butthe feedback is still active.


Recommended actionsCheck cables and connectors. Change hardware.

37263, PSA disabled from superior system

DescriptionPaint Safety Adapter has been disabled from the superiorcontrol system.


37501, Filesystem unknown: USB Device

DescriptionThe filesystem type on the USB device with logical unit arg isnot supported.

ConsequencesThe USB device with the logical unit arg cannot be accessed.The filesystem is of type arg. The file(s) on the USB device withlogical number arg will not be accessible.

Probable causesThe filesystem is formatted with an unsupported file systemtype.

Recommended actionsFormat the USB device with the FAT32 filesystem.

37502, Mass storage device removed

DescriptionThe mass storage device was removed.

ConsequencesThe system goes to system failure state. The filesystem on themass storage device could be corrupt. The file(s) on the massstorage device could be corrupt. The file(s) on the mass storagedevice will not be accessible.

Probable causesThe mass storage device was removed or there was amalfunction of the mass storage device.

Recommended actionsCheck that the mass storage device firmly is in place. If theproblem persists, try with another device.

37503, Mass storage file system error

DescriptionMass storage file system error.

ConsequencesAn error was detected in the filesystem. The error wascorrected. The correction could lead to missing file(s).


Recommended actionsIf the problem persists, try with another device.

37504, Mass storage file system error

DescriptionMass storage file system error.

ConsequencesThe system goes to system failure state. The filesystem on themass storage device could be corrupt. The file(s) on the massstorage device could be corrupt.


Recommended actionsIf the problem persists, try with another device.

37505, USBmass storagewrite during shutdown

DescriptionThere was a write to the USB mass storage during shutdown.

ConsequencesThe previous shutdown time could be longer than usual.

Probable causesThere was an active write to the USB mass storage unit duringshutdown.

Recommended actionsNone, the previous shutdown time could be longer than usual.




38100, Configuration failure

DescriptionDrive module has detected configuration failure at measurementlink.Drive module: arg.Measurement link: arg.Board position: arg

Recommended actionsCheck configuration for measurement link. Check configurationfor measurement board. Check configuration for measurementnodes.

38101, SMB Communication Failure

DescriptionA transmission failure has been detected between the axiscomputer and the serial measurement board on measurementlink arg in drive module arg.

ConsequencesThe system goes to system failure state and loses its calibrationinformation.

Probable causesThis may be caused by bad connections or cables (screening),especially if non-ABB cables are used for additional axes.Possible causes are also faulty serial measurement board oraxis computer.

Recommended actionsReset the robot's revolution counters as detailed in the robotProduct Manual. Make sure the cable between serialmeasurement board and axis computer is connected correctly,and that it meets the specification set by ABB. Make sure thecable screen is correctly connected at both ends. Make sureno extreme levels of electromagnetic interference are emittedclose to the robot cabling. Make sure the serial measurementboard and axis computer are fully functional. Replace any faultyunit.

38102, Internal failure

DescriptionThe measurement system has detected a hardware or softwarefault on measurement link arg in drive module arg.


Probable causesThis may be caused by some temporary disturbance in therobot cell or by a faulty axis computer.

Recommended actionsRestart the controller. Reset the robot's revolution counters asdetailed in the robot Product Manual. Make sure no extremelevels of electromagnetic interference are emitted close to therobot cabling. Make sure the axis computer is fully functional.Replace any faulty unit.

38103, Lost communication with the SMB

DescriptionThe communication has been lost between the axis computerand the serial measurement board on measurement link arg indrive module arg.


Probable causesThis may be caused by bad connections or cables (screening),especially if non-ABB cables are used for additional axes.Possible causes are also faulty serial measurement board oraxis computer.

Recommended actionsReset the robot's revolution counters as detailed in the robotProduct Manual. Make sure the cable between serialmeasurement board and axis computer is connected correctly,and that it meets the specification set by ABB. Make sure thecable screen is correctly connected at both ends. Make sureno extreme levels of electromagnetic interference are emittedclose to the robot cabling. Make sure the serial measurementboard and axis computer are fully functional. Replace any faultyunit.

38104, Overspeed During Teach Mode

DescriptionJoint arg connected to drive module arg has exceeded themaximum speed for teach mode operation.


Probable causesThe robot may have been moved manually while in state MotorsOFF. The error may also be caused by a maladjustment in therelation, commutation, between motor shaft and resolver on anadditional axis, primarily during installation.




Recommended actionsPress the Enabling Device to attempt resuming operation. Checkother event log messages occurring at the same time todetermine the actual cause. Perform a re-commutation of themotor at hand. How to do this is specified in the Additional AxesManual.

38105, Data not found

DescriptionConfiguration data for measurement board not found.System will use default data.Drive module: arg.Measurement link: arg.Board node: arg

Recommended actionsCheck configuration.

38200, Battery backup lost

DescriptionThe battery backup to serial measurement board (SMB) arg inthe robot connected to drive module arg on measurement linkarg has been lost.

ConsequencesWhen the SMB battery power supply is interrupted, the robotwill lose the revolution counter data. This warning will alsorepeatedly be logged.

Probable causesThis may be due to an SMB battery that is discharged or notconnected. For some robot models, the SMB battery power issupplied through a jumper in the robot signal cable (refer to theIRC5 circuit diagram), and disconnecting the cable interruptsthe battery power supply. Some earlier robot versions usedrechargeable batteries, and these must be charged for at least18 hours before working correctly.

Recommended actionsMake sure a charged SMB battery is connected to the board.NOTE! Disconnecting the robot signal cable may disconnectthe SMB battery power supply, triggering the battery warningto be logged. Reset the battery power warning by updating therevolution counters as detailed in the Calibration or ProductManual. Replace the battery if discharged.

38201, Serial Board not found

DescriptionSerial measurement board not found on measurement link.

Drive module: arg.Measurement link: arg.Measurement board: arg.

Recommended actionsCheck system configuration parameters. Check connectionsand cables to serial measurement board. Replace serialmeasurement board.

38203, SMB offset X error

DescriptionOffset error for X signal at serial measurement board.Drive module: arg.Measurement link: arg.Measurement board: arg.

Recommended actionsReplace serial measurement board.

38204, SMB offset Y error

DescriptionOffset error for Y signal at serial measurement board.Drive module: arg.Measurement link: arg.Measurement board: arg.


38205, SMB Linearity Error

DescriptionLinearity error for X-Y signal difference at serial measurementboard.System may still operate with warning.System will not function with error.Drive module: arg.Measurement link: arg.Measurement board: arg.


38206, SMB Linearity X Error

DescriptionLinearity error for X signal on serial measurement board.Drive module: arg.Measurement link: arg.Measurement board: arg.





38207, SMB Linearity Y Error

DescriptionLinearity error for Y signal at serial measurement board.Drive module: arg.Measurement link: arg.Measurement board: arg.


38208, Resolver error

DescriptionToo high voltage from X or Y resolver signals.Sum of squared X and Y exceeds max.Joint: arg.Drive module: arg.Measurement link: arg.Measurement board: arg.Board node: arg.


38209, Resolver error

DescriptionToo low voltage from X or Y resolver signals.Sum of squared X and Y too low.Joint: arg.Drive module: arg.Measurement link: arg.Measurement board: arg.Board node: arg.


38210, Transmission fault

DescriptionSerial measurement board SMS communication failed.Status: arg.Drive module: arg.Measurement link: arg.Measurement board: arg.

Board node: arg.

Recommended actionsRestart the controller. Check cable and connectors for SMBcommunication. Replace the serial measurement board.

38211, Measurement functionality error

DescriptionThe serial measurement board does not support 7 axes.Drive module: arg.Measurement link: arg.Measurement board: arg.

Recommended actionsCheck configurations of the 7th axis. Replace serialmeasurement board to a board with 7 axes functionality.

38212, Data not found

DescriptionConfiguration data for serial measurement board not found.System will use default data.Drive module: arg.Measurement link: arg.Measurement board: arg.


38213, Battery charge low

DescriptionBattery on serial measurement board will soon be depleted.Replace battery at a suitable opportunity.Drive module: arg.Measurement link: arg.Measurement board: arg.

Recommended actionsDo not turn off the controller until the battery is replaced.Replace battery on serial measurement.

38214, Battery failure

DescriptionTransportation shut down of battery failed. The battery will stillbe in normal mode.Drive module: arg.Measurement link: arg.Measurement board: arg.




Recommended actionsRetry shut down. Replace serial measurement board.

38215, Battery supervision failure

DescriptionFailure occurred during reset of battery supervision circuit inserial measurement board.Drive module: arg.Measurement link: arg.Measurement board: arg.

Recommended actionsRepeat update of revolution counter for joint connected to theSMB. Replace serial measurement board.

38216, SMB functionality error

DescriptionThe serial measurement board does not support neededfunctionality. The needed functionality is available in DSQC633Cor better SMB.Drive module: arg.Measurement link: arg.Measurement board: arg.

ConsequencesThe motion performance will be lower compared with what itshould be with DSQC633C or better SMB.

Recommended actionsReplace serial measurement board with a board with at leastDSQC633C functionality.

38217, SMB functionality error

DescriptionThe serial measurement board does not support neededfunctionality. The needed functionality is available in DSQC633Dor better SMB.Drive module: arg.Measurement link: arg.Measurement board: arg.

ConsequencesThe motion performance will be lower compared with what itshould be with DSQC633D or better SMB.

Recommended actionsReplace serial measurement board with a board with at leastDSQC633D functionality.

38218, Encoder high temperature

DescriptionThe temperature of the motor encoder is too high.Joint: arg.Drive module: arg.Measurement link: arg.Measurement board: arg.Board node: arg.

ConsequencesThe life time of the encoder can be reduced.

Recommended actionsStop robot and wait for motor/encoder to cool down. Reduceambient temperature. Change robot program to avoid highspeeds and torques.

38230, PMC card not connected correctly

DescriptionThe PMC card that is configured in the motion configuration isnot connected or is not working correctly.

ConsequencesThe application that needs this PMC card cannot be run.

Probable causesThe PMC card is not connected or the card is broken.

Recommended actionsPlease check the PMC card that is attached to the axis computerin the drive module arg.

38231, PMC card cannot be started

DescriptionThe PMC card that is configured in the motion configuration isnot set up correctly and cannot be started.

ConsequencesThe application that uses this PMC card cannot be run.

Probable causesThe error is probably an error in the motion configuration.

Recommended actionsPlease check the limits for channels for this card in the motionconfiguration.

38232, PMC max channels reached

DescriptionThe PMC card that is configured in the motion configuration isnot set up correctly and cannot be started.




ConsequencesThe application that uses this PMC card cannot be run.

Probable causesThe error is probably an error in the motion configuration.

Recommended actionsPlease check the limits for channels for this card in the motionconfiguration.

38233, Force sensor safety channel error

DescriptionThe safety channel in the cable between the force sensor andmeasurement board is under configured safety channel voltagelevel. The force sensor is connected to the axis computer indrive module arg.

ConsequencesThe system will go to SYS HALT and the application that usesthis sensor cannot be run until cable is connected or replaced.Safety channel supervision can be disconnected in the motionconfiguration.

Probable causesThe cable is not attached correctly. The cable has damage tothe connectors or the cable itself. The sensor cable does nothave safety channel.

Recommended actionsAssure that the cable is connected properly and inspect theconnectors at both ends of the cable and the cable itself.Replace if damaged.

38234, Max Force or Torque reached

DescriptionThe measured force or torque in the force sensor attached tothe axis computer in drive module arg has higher value than itis configured for.

ConsequencesThe system will not stop due to this.

Probable causesThe applied force or torque on the sensor is higher thatconfigured. Too high ordered reference can be the cause. Theconfiguration might also be faulty.

Recommended actionsCheck the force and torque references in the program and ifthe environment have applied too high force or torque to thesensor.

38235, Saturation warning of force sensor input

DescriptionThe analog input values of the measurement board connectedto the force sensor have saturated and the time in saturationhas reached the warning level.The measurement board is connected to the axis computer indrive module arg

Recommended actionsCheck the load that was applied to the force/torque sensor.Check that the cable, sensor and measurement board is notdamaged.Increase the system parameter: time in saturation beforewarning

38236, Saturation error of force sensor input

DescriptionThe analog input values of the measurement board connectedto the force sensor have saturated and the time in saturationhas reached the error level. The measurement board isconnected to the axis computer in drive module arg

ConsequencesSystem will stop.

Recommended actionsCheck the load that was applied to the force/torque sensor.Check that the cable, sensor and measurement board is notdamaged. Increase the system parameter: time in saturationbefore error

38237, Configuration error for ForceMeasurement Board

DescriptionThe configuration input values for the Force MeasurementBoard connected to the force sensor is erroneous. The boardis connected to drive module arg, link arg.


Recommended actionsCheck the configuration.

38238, Force Sensor has too noisy signals

DescriptionThe force sensor detected signals with noise level higher thanexpected.Task: arg.




Program Ref. arg .

ConsequencesThe force control application cannot be run.

Probable causesThe cause of noisy signals can be from tool vibrations attachedto the sensor.It can also be an electrically issue such as bad grounding orinsufficient shielding of other devices, for instance an electricaltool causing electrical disturbances on the measurements.

Recommended actionsIf the probable cause is vibrations the recommended action isto try build the tool in such a way that it reduces the vibration.It can also be tested to run the RAPID instruction that fails withthe vibrating tool turned off during the FCCalib or FCLoadId.If there are no visible vibrations then it should be investigatedif this is an electrical disturbance problem.Use TuneMaster to compare signals 1001-1006 when: Robotis in motors off state Robot is run by slow jogging. The electricaltool is running. The level of sensitivity for the check can bechanged by parameter Noise Level that belongs to the type FCSensor, in the topic Motion. It is however only recommendedto change this level if the investigation of the cause has beendone and shows that the level is only a bit too low.

39401, Torque Current Reference Error

DescriptionThe torque-current reference is increasing too quickly for jointarg, connected to drive module arg.

Consequences

Probable causesThe resolver feedback may be poor or the speed loop gain maybe badly adjusted.

Recommended actionsCheck the resolver cable and the resolver grounding for thisjoint. If this joint is an additional axis, then check that the motordata in the configuration file is correct. How to check theconfiguration file is detailed in the Trouble Shooting Manual.Reduce the gain of the speed loop.

39402, Motor Angle Reference Warning

DescriptionThe motor angle reference is increasing too quickly for jointarg, connected to drive module arg.

Consequences

Probable causesThe resolver feedback may be poor or the speed loop gain maybe badly adjusted.

Recommended actionsCheck the resolver cable and the resolver grounding for thisjoint. If this joint is an additional axis, then check that the motordata in the configuration file is correct. How to check theconfiguration file is detailed in the Trouble Shooting Manual.Reduce the gain of the speed loop.

39403, Torque Loop Undercurrent

DescriptionThe torque-current controller detected too low current for jointarg, connected to drive module arg.

Consequences

Probable causesThe motor data in the configuration files may be wrong or theDC bus voltage may be too low.

Recommended actionsCheck that the motor data in the configuration file is correct forthis joint. How to check the configuration file is detailed in theTrouble Shooting Manual. Check that no DC bus errors arepresent in the event log. Check that the incoming mains voltageis within the specification. Check that the motor cables are notdamaged or badly connected.

39404, Torque Loop Overcurrent

DescriptionThe field-current controller detected too high current for jointarg, connected to drive module arg.

Consequences

Probable causesThe motor data in the configuration files may be wrong.

Recommended actionsCheck that the motor data in the configuration file is correct forthis joint. How to check the configuration file is detailed in theTrouble Shooting Manual. Check that no DC bus errors arepresent in the event log. Check that the incoming mains voltageis within the specification. Check that the motor cables are notdamaged or badly connected.




39405, Maximum PWM Reached in TorqueController

DescriptionThe torque-current control loop has been saturated for jointarg, connected to drive module arg.

Consequences

Probable causesThe mains voltage may be too low or the motor windings ormotor cables may be broken.

Recommended actionsCheck that no DC bus errors are present in the event log. Checkthat the incoming mains voltage is within specified limits. Checkthe motor cables and motor windings for open circuits.

39406, Field Loop overcurrent

DescriptionThe field-current control loop has produced too high currentfor joint arg, connected to drive module arg.

Consequences

Probable causesThe motor data in the configuration files may be wrong.

Recommended actionsCheck that no DC bus errors are present in the event log. Checkthat the incoming mains is within specified limits. Check themotor cables and motor windings.

39407, Drive Unit has the wrong type code

DescriptionThe type code in drive unit for joint arg in drive module arg isdifferent from the one specified in the configuration file. Installeddrive unit type is arg, and the configured type is arg.


Probable causesThe configuration file may contain incorrect values, theconfiguration key may be incorrect or the hardware may be ofthe wrong type. If the drive unit was recently replaced, a driveunit with the wrong type code may have been fitted or the keywas not replaced with one for the correct hardware/softwarecombination.

Recommended actionsMake sure the values in the configuration file match the installedhardware. Make sure the configuration key match the installedhardware/software combination. How to check the configurationfile is detailed in the Trouble Shooting Manual. If the drive unitwas recently replaced, make sure a unit of the correct type codeis used.

39408, Rectifier Unit has the wrong type code

DescriptionThe type code for rectifier unit arg in drive module arg isdifferent from the one specified in the configuration file. Installedrectifier unit type is arg, and the configured type is arg.

ConsequencesNo operation will be possible until after correcting the fault. Thesystem goes to system failure state.

Probable causesThe configuration file may contain incorrect values, theconfiguration key may be incorrect or the hardware may be ofthe wrong type. If the rectifier unit was recently replaced, arectifier unit with the wrong type code may have been fitted orthe key was not replaced with one for the correcthardware/software combination.

Recommended actionsMake sure the values in the configuration file match the installedhardware. Make sure the configuration key match the installedhardware/software combination. How to check the configurationfile is detailed in the Trouble Shooting Manual. If the rectifierunit was recently replaced, make sure a unit of the correct typecode is used.

39409, Capacitor Unit has the wrong type code

DescriptionThe type code for capacitor unit arg in drive module arg isdifferent from the one specified in the configuration file. Installedcapacitor unit type is arg, and the configured type is arg.


Probable causesThe configuration file may contain incorrect values, theconfiguration key may be incorrect or the hardware may be ofthe wrong type. If the capacitor unit was recently replaced, acapacitor unit with the wrong type code may have been fitted




or the key was not replaced with one for the correcthardware/software combination.

Recommended actionsMake sure the values in the configuration file match the installedhardware. Make sure the configuration key match the installedhardware/software combination. How to check the configurationfile is detailed in the Trouble Shooting Manual. If the capacitorunit was recently replaced, make sure a unit of the correct typecode is used.

39410, Drive Unit communication warning

DescriptionMany communication errors are being detected between theaxis computer and drive unit number arg in drive module arg.(error rate per time unit)

ConsequencesIf the number of communication errors increases further, thereis a risk that the controller will be forced to stop.

Probable causesExternal noise may interfere with the communication signals.

Recommended actionsCheck the communication link cable between the axis computerand the main drive unit is correctly connected. Check that themodule is properly grounded. Check for externalelectromagnetic noise sources close to the drive module.

39411, Too Many communication errors

DescriptionFour or more consecutive communication packets have beenlost between the axis computer and drive unit arg in drivemodule arg.


Probable causesThere may be a break in the communication link cable betweenthe axis computer and the main drive unit, the drive modulemay be incorrectly grounded or excessive noise may interferewith the communication signals.


39412, Too Many Missed Reference Updates

DescriptionToo many missed communication packets have been detectedfor joint arg, in drive module arg.




39413, Drive Software Not Synchronized

DescriptionThe axis computer software in drive module arg has becomeunsynchronized with the drive software for joint arg. This is anunstable software state.


Probable causesThere may be glitches in the system timing.

Recommended actionsRestart the controller. If the problem persists, contact your localABB representative.

39414, Unknown Capacitor Type Code

DescriptionThe type code for the capacitor unit arg in drive module arg isnot recognised by the system.


Probable causesThe wrong type of capacitor unit may have been fitted or thecapacitor version used is not supported by the software.




Recommended actionsCheck the type of capacitor unit fitted. Replace if it is the wrongtype. If the problem persists, contact your local ABBrepresentative.

39415, Communication with the Drive Unit Lost

DescriptionCommunication with drive unit number arg in drive module arghas been lost.




39416, Drive Unit Not Responding

DescriptionThe main drive unit in drive module arg is not responding.


Probable causesThere may be a break in the communication link cable betweenthe axis computer and the main drive unit, or there may be alock-up in the software.

Recommended actionsCheck the communication link cable between the axis computerand the main drive unit is correctly connected. Restart thecontroller. If the problem persists, contact your local ABBrepresentative.

39417, Cannot find Drive Software Version File

DescriptionThe system cannot locate a valid drive version file on the disk.

The file may have been erased my mistake. Without this file itis not possible to check if the drive unit software needsupdating.

Recommended actionsContact your local ABB representative.

39418, Unknown Drive Unit type code

DescriptionThe type code for the drive unit arg in drive module arg is notrecognized by the system. Installed drive unit type is arg, andthe configured type is arg.


Probable causesThe connection to the drive unit may be bad or the hardwaremay be faulty.

Recommended actionsMake sure the cable connections on the drive unit are correct.Make sure the drive unit is one supported by this controller. Ifthe drive unit was recently replaced, make sure a unit of thecorrect type code is used.

39419, Unknown Rectifier type code

DescriptionThe type code for the rectifier unit arg in drive module arg isnot recognized by the system. Installed rectifier unit type is arg,and the configured type is arg.


Probable causesThe connection to the drive unit may be bad or the hardwaremay be faulty.

Recommended actionsMake sure the cable connections on the rectifier unit are correct.Make sure the rectifier unit is one supported by this controller.If the rectifier unit was recently replaced, make sure a unit ofthe correct type code is used.

39420, Drive Unit built in test failure

DescriptionDrive unit number arg in drive module arg has detected aninternal hardware failure.





Probable causesThe test software is not working correctly, or the actualhardware is faulty.

Recommended actionsPerform a shutdown and then restart the controller. If theproblem persists, isolate the faulty drive unit and replace it.

39421, Drive Unit configuration test failure

DescriptionDrive unit number arg in drive module arg has detected aninternal error.


Probable causesThe connection to the drive unit may be bad or incorrecthardware may have been fitted.


39422, Drive Unit watchdog timeout

DescriptionThe time limit for watchdog timer for drive unit number arg indrive module arg has expired.


Probable causesThe connection to the drive unit may be bad or incorrecthardware may have been fitted. It may also be caused by aninternal error in the drive unit.


39423, Drive Unit Internal Warning

DescriptionInternal measurement warning for drive unit number arg in drivemodule arg.Supervision code = arg.


Probable causesThere may be problems with the control cable, the DC linkconnection (bus bar or cable) or internal hardware.

Recommended actionsCheck the control cables and DC link connection (bus bar orcable) are correctly inserted for this unit. Restart the controller.

39424, Drive Unit internal error

DescriptionInternal measurement warning for drive unit number arg in drivemodule arg.Supervision Code = arg.


Probable causesThe connection to the drive unit may be bad or incorrecthardware may have been fitted. It may also be caused by faultycontrol cable, DC link connection (bus bar or cable) or internalhardware.

Recommended actionsMake sure the control cables and DC link connection (bus baror cable) are correctly connected for this unit. Perform ashutdown and then restart the controller. If the problem persists,isolate the faulty unit and replace it.

39425, Drive Unit measurement failure

DescriptionA current measurement circuit in drive unit number arg, drivemodule arg, attached to joint arg has failed.


Probable causesThis may be caused by a faulty or lacking DC link connectionbetween the rectifier and drive units.

Recommended actionsMake sure the DC link connection (bus bar or cable) is correctlyconnected between the rectifier and drive unit. Check theindication LEDs on the rectifier and drive units. The significanceof the LEDs is described in the Trouble Shooting Manual.




39426, Rectifier internal failure

DescriptionThe rectifier on communication link arg attached to drive modulearg has detected an internal failure.


Probable causesThis may be caused by a faulty or lacking signal connectionbetween the rectifier and drive units.

Recommended actionsMake sure the signal cable is correctly connected between therectifier and drive unit. Check the indication LEDs on the rectifierand drive units. The significance of the LEDs is described inthe Trouble Shooting Manual.

39427, Rectifier communication missing

DescriptionThe communication with the rectifier on drive communicationlink arg, drive module arg has been lost.


Probable causesThis may be caused by a faulty or lacking signal connectionbetween the rectifier and drive units.

Recommended actionsMake sure the signal cable is correctly connected between therectifier and drive unit. Perform a shutdown and then restartthe controller. If the problem persists, isolate the faulty unit andreplace it.


DescriptionThe rectifier on drive communication link arg, drive module arghas detected a startup error.


Probable causesThis may be caused by an internal error in the rectifier unit.

Recommended actionsMake sure the signal cable is correctly connected between therectifier and drive unit. Perform a shutdown and then restartthe controller. If the problem persists, isolate the faulty rectifierunit and replace it.

39431, Update of Drive Unit Software in Progress

DescriptionThe drive unit software in drive module arg is being updated.Please wait for the upgrade to be completed. This will takeapproximately 3.5 minutes.NOTE: Please do not turn off the power or restart the controlleruntil the download is complete.

Recommended actionsPlease wait...

39432, Incompatible boot version in drive unit

DescriptionThe boot version in drive module arg is version arg, which isnot allowed. The latest allowed boot version is arg.


Probable causesThe boot version is not compatible with the hardware version.

Recommended actionsReplace the drive unit with one using a boot version equal toor greater than the latest allowed one.

39434, Drive Unit Start Failure

DescriptionThe drive unit in drive module arg failed to start. drive bootstatus = arg. drive dsp1 status = arg.

ConsequencesThe robot cannot be operated.

Probable causesA number of errors may cause this.

Recommended actionsSwitch the main power off to the module and then switch it backon. Note that a normal restart will NOT suffice! If the problempersists, replace the drive unit.




39435, Cannot find additional axis drive unit

DescriptionThe system cannot detect an additional axis drive for joint argin drive module arg.

ConsequencesSystem goes to SYS_FAIL.

Probable causesThis can be due to: Having an additional axis configured butnot having a drive unit in the drive module. Having an externaldrive unit but not connecting the cable to the X arg connectorposition on the main drive unit. Damaged cable between theadditional axis drive and the main drive unit.

Recommended actionsCheck the drive module contains enough additional axis drives.Check that the configuration key does not define more externaldrive units then are connected in the drive module Check thecable between the additional axis drive unit and to the maindrive unit is correctly inserted in the right connector position.If the cable exists and is correctly inserted, then it may bedamaged and should be replaced.


DescriptionThe bleeder resistor connected to the rectifier on drive link arg,drive module arg, is an open circuit.


Probable causesThis may be caused by a faulty bleeder resistor cable or bleederresistor.

Recommended actionsMake sure the bleeder resistor cable is correctly connected tothe rectifier unit. Make sure the cable and resistor is workingcorrectly by measuring their resistance respectively. Disconnectbefore measuring. Replace any faulty component.


DescriptionThe bleeder resistor connected to the rectifier on drive link arg,drive module arg, is a short circuit.


Probable causesThis may be caused by a faulty bleeder resistor cable or bleederresistor.

Recommended actionsMake sure the bleeder resistor cable is correctly connected tothe rectifier unit. Make sure the cable and resistor is workingcorrectly by measuring their resistance respectively. Disconnectbefore measuring. Replace any faulty component.

39442, Bleeder Resistance Too Low

DescriptionThe bleeder resistance is too low for the rectifier on drivecommunication link arg, drive module arg.


Probable causesThe bleeders may have the wrong resistance value or one ofthe bleeders may have failed, causing a short circuit.

Recommended actionsCheck the bleeder resistors to see that they are the correctresistance value for this drive module configuration. Check thatnone of the resistors have failed. How to check the configurationfile is detailed in the Trouble Shooting Manual.

39443, Bleeder Resistor Overload Warning

DescriptionThe power consumed by the bleeder resistors is approachingoverload for the rectifier on drive communication link arg, drivemodule arg.


Probable causesThe user program may contain too much hard braking of themanipulators, which is more likely if the system containsadditional axes.

Recommended actionsRewrite the user program to reduce the amount of hard braking.

39444, Bleeder resistor overload error

DescriptionThe bleeder resistors have been overloaded for the rectifier ondrive communication link arg, drive module arg.





Probable causesThe user program may contain too much hard braking or toohigh a payload of the manipulators. This is more likely if thesystem contains additional axes.

Recommended actionsRewrite the user program to reduce the amount of hard braking.

39450, Faulty Fan Unit Power Supply

DescriptionThe power supply for the fan unit in drive module arg is notwithin its allowed voltage limits.

Consequences

Probable causesThe main fan power supply unit may be faulty or the supply tothis power supply unit may not be within its allowed voltagelimits.

Recommended actionsCheck the fan cable is correctly inserted. Check that all fansare working. Check the input voltage to the main fan powersupply unit. Replace any faulty unit.

39451, Fan Unit Malfunction

DescriptionThe fan unit in drive module arg has malfunctioned.

Consequences

Probable causesThe fan unit may be faulty, a loss of power supply or the fanpower cable may not be connected correctly.

Recommended actionsMake sure the fan cable is correctly connected. Make sure allfans are working and that air flow is not obstructed. Measurethe output voltage from the drive unit supplying the fan. Replaceany faulty unit.

39452, Axis Computer Cooling Fan Malfunction

DescriptionThe cooling fan for the axis computer in drive module arg hasmalfunctioned.

Recommended actionsCheck that the fan cable is correctly inserted. Replace the faultyfan unit.

39453, Transformer Cooling Fan Malfunction

DescriptionThe cooling fan for the transformer supplying drive module arghas malfunctioned.

Recommended actionsCheck if fan cable is correctly inserted. Replace the faulty fanunit.

39460, DC Link Voltage Too Low

DescriptionThe DC link voltage is too low for the rectifier on drivecommunication link arg, drive module arg.


Probable causesThe DC link bus bar may be incorrectly connected or thethree-phase mains power may be interrupted while the robotis in the Motors ON state. The mains contactor may also havebeen opened whilst the robot is in Motors ON state (breakingthe safety chain). The incoming main power supply may alsobe too low.

Recommended actionsMake sure the DC link bus bar is correctly connected. Makesure the mains supply has not been interrupted. Make sure thesafety chain has not been broken. Make sure the output voltageof the drive module power supply is within acceptable limits asspecified in the Product Manual.

39461, DC Link Voltage Too High

DescriptionThe DC link voltage is too high for the rectifier on drivecommunication link arg, drive module arg.


Probable causesThe user program may contain too much hard braking of themanipulators, which is more likely if the system containsadditional axes. The brake resistors may also be faulty.




Recommended actionsCheck the bleeder resistors to see that they are the correctresistance value for this drive module configuration. Check thatnone of the resistors have failed. If possible, rewrite the userprogram to reduce the amount of hard braking.

39462, DC Link Voltage at Critical

DescriptionThe DC link voltage is critically high for the rectifier on drivecommunication link arg, drive module arg.


Probable causesThe user program may contain too much hard braking of themanipulators, which is more likely if the system containsadditional axes. The brake resistors may also be faulty.

Recommended actionsCheck the bleeder resistors to see that they are the correctresistance value for this drive module configuration. Check thatnone of the resistors have failed. Rewrite the user program toreduce the amount of hard braking.

39463, Motor Phase Short Circuit Warning

DescriptionA brief short circuit was detected in the motor/motor cable forthe motor attached to joint arg in drive module arg.

Consequences

Probable causesThis may be due to dust or metal fragments contaminating thecontacts or motor windings.

Recommended actionsNo action is required if the problem does not persist.

39464, Short circuit in Motor phase circuit

DescriptionThe motor or motor cable for joint arg in drive module arg, driveunit number arg, is a short circuit.


Probable causesThis may be caused by a faulty motor or motor cable. It mayalso be caused by contamination in the contactors for the cablesor a failure of the motor windings.

Recommended actionsMake sure the motor cable is correctly connected to the driveunit. Check the cable and motor by measuring their resistancerespectively. Disconnect before measuring. Replace any faultycomponent.


DescriptionThe motor current is higher than the allowed for joint arg indrive module arg, drive unit number arg.

Consequences

Probable causesThe motor load may be too high or the motor may have stalled(maybe due to a collision).

Recommended actionsCheck that the robot has not collided with anything. If possible,reduce the speed of the user program. If the axis is an additionalaxis, check that the motor load is not too high for the drive unit.

39466, Motor Current Overload

DescriptionThe motor current is too high for joint arg in drive module arg,drive unit number arg.


Probable causesThe motor load may be too high or the motor may have stalled(maybe due to a collision).

Recommended actionsCheck that the robot has not collided. If possible, reduce thespeed of the user program. If the axis is an additional axis,check that the motor load is not too high for the drive unit.

39467, Drive Unit Temperature Warning

DescriptionThe temperature has risen above the warning level in drive unitnumber arg, drive module arg, which is the lowest abnormallevel of three.

Consequences




Probable causesThe ambient temperature may be too high, the cooling fansmay have failed or the user program may consume more currentthan the drive system can supply.

Recommended actionsCheck that the fans are running and that the air flow is notobstructed. Check that the ambient temperature does notexceed the cabinet rating. If the system contains additionalaxes then check that motors are not too large for the drive units.If possible, rewrite the user program to reduce the amount ofhard acceleration.

39468, Drive Unit Temperature Alarm

DescriptionThe temperature has risen above the alarm level in drive unitnumber arg, drive module arg, which is the second abnormallevel of three.




39469, Drive Unit Temperature Critical

DescriptionThe temperature has risen above the critical level in drive unitnumber arg, drive module arg, which is the top abnormal levelof three.




39470, Power Semiconductor Warning

DescriptionThe power semiconductor is approaching overload for joint arg,in drive unit number arg, drive module arg .

Consequences

Probable causesThe motor load may be too high, the motor may have stalled(maybe due to a collision), the motor load may be too high orthere may not be enough cooling.

Recommended actionsCheck that the robot has not collided. Check that the fans arerunning and that the air flow is not obstructed. Check that theambient temperature does not exceed the cabinet rating. If thesystem contains additional axes then check that motors are nottoo large for the drive units. If possible, rewrite the user programto reduce the amount of hard acceleration.

39471, Power Semiconductor Overload Error

DescriptionThe power semiconductor has been overloaded for joint arg,in drive unit number arg, drive module arg .


Probable causesThe motor load may be too high, the motor may have stalled(maybe due to a collision), the motor load may be too high orthere may not be enough cooling.

Recommended actionsCheck that the robot has not collided. Check that the fans arerunning and that the air flow is not obstructed. Check that theambient temperature does not exceed the cabinet rating. If thesystem contains additional axes then check that motors are nottoo large for the drive units. If possible, rewrite the user programto reduce the amount of hard acceleration.




39472, Incoming Mains Phase Missing

DescriptionThe rectifier connected to communication link arg in drivemodule arg detects a power loss in one phase.


Probable causesThis may be caused by an actual mains power loss, somemalfunction in the Motors ON contactors or its cabling or inanother part of the three phase chain inside the cabinet. Onrare occasions, this fault may occur in combination with otherfaults, in which case this may be found in the error log.

Recommended actionsMake sure the mains switch is closed and that there is mainsvoltage present. No volts means the problem is in mains cableconnector or the factory power supply. If the voltage is OK,disconnect the input mains cable and measure the resistanceof all three phases across all the components in the 3 phasesupply chain. Start from the contactor closest to the rectifierand work backwards towards the mains switch. The contactorscan be closed manually to perform the test. Refer to theelectrical drawings for the cabinet. Check the indication LEDson the rectifier unit. The significance of these is described inthe Trouble Shooting Manual. If the voltage is OK, check anyother error log messages coinciding in time with this one forclues.

39473, All Incoming Mains Phases Missing

DescriptionThe rectifier connected to communication link arg in drivemodule arg detects a power loss in one or more phases.


Probable causesThis may be caused by an actual mains power loss, somemalfunction in the Motors ON contactors or its cabling or inanother part of the three phase chain inside the cabinet. Onrare occasions, this fault may occur in combination with otherfaults, in which case this may be found in the error log.

Recommended actionsMake sure the mains switch is closed and that there is mainsvoltage present. No volts means the problem is in mains cableconnector or the factory power supply. If the voltage is OK,

disconnect the input mains cable and measure the resistanceof all three phases across all the components in the 3 phasesupply chain. Start from the contactor closest to the rectifierand work backwards towards the mains switch. The contactorscan be closed manually to perform the test. Refer to theelectrical drawings for the cabinet. Check the indication LEDson the rectifier unit. The significance of these is described inthe Trouble Shooting Manual. If the voltage is OK, check anyother error log messages coinciding in time with this one forclues.

39474, Rectifier Current Warning

DescriptionThe rectifier connected to drive communication link arg in drivemodule arg is approaching overload.


Probable causesThe total motor current may be greater than that which therectifier can supply.

Recommended actionsIf possible, rewrite the user program to reduce the amount ofhard acceleration.

39475, Rectifier Current Error

DescriptionThe rectifier connected to drive communication link arg in drivemodule arg has reached overload.


Probable causesThe total motor current may be greater than that which therectifier can supply.

Recommended actionsIf possible, rewrite the user program to reduce the amount ofhard acceleration.

39476, Rectifier Temperature Warning

DescriptionThe temperature in the rectifier unit connected to drivecommunication link arg in drive module arg is approaching atoo high a level.





Probable causesThe cooling fans may be faulty or the air flow may be obstructed.The ambient temperature may be too high or the system maybe running with a too high load for extended periods.


39477, Rectifier Temperature Error

DescriptionThe temperature in the rectifier unit connected to drivecommunication link arg in drive module arg has reached a toohigh a level.


Probable causesThe cooling fans may be faulty or the air flow may be obstructed.The ambient temperature may be too high or the system maybe running with a too high load for extended periods.


39478, Internal Motor PTC Temperature Error

DescriptionThe temperature in one or more robot motors connected todrive module arg is has reached a too high a level.


Probable causesThe motor may have stalled (possibly due to a collision), themotor may be overloaded or the ambient temperature may behigher than the rated level for the robot.

Recommended actionsCheck that the robot has not collided. Check that the ambienttemperature does not exceed the robot rating. Allow the robotto cool down, and then run the system again. Replace anymotors damaged by the excessive heat. If possible, rewrite theuser program to reduce the amount of hard acceleration.

39479, External Motor PTC Temperature Error

DescriptionOne or more additional axis motors connected to drive modulearg is has reached a too high a level.


Probable causesThe motor may have stalled (possibly due to a collision), themotor may be overloaded or the ambient temperature may behigher than the rated level for the robot.

Recommended actionsCheck that the additional axis has not collided. Check that theambient temperature does not exceed the rating. Allow themotor to cool down, and then run the system again. Replaceany motors damaged by the excessive heat. If possible, rewritethe user program to reduce the amount of hard acceleration.

39482, Mains Voltage Too High

DescriptionThe mains voltage detected in drive module arg is too high.


Probable causesThe mains transformer may be incorrectly wired or the externalsupply voltage may be too high.

Recommended actionsMeasure the incoming mains voltage at the main contactor inthe drive module. Make sure it is within the range specified forthis module. Check the wiring of the mains transformer asdetailed in the robot Product Manual.




39483, DC Link Short Circuit

DescriptionA short circuit has been detected on the DC link of drive modulearg.


Probable causesThe DC bus bar may be badly connected or its contact surfacesmay be contaminated causing a short circuit.

Recommended actionsCheck that all DC link bus bars have been correctly connected.Check that all contacts are free from contamination.

39484, Run chain open in motor on state

DescriptionRun chain arg is open when system is in motor on state. Theproblem occurred in drive system arg.

ConsequencesSystem goes to SYS_HALT.

Probable causesCables and connections on the safety system are unpluggedor damaged. The contactor for this run chain in the drive modulemay be stuck due to mechanical problem in contactor itself.The help contactor on the contactor can suffer from bad galvanicbehavior or faulty cable to the safety system.

Recommended actionsCheck if a motor contactor is stuck. Replace faulty motorcontactor.

39485, Run chain close in motor off state

DescriptionRun chain arg is open when system is in motor on state. Theproblem occurred in drive system arg.

ConsequencesSystem goes to SYS_HALT.

Probable causesThe contactor for this run chain placed in the drive module hasbeen pulled down manually. The contactor has been welded inclose position.

Recommended actionsIf the contactor is not released and stays in pulled position,shut down the system and replace the contactor. If the contactor

has been pulled down manually, take this message as a warningonly.

39486, DC Link Not Connected

DescriptionThe DC Link connection to the drive serving joint arg in drivemodule arg, drive unit number arg is missing or is not properlyconnected.

ConsequencesThe system goes to SYS_HALT.

Probable causesThe DC bus bar is either missing or is not properly connected.If the bus bar is correctly connected. The drive unit reportingthe error may have a fault.

Recommended actionsCheck the DC bus bar is properly connected to all the driveunits

39500, Logic Voltage to Drive Unit Warning

DescriptionThe 24V supply from the drive module power supply to the maindrive unit in drive module arg is out of range.

Consequences

Probable causesThe 24V supply from the drive module power supply may beout of range.

Recommended actionsMake sure the power cable from the drive module power supplyto the main drive unit is connected correctly. Check if the powersupply unit LED is red. The full meaning of all LED indicationsare described in the Trouble Shooting Manual, IRC5.

39501, Logic Voltage to Drive Unit Error

DescriptionThe 24V supply to the main drive unit in drive module arg is outof range.


Probable causesThe 24V supply from the power supply unit may be out of range.




Recommended actionsMake sure the power cable from the power supply unit to themain drive unit is connected correctly. Check if the power supplyunit LED is red. The full meaning of all LED indications aredescribed in the Trouble Shooting Manual, IRC5.

39502, Logic Voltage to Rectifier Error

DescriptionThe 24V to the rectifier in drive module arg is out of range.

Consequences

Probable causesThe cable between the drive unit and the rectifier may be badlyconnected, or the power supply voltage to the drive unit maybe out of range.

Recommended actionsCheck that the power cable between the power supply unit andthe rectifier unit has been connected correctly. Check the 24 Vvoltage in the power cable to the drive unit.

39503, Power Supply Overtemperature

DescriptionThe temperature in the drive module power supply of drivemodule arg has reached a critical level.


Probable causesThe fan unit may be faulty, the cooling air flow may beobstructed or the ambient temperature may be too high.

Recommended actionsNOTE! Do not try to restart the controller for approx. ten minutesto let it cool down. Make sure the fans are running and that theair flow is not obstructed. Make sure the ambient temperaturedoes not exceed the drive module rating. Make sure the powersupply connectors are correctly connected to the axis computer.

39504, Power Supply to Brakes Overload

DescriptionThe brake power circuit in drive module arg draws too muchcurrent.


Probable causesThe brake power cable may be faulty (short circuit), or additionalaxis motors with brakes consuming too much power may beused. The fault may also occur if the cable from the powersupply unit is not correctly connected to the drive module.

Recommended actionsMake sure the power supply cable is correctly connected to thedrive module. Check the brake supply cable for short circuits.Make sure the total current consumed by additional axes'motors does not exceed the specification for the drive module.Make sure the power supply connectors are correctly connectedto the axis computer. Make sure the 24 V BRAKE voltage iswithin specified limits. See the circuit diagram in the ProductManual, IRC5.

39505, Mains Voltage to Power Supply Lost

DescriptionThe mains power supply to the power supply unit in drivemodule arg is missing.

ConsequencesNo operation will be possible until after correcting the fault. Thesystem goes to system failure state.

Probable causesThe main power switch on the drive module may be turned off.The incoming mains cable may be faulty (break), or the circuitbreaker for the power supply may have tripped. The fault mayalso occur if the connector from the power supply unit is notcorrectly connected to the axis computer.

Recommended actionsCheck that the main power switch in turned on for the drivemodule and restart the controller. Check that the connectorfrom the power supply unit is correctly connected to the axiscomputer. Measure the voltage at the mains contactor to ensurethat the mains is present. Check that the power supplyfuses/circuit breakers in the drive module have not tripped.

39506, DC bus status not ok

DescriptionThe DC bus off one or more drive units connected to drivemodule arg has been unexpectedly switched off.

ConsequencesSystem goes to status SYS HALT.

Probable causesThis may be due to bad cables or internal errors in the driveunit.




Recommended actionsCheck all cables connected to the drive unit. Restart thecontroller. Replace the drive unit if faulty.

39520, Communication lost with Drive Module

DescriptionThe main computer has lost contact with drive module arg.

ConsequencesThe system goes to status SYS HALT No operation will bepossible until the fault has been corrected.

Probable causesThis may be due to a cable break, badly connected connectoror high levels of interference in the cable.

Recommended actionsMake sure the cable between control module and drive moduleis not damaged and that both connectors are correctlyconnected. Make sure no extreme levels of electromagneticinterference are emitted close to the robot cabling.

39521, Drive Module Communication Warning

DescriptionThere are a large number of communication errors beingdetected on the Ethernet link to drive module arg.This can be due to external noise sources interfering with thecable.

Recommended actionsCheck that there are no electromagnetic interference sourcesrunning near the cable or the drive or computer modules.

39522, Axis computer not found

DescriptionThe axis computer in drive module arg is not connected to themain computer.

ConsequencesThe system goes to system failure state. No operation will bepossible until the fault has been corrected.

Probable causesThis may be due to a cable break, badly connected connectors,or loss of power supply.

Recommended actionsMake sure that the cable between the main computer and theaxis computer is not damaged and that both connectors arecorrectly connected. Make sure that the power supply to theaxis computer is working correctly. Restart the controller.

39523, Unused Axis computer connected

DescriptionAxis computer in the drive module arg is connected to the maincomputer but not in use.

Probable causesThis can be due to configuration problem.

Recommended actionsDisconnect the unused axis computer or setup the system touse the axis computer. Restart the controller.

39524, Drive Module Command timeout

DescriptionDrive module arg does not respond to command arg. Thesystem has stopped the program for safety reasons.

Recommended actionsCheck that drive module is powered on. Check the cablebetween the main computer and axis computer. Restart thecontroller.

39525, Drive Module startup error

DescriptionThe system has failed to complete the initialization phase ofdrive module arg .


Probable causesThe system has failed to complete the initialization phase ofthe drive module.

Recommended actionsRetry by restarting the controller using the main power switch.Check for other hardware event log messages.

39526, Axis computer not found in Multi Movesystem



Probable causesThis may be due to a cable break, badly connected connectors,missing axis computer switch, or loss of power supply.




Recommended actionsMake sure that the main power switch on drive module arg hasbeen switched ON. Make sure that the cable from the maincomputer through the switch to the drive module is not damagedand that both connectors are correctly connected. Make surethat the cable is connected to the correct port on the axiscomputer switch. Make sure that the power supply unit in drivemodule arg is working correctly. Restart the controller.

39527, Axis computer not found in single MultiMove system



Probable causesThis may be due to a cable break, badly connected connectors,missing axis computer switch, or loss of power supply.

Recommended actionsMake sure that the cable from the main computer through theswitch to the axis computer is not damaged and that allconnectors are correctly connected. Make sure that the powersupply to the axis computer is working correctly. Restart thecontroller.

39530, Axis Computer Lost CommunicationWithSafety System

DescriptionCommunication has been lost between axis computer and thesafety system in drive module arg.

ConsequencesSystem goes to system failure state.

Probable causesThis may be due to a faulty communication cable or connectionbetween the axis computer and the safety system. It may alsobe due to severe interference or if the safety system has lostits power.

Recommended actionsCheck cable between the axis computer and the safety systemis intact and correctly connected. Check power supplyconnected to the safety system. Make sure no extreme levelsof electromagnetic interference are emitted close to the robotcabling.

39531, Run chain glitch test not running

DescriptionThe glitch test of the run chain has not been performed. Theproblem was discovered by the safety system connected to theaxis computer in drive module arg.

ConsequencesSystem goes to status SYS HALT.

Probable causesThis may be due internal errors.

Recommended actionsContact your local ABB support office.




5.6 4 xxxx

40001, Argument error

DescriptionThe optional argument arg has been used more than once inthe same routine call.

Recommended actionsMake sure the optional parameter is not used more than oncein the same routine call.


DescriptionThe argument arg has been specified for more than oneparameter.

Recommended actionsThe parameter list, from which the parameter is selected,contains parameters mutually exclusive. Make sure theargument is used for one parameter only.


DescriptionAn argument for the required parameter arg was expected, butthe optional argument arg was found.

Recommended actionsMake sure all arguments are specified in the same order as theparameters for the routine called.


DescriptionThe argument for REF parameter arg is not a data reference.

Recommended actionsMake sure the argument is a data or a parameter reference.


DescriptionThe argument for INOUT parameter arg is not a variable orpersistent reference, or it is read-only.

Recommended actionsMake sure the argument is a variable or a persistent variableparameter or a persistent parameter reference and that it isNOT read-only. Also make sure the argument is NOT writtenwithin brackets ().


DescriptionParameter arg is missing an optional argument value.

Recommended actionsThe only parameters that may be specified by a name only are"switch" parameters. All others must be assigned a value. Makesure parameter has a value.


DescriptionThe optional argument arg is not found in its correct positionin the argument list.



DescriptionA reference to the optional parameter arg is missing.

Recommended actionsEach optional parameter must have a reference argument,specified with a leading backslash character (\). Change therequired argument into an optional argument.


DescriptionA reference to the required parameter arg in a conditionalargument is missing.

Recommended actionsEach conditional value for an optional parameter must refer toan optional parameter in the calling routine. Change theconditional value.


DescriptionA reference to the required parameter arg in an optionalargument is missing.




Recommended actionsEach required parameter must have a reference argument,specified with a leading backslash character (\). Change theoptional argument into a required argument.


DescriptionThe required argument arg is not found in its correct positionin the argument list.



DescriptionThe "switch" argument arg has a value.

Probable causesAn argument corresponding to a "switch" parameter may notbe assigned a value.

Recommended actionsRemove the value.


DescriptionThe call to routine arg has too few arguments.

Recommended actionsA routine call must supply values for all required parametersof the routine being called. The argument list must have asmany arguments, as the parameter list has parameters. Addmore arguments to fit the parameter list.


DescriptionThe call to routine arg has too many arguments.

Recommended actionsNo arguments, more than those defined by the called routineparameter list, must be supplied. The argument list must haveas many arguments, as the parameter list has parameters.Remove excessive arguments from the argument list.

40015, Data declaration error

DescriptionThe number of array dimensions is arg, but may be 1, 2 or 3only.

Recommended actionsChange the dimension expression.


DescriptionToo many dimensions in array definition.

Recommended actionsAn array may have at most 3 dimensions. Rewrite the programso that no more than 3 dimensions are needed.

40017, Type error

DescriptionIndexed data arg, arg is not of array type.

Recommended actionsOnly data that have been declared to be arrays may be indexed.Remove the index or indices. Declare the data to be an array.

40018, Type error

DescriptionData arg, arg is not of record type.

Recommended actionsComponents are only available for data of record type. Checkthe type and name of the referenced data.

40019, Limit error

DescriptionTask arg: Error when creating the persistent variable arg. Theerror occurred when the persistent variable was to be insertedinto the database.Program ref: arg.

ConsequencesThe created persistent variable cannot be used in a RAPIDprogram.

Probable causesThe program memory is full or fragmented.

Recommended actionsCheck if large data structures could be split into smaller blocks.Use of installed modules can save program memory.


DescriptionExpression arg is not a constant expression.




Recommended actionsAny expression contained within a data declaration must be aconstant expression. Make sure no expression containsvariables or persistent references, or function calls.

40021, Instruction error

DescriptionMissing expression in RETURN instruction.

Probable causesA RETURN instruction within a function must specify a valueto be returned.

Recommended actionsAdd a value expression.

40022, Type error

DescriptionIllegal combination of operand types arg and arg for the '*'operator.

Recommended actionsAllowed operand type combinations are: "num"*"num","num"*"pos", "pos"*"num", "pos"*"pos" and "orient"*"orient".Check the operand types.


DescriptionCannot transfer control into another instruction list.

Recommended actionsIt is not possible to jump into a program flow instruction. Makesure that the label is located in the same instruction list as theGOTO instruction, at the same or an outer level.

40024, Type error

DescriptionIllegal type arg for left operand of binary '+' or '-' operator.

Recommended actionsAllowed operand types for the binary "+" operator are "num","pos" and "string", and for the binary "-" operator "num" and"pos". Check the operand types.

40025, Type error

DescriptionIllegal type arg for operand of unary '+' or '-' operator.

Recommended actionsAllowed operand types for the unary "+" and "-" operators are"num" and "pos". Check the operand types.

40026, Type error

DescriptionIllegal type arg for right operand of binary '+' or '-' operator.

Recommended actionsAllowed operand types for the binary "+" operator are "num","pos" and "string", and for the binary "-" operator "num" and"pos". Check the operand types.

40027, Type error

DescriptionIllegal type arg for left operand of '/', 'DIV' or 'MOD' operator.

Recommended actionsAllowed operand type for the "/", "DIV" or "MOD" operators is"num". Check the operand types.

40028, Type error

DescriptionIllegal type arg for right operand of '/', 'DIV' or 'MOD' operator.

Recommended actionsAllowed operand type for the "/", "DIV" or "MOD" operators is"num". Check the operand types.

40029, Type error

DescriptionIllegal type arg for left operand of '<', '<=', '>' or '>=' operator.

Recommended actionsAllowed operand type for the "<", "<=", ">" or ">=" operators is"num". Check the operand types.

40030, Type error

DescriptionIllegal type arg for right operand of '<', '<=', '>' or '>=' operator.

Recommended actionsAllowed operand type for the "<", "<=", ">" or ">=" operators is"num". Check the operand types.

40031, Type error

DescriptionIllegal type arg for left operand of '*' operator.




Recommended actionsAllowed operand types for the "*" operator are "num", "pos" or"orient". Check the operand types.

40032, Type error

DescriptionIllegal type arg for right operand of '*' operator.

Recommended actionsAllowed operand types for the "*" operator are "num", "pos" or"orient". Check the operand types.

40033, Type error

DescriptionIllegal type arg for operand of 'NOT' operator.

Recommended actionsAllowed operand type for the "NOT" operator is "bool". Checkthe operand types.

40034, Type error

DescriptionIllegal type arg for left operand of 'OR', 'XOR' or 'AND' operator.

Recommended actionsAllowed operand type for the "OR", "XOR" or "AND" operatorsis "bool". Check the operand types.

40035, Type error

DescriptionIllegal type arg for right operand of 'OR', 'XOR' or 'AND'operator.

Recommended actionsAllowed operand type for the "OR", "XOR" or "AND" operatorsis "bool". Check the operand types.

40036, Type error

DescriptionIncorrect number of indices in index list for array arg with argdimension(s).

Recommended actionsMake sure that the number of indices in the index listcorresponds to the number of dimensions of the indexed dataarray.


DescriptionLOCAL illegal in routine constant declaration.

Recommended actionsOnly program data declarations may have the LOCAL attribute.Remove the LOCAL attribute or move the declaration outsideof the routine.


DescriptionLOCAL illegal in routine variable declaration.

Recommended actionsOnly program data declarations may have the LOCAL attribute.Remove the LOCAL attribute or move the declaration outsideof the routine.

40039, Name error

DescriptionConstant name arg ambiguous.

Recommended actionsRoutine data must have names that are unique within theroutine. Program data must have names that are unique withinthe module. Rename the data or change the conflicting name.

40040, Name error

DescriptionGlobal constant name arg ambiguous.

Recommended actionsGlobal data must have names that are unique among all theglobal types, data, global routines and modules in the entireprogram. Rename the data or change the conflicting name.

40041, Name error

DescriptionGlobal persistent name arg ambiguous.


40042, Name error

DescriptionGlobal routine name arg ambiguous.




Recommended actionsGlobal routines must have names that are unique among allthe global types, data, global routines and modules in the entireprogram. Rename the routine or change the conflicting name.

40043, Name error

DescriptionGlobal variable name arg ambiguous.


40044, Name error

DescriptionLabel name arg ambiguous.

Recommended actionsLabels must have names that are unique within the routine.Rename the label or change the conflicting name.

40045, Name error

DescriptionModule name arg ambiguous.

Recommended actionsModules must have names that are unique among all the globaltypes, global data, global routines and modules in the entireprogram. Rename the module or change the conflicting name.

40046, Name error

DescriptionParameter name arg ambiguous.

Recommended actionsParameters must have names that are unique within the routine.Rename the parameter or change the conflicting name.

40047, Name error

DescriptionPersistent name arg ambiguous.

Recommended actionsProgram data must have names that are unique within themodule. Rename the data or change the conflicting name.

40048, Name error

DescriptionRoutine name arg ambiguous.

Recommended actionsRoutines must have names that are unique within the module.Rename the routine or change the conflicting name.

40049, Name error

DescriptionVariable name arg ambiguous.

Recommended actionsRoutine data must have names that are unique within theroutine. Program data must have names that are unique withinthe module. Rename the data or change the conflicting name.

40050, Type error

DescriptionOperand types arg and arg for binary '+' or '-' operator not equal.

Recommended actionsThe two operands of the '+' and '-' operators must have equaltype. Check the operand types.

40051, Type error

DescriptionOperand types arg and arg for '=' or '<>' operator not equal.

Recommended actionsThe two operands of the '=' and '<>' operators must have equaltype. Check the operand types.


DescriptionRETURN with expression only allowed in function.

Recommended actionsIn a procedure or trap the return instruction must not specify areturn value expression. Remove the expression.

40054, Type error

DescriptionDifferent dimension of array type (arg) and aggregate (arg).

Recommended actionsMake sure that the number of expressions in the aggregate isthe same as the dimension of the data array.




40055, Type error

DescriptionAssignment target type arg is not value or semi-value type.

Recommended actionsThe type, of the data to be assigned a value, must be a valueor semi-value type. Data of non-value types may only be set byspecial type specific predefined instructions or functions.

40056, Type error

DescriptionType arg for left operand of '=' or '<>' operator not value orsemi-value type.

Recommended actionsThe '=' and '<>' operators may only be applied to expressionsof value or semi-value type. If comparisons are to be made,special type specific predefined functions are needed.

40057, Type error

DescriptionType arg for right operand of '=' or '<>' operator not value orsemi-value type.

Recommended actionsThe '=' and '<>' operators may only be applied to expressionsof value or semi-value type. If comparisons are to be made,special type specific predefined functions are needed.

40058, Type error

DescriptionTEST expression type arg not value or semi-value type.

Recommended actionsThe TEST instruction may only be applied to an expression ofvalue or semi-value type. If comparisons are to be made, specialtype specific predefined functions are needed.


DescriptionPlace holder for value expression not allowed in definition ofnamed constant.

Recommended actionsComplete the data declaration or change the data name to aplace holder.


DescriptionPlace holder for array dimension not allowed in definition ofnamed constant or variable.


40061, Routine declaration error

DescriptionPlace holder for parameter array dimensions not allowed indefinition of named routine.

Recommended actionsComplete the parameter declaration or change the routine nameto a place holder.

40062, Name error

DescriptionPlace holder for parameter name not allowed in definition ofnamed routine.

Recommended actionsComplete the routine declaration or change the routine nameto a place holder.


DescriptionPlace holder for initial value expression not allowed in definitionof named persistent.


40064, Routine declaration error

DescriptionPlace holder for parameter not allowed in definition of namedroutine.

Recommended actionsComplete the parameter declaration, remove the place holderor change the routine name to a place holder.




40065, Reference error

DescriptionPlace holder for type not allowed in definition of named data,record component or routine.

Recommended actionsComplete the data or routine declaration or change the data orroutine name to a place holder.


DescriptionPlace holder for initial value expression not allowed in definitionof named variable.


40067, Type error

DescriptionToo few components in record aggregate of type arg.

Recommended actionsMake sure that the number of expressions in the aggregate isthe same as the number of components in the record type.

40068, Type error

DescriptionToo many components in record aggregate of type arg.

Recommended actionsMake sure that the number of expressions in the aggregate isthe same as the number of components in the record type.


DescriptionData reference arg is ambiguous.

Recommended actionsAt least one other object sharing the same name as the referreddata is visible from this program position. Make sure that allobject names fulfill the naming rules regarding uniqueness.


DescriptionFunction reference arg is ambiguous.

Recommended actionsAt least one other object sharing the same name as the referredfunction is visible from this program position. Make sure thatall object names fulfill the naming rules regarding uniqueness.


DescriptionLabel reference arg is ambiguous.

Recommended actionsAt least one other object sharing the same name as the referredlabel is visible from this program position. Make sure that allobject names fulfill the naming rules regarding uniqueness.


DescriptionProcedure reference arg is ambiguous.

Recommended actionsAt least one other object sharing the same name as the referredprocedure is visible from this program position. Make sure thatall object names fulfill the naming rules regarding uniqueness.


DescriptionTrap reference arg is ambiguous.

Recommended actionsAt least one other object sharing the same name as the referredtrap is visible from this program position. Make sure that allobject names fulfill the naming rules regarding uniqueness.


Descriptionarg not entire data reference.

Recommended actionsThe specified name identifies an object other than data. Checkif the desired data is hidden by some other object with the samename.


Descriptionarg not function reference.

Recommended actionsThe specified name identifies an object other than a function.Check if the desired function is hidden by some other objectwith the same name.





Descriptionarg not label reference.

Recommended actionsThe specified name identifies an object other than a label. Checkif the desired label is hidden by some other object with the samename.


Descriptionarg not optional parameter reference in conditional argumentvalue.

Recommended actionsThe specified name identifies an object other than an optionalparameter. Change the name to refer to an optional parameter.


Descriptionarg not optional parameter reference.

Recommended actionsThe specified name identifies an object other than an optionalparameter. Change the name to refer to an optional parameter.


DescriptionTask arg: arg is not a procedure reference.

Recommended actionsThe specified name identifies an object other than a procedure.Check if the desired procedure is hidden by some other objectwith the same name.


Descriptionarg not required parameter reference.

Recommended actionsThe specified name identifies an object other than a requiredparameter. Change the name to refer to a required parameter.


Descriptionarg not trap reference.

Recommended actionsThe specified name identifies an object other than a trap. Checkif the desired trap is hidden by some other object with the samename.


Descriptionarg not type name.

Recommended actionsThe specified name identifies an object other than a type. Checkif the desired type is hidden by some other object with the samename.

40083, Type error

Descriptionarg not value type.

Recommended actionsOnly variables that lack initial value, and 'VAR' mode parametersmay be of semi-value or non-value type.


DescriptionReference to unknown label arg.

Recommended actionsThe routine contains no label (or other object) with the specifiedname.


DescriptionReference to unknown optional parameter arg.

Recommended actionsThe called routine contains no optional parameter (or otherobject) with the specified name.


DescriptionReference to unknown record component arg.

Recommended actionsThe record type contains no record component with thespecified name.





DescriptionReference to unknown required parameter arg.

Recommended actionsThe called routine contains no required parameter (or otherobject) with the specified name.


DescriptionUnknown type name arg.

Recommended actionsNo data type (or other object) with the specified name is visiblefrom this program position.


DescriptionAssignment target is read only.

Recommended actionsThe data to be assigned a value may not be a constant, readonly variable or read only persistent.


DescriptionPersistent declaration not allowed in routine.

Recommended actionsPersistents may only be declared at module level. Move thepersistent declaration from the routine.


DescriptionRAISE without expression only allowed in error handler.

Recommended actionsAdd an error number expression to the RAISE instruction.


DescriptionRETRY only allowed in error handler.

Recommended actionsThe RETRY instruction may only be used in error handlers.Remove it.


DescriptionTRYNEXT only allowed in error handler.

Recommended actionsThe TRYNEXT instruction may only be used in error handlers.Remove it.

40098, Parameter error

Description'switch' parameter must have transfer mode IN.

Recommended actionsRemove the parameter transfer mode specifier. If IN transfermode is not sufficient, change the data type of the parameter.


Description'switch' parameter cannot be dimensioned.

Recommended actionsRemove the array dimension specification, or change the datatype of the parameter.


Description'switch' only allowed for optional parameter.

Recommended actionsChange the parameter into an optional parameter, or changethe data type of the parameter. If the object is not a parameter,change the data type.

40101, Type error

DescriptionType mismatch of expected type arg and found type arg.

Recommended actionsThe expression is not of the expected data type.

40102, Type error

DescriptionType mismatch of aggregate, expected type arg.

Recommended actionsThe aggregate does not match the expected data type.




40103, Type error

DescriptionPersistent arg, arg type mismatch.

Recommended actionsThere is already a persistent data with the same name but withanother data type. Rename the persistent, or change its datatype.


DescriptionCannot determine array dimensions (circular constantreferences?).

Recommended actionsCheck that any referred constants are correctly defined. If so,the program is too complex. Try to rewrite the declarations.


DescriptionCannot determine type of constant value (circular constantreferences?).



DescriptionCannot evaluate constant value expression (circular constantreferences?).



DescriptionCannot determine type of variable value (circular constantreferences?).


40108, Type error

DescriptionUnknown aggregate type.

Recommended actionsAn aggregate may not be used in this position since there isno expected data type. Declare data with the desired data typeand aggregate value. Use the name of the data instead of theaggregate.

40109, Type definition error

DescriptionCannot determine type of record component arg (circular typedefinitions?).

Recommended actionsCheck that the type of the component is correctly defined. Ifso, it could be a circular definition, the type of a componentcould not refer to its own record type.


DescriptionRecord name arg is ambiguous.

Recommended actionsAt least one other object sharing the same name as the referredrecord name is visible from this program position. Make surethat all object names fulfill the naming rules regardinguniqueness.

40111, Name error

DescriptionGlobal record name arg ambiguous.

Recommended actionsGlobal type must have names that are unique among all theglobal types, data, global routines and modules in the entireprogram. Rename the record or change the conflicting name.


DescriptionAlias name arg is ambiguous.

Recommended actionsAt least one other object sharing the same name as the referredalias name is visible from this program position. Make sure thatall object names fulfill the naming rules regarding uniqueness.

40113, Name error

DescriptionGlobal alias name arg ambiguous.




Recommended actionsGlobal type must have names that are unique among all theglobal types, data, global routines and modules in the entireprogram. Rename the alias or change the conflicting name.


DescriptionType reference of alias name arg is an alias type.

Recommended actionsCheck that the type of the component is correctly defined. Ifso, it could be a circular definition. The type of a componentcould not refer to its own record type.


DescriptionCannot determine type of alias arg (circular type definitions?).

Recommended actionsCheck that the type of the alias is correctly defined. If so, itcould be a circular definition, the type of an alias could not referto a record that use this alias as a component.


DescriptionRecord component name arg is ambiguous.

Recommended actionsAt least one other object sharing the same name as the referredcomponent is visible from this program position. Make surethat all object names fulfill the naming rules regardinguniqueness.


DescriptionPlace holder for record component not allowed in definition ofnamed record.

Recommended actionsComplete the definition or change the data name to a placeholder.


DescriptionCannot use the semi-value type arg for record components.

Recommended actions


DescriptionIllegal reference to installed task object arg from shared object.

Recommended actionsInstall the referred object shared, or install the referring ReaLobject/ archive or RAPID module in each task (not shared).


DescriptionCannot use semi-value type for arrays.

Recommended actions


Descriptionarg not procedure reference.

Recommended actionsThe specified name identifies an object other than a procedure.Check if the desired procedure is hidden by some other objectwith the same name.


DescriptionArgument for 'PERS' parameter arg is not a persistent referenceor is read only.

Recommended actionsMake sure the argument is just a persistent or persistentparameter reference and that it is writable. Do not use () aroundthe argument.


DescriptionArgument for 'VAR' parameter arg is not variable reference oris read only.

Recommended actionsMake sure the argument is just a variable or variable parameterreference and that it is writable. Do not use () around theargument.


DescriptionThe Interrupt number is not static variable reference, or it isshared, or it is read only.




Recommended actionsMake sure the interrupt number is just a variable or variableparameter reference. The variable must be static and notshared. The variable may not be read only.

40126, Value error

DescriptionInteger value arg is too large.

Recommended actionsThe value of the expression must be an integer value. Thecurrent value is outside the integer range.

40127, Value error

Descriptionarg is not an integer value.

Recommended actionsThe value of the expression must be an exact integer value.The current value has a fraction part.


DescriptionReference to unknown entire data arg.

Recommended actionsNo data (or other object) with the specified name is visible fromthis program position.


DescriptionReference to unknown function arg.

Recommended actionsNo function (or other object) with the specified name is visiblefrom this program position.


DescriptionReference to unknown procedure arg.

Recommended actionsNo procedure (or other object) with the specified name is visiblefrom this program position.


DescriptionReference to unknown trap arg.

Recommended actionsNo trap (or other object) with the specified name is visible fromthis program position.

40135, Syntax error

DescriptionExpected arg.

Recommended actions

40136, Syntax error

DescriptionUnexpected arg.

Recommended actions

40137, Syntax error

DescriptionExpected arg but found arg.

Recommended actions

40138, Syntax error

DescriptionSyntax error, stack backed up.

Recommended actions

40139, Syntax error

DescriptionSyntax error, parsing terminated.

Recommended actions

40140, Numerical value for symbol arg is out ofrange

DescriptionNumerical value for symbol arg is out of range.

Recommended actionsMake the value smaller.

40141, String too long

DescriptionThe string arg is too long.

Recommended actionsMake the string shorter.




40142, TxId is out of range

DescriptionThe Text identifier arg is out of range.

Recommended actions

40143, Aggregate is out of range

DescriptionThe aggregate arg is out of range.

Recommended actionsMake the aggregate smaller.

40144, Integer out of range

DescriptionThe integer arg is out of range.

Recommended actionsMake the integer smaller.

40145, Parser stack is full

DescriptionThe parser stack is full.

Recommended actionsReduce program complexity.

40146, Not enough heap space

DescriptionThere is not enough heap space to fulfill the action.

Recommended actionsRewrite your program.

40147, Identifier is reserved word in currentlanguage

DescriptionThe identifier arg is a reserved word in current language.

Recommended actionsChange the name of the identifier.

40148, Identifier too long

DescriptionThe name of the identifier arg is too long.

Recommended actionsRename the identifier with a shorter name.

40149, Placeholder too long

DescriptionThe placeholder arg is too long.

Recommended actionsRename the placeholder with a shorter name.

40150, Unexpected unknown token

DescriptionUnexpected unknown token.

Recommended actionsRemove the unknown token.


DescriptionTASK illegal in routine variable declaration.

Recommended actionsOnly program data declarations may have the TASK attribute.Remove the TASK attribute or move the declaration outside ofthe routine.


DescriptionTask arg: Argument for 'PERS' parameter arg is not persistentreference or is read only.

Recommended actionsMake sure the argument is just a persistent or persistentparameter reference and that it is writable. Do not use () aroundthe argument.


DescriptionTask arg: Argument for 'VAR' parameter arg is not variablereference or is read only.

Recommended actionsMake sure the argument is just a variable or variable parameterreference and that it is writable. Do not use () around theargument.


DescriptionTask arg: Interrupt number is not a static variable reference, isshared, or is read only.




Recommended actionsMake sure the interrupt number is just a variable or variableparameter reference. The variable must be static and notshared. The variable may not be read only.

40158, Value error

DescriptionTask arg: Integer value arg too large.

Recommended actionsThe value of the expression must be an integer value. Thecurrent value is outside the integer range.

40159, Value error

DescriptionTask arg: arg not integer value.

Recommended actionsThe value of the expression must be an exact integer value.The current value has a fraction part.

40160, Errors in RAPID program

DescriptionTask arg: There are errors in the RAPID program.

Recommended actionsCheck for RAPID errors using Check program in the Programeditor and correct the program.

40161, Option is missing

DescriptionThe instruction arg requires the option arg.

ConsequencesThe program will not execute properly.

Probable causesThe system image doesn't include the required option.

Recommended actionsUpdate the system image with the required option.

40162, Errors in RAPID program

DescriptionTask arg: There are errors in the RAPID program.

Recommended actionsTake the following actions to be able to debug the program:Change the type of the task to NORMAL. Restart the controller.Check for RAPID errors and correct the program.

40163, Module error

DescriptionThe module arg has too many lines to be loaded. Maximumnumber of lines allowed in a module is arg.

ConsequencesModule (or program if the module was part of a program) cannotbe loaded.

Probable causesThe module has too many lines.

Recommended actionsSplit the module in two or several smaller modules.


DescriptionTask arg: Reference to unknown entire data arg.

Recommended actionsNo data (or other object) with the specified name is visible fromthis program position.


DescriptionTask arg: Reference to unknown function arg.

Recommended actionsNo function (or other object) with the specified name is visiblefrom this program position.


DescriptionTask arg: Reference to unknown procedure arg.

Recommended actionsNo procedure (or other object) with the specified name is visiblefrom this program position. To avoid run time errors like this,add code in error handler to handle this. ERRNO will be set to"ERR_REFUNKPRC".


DescriptionTask arg: Reference to unknown trap arg.

Recommended actionsNo trap (or other object) with the specified name is visible fromthis program position.





DescriptionTask arg: Reference to unknown data (or other object) foundduring execution of module arg.

Recommended actionsCheck the program for unresolved references.


DescriptionTask arg: Reference to unknown module arg.

Recommended actionsNo module (or other object) with the specified name is visiblefrom this program position. Check the program for incorrectmodule reference or if the module is missing.


DescriptionTask arg: Reference to object arg that is not a module.

Recommended actionsThe specified name identifies an object other than a module.Check the program for incorrect module reference.


DescriptionTask arg: Reference to module arg is ambiguous.

Recommended actionsAt least one other object sharing the same name as the referredmodule is visible from this program position. Make sure that allobject names fulfill the naming rules regarding uniqueness.


DescriptionTask arg: Reference to procedure arg is ambiguous.

Recommended actionsAt least one other object sharing the same name as the referredprocedure is visible from this program position. Make sure thatall object names fulfill the naming rules regarding uniqueness.


DescriptionTask arg: Variable and trap routine already connected.

Recommended actionsIt is not legal to connect a specific variable with a trap routinemore than once.


DescriptionTask arg: arg is second present conditional argument forexcluding parameters.

Recommended actionsArguments may not be present for more than one parameterfrom a list of parameters that exclude each other.

40193, Execution error

DescriptionTask arg: Late binding procedure call error arg.

Recommended actionsThere is an error in the procedure call instruction. See previousmessage for the actual cause.

40194, Value error

DescriptionTask arg: Division by zero.

Recommended actionsCannot divide by 0. Rewrite the program so that the divideoperation is not executed when the divisor is 0.

40195, Limit error

DescriptionTask arg: The configured maximum number of RETRYs (argretries) is exceeded.

Recommended actionsThe error correction performed before the RETRY instructionis executed, is probably not enough to cure the error. Checkthe error handler.


DescriptionTask arg: Attempt to execute place holder.

Recommended actionsRemove the place holder or the instruction containing it, ormake the instruction complete. Then continue execution.





DescriptionTask arg: Function does not return any value.Program ref: arg.

Recommended actionsThe end of the function has been reached without a RETURNinstruction being executed. Add a RETURN instructionspecifying a function return value.

40198, Value error

DescriptionTask arg: Illegal orientation value arg.

Recommended actionsAttempt to use illegal orientation (quaternion) value.

40199, Value error

DescriptionTask arg: Illegal error number arg in arg.

Recommended actionsUse error numbers in the range 1-90 or book error numberswith the instruction BookErrNo.

40200, Limit error

DescriptionTask arg: No more interrupt number available.

Recommended actionsThere is a limited number of interrupt numbers available.Rewrite the program to use fewer interrupt numbers. Thismessage may also occur as a consequence of a system error.

40202, Type error

DescriptionTask arg: Dimensions arg and arg of conformant arraydimension number arg are incompatible.

Recommended actionsThe array is not of the expected size. Array assignment mayonly be performed on arrays of identical size.


DescriptionTask arg: Optional parameter arg not present.

Recommended actionsThe value of a non-present optional parameter may not bereferred. Use the predefined function 'Present' to check thepresence of the parameter before using its value.

40204, Value error

DescriptionTask arg: Array index arg for dimension number arg out ofbounds (1-arg).

Recommended actionsThe array index value is non-positive or violates the declaredsize of the array.

40205, Value error

DescriptionTask arg: RAPID String arg too long.

Recommended actionsString value exceeds the maximum allowed length. Rewrite theprogram to use strings of less length.

40206, Interrupt queue full

DescriptionExecution of all normal tasks has stopped. Too many interruptshas occurred in arg while executing a trap routine.

ConsequencesThe system goes to blocked state and cannot be restartedbefore moving the program pointer to an arbitrary position.

Probable causesToo many interrupts has occurred while executing a trap routine.This can be caused by heavy CPU load.

Recommended actionsMinimize execution time in the trap routine. Disable/enableinterrupts while executing a trap routine using the Isleep orIwatch commands.

40207, Value error

DescriptionTask arg: Illegal error number arg in arg.

Recommended actionsError numbers used in an ERROR handler must be positive.




40208, Error event queue full

DescriptionTask arg: The program was already executing an error eventwhen a new event occurred.

Recommended actionsAttend the cause of the error event and restart the program.

40209, Error handler already executed

DescriptionAn error event in task arg has occurred while executing theerror handler. The context of the RAPID instruction that hasgenerated this event is however already consumed. No errorhandling is therefore possible to execute.

Recommended actionsAttend the cause of the error event and restart the program.

40210, Interrupt removed from queue

DescriptionAll interrupts have been deleted from the interrupt queue intask arg.

ConsequencesNo trap routines, connected with the interrupt, may be executed.

Probable causesThe program has been stopped. A service routine or an eventroutine may be executing. The program is executing in stepmode.

Recommended actions


DescriptionTask arg: Execution aborted.

Recommended actionsExecution was aborted due to a fatal error.

40222, Limit error

DescriptionTask arg: Execution stack overflow.

Recommended actionsThe program is too complex to execute. Probably the programcontains recursive routines.


DescriptionThe execution of task arg has been stopped by a runtime error.

ConsequencesThe program execution is immediately halted.

Probable causesThe program error is considered UNRECOVERABLE so noerror recovery attempt by an error handler routine (if used) wasallowed. The actual cause of the error may vary, and is likelyto be specified in an event log message logged simultaneouslyas this one.

Recommended actionsCheck other event log messages logged simultaneously todetermine the actual cause.


DescriptionTask arg: Illegal return code arg from ReaL routine. This isalways caused by an internal error in the ReaL routine.

Recommended actions


DescriptionTask arg: Execution could not be restarted. Execution of theprogram could not be continued after power failure.

Recommended actionsRestart the program.

40226, Name error

DescriptionTask arg: Procedure name arg is not a RAPID identifierexcluding reserved words.

Recommended actionsThe procedure name, must be a legal RAPID identifier not equalto any of the reserved words of the RAPID language. Changethe name expression.

40227, Limit error

DescriptionTask arg: Runtime stack overflow. The program is too complexto execute. Probably the program contains recursive routines.

Recommended actions





DescriptionThe execution of task arg has been stopped by a runtime errorarg.


Probable causesThe program error is considered RECOVERABLE but the errorwas not recovered. The actual cause of the error may vary, andis likely to be specified in an event log message loggedsimultaneously as this one.

Recommended actionsCheck other event log messages logged simultaneously todetermine the actual cause.


DescriptionTask arg: Unhandled error.

Recommended actionsAn error occurred in called instruction but was not handled byany ERROR clause in the program. Check the previous erroror warning in the common log for the cause.


DescriptionTask arg: Unhandled non-fatal runtime error.

Recommended actionsA non-fatal runtime error has occurred but was not handled byany ERROR clause.

40241, Value error

DescriptionTask arg: Array dimension number arg out of range (1-arg).

Recommended actionsThe value of the 'DimNo' parameter of the 'Dim' function mustbe an integer value in the specified range.

40242, Type error

DescriptionTask arg: Data is not an array.

Recommended actionsThe 'DatObj' parameter of the 'Dim' function must be an array.

40243, Value error

DescriptionTask arg: Unknown interrupt number.

Recommended actionsCheck that the specified interrupt variable has been initializedby CONNECT, and that the interrupt has been defined usingthe ISignalDI or other interrupt definition instruction.

40244, Value error

DescriptionTask arg: Object arg is of non-value type.

Recommended actionsUse expression or data object of value or semi-value type.


DescriptionParameters in arg and arg is not matching (late binding).

Recommended actionsMake sure that all procedures that are called from the samelate binding node have matching parameters. I.e. they shouldbe matching concerning base type, mode and required/optionalparameters.

40246, Cannot Deactivate Safe Interrupt

DescriptionTask: arg: It is not possible to deactivate a Safe Interrupt withthe instruction ISleep.Program ref: arg.

Recommended actionsRecovery: arg.

40247, Persistent variable size error

DescriptionTask arg: Persistent variable arg: has changed size and mustbe reinitialized.

Recommended actionsReload all modules in all tasks accessing the persistent variable.

40251, Name error

DescriptionTask arg: Ambiguous symbol name arg.




Recommended actionsInstalled objects must have names that are unique. Renamethe object or change the conflicting name.

40252, Limit error

DescriptionTask arg: Error arg when creating sdb entry for arg.

Recommended actionsAn error occurred when the persistent was to be inserted intothe shared database. Probably the database is full.


DescriptionTask arg: Alias arg of alias arg not allowed.

Recommended actionsIt is not possible to define an alias type equal to another aliastype. Instead, define two alias types equal to the same atomicor record type.

40254, Symbol definition error

DescriptionTask arg: 'ANYTYPE#' parameter arg cannot be dimensioned.

Recommended actionsRemove the dimension specification. 'ANYTYPE#' includesarray types.


DescriptionTask arg: 'ANYTYPE#' only allowed for parameter (not for arg).

Recommended actionsUse another type.


DescriptionTask arg: 'alt' must not be set for first optional parameter argin alternatives list.

Recommended actionsMake sure that only the second and following in each list ofexcluding optional parameters are marked as alternatives.


DescriptionTask arg: REF mode parameter arg cannot be dimensioned.

Recommended actionsRemove the array dimension specification, or change the modeof the parameter.


DescriptionTask arg: 'switch' parameter arg cannot be dimensioned.

Recommended actionsRemove the array dimension specification, or change the datatype of the parameter.


DescriptionTask arg: 'switch' parameter arg must have transfer mode IN(specified value arg).

Recommended actionsRemove the parameter transfer mode specifier. If IN transfermode is not sufficient, change the data type of the parameter.


DescriptionTask arg: 'switch' only allowed for optional parameter (not forarg).

Recommended actionsChange the parameter into an optional parameter, or changethe data type of the parameter. If the object is not a parameter,change the data type.


DescriptionTask arg: Value type class for arg must be one ofREAL_SYMVALTYP_VAL, _SEMIVAL, _NONVAL or _NONE(specified value arg).

Recommended actionsChange the value type class.


DescriptionTask arg: Too many array dimensions for arg (specified valuearg).

Recommended actionsAn array may have at most 3 dimensions.




40263, Name error

DescriptionTask arg: Symbol name arg is not a RAPID identifier excludingreserved words.

Recommended actionsThe names of installed objects, including parameters andcomponents, must be legal RAPID identifiers not equal to anyof the reserved words of the RAPID language. Change thename.


DescriptionTask arg: Missing C function for arg.

Recommended actionsA C-function that executes the ReaL function being defined,must be specified.


DescriptionTask arg: Missing value initialization function for arg.

Recommended actionsA value initialization function must be specified.


DescriptionTask arg: arg is not a data type name (object arg). The specifiedname identifies an object other than a type.

Recommended actions


DescriptionTask arg: arg is not a value data type (object arg). Only recordcomponents, alias types, variables and 'VAR' mode parametersmay be of semi-value or non-value type.

Recommended actions


DescriptionTask arg: Missing value conversion function for arg.

Recommended actionsA value conversion function must be specified for a semi-valuetype.


DescriptionTask arg: Not enough memory for value of data arg.

Recommended actionsMore memory required.


DescriptionTask arg: Private type arg can only be semi-value or non-valuetype (specified value arg).

Recommended actionsChange the value type class.


DescriptionTask arg: Private type arg size must be multiple of 4 (specifiedvalue arg).

Recommended actionsAll RAPID types must have a size that is a multiple of four.Change the specified type size.

40272, Type error

DescriptionTask arg: Persistent type mismatch for arg.

Recommended actionsThere is already a persistent data with the same name but withanother data type. Rename the persistent, or change its datatype.


DescriptionTask arg: Unknown data type name arg for arg.

Recommended actionsThere is no data type (or other object) with the specified name.


DescriptionTask arg: Unknown parameter transfer mode arg for arg.

Recommended actionsThe specified parameter transfer mode is not one of IN, 'VAR','PERS', 'INOUT' or REF. Use correspondingREAL_SYMPARMOD_x.





DescriptionTask arg: Unknown symbol definition type arg. The symboldefinition type tag does not specify one of the allowed symboltypes (REAL_SYMDEF_x).

Recommended actions

40277, Undo Aborted

DescriptionTask arg: The program execution was stopped while processingthe UNDO statements. UNDO was not fully executed. Theroutine arg was executing when UNDO was stopped.

Recommended actionsIf the processing of UNDO takes too long, try to removetime-consuming instructions such as TPWrite from theUNDO-clause. If the undo processing never seems to finish,make sure any loops in the undo-statements are correct.

40278, Undo Aborted

DescriptionTask arg: The processing of UNDO was aborted due to anEXIT-statement in the routine arg. UNDO was not fully executed.

Recommended actions

40279, Undo Aborted

DescriptionTask arg: The processing of UNDO was aborted due to arun-time error in routine arg. UNDO was not fully executed.

Recommended actionsInvestigate the cause of the error.

40280, Undo Aborted

DescriptionTask arg: The instructions BREAK, RAISE, RETURN and STOPare not allowed to use in an undo-clause or any routine that iscalled from an undo-clause. The instruction arg was found inUNDO context when executing the routine arg.

Recommended actionsAvoid executing the instruction when in undo-context.

40281, Undo Aborted

DescriptionTask arg: The program execution of UNDO statements wasaborted due to edit operation.

40301, File access error

DescriptionTask arg is trying to access file arg, but failing.

ConsequencesNo data in the file may be accessed.

Probable causesFile may be write protected.

Recommended actionsCheck if the file is write protected, and in such case change thesetting.


DescriptionTask arg is trying to access file arg, but does not find file ordirectory.

ConsequencesIf the missing file is a module, no automatic loading to a taskis possible.

Probable causesFile may not have been correctly copied to the target directory.File or directory may have incorrect name.

Recommended actionsMake sure the file and directory names are correct.




Probable causesNo storage space available on device.

Recommended actionsMake sure there is enough storage space available.







Probable causesFile may be write protected. File or directory may have incorrectname. No storage space available on device.

Recommended actionsCheck if the file is write protected, and in such case change thesetting. Make sure the file and directory names are correct.Make sure there is enough storage space available.

40322, Load error

DescriptionTask arg: RAPID syntax error(s) in file arg.

Recommended actionsThe source file to be loaded contains RAPID syntax errors.Correct the source file.

40323, Load error

DescriptionTask arg: Syntax error(s) in header in file arg.

Recommended actionsThe source file to be loaded contains syntax error in the fileheader. Correct the source file. The syntax errors are loggedin a separate file.

40324, Load error

DescriptionTask arg: Keywords not defined in specified language (file arg).

Recommended actionsCannot load RAPID source code in the national languagespecified in the file header.

40325, Load error

DescriptionTask arg: A big enough free program memory block is notavailable. The ordered operation could not be completed.

Probable causesThe program memory is full or fragmented.

Recommended actionsCheck if large data structures could be split into smaller blocks.Use of installed modules can save program memory.

40326, Load error

DescriptionTask arg: Parser stack full (file arg).

Recommended actionsThe program is too complex to load.

40327, Load error

DescriptionTask arg: Not current RAPID version (file arg).

Recommended actionsCannot load RAPID source code of the version specified in thefile header.

40328, Load error

DescriptionTask: arg.Program memory is full. arg.

Recommended actionsThe module arg could not be loaded because the programmemory is full.Recovery: arg.

40329, Module installation failure

DescriptionTask: arg.It is not possible to install a module from file arg.

ConsequencesThe module will not be installed.

Probable causesThere can be several different reasons. The RAPID modulemay have RAPID errors. The file might not exist.

Recommended actionsCheck the event messages in the Elog domain RAPID. Correctthe RAPID errors and Reset RAPID. Or make sure the correctfile is available to load. Reset RAPID.

40330, RAPID errors in installed module

DescriptionTask: arg. Module (line/column): arg. There is an error withsymbol: arg.

ConsequencesThe module will not be installed.




40331, Type error

DescriptionOperand types arg and arg for the '/', 'DIV' or 'MOD' operatornot equal.

Recommended actionsThe two operands of the '/', 'DIV' or 'MOD' operators must haveequal type. Check the operand types.

40332, Type error

DescriptionOperand types arg and arg for the '<', '<=', '>' or '>=' operatornot equal.

Recommended actionsThe two operands of the '<', '<=', '>' or '>=' operators must haveequal type. Check the operand types.

40351, Memory allocation error

DescriptionTask arg: Failed to allocate hash table, use linear list.

Recommended actions

40352, Memory allocation error

DescriptionTask arg: Failed to update persistent expression, keep old one.

Recommended actions

40353, Mechanical Unit arg Missing!

DescriptionThe mechanical unit component of the workobject arg is faulty.

Probable causesNo mechanical unit is defined. The mechanical unit definedcannot be found. The robot cannot move the workobject byitself.

Recommended actionsCheck the mechanical unit component of the workobject.

40354, A copy of a dynamic loaded module hasbeen saved

DescriptionTask: arg.A dynamic loaded module arg has been changed. The moduleis lost when PP is set to main. A copy of the changed moduleis saved on arg.

Probable causesA dynamic loaded module has been changed. PP is set to main.The dynamic loaded module is removed. A copy of the changedmodule is saved.

Recommended actionsIf the changes shall be saved, replace the original file with thecopy.

40355, A Stop/QStop event routine has beenstopped

DescriptionTask: arg.A arg event routine has been stopped by an external stopcommand. Any running Stop/QStop event routines will bestopped after arg ms when controller receives second stopcommand.

Recommended actionsKeep all event routines short and free from RAPID instructionsof type WaitTime, WaitDI, etc.

40357, Missing Error Handler

DescriptionThere is no error handler that deals with the process error fortask arg.

ConsequencesThe program will not be able to execute past the next moveinstruction.

Probable causesThe error handler is missing.

Recommended actionsAdd an error handler. The error handler should include theStartMove (StartMoveRetry) instruction.

40358, RMQ message discarded

DescriptionA RMQ message was discarded in task arg. arg received a RMQmessage that couldn't be handled.

ConsequencesThe RMQ message was discarded without any notification tothe sender.

Probable causesThere can be several different reasons. No interrupt isconnected to the type of the received message. No interrupt




could be created because the interrupt queue was full. Thereceived message was corrupt.

Recommended actionsMake sure that the task has connected an interrupt to all typesof messages that is possible to receive. Read aboutIRMQMessage in the RAPID reference manual.

40359, An event routine has been stopped

DescriptionTask: arg.A arg event routine has been stopped by an external stopcommand.

Recommended actionsKeep all event routines short and free from RAPID instructionsof type WaitTime, WaitDI, etc.

40502, Digital Input Break

DescriptionTask: arg.A digital input interrupted the execution.Program ref: arg.



DescriptionTask: argargargarg.


40506, System Access Error

DescriptionTask: arg.argargarg.


40507, Limit Error

DescriptionTask: arg.Cannot step further back on path arg.Program ref: arg.


40508, Orientation Value Error

DescriptionTask: arg.Wrong orientation value in arg.Program ref: arg.

Recommended actionsAll used orientations must be normalized, i.e. the sum of thequaternion elements squares must equal 1.

40511, Parameter Error

DescriptionTask: arg.The parameter arg in arg is specified with a negative value.Program ref: arg.

Recommended actionsThe parameter must be set to a positive value.

40512, Missing External Axis Value

DescriptionSome active external axis have incorrect or no order value.

Recommended actionsReprogram the position.

40513, Mechanical Unit Error

DescriptionTask: arg.Not possible to activate or deactivate mechanical unit. Previousmessage may contain more information.Program ref: arg.

40514, Execution Error

DescriptionTask: arg.The robot is too far from path to perform StartMove of theinterrupted movement.




Program ref: arg.

Recommended actionsPosition the robot to the interrupted position in the program.Recovery: arg.

40515, Type Error

DescriptionTask: arg.Illegal data type of argument for parameter arg.

Recommended actionsChange the parameter to a legal type. Make sure the value typeis value or semi-value.

40518, Type Error

DescriptionTask: arg.Expected type differs from read type in arg.Program ref: arg.

Recommended actionsCheck the type in the argument.

40519, End Of File

DescriptionTask: arg.End of file was found before all bytes were read in arg.Program ref: arg.


40522, Limit Error

DescriptionTask: arg.Stop watch overflow.Program ref: arg.


40523, Mechanical Unit Conflict

DescriptionNot possible to activate mechanical unit arg since mechanicalunit arg is already active.

Recommended actionsCheck the Motion Configuration. Active mechanical units cannothave the same arg: Physical Axis. Logical Axis. Drive UnitConfiguration.

40524, Conveyor Access Error

DescriptionTask: arg.The conveyor is not activated.Program ref: arg.



DescriptionTask: arg.No single number defined.Program ref: arg.


DescriptionTask: arg.The mechanical unit arg is not a single.Program ref: arg.

40527, File Access Error

DescriptionTask: arg.Unable to open arg.Program ref: arg.

Probable causesThe I/O device reference is already in use.

Recommended actionsIf the I/O device reference is already in use, close it or useanother. Recovery: arg.


DescriptionTask: arg.File or serial channel is not open.Program ref: arg.

Probable causesThe I/O device reference is not open, or has already beenclosed.




Recommended actionsCheck that device is open. Recovery: arg.


DescriptionTask: arg.Could not access the file arg.Program ref: arg.

Probable causesThe path or filename is wrong. The I/O device reference isalready in use. The maximum number of simultaneously openedfiles is exceeded. The disk is full.

Recommended actionsCheck the path or filename. If the I/O device reference is alreadyin use, close it or use another. Check the disk space. Recovery:arg.


DescriptionTask: arg.The number of characters, parameter arg in WriteBin, you wantto write to the serial channel is greater than the size of the arraycontaining the characters to be written.Program ref: arg.

Recommended actionsMake the array bigger or decrease the parameter.


DescriptionTask: arg.The array arg in WriteBin is smaller than 0 or greater than 255.Program ref: arg.

Recommended actionsChange the size of the array to be 0 - 255.

40534, Timeout

DescriptionTask: arg.A timeout interrupted the execution.Program ref: arg.


40535, Type Error

DescriptionTask: arg.The data you was trying to read in the file was not a numerictype.Program ref: arg.



DescriptionTask: arg.Too many pending read requests.Program ref: arg.


DescriptionTask: arg.The serial channel is not open, or you are trying to use theinstruction on a file.Program ref: arg.

Recommended actionsOpen the serial channel. Check that the instruction is used ona serial channel. Recovery: arg.

40538, Max Time Expired

DescriptionTask: arg.The programmed waiting time has expired.Program ref: arg.



DescriptionTask: arg.Not allowed option in this task.Program ref: arg.


DescriptionTask: arg.arg is not a directory.Program ref: arg.




Recommended actionsCheck that the path is the correct path to the directory you wantto open.Recovery: arg.


DescriptionTask: arg.Directory arg is not accessible.Program ref: arg.

Recommended actionsCheck the directory you are trying to open.Recovery: arg.


DescriptionTask: arg.Could not access the file system arg.Program ref: arg.

Recommended actionsCheck the path and filename. Recovery: arg.


DescriptionTask: arg.You cannot open arg.Program ref: arg.

Probable causesThere are too many directories already open.

Recommended actionsClose one of the already open directories.Recovery: arg.


DescriptionTask: arg.Could not create the directory arg.Program ref: arg.

Recommended actionsCheck the path. Check write and execute permission for thedirectory under which the new directory should be created.Recovery: arg.


DescriptionTask: arg.Could not remove the directory arg.Program ref: arg.

Recommended actionsCheck the path. Check write and execute permission for thedirectory under which the directory you want to remove islocated. Recovery: arg.


DescriptionTask: arg.Could not remove the file arg.Program ref: arg.

Recommended actionsCheck the path. Check if you have write permission for the file.Check write and execute permission for the directory underwhich the file you want to remove is located. Recovery: arg.


DescriptionTask: arg.Could not rename the file arg.Program ref: arg.

Recommended actionsCheck the path. Check write permission for the file you want torename. Check write and execute permission for the directoryunder which the file you want to rename is located. Recovery:arg.


DescriptionTask: arg.Could not copy the file arg.Program ref: arg.

Recommended actionsCheck the path. Check write permission for the directory thatyou want to copy the file to. Check the available space.Recovery: arg.


DescriptionTask: arg.




Unknown mechanical unit arg. The data of type mecunit isunknown for the system.Program ref: arg.

Probable causesData of type mecunit has been declared in the program.

Recommended actionsRemove the declaration of mecunit data in the program anduse one of the predefined data of type mecunit (automaticdefined by the system).

40555, I/O Error

DescriptionTask: arg.Unable to read I/O signal.Program ref: arg.

40556, I/O Error

DescriptionTask: arg.Unable to write I/O signal.Program ref: arg.

40557, I/O Error

DescriptionTask: arg.Configuration error for I/O signal.Program ref: arg.

Recommended actionsCheck the I/O signal configuration or alias definition.

40558, I/O Error

DescriptionTask: arg.Unable to read the I/O signal arg in I/O device arg.Program ref: arg.

40559, I/O Error

DescriptionTask: arg.Unable to write to the I/O signal arg in I/O device arg.Program ref: arg.


DescriptionTask: arg.Can't save program module arg.Program ref: arg.


DescriptionTask: arg.arg is not a module name.Program ref: arg.

ConsequencesYou cannot unload, save or erase this module.

Recommended actionsCheck the name of the module.


DescriptionTask: arg.Unknown axis number for the mechanical unit arg.Program ref: arg.

Recommended actionsCheck the value for argument AxisNo.Recovery: arg.


DescriptionTask: arg.Mechanical unit arg is not active.Program ref: arg.

Recommended actionsActivate the mechanical unit.Recovery: arg.

40564, Argument Error

DescriptionTask: arg.Orientation definition error. GripLoads attach frame in tool orwork object (user + object) is unnormalized.Program ref: arg.

Recommended actionsCheck the orientation. All used orientations must be normalizedi.e. the sum of the quaternion elements squares must equal 1.





DescriptionTask: arg.Both arguments must be > 0.Program ref: arg.

Recommended actionsCheck the value of the arguments.


DescriptionTask: arg.All arguments must be > arg and <= arg.Program ref: arg.

Recommended actionsCheck the value of the arguments.


DescriptionTask: arg.Quaternion error.Program ref: arg.

Recommended actionsCheck the aom component of loaddata.


DescriptionTask: arg.Axis may not have a value less than 0.Program ref: arg.

Recommended actionsChange to a positive value.


DescriptionTask: arg.The argument AccMax must be set if the argument AccLim isset to TRUE.Program ref: arg.

Recommended actionsSet a value to argument AccMax.


DescriptionTask: arg.The argument DecelMax must be set if argument DecelLim isset to TRUE.Program ref: arg.

Recommended actionsSet a value to argument DecelMax.


DescriptionTask: arg.The value of parameter AccMax is too low.Program ref: arg.

Recommended actionsIncrease the value of parameter AccMax.Recovery: arg.


DescriptionTask: arg.The value of parameter DecelMax is too low.Program ref: arg.

Recommended actionsIncrease the value of parameter DecelMax.Recovery: arg.


DescriptionTask: arg.The value of argument On is too low.Program ref: arg.

Recommended actionsIncrease the value of argument On.Recovery: arg.

40574, Search Warning

DescriptionTask: arg.Number of hits during search was arg. Before performing nextsearch, make sure that TCP is moved back to the start positionof the search path.Program ref: arg.




ConsequencesIf no repositioning is done, before restart of circular search,movement that can cause damage might occur.


40576, ParId Error

DescriptionTask: arg.The array size of argument AxValid is not equal to number ofaxes.Program ref: arg.

Recommended actionsCheck the size of the array.

40577, ParId Error

DescriptionTask: arg.Function ParIdRobValid needs to be executed before functionParIdPosValid.Program ref: arg.

Probable causesFunction ParIdRobValid needs to be executed before functionParIdPosValid.

Recommended actionsCheck that function ParIdRobValid has been executed beforeParIdPosValid.

40578, ParId Error

DescriptionTask: arg.The optional argument PayLoad is missing. For PayLoadidentification the argument must be given.Program ref: arg.

Recommended actionsGive a value to the argument PayLoad.

40579, ParId Error

DescriptionTask: arg.The optional argument PayLoad may only be used for PayLoadidentification.Program ref: arg.

Recommended actionsRemove the argument PayLoad.

40580, ParId Error

DescriptionTask: arg.Faulty state for LoadIdInit.Program ref: arg.

Recommended actionsCheck the whole ParId sequence.

40581, ParId Error

DescriptionTask: arg.Faulty state for ParIdMoveSeq.Program ref: arg.


40582, ParId Error

DescriptionTask: arg.Faulty state for LoadIdInit.Program ref: arg.


40583, ParId Error

DescriptionTask: arg.Backward execution not allowed.Program ref: arg.

40584, ParId Error

DescriptionTask: arg.ParIdMoveSeq / Parameter NextMove: Faulty array size.Program ref: arg.





40585, ParId Error

DescriptionTask: arg.Missed argument WObj in LoadId for PayLoad with roomfixTCP.Program ref: arg.

Recommended actionsAdd argument WObj.

40586, ParId Error

DescriptionTask: arg.Not allowed argument WObj. The argument is only to be usedfor PayLoad with roomfix TCP.Program ref: arg.

Recommended actionsRemove argument WObj.

40587, ParId error

DescriptionTask: arg.ParIdMoveSeq / Parameter MoveData: Faulty array size.Program ref: arg.


40588, ParId Error

DescriptionTask: arg.ParIdMove / Parameter StartIndex: Faulty StartIndex.Program ref: arg.

Recommended actionsCheck the StartIndex.

40589, ParId Error

DescriptionTask: arg.ParIdMove / Parameter StartIndex: Point at negative move type.Program ref: arg.

40590, ParId error

Descriptionarg

arg.



DescriptionTask: arg.Unknown type of parameter identification.Program ref: arg.

Recommended actionsCheck the argument ParIdType.

40592, Program Stop During Load Identification

DescriptionTask: arg.No type of program stop is allowed during load identification.Program ref: arg.

Recommended actionsStart the identification procedure from the beginning again.Recovery: arg.

40593, Power Fail During Load Identification

DescriptionTask: arg.A Power Fail during load identification results in faulty loadresult.Program ref: arg.

Recommended actionsRestart the program execution again with the same run mode(without PP move) for load identification from the beginning.Recovery: arg.

40594, User Error During Load Identification

DescriptionTask: arg.Error resulting in raise of PP to the beginning of the loadidentification procedure.Program ref: arg.

Recommended actionsStart the identification procedure from the beginning again.Recovery: arg.





DescriptionTask: arg.Unknown type of load identification.Program ref: arg.

Recommended actionsCheck the argument LoadIdType.

40596, Program Stop During Load Identification

DescriptionTask: arg.Any type of program stop during load identification is notallowed.Program ref: arg.

Recommended actionsRestart the program execution again for load identification frombeginning.

40597, Speed Override

DescriptionTask: arg.Speed override is not 100 percent.Program ref: arg.

Recommended actionsChange the speed override to 100. Restart the programexecution again for load identification from beginning.

40598, Program Stop during Load Identification

DescriptionNo type of Program Stop is allowed during the LoadIdentification movements.

ConsequencesIt is not possible to complete the Load Identification sequence.Note that some axes for the actual mechanical unit are now inindependent mode.

Probable causesInterrupt of the Load Identification sequence with Program Stopor release of the Enable Device.

Recommended actionsRestart the program. It will then be possible to return to theLoad Identification start position. Then the movement sequencecan be started again. Also possible to cancel the ServiceRoutine to completely skip the Load Identification.

40599, Program Stop during Load Identification

DescriptionNo type of Program Stop is allowed during the LoadIdentification movements.

ConsequencesIt is not possible to complete the Load Identification sequence.Note that some axes for the actual mechanical unit are now inindependent mode.

Probable causesA program stop caused errors in the measurements, and thiswas detected when restarting the Load Identificationmovements.

Recommended actionsRestart the program. It will then be possible to return to theLoad Identification start position. Then the movement sequencecan be started again. Also possible to cancel the ServiceRoutine to completely skip the Load Identification.


DescriptionArgument arg may not have a negative value.

Recommended actionsSet argument arg to a positive value.


DescriptionTask: arg.Not allowed to change run mode from forward to backward orvice versa when running a circular movement.Program ref: arg.

Recommended actionsIf possible, select the original run mode and press start tocontinue the stopped circular movement. If this is not possible,move robot and program pointer for a new start.


DescriptionTask: arg.Argument \WObj specifies a mechanical unit with too long name.Program ref: arg.

Recommended actionsUse max. 16 characters to specify the name of a mechanicalcoordinated unit.





DescriptionTask: arg.Not allowed to step backwards with this move instruction.Program ref: arg.

ConsequencesStep backwards to a position defined with another tool or workobject could result in faulty path.

Recommended actionsCheck tool and work object.


DescriptionTask: arg.No argument programmed for the name of the output signal.Program ref: arg.

Recommended actionsPossible to set one position fix I/O such as digital, group ofdigital or analog output signals during the robot movement.


DescriptionTask: arg.Optional argument arg can only be combined with output signalargument arg.Program ref: arg.

Recommended actionsCheck and change the arguments.


DescriptionTask: arg.Argument arg is not 0 or 1.Program ref: arg.

Recommended actionsDigital signals can only be set or checked to 0 or 1.


DescriptionTask: arg.Argument arg is not an integer value.Program ref: arg.

Recommended actionsDigital group of in/out signals, process identity or processselector can only have an integer value.


DescriptionTask: arg.Argument arg is outside allowed limits.Program ref: arg.

Recommended actionsUsed group of digital in/out signals can only be set or checkedwithin 0 to arg according to configuration in system parameters.Recovery: arg.


DescriptionTask arg: One of the arguments SetValue, SetDvalue,CheckValue or CheckDvalue is outside allowed limits.Program ref: arg.

Probable causesThe analog signal can only be set/checked within arg and argaccording to the I/O system parameter configuration.

Recommended actionsCheck the RAPID program or the I/O configuration.Recovery: arg.


DescriptionTask: arg.Argument arg have too large negative value.Program ref: arg.

Recommended actionsSet argument arg to arg or more.


DescriptionTask: arg.The value of argument Time is too low for cyclic interrupts.Program ref: arg.

Recommended actionsChange the value for Time, to a value greater than or equal to0.1 s.





DescriptionTask: arg.The value of argument Time is too low for single interrupts.Program ref: arg.

Recommended actionsChange the value for Time to a value greater than or equal to0.01 s.


DescriptionTask: arg.Argument arg is not between 0 and 2.Program ref: arg.

Recommended actionsSpecify the flank to generate the interrupt.0 = Negative flank (high -> low).1 = Positive flank (low -> high).2 = Both negative and positive flank.

40625, Limit Error

DescriptionTask: arg.The robot is outside its limits.Program ref: arg.

Probable causesAxis outside working area. Limits exceeded for at least onecoupled joint.


40631, Instruction Error

DescriptionTask: arg.Too many move instructions in sequence with concurrent RAPIDprogram execution.Program ref: arg.

Recommended actionsEdit the program to max. 5 MoveX \Conc in sequence on thebasic execution level of the program.Recovery: arg.


DescriptionTask: arg.No move instructions with concurrent RAPID program executionare allowed within the StorePath-RestoPath part of the program.Program ref: arg.

Recommended actionsEdit the program so it does not contain any MoveX \Concinstructions within the StorePath-RestoPath part of the program.

40634, Reference Error

DescriptionTask: arg.The signal arg is unknown in the system.Program ref: arg.

Probable causesIf the signal is defined in the RAPID program, it must beconnected to the configured signal with instruction AliasIO.

Recommended actionsAll signals (except AliasIO signals) must be defined in thesystem parameters and cannot be defined in the RAPIDprogram.Recovery: arg.

40636, Sensor Error

DescriptionTask: arg.No measurement from sensor.Program ref: arg.

Recommended actionsRequested data is not available.Recovery: arg.

40637, Sensor Error

DescriptionTask: arg.Not ready yet.Program ref: arg.

Recommended actionsRequested function is not ready yet.Recovery: arg.




40638, Sensor Error

DescriptionTask: arg.General error.Program ref: arg.

Recommended actionsGeneral error has occurred which is not specifically connectedto the requested action. Read the block "Error log" if the functionis available.Recovery: arg.

40639, Sensor Error

DescriptionTask: arg.Sensor busy, try later.Program ref: arg.

Recommended actionsThe sensor is busy with another function.Recovery: arg.

40640, Sensor Error

DescriptionTask: arg.Unknown command.Program ref: arg.

Recommended actionsThe function requested from the sensor is unknown.Recovery: arg.

40641, Sensor Error

DescriptionTask: arg.Illegal variable or block number.Program ref: arg.

Recommended actionsRequested variable or block is not defined in the sensor.Recovery: arg.

40642, Sensor Error

DescriptionTask: arg.External alarm.Program ref: arg.

Recommended actionsAlarm from external equipment.Recovery: arg.

40643, Sensor Error

DescriptionTask: arg.Camera alarm.Program ref: arg.

Recommended actionsSome error has been detected in the camera. Run Camcheckto test if the camera is OK.Recovery: arg.

40644, Sensor Error

DescriptionTask: arg.Temperature alarm.Program ref: arg.

Recommended actionsThe camera is overheated it needs more cooling air or water.Recovery: arg.

40645, Sensor Error

DescriptionTask: arg.Value out of range.Program ref: arg.

Recommended actionsThe value of the data sent to the sensor is out of range.Recovery: arg.

40646, Sensor Error

DescriptionTask: arg.Camera check failed.Program ref: arg.

Recommended actionsThe CAMCHECK function failed. The camera is broken. Sendit for repair.Recovery: arg.




40647, Sensor Error

DescriptionTask: arg.Communication time out.Program ref: arg.

Recommended actionsIncrease the time out time and check the connections to thesensor.Recovery: arg.

40648, Search Error

DescriptionTask: arg.Not allowed to do StorePath while searching is active on motionbase path level.Program ref: arg.

ConsequencesProgram is stopped.

Probable causesExecuting of instruction StorePath while searching is active.

Recommended actionsNot possible to use StorePath in TRAP, event or service routinewhile searching is active on motion base path level. If usinginterrupts in the program for execution of TRAPs, such interruptmust be deactivated during any search. E.g. ISleep - SearchL- IWatch.

40649, Path Limitation

DescriptionTask: arg.arg is already done or executing. Instruction arg must first beexecuted, before a new arg can be done.Program ref: arg.

Recommended actionsCheck the RAPID program.

40650, Wrong Combination Of Parameters

DescriptionTask: arg.Optional parameters and switches are not used in a correctcombination.Program ref: arg.

Recommended actionsNo optional parameters and no switch keep the old coordinatesystem. The switch Old has the same function. RefPos orRefNum has to be defined with Short, Fwd or Bwd.

40651, Use Numeric Input

DescriptionTask: arg.Use numeric input for the position instead of a robtarget.Program ref: arg.

Recommended actionsThe position cannot be defined with a robtarget for robot axes.Use the optional parameter for numeric input of the position.

40652, Axis Is Moving

DescriptionTask: arg.A Robot axis, an external axis or an independent axis is moving.Program ref: arg.

Recommended actionsAll Robot axes, external axes and independent axes have tostand still. Use MoveL with Fine argument for the Robot andexternal axes. Use IndRMove for the independent axes.Recovery: arg.

40654, Axis Not Active

DescriptionTask: arg.The axis destination position to move to is undefined (9E9) orthe axis to move is not active at present.Program ref: arg.

Probable causesThe position to move to has been programmed with no activemechanical unit. The position to move to has been modifiedwith the mechanical unit deactivated. The mechanical unit isnot active at present.

Recommended actionsThe mechanical unit has to be activated before modifying ormoving to the destination position.Recovery: arg.

40655, Axis Is Not Independent





The axis is not in independent mode.Program ref: arg.

ConsequencesIt is only possible to get the status from an axis in independentmode.

Recommended actionsSet the axis to independent.Recovery: arg.


DescriptionTask: arg.Parameter arg can only be used, if parameter arg is greaterthan zero.Program ref: arg.

Recommended actionsParameter arg has effect only in the first TriggX instruction, ina sequence of several TriggX instructions, that controls thespeed proportional AO signal.

40661, Search Error

DescriptionTask: arg.The signal arg for the SearchX instruction is already set to thespecified value (high or low) at the start of searching, or theI/O-device for the signal isn't up and running for the occasion.Before performing next search, make sure that TCP is movedback to the start position of the search path.Program ref: arg.



40662, Invalid Worldzone Type

DescriptionTask: arg.The switch \arg must be associated with a arg worldzone.Program ref: arg.

Recommended actionsIf use of switch \Temp, the datatype must be wztemporary inWorldZone. If use of switch \Stat, the datatype must bewzstationary in WorldZone.

40663, World Zone Not In Use

DescriptionTask: arg.The argument arg of the instruction arg refers to a not usedworldzone.Program ref: arg.

Recommended actionsThe worldzone must have been defined and activated by aWZLimSup or WZDOSet instruction.

40664, World Zone Already In Use

DescriptionTask: arg.The 'arg' worldzone has already been defined and activated. Aworld zone can only be defined once.Program ref: arg.

Recommended actionsUse a worldzone with another name.

40665, Too Many World Zones

DescriptionTask: arg.It is not possible to add the world zone arg. The world zonetable is full.Program ref: arg.

Recommended actionsCheck the RAPID program to see if any word zone might beremoved.

40666, Illegal World Zones

DescriptionTask: arg.Worldzone 'arg' is defined locally in current routine.Program ref: arg.

Recommended actionsDefine the world zone as global or local in module.

40667, Illegal World Zones

DescriptionTask: arg.WorldZone arg is not entire data reference.Program ref: arg.

Recommended actionsCheck the value of argument WorldZone.




40668, Shapedata Not In Use

DescriptionTask: arg.The 'arg' argument of the instruction argmust refer to a definedshapedata.Program ref: arg.

Recommended actionsA shapedata is used to store a volume definition. It must havebeen defined by WZBoxDef, WZSphDef or WZCylDef before itcan be used by WZLimSup or WZDOSet.

40669, World Zone Too Small

DescriptionTask: arg.At least one side or radius is less than the minimal allowed ininstruction arg.Program ref: arg.

Recommended actionsCheck previous volume definition instruction.

40670, Invalid World Zone

DescriptionTask: arg.The index of the world zone argument arg in arg is not a validindex defined by WZLimSup or WZDOSet.Program ref: arg.


40671, Illegal Use Of World Zone

DescriptionTask: arg.The argument 'arg' for arg must be a temporary world zone.Program ref: arg.

Recommended actionsCheck the argument.

40672, World Zone Already In Use

DescriptionTask: arg.It is not possible to add the world zone arg. Another world zonewith the same name is already defined in the system.Program ref: arg.

Recommended actionsCheck the name of the world zone.

40673, I/O Access Error

DescriptionTask: arg.The signal given in parameter arg is write protected for RAPIDaccess.Program ref: arg.

Recommended actionsSelect other user signal or change the access mode for thesignal.

40674, I/O Access Error

DescriptionTask: arg.The I/O signal arg is not write protected for user access fromFlexPendant or RAPID.Program ref: arg.

Recommended actionsChange the access mode to type ReadOnly for the signal in theI/O configuration.


DescriptionNot allowed changing the run mode from forward to backwardor vice versa when running an invisible trap routine.

Recommended actionsIf possible, select the original run mode and press start tocontinue.


DescriptionTask: arg.The DeltaJointVal for robot axis arg is <= 0.Program ref: arg.

Recommended actionsCheck the value for DeltaJointVal. The DeltaJointVal for all axesto supervise must be > 0 mm or degrees.


DescriptionTask: arg.The DeltaJointVal for external axis arg is <= 0.




Program ref: arg.

Recommended actionsCheck the value for DeltaJointVal. The DeltaJointVal for all axesto supervise must be > 0 mm or degrees.


DescriptionTask: arg.LowJointVal is higher than or equal to HighJointVal for robotaxis arg.Program ref: arg.

Recommended actionsCheck the values for HighJointVal and LowJointVal. TheHighJointVal must be higher than the LowJointVal for all axeswith defined high or/and low limits.


DescriptionTask: arg.LowJointVal is higher than or equal to HighJointVal for externalaxis arg.Program ref: arg.

Recommended actionsCheck the values for HighJointVal and LowJointVal. TheHighJointVal must be higher than the LowJointVal for all axeswith defined high or/and low limits.


DescriptionTask: arg.Error in used WZHomeJointDef. It is not allowed to specifysupervision of not active axis arg.Program ref: arg.

Recommended actionsSet the argument MiddleJointVal to 9E9 for the actual axis.


DescriptionTask: arg.Error in used WZLimJointDef. It is not allowed to specifylimitation of not active axis arg.Program ref: arg.

Recommended actionsSet the argument LowJointVal and HighJointVal to 9E9 for theactual axis.

40698, Read error

DescriptionTask arg is trying to read file arg, but is failing.

ConsequencesIt was not possible to read/load arg.

Probable causesIf trying to access file on FTP mounted disc, make sure that thesize of arg isn't larger than the maximum file size configured inthe FTP protocol settings.

40699, Program Memory Full

DescriptionThe task arg, has only arg bytes in its program memory.

ConsequencesIt was not possible to load module arg.

Recommended actionsRemove some other module and try again. Check if large datastructures could be split into smaller blocks. Use of installedmodules can save program memory.

40700, Syntax Error

DescriptionTask: arg.Syntax error. arg.

40701, Program Memory Full

DescriptionThe task arg , has only arg free bytes in its user space.

ConsequencesThe ordered operation could not be completed.

Recommended actionsRemove some modules and try again. Check if large datastructures could be split into smaller blocks. Use of installedmodules can save program memory.

40702, File Not Found

DescriptionTask: arg.The file arg was not found.




Program ref: arg.

Recommended actionsCheck the file path and the file name. Check if the file exists.Recovery: arg.

40703, Unload Error

DescriptionTask: arg.The program module could not be unloaded. The reason is thatthe module is changed but not saved.Program ref: arg.

Recommended actionsThe instruction UnLoad: Use the optional switch ErrIfChanged,without recover from this situation, in an Error handler.Recovery: arg.

40704, UnLoad Error

DescriptionTask: arg.arg. The program module couldn't be unloaded.Program ref: arg.

Probable causesModule not loaded with Load instr. Not same file path as usedfor Load.

Recommended actionsCheck if the program module has been loaded with theinstruction Load. Check if the file path and name are the samein the UnLoad and Load instruction. Recovery: arg.

40705, Syntax Error

DescriptionTask: arg.Syntax error arg.

Recommended actionsMore syntax errors will follow this.

40706, Load Error

DescriptionTask: arg.The program module is already loaded.Program ref: arg.

Probable causesThe module name in the head of the file arg already exists inthe program memory.


40707, I/O Device Name Invalid

DescriptionTask: arg.The I/O device name arg does not exist.Program ref: arg.

Recommended actionsCheck if the I/O device name is misspelled. Check if the I/Odevice is defined. Recovery: arg.

40708, I/O Device Is Not Enabled

DescriptionTask: arg.I/O device arg was not enabled.Program ref: arg.

Probable causesThe maximum period of waiting time was too short.

Recommended actionsIncrease the waiting time or make a retry.Recovery: arg.

40709, I/O Device Is Not Deactivated

DescriptionTask: arg.I/O device arg was not deactivated.Program ref: arg.

Probable causesThe maximum period of waiting time was too short.

Recommended actionsIncrease the waiting time or make a retry.Recovery: arg.


DescriptionTask: arg.The argument arg is an expression value, is not present or isof the type switch.Program ref: arg.

Recommended actionsChange the parameter arg to a valid one.Recovery: arg.




40711, Alias Type Error

DescriptionTask: arg.The data types for the arguments FromSignal and ToSignalmust be the same and must be of signalxx type.Program ref: arg.

Recommended actionsChange the type to a valid one (signalai/ao, signaldi/do,signalgi/go).Recovery: arg.

40712, Event Routine Error

DescriptionTask: arg.Too many event routines, the routine arg will not be executed.

Recommended actionsEncapsulate the routine in one of the others that are specifiedfor the same event.

40713, Alias Define Error

DescriptionTask: arg.The signal in argument FromSignal: arg, must be defined in theI/O configuration and the signal in argument ToSignal: arg, mustbe declared in the RAPID program and not defined in the I/Oconfiguration.Program ref: arg.

Recommended actionsCheck the I/O configuration and the RAPID program.Recovery: arg.


DescriptionTask: arg.Orientation definition error in arg.Program ref: arg.

Recommended actionsThis is probably an off-line generated "dummy" position(undefined orientation), which needs to be modified withmodpos.

40720, Alias I/O Installation

DescriptionThe system could not refresh all I/O signals as RAPID symbols.

ConsequencesNo I/O signals can be used in a RAPID program.

Probable causesIncorrect I/O configuration. Incorrect task configuration.


40721, I/O Installation

DescriptionTask arg: The system could not refresh all I/O signals as RAPIDsymbols.

ConsequencesNo I/O signals can be used in a RAPID program.

Probable causesIncorrect I/O configuration. Incorrect task configuration.


40722, Mechanical Units

DescriptionThe system could not refresh all mechanical units as RAPIDsymbols.

ConsequencesNo mechanical units can be used in a RAPID program.

Probable causesIncorrect Motion configuration. Incorrect task configuration.


40723, Camera Installation

DescriptionTask arg: The system could not refresh all camera units asRAPID symbols.

ConsequencesNo camera units can be used in a RAPID program.

Probable causesIncorrect camera configuration. Incorrect task configuration.





40724, Save or Erase Error

DescriptionTask: arg.The program module arg could not be saved or could not beerased.Program ref: arg.

Recommended actionsCheck the spelling of the module name. Check if the module isloaded. Recovery: arg.


DescriptionTask: arg.The reference to the load session is not valid.Program ref: arg.

Recommended actionsCheck if the specified reference is the same as in StartLoad.Recovery: arg.

40727, Save Error

DescriptionTask: arg.Missing file source arg.Program ref: arg.

Recommended actionsUse FilePath argument to specify the file destination.Recovery: arg.

40728, Frame Error

DescriptionTask: arg.Unable to calculate new frame.Program ref: arg.

Probable causesThe positions have not the required relations or are not specifiedwith enough accuracy.

Recommended actionsCheck if the positions are too close or not specified with enoughaccuracy.Recovery: arg.

40731, Value Error


The value of the argument arg for signal arg is above itsmaximum logical value.Program ref: arg.

Recommended actionsChange the argument or change the maximum logical valueparameter for the signal.Recovery: arg.

40732, Value Error

DescriptionTask: arg.The value of the argument arg for signal arg is below itsminimum logical value.Program ref: arg.

Recommended actionsChange the argument or change the min logical value parameterfor the signal.Recovery: arg.

40733, Value Error

DescriptionTask: arg.The value of the argument arg for signal arg is below the valuefor argument arg.Program ref: arg.

Recommended actionsChange the values of the arguments.

40734, Symbol Definition Error

DescriptionTask: arg.The string in text table arg at index arg is too long.Program ref: arg.

Recommended actionsChange the file for the text table and perform a system reset.


DescriptionThe axis is not defined.

Recommended actionsThe axis has to be defined, before this instruction is executed.




40736, Mechanical Unit Error

DescriptionTask: arg.It is not possible to define a payload on the robot with thisinstruction.Program ref: arg.

Recommended actionsUse the instruction GripLoad instead of MechUnitLoad.

40737, Symbol Definition Error

DescriptionTask: arg.The requested text or text package does not exist. Text tablearg, Index arg.Program ref: arg.

Recommended actionsCheck the arguments.Recovery: arg.

40738, I/O Error

DescriptionUnable to access the I/O signal arg on I/O device arg.Impossible to restart.

Probable causesThe connection with the I/O module is broken.

Recommended actionsRe-establish the connection with the I/O device. To make itpossible to restart the program move PP to a safe restartposition.


DescriptionTask: arg.None of the option arguments DO1, GO1, GO2, GO3 or GO4are specified.Program ref: arg.

Recommended actionsSpecify at least one of the arguments.


DescriptionThe PERS variable specified in the instruction TriggStopProccannot be updated, because it does not exist anymore.

Probable causesThe program module with the PERS variable is probablyremoved from the program memory.

Recommended actionsCheck if the module with the PERS variable is removed, if soput it back.

40741, Context Error

DescriptionTask: arg.Instruction arg may only be used in an event routine.Program ref: arg.

Recommended actionsRemove the instruction.


DescriptionTask: arg.The timing parameter DipLag is larger than the systemparameter Event preset time.Program ref: arg.

Recommended actionsIncrease the system parameter Event preset time or check theequipment dip lag (delay) compensation.Recovery: arg.


DescriptionTask: arg.Not a valid subtype in argument arg.Program ref: arg.



DescriptionTask: arg.Invalid value in arg in argument arg.Program ref: arg.






DescriptionTask: arg.arg is less than arg in argument arg.Program ref: arg.



DescriptionTask: arg.arg TRUE in parameter arg in combination with conveyorcoordination.Program ref: arg.

Recommended actionsCannot use fine points when leaving conveyors aftercoordinated stop point. Use a zone instead.

40747, Access Error

DescriptionTask: arg.Cannot read or write to the system parameter arg. Theparameter is internal and protected from reading and writing.Program ref: arg.


40748, Value Error

DescriptionTask: arg.The data to write from parameter CfgData to the systemparameter, is outside valid limits.Program ref: arg.



DescriptionTask: arg.It is not possible to execute StartMove when the robot is moving.Program ref: arg.



DescriptionTask: arg.Some load session with StartLoad - WaitLoad has not beenfinished.Program ref: arg.

Recommended actionsFinish the load session with WaitLoad, cancel it with CancelLoador set PP to main.Recovery: arg.

40753, Memory Fault

DescriptionTask: arg.Because of power fail in executed Load or StartLoad ...WaitLoad instruction, the RAPID program memory isinconsistent. *** TO REPAIR DO ADVANCED RESTART "ResetRAPID" ***.Program ref: arg.

Recommended actionsImportant to do Reset RAPID, because the RAPID programmemory is destroyed: Faulty init value of PERS variables.Reduction of the available program memory size.


DescriptionTask: arg.There are no arguments given.Program ref: arg.

Recommended actionsIf you want a limitation set the optional argument On with avalue, otherwise set to Off.


DescriptionTask: arg.Instruction arg may only be used in a trap routine.Program ref: arg.







Instruction arg may only be used in a trap routine orderedthrough instruction arg.Program ref: arg.

Recommended actionsCheck that INTNO has the interrupt number used by arg.


DescriptionTask: arg.The load session you are trying to cancel is not in use.Program ref: arg.


40758, I/O Error

DescriptionUnable to access the I/O signal arg I/O device arg.


Recommended actionsRe-establish the connection with the I/O device.


DescriptionTask: arg.The argument Data in arg has improper data type.Program ref: arg.

Recommended actionsCheck the data type. Non-value and semi-value types may notbe used.


DescriptionTask: arg.The argument arg has a negative value.Program ref: arg.

Recommended actionsSet the value positive or to zero.

40762, Value Error

DescriptionTask: arg. The value of argument arg forces the robot out ofworkspace.

Program ref: arg.

Recommended actionsDecrease the value.


DescriptionTask: arg. The instruction arg cannot be executed while thesystem is in a stop state.Program ref: arg.

40764, Switch Argument Error

DescriptionTask: arg. The instruction arg must be used with one switchargument.Program ref: arg.

Recommended actionsUse one of the switch Total or Free.


DescriptionTask: arg.In the instruction arg the argument arg is not an open directory.Program ref: arg.

Recommended actionsOpen the directory before trying to read it.Recovery: arg.


DescriptionTask: arg.In the instruction arg the argument arg can't be used withoutthe argument arg.Program ref: arg.


40767, Search Error

DescriptionTask: arg.Object of the type arg could not be searched for.Program ref: arg.





40768, Symbol Access Error

DescriptionTask: arg.No system symbol arg is accessible in the system.Program ref: arg.


40769, Symbol Read Access Error

DescriptionTask: arg.The symbol arg is not a readable object.Program ref: arg.


40770, Symbol Type Error

DescriptionTask: arg.The symbol arg is of type arg and not the expected type arg.Program ref: arg.

Recommended actionsCheck the RAPID program.Recovery: ERR_SYMBOL_TYPE.

40771, Symbol Access Error

DescriptionTask: arg.The symbol arg is not accessible in this scope.Program ref: arg.


40772, I\O Error

DescriptionTask: arg.The arg instruction has lost contact with the conveyor.Program ref: arg.

40773, Instruction Interrupted

DescriptionTask: arg.The instruction arg was interrupted, reason unknown.

Program ref: arg.

40774, Object Dropped

DescriptionTask: arg.The object that the instruction arg was waiting for has beendropped.Program ref: arg.

Probable causesStart window passed or Checkpoint not satisfied.

Recommended actionsIf Checkpoint not used, Checkpoint Distance and CheckpointWindow Width must be set to zero. Rerun the instruction.Recovery: arg.

40775, Conveyor Error

DescriptionTask: arg.Another arg instruction is waiting for a distance to the object.Program ref: arg.


DescriptionTask: arg.Another arg instruction is waiting for the object.Program ref: arg.


DescriptionTask: arg.The arg instruction is already connected.Program ref: arg.


40778, Value Error

DescriptionTask: arg.Booking of the new error number arg failed. The init value mustbe -1 or the old number.Program ref: arg.

Recommended actionsCheck the init value of the new errnum variable.




40779, Error Number Local

DescriptionTask: arg.The RAPID user error number argmust not be declared as localin routine.Program ref: arg.

Recommended actionsCheck the errnum declaration.

40780, Data Object Error

DescriptionTask: arg.There is no valid data object for the argument arg of theinstruction arg.Program ref: arg.

Recommended actionsCheck if there is a right data object.

40781, File Error

DescriptionTask: arg.The parameter arg does not correspond to any loaded text file.Program ref: arg.

Recommended actionsCheck if the text file is (correct) installed.

40782, Mode Error

DescriptionTask: arg.File or serial channel is not opened for writing.Program ref: arg.

Recommended actionsCheck how the file or serial channel was opened.

40783, Mode Error

DescriptionTask: arg.File or serial channel is not opened in a character-based mode.Program ref: arg.


40784, Mode Error

DescriptionTask: arg.File or serial channel is not opened in a binary mode.Program ref: arg.


40785, Mode Error

DescriptionTask: arg.File or serial channel is not opened for reading.Program ref: arg.


40786, Read Error

DescriptionTask: arg.One or more bytes is not read properly. The value of the readdata might be inconsistent.Program ref: arg.

ConsequencesBecause the checksum for the received message is not thesame as calculated at sending, the message data cannot beused.

Probable causesThe reason can be: Communication problem. DifferentWriteAnyBin. ReadAnyBin software version between thesending WriteAnyBin and the receiving ReadAnyBin.

Recommended actionsError Recovery for communication problem: arg.

40787, User Frame Error

DescriptionTask: arg.Not possible to get the coordinated user frame.Program ref: arg.

40788, Axis Error

DescriptionTask: arg.The single axis is not init correctly.Program ref: arg.




40789, Limitation Error

DescriptionTask: arg.The string length of the argument for the file path is too long.Program ref: arg.

Probable causesThe maximum allowed string length for the full system file pathis arg characters.

Recommended actionsShorten the length of the path.

40790, Value Error

DescriptionTask: arg.The RAPID string is too long.Program ref: arg.

Probable causesString value exceeds the maximum allowed length.

Recommended actionsRewrite the program to use strings of less length.Recovery: arg.

40791, I/O Error

DescriptionTask: arg.No space left on device (file name arg).Program ref: arg.


40792, I/O Error

DescriptionTask: arg.File open/access error for path arg.Program ref: arg.

Recommended actionsCheck permission, is the file write protected? Check if the fileor directory exists. Check if there is any space left on device.Recovery: arg.

40793, Error Installing Text Table


No or faulty text resource name or index number in the text file.Program ref: arg.

ConsequencesThe contents of some of the text tables may have beendestroyed.

Recommended actionsCorrect the error, reset the system and try again.


DescriptionTask: arg.The specified index within the text resource already exists inthe system.Program ref: arg.

Probable causesError in the index numbering. The file has been installed twice.

Recommended actionsIf error in the index, correct it, reset the system and try again.


DescriptionTask: arg.System memory for text tables is full.Program ref: arg.

Recommended actionsReduce the amount of user defined text string installed fromRAPID. Reset the system and try again.

40796, Overload Error

DescriptionTask: arg.The system is overloaded so the actual order cannot be readyin time.Program ref: arg.

Recommended actionsReduce the main computer load, for example by: Add WaitTimein RAPID loops. Increase filter time for I/O signals. Avoid cyclicinterrupts.

40797, I/O Error

DescriptionUnable to access the I/O signal arg on I/O device arg.







Descriptionarg.


DescriptionTask: arg.TestSignRead is using a channel without a defined signal.Program ref: arg.

Recommended actionsUse TestSignDefine to define a signal to the channel.

40800, Tool Error

DescriptionTask: arg.The component robhold in the tool has not got the correct value.Program ref: arg.

Recommended actionsChange the value of robhold. If the robot is holding the tool thevalue should be TRUE. If the robot is not holding the tool, i.e.a stationary tool, the value should be FALSE.

40801, Calculation error

DescriptionTask: arg.Cannot calculate the tool frame.Program ref: arg.

Probable causesIt is not possible to calculate the tool frame with the selectedapproach points.

Recommended actionsSelect new approach points as accurate as possible.


DescriptionTask: arg.Not possible to do subscribe.Program ref: arg.

Probable causesThere is no memory left to make another subscription on thisvariable.

Recommended actionsTo continue, PP must be moved to main!

40803, Error message too long

DescriptionThe length of the following error message was too long andhas been cut. This means you will not be able to read the wholemessage.


DescriptionTask: arg.The argument "type" in stoppointdata may not be followtime inthe instructions MoveJ, MoveAbsJ and MoveExtJ.Program ref: arg.

Recommended actionsChange "type" to inpos or stoptime.

40805, Motion Error

DescriptionTask: arg.Error from MocGenInstr. Ref to former message for reason.Program ref: arg.

40806, IOF Error

DescriptionTask: arg.Error from IofGenInstr. Ref to former message for reason.Program ref: arg.

40807, File Error

DescriptionTask: arg.The file arg already exists.Program ref: arg.

Recommended actionsTo be able to rename or copy: Change the file name or removethe existing file.Recovery: arg.




40811, No Contact With I/O Device

DescriptionTask: arg.There is no contact with I/O device.Program ref: arg.

Probable causesThe device may have been deactivated. No power to the I/Odevice.


DescriptionTask: arg.Not allowed to run this program in non_motion_execution_mode.Program ref: arg.

Recommended actionsChange mode.


DescriptionTask: arg.The task is not allowed to execute the instruction arg.Program ref: arg.

Probable causesThe task is not configured to control mechanical units.

Recommended actionsChange the configuration or remove the instruction.


DescriptionTask: arg.StartMove could not get the regain distance.Program ref: arg.

Probable causesApplication error.

Recommended actionsPlease restart the path.Recovery: arg.

40815, Non Existing Axis Number

DescriptionTask: arg.Unknown axis number for the mechanical unit arg.Program ref: arg.

Recommended actionsCheck the value for the argument Axis.

40816, RolGenInstr Error

DescriptionTask: arg.Error from instruction RolGenInstr. Ref. to former user orinternal error message for reason.Program ref: arg.Recovery: arg.

41000, Item source exists

DescriptionItem source arg already exists. Two item sources may not havethe same name.

41001, Not a valid name

DescriptionChoose arg or arg.

41002, Buffer size exceeded

DescriptionFatal internal error for item source arg. Try first by restartingthe controller or second by resetting the system. Please reportthis error.

41003, Item source not defined

DescriptionThe item source object has not been defined.

41004, Itmsrc internal error

DescriptionInternal error for item source arg. Error type: arg.

41005, Flush item source first

DescriptionItem source arg must be flushed before it is used.

41006, Ack item target first

DescriptionItem target must be acknowledged before executing theGetItmTgt(s) instruction again. Error occurred for item sourcearg.




41007, Item target buffer full

DescriptionItem target buffer full for item source arg.

41008, Conveyor I/O init error

DescriptionError in the initialization of the I/O signal for item source arg,for conveyor arg. I/O signal name arg.

41009, Conveyor does not exist

DescriptionError for item source arg. The conveyor arg does not exist.

41010, No conveyor name given

DescriptionError for item source arg. No conveyor name specified.

41011, Conveyor limits error

DescriptionError for item source arg, conveyor arg. The limits areincorrectly specified.

41012, Conveyor data are defined late

DescriptionError for item source arg, conveyor arg. The ItmSrcCnvDatinstruction must be called before the ItmSrcFlush instruction.

41050, Profile not activated

DescriptionProfile record not ready.

ConsequencesProfile data not activated.

Probable causesTry to activate recorded profile too early.

Recommended actionsInstruction RecordProfile must be called before ActivateProfile.

41051, Recorded profile not stored

DescriptionNo valid profile data to store.

ConsequencesNothing stored.

Probable causesTry to store a recorded profile not existing or not activated.

Recommended actionsInstruction ActivateProfile must be called before StoreProfile.

41052, Can't use this profile data file

DescriptionFile not found or data not valid.

ConsequencesProfile not used.

Probable causesFile not found or data not valid.

Recommended actionsCheck file directory and name and profile data.

41100, Too Many Corrections

DescriptionTask: arg.Max 5 correction descriptors are allowed to be connected.Program ref: arg.

Recommended actionsCheck number of connected descriptors.Recovery: arg.

41101, Correction Not Connected

DescriptionTask: arg.Cannot write to correction descriptor.Program ref: arg.

Recommended actionsCheck that the current correction descriptor is connected.Recovery: arg.

41102, No Corrections Connected

DescriptionTask: arg.Correction unable to be read.Program ref: arg.

Probable causesNo correction descriptor connected.

Recommended actionsCheck if any correction generator is connected.Recovery: arg.




41200, Servo Tool Open Error

DescriptionTask: arg.Not possible to open servo gun in motors off state.Program ref: arg.

Recommended actionsRetry after setting motors on.Recovery: arg.

41201, Servo Tool Close Error

DescriptionTask: arg.Not possible to close servo gun in motors off state.Program ref: arg.


41202, Servo Tool Calibration Error

DescriptionTask: arg.Not possible to calibrate servo gun in motors off state.Program ref: arg.


41203, Servo Tool Error

DescriptionTask: arg.Servo tool arg does not exist.Program ref: arg.

Recommended actionsCheck mechanical unit name.Recovery: arg.

41204, Servo Tool error

DescriptionTask: arg.Emergency stop when executing instruction in backgroundtask.Program ref: arg.

Recommended actionsRetry after emergency stop reset.

Recovery: arg.


DescriptionTask: arg.Not possible to close servo gun. The gun is not open.Program ref: arg.

Recommended actionsRetry after opening the gun.Recovery: arg.

41206, Servo Tool Parameter Error

DescriptionTask: arg.The parameter PrePos must be a positive value.Program ref: arg.

Recommended actionsChange the parameter value.Recovery: arg.

41207, Servo Tool Init Error

DescriptionTask: arg.The position for servo tool arg is not initialized.Program ref: arg.

Recommended actionsChange the parameter value or perform a tip change calibration.Recovery: arg.

41208, Servo Tool Synchronization Error

DescriptionTask: arg.The tips for servo tool arg are not synchronized.Program ref: arg.

Recommended actionsSynchronize via ManServiceCalib or perform a tool changecalibration.Recovery: arg.

41209, Servo Tool Activation Error

DescriptionTask: arg.Servo tool arg is not activated.Program ref: arg.




Recommended actionsUse ActUnit to activate.Recovery: arg.


DescriptionTask: arg.Not possible to execute instruction in motors off state for servotool arg.Program ref: arg.



DescriptionTask: arg.Not possible to perform a recalibration of the gun arg.Program ref: arg.

Recommended actionsRetry after checking values.Recovery: arg.


DescriptionTask: arg.Not possible to change force. The gun is not closed.Program ref: arg.

Recommended actionsRetry after closing the gun.Recovery: arg.


DescriptionThe argument Joint must be between 1 and arg.

Recommended actionsCheck and change the value.


DescriptionThe argument Type doesn't correspond to a service value.


DescriptionThe argument Type does not correspond to a service value.


DescriptionThe argument Robot must be between 1 and arg.

Recommended actionsCheck and change the value.


DescriptionThe argument Level doesn't correspond to a service level.


DescriptionTask: arg.Faulty AxisNo.Program ref: arg.

Recommended actionsCheck and change the value. Press Start to continue.

41401, I/O Error

DescriptionUnable to access the I/O signal. Signal and I/O device unknown.




DescriptionTask: arg.Argument On or Off missing.Program ref: arg.

Recommended actionsCheck the RAPID program. One of the switch On or Off mustbe given.


DescriptionTask: arg.Argument arg not allowed together with argument Off.




Program ref: arg.

Recommended actionsCheck and change the RAPID program.


DescriptionTask: arg.This TuneType is only valid for option Advanced Shape Tuning.Program ref: arg.

Recommended actionsChange TuneType or install option.


DescriptionTask: arg.Symbol arg is read-only.Program ref: arg.



DescriptionTask: arg.The symbol arg was not found.Program ref: arg.



DescriptionTask: arg.Ambiguous symbol arg.Program ref: arg.



DescriptionTask: arg.Search error for symbol arg.Program ref: arg.



DescriptionTask: arg.Unknown module name arg.Program ref: arg.

Probable causesThe module does not exist.



DescriptionTask: arg.Ambiguous module arg.Program ref: arg.



DescriptionTask: arg.Ambiguous routine name arg.Program ref: arg.



DescriptionTask: arg.Unknown routine name arg.Program ref: arg.

Probable causesThe routine does not exist.



DescriptionTask: arg.The module name arg does not exist.Program ref: arg.





Recovery: arg.


DescriptionTask: arg.The symbol arg is not a module.Program ref: arg.

Recommended actionsCheck and change the RAPID program.Recovery: arg.


DescriptionTask: arg.Cannot convert date.Program ref: arg.

Recommended actionsRestart the controller and retry.


DescriptionTask: arg.arg must be num, bool, string or dnum.Program ref: arg.



DescriptionTask: arg.The argument type of arg is not compatible with cfg type.Expected arg.Program ref: arg.



DescriptionTask: arg.Unknown cfg domain in argument arg.Program ref: arg.



DescriptionTask: arg.Unknown cfg type in argument arg.Program ref: arg.



DescriptionTask: arg.Unknown cfg instance in argument arg.Program ref: arg.



DescriptionTask: arg.Unknown cfg attribute in argument arg.Program ref: arg.



DescriptionTask: arg.The path 'arg' in argument arg is incorrect.Program ref: arg.

Recommended actionsCheck and change the path.Recovery: arg.

41426, I/O Error

DescriptionUnable to access the I/O signal. Signal and I/O device unknown.

ConsequencesImpossible to restart.





Recommended actionsRe-establish the connection with the I/O device. To make itpossible to restart the program move PP to a safe restartposition.


DescriptionTask arg: The delaytime has to be positive.Program ref: arg.

Recommended actionsChange the value of delaytime.

41428, Axis Error

DescriptionTask: arg.The single axis is not init correctly. The sensor is not activated.Program ref: arg.

41429, Axis Error

DescriptionTask: arg.The single axis is not init correctly. The sensor process is notinit correctly.Program ref: arg.


DescriptionTask: arg.Unknown LOGSRV instance.Program ref: arg.



DescriptionTask: arg.Cannot set test signals.Program ref: arg.




Unknown mechanical unit.Program ref: arg.

Recommended actionsCheck if the mechanical unit exists in the system.Recovery: arg.


DescriptionTask: arg.Argument Axis is out of range.Program ref: arg.

Recommended actionsCheck and change the value of the argument axis.Recovery: arg.


DescriptionTask: arg.Argument Channel is out of range.Program ref: arg.

Recommended actionsCheck and change the value of argument Channel.


DescriptionTask: arg.Cannot reset all test signals.Program ref: arg.


41438, Undefined Load

DescriptionTask: arg.WARNING! Argument arg has undefined load (mass=0).Program ref: arg.

ConsequencesIMPORTANT TO DEFINE CORRECT LOAD to avoid mechanicaldamages of the robot.

Recommended actionsDefine the actual load for the tool or the grip load beforeprogram movement or jogging. A good motion performancerequires a correctly defined load.




41439, Undefined Load

DescriptionTask: arg.WARNING! Argument arg has undefined load center of gravity.Program ref: arg.

ConsequencesIMPORTANT TO DEFINE CORRECT LOAD to avoid mechanicaldamage of the robot.

Recommended actionsDefine the actual center of gravity for the tool load or the gripload before program movement or jogging (cog.x, cog.y andcog.z cannot be 0 mm at the same time). Load identificationcan be done with the service routine LoadIdentify.

41440, Argument Is Missing

DescriptionTask: arg.One of the switch parameter arg or arg has to be defined.Program ref: arg.

ConsequencesThe called RAPID routine could not be executed.

Recommended actionsAn argument of the data type switch must be specified.

41441, UnLoad Error

DescriptionTask: arg.Module loaded with path arg is active and therefore cannot beerased.Program ref: arg.

Probable causesInstruction UnLoad or WaitLoad is executed in the same moduleas the module that should be removed. Instruction UnLoad orWaitLoad is in a trap that is executed earlier than expected. Ifthere is a CONNECT to a trap routine in the module, an IDeleteon the trap has to be done before the module can be unloaded.

Recommended actionsCheck that the module does not contain routines or data thatare still active, for example CONNECT.Recovery: arg.



The reference in argument arg is not an entire persistentvariable.Program ref: arg.

Recommended actionsIt is not possible to use record component or array element inarg. arg. It is only possible to use entire persistent variables forTool, WObj or Load in any motion instruction.


DescriptionTask: arg.Argument Tool has negative load of the tool.Program ref: arg.

Recommended actionsDefine the correct load of the tool before use of the tool forjogging or program movement. Load identification of the toolcan be done with the service routine LoadIdentify.


DescriptionTask: arg.Argument Tool has at least one inertia data component withnegative value.Program ref: arg.

Recommended actionsDefine all inertia data components (ix, iy or iz) to actual positivevalues.


DescriptionTask: arg.No \WObj specified for movement with stationary TCP.Program ref: arg.

Recommended actionsAdd argument \WObj for actual work object. If not movementwith stationary TCP, change the component "robhold" inargument Tool to TRUE (robot holds the tool).


DescriptionTask: arg.It is undefined if the robot holds the tool or the work object.Program ref: arg.




ConsequencesThe program execution is stopped immediately.

Probable causesMismatch of component robhold in the tool and the work object.

Recommended actionsCheck if mismatch between argument Tool and argument \WObjfor data component robhold.


DescriptionTask: arg.Argument arg has at least one data component with negativevalue.Program ref: arg.

Recommended actionsSet all data components in argument arg to positive values.


DescriptionTask: arg.Argument arg may not have a negative value.Program ref: arg.

Recommended actionsSet argument arg to a positive value.

41449, Value Error

DescriptionTask: arg.Illegal value in argument arg.Program ref: arg.



DescriptionTask: arg.Argument \WObj specifies a mechanical unit name, which isnot activated or is unknown in the system.Program ref: arg.

Recommended actionsThe mechanical unit name defined in \WObj must correspondto the name earlier defined in the system parameters and mustbe activated.


DescriptionTask: arg.Argument arg contains an illegal interrupt number.Program ref: arg.

Probable causesInput interrupt number is illegal because it has not beenallocated by the instruction CONNECT.

Recommended actionsUse the instruction CONNECT to allocate and connect aninterrupt number to a trap routine.


DescriptionTask: arg.Argument arg contains an interrupt number, which is alreadyin use for other purposes.Program ref: arg.

Recommended actionsBefore reuse of an interrupt variable in the program, it musthave been cancelled with the instruction IDelete.

41453, Type Error

DescriptionTask: arg.Illegal data type of argument arg.Program ref: arg.



DescriptionTask: arg.Trigg parameter number arg, reference to undefined trigg data.Program ref: arg.

Recommended actionsDefine trigg data by executing instruction TriggIO, TriggInt,TriggEquip, TriggSpeed or TriggCheckIO before currentinstruction.


DescriptionTask: arg.Operative system get time failed.




Program ref: arg.



DescriptionTask: arg.Argument arg not within range.Program ref: arg.

Recommended actionsThe argument must be in range arg.


DescriptionTask: arg.Missing optional argument.Program ref: arg.

Recommended actionsAdd one of the optional arguments arg or arg.


DescriptionTask: arg.Argument arg or arg not within range.Program ref: arg.

Recommended actionsCheck and change the value of the argument.





DescriptionTask: arg.Argument arg or arg or arg not within range.Program ref: arg.

Recommended actionsCheck and change the argument.

41461, Value Error

DescriptionTask: arg.Illegal value of argument arg.Program ref: arg.

Recommended actionsThe index must be an integer and in range 1 to 1024.

41462, Value Error

DescriptionTask: arg.Illegal value of argument for parameter arg.Program ref: arg.

Recommended actionsThe value must be an integer and in the correct range.

41463, Argument Switch Is Missing

DescriptionTask: arg.There is an argument missing.Program ref: arg.

Recommended actionsOne of the switch parameters \Hex1, \Long4, \Float4 or \ASCIIhas to be defined.

41464, Index Too High



41465, The String Is Empty


Recommended actionsCheck the argument, and use a non-empty string.




41466, The Variables Are Equal

DescriptionTask: arg.The argument FromRawData and ToRawData are equal.Program ref: arg.


41467, Value Error


Recommended actionsCheck and change the value. It must be an integer and in range0 to 255.

41468, Value Error


Recommended actionsCheck and change the value. NoOfBytes must be an integerand in range 1 to 1024, and not higher than RawData length.

41469, Value Error


Recommended actionsCheck the value. NoOfBytes must not be higher than RawDatalength.


DescriptionTask: arg.Argument arg or arg not within range.Program ref: arg.



DescriptionTask: arg.You are not allowed to deactivate I/O device arg.Program ref: arg.



DescriptionTask: arg.There is no client e.g. a FlexPendant taking care of instruction.Program ref: arg.



DescriptionIt was not possible to send data using SCWrite to externalcomputer. Failed to send variable arg.

41474, Value Error


Recommended actionsCheck the value: arg arg must be a positive integer.

41475, Wrong size of task list

DescriptionTask: arg.The task list has wrong number of elements. It must not haveless than 1 or more than arg.Program ref: arg.

Recommended actionsCheck and change the number of arguments in the task list.

41476, Non-consistent task list

DescriptionTask: arg.arg in the task list is not one of the tasks that are configured inthe system (max arg tasks can be configured).




Program ref: arg.

Recommended actionsAdd the task to the system (in Controller configuration) orremove it from the task list.

41477, TimeOut

DescriptionTask: arg.The time set in argument arg in instruction WaitSyncTask hasexpired.Program ref: arg.


41480, UnpackRawBytes Error

DescriptionTask: arg.The number of bytes to unpack is too high, and has beenreduced. Length: arg.Program ref: arg.

ConsequencesThe string has been filled with data, but only the valid amount.

Probable causesThe value used in arg optional argument is too high.

Recommended actionsCheck the RAPID program. Use function arg to get the currentlength of valid bytes in the rawbytes variable.


DescriptionTask: arg.The value of the ID is negative or is not an integer.Program ref: arg.

Recommended actionsCheck the value of the optional argument ID. The value mustbe a nonnegative integer.

41484, TimeOut

DescriptionTask: arg.The time set in argument arg in instruction SyncMoveOn hasexpired.Program ref: arg.



DescriptionTask: arg.The instruction arg is only available if there is a TCP-robotdefined in the program task.Program ref: arg.

Recommended actionsCheck the configuration. The instruction must be removed, ifthe task is not supposed to have a TCP-robot.


DescriptionTask: arg.The instruction arg only works if the TCP-robot is active.Program ref: arg.

Recommended actionsActivate the TCP-robot in the task.

41488, Value Error

DescriptionTask: arg.There is no TCP-robot defined in the program task. One orseveral robot axis value input is not equal to 9E9.Program ref: arg.

Recommended actionsChange the robot axis value to 9E9.

41489, Value error

DescriptionTask: arg.The robot axis arg is not moveable and therefore must not besupervised.Program ref: arg.

Recommended actionsChange the value of axis arg to 9E9.

41490, TimeOut

DescriptionTask: arg.The time set in argument arg in instruction SyncMoveOff hasexpired.




Program ref: arg.



DescriptionTask: arg.The instruction arg is not available if there is a TCP-robotdefined in the program task.Program ref: arg.

Recommended actionsCheck the configuration. The instruction must be removed, ifthe task is supposed to have a TCP-robot.


DescriptionTask: arg.The instruction arg only works if the mechanical unit is active.Program ref: arg.

Recommended actionsActivate the mechanical unit in the task.


DescriptionTask: arg.There is no TCP-robot available in the task.Program ref: arg.

Recommended actionsTo be able to run the instruction a TCP-robot must be availablein the task.


DescriptionTask: arg.The task does not control mechanical unit: arg.Program ref: arg.


41495, Move PP Error

DescriptionTask: arg.Not ready with the switch from independent to synchronizedmode.

Program ref: arg.

ConsequencesRestart of current instruction is blocked. The system can eitherbe in synchronized motion mode or still in independent motionmode.

Probable causesStop of program when having an active instruction. Then a PPmovement within program has been done.

Recommended actionsMove PP to start the program again. PP must be moved in allprogram tasks. To have a well-defined state of the system youshould move PP to main.

41496, Move PP Error

DescriptionTask: arg.Not ready with the switch from synchronized to independentmode.Program ref: arg.

ConsequencesRestart of current instruction is blocked. The system can eitherbe in synchronized motion mode or still in independent motionmode.

Probable causesStop of program when having an active instruction. Then a PPmovement within program has been done.

Recommended actionsMove PP to start the program again. PP must be moved in allprogram tasks. To have a well-defined state of the system youshould move PP to main.

41497, Move PP Notification

DescriptionTask: arg.Instruction arg was active in this task. Moving PP within theprogram can be dangerous in some cases.Program ref: arg.

ConsequencesMoving PP in the RAPID program can result in unsynchronizedRAPID tasks or/and collision between robots.

Probable causesPP movement within RAPID program when having active arginstruction.




Recommended actionsMove PP to suitable position in this program task.

41498, No Defined UserFrame InMechanical Unitarg!

DescriptionThe workobject arg contains a coordinated mechanical unitwhich has no defined user frame.

Recommended actionsCheck the mechanical unit component of the workobject.

41499, Synchronized Mode

DescriptionTask: arg.System is in synchronized mode. Instruction must have an ID.Program ref: arg.

Recommended actionsAdd switch \ID with an identification number to the instruction.

41500, Independent Mode

DescriptionTask: arg.System is in independent mode. Instruction must not have anID.Program ref: arg.

Recommended actionsRemove switch \ID from the instruction.

41501, Illegal Id

DescriptionTask: arg.ErrorId has wrong value. It must be an integer in interval arg -arg.Program ref: arg.

Recommended actionsChange the value.

41502, Illegal Domain

DescriptionTask: arg.Domain arg cannot be used.Program ref: arg.

Recommended actionsChoose another Elog Domain.

41503, Illegal Error Type

DescriptionTask: arg.Error type TYPE_ALL cannot be used.Program ref: arg.

Recommended actionsUse another Error Type.

41504, No Mechanical Unit Stated

DescriptionTask: arg.No TCP in the system and no mechanical unit added to theinstruction.Program ref: arg.

Recommended actionsAdd a mechanical unit that exists in the task, to the instruction.

41505, Mechanical Unit Not In Task

DescriptionTask: arg.The mechanical unit stated does not exist in the task.Program ref: arg.

Recommended actionsAdd another mechanical unit to the instruction.

41506, Task Does Not Read a TCP Robot

DescriptionTask: arg.The read task does not read a tcp robot.Program ref: arg.

Recommended actionsChange the configuration or add a mechanical unit, that existsin the task, to the instruction.

41507, Task Reads Other Mechanical Unit

DescriptionTask: arg.Task reads another mechanical unit than the one stated in theinstruction.Program ref: arg.

Recommended actionsChange mechanical unit in the instruction.




41508, LoadId Error

DescriptionTask: arg.Load Identification is not available for this robot type.Program ref: arg.

Recommended actionsCheck next Event Log message, for the next user action to do.

41509, LoadId Error

DescriptionTask: arg.Not valid load identification position.Program ref: arg.

Recommended actionsChange the position for the robot. Check next Event Logmessage, for the next user action to do.

41510, LoadId Error

DescriptionTask: arg.Not allowed to identify (or use) tool0.Program ref: arg.

Recommended actionsSet the tool that should be identified, active in the joggingwindow. Check next Event Log message, for the next useraction to do.

41511, LoadId Error

DescriptionTask: arg.Not allowed to identify load0.Program ref: arg.

Recommended actionsUse another load for identification. Check next Event Logmessage, for the next user action to do.

41512, Internal Error

DescriptionTask: arg.Measurement axes > 2 at the same time.Program ref: arg.

Recommended actionsCheck next Event Log message, for the next user action to do.

41513, LoadId Error

DescriptionTask: arg.Selection of PayLoad out of limits.Program ref: arg.

Recommended actionsSelect a PayLoad in the system. Press Start to continue.

41514, LoadId Error

DescriptionTask: arg.wobj0 cannot be active for roomfix TCP.Program ref: arg.

Recommended actionsSelect another Work Object. Check next Event Log message,for the next user action to do.

41515, LoadId Error

DescriptionTask: arg.Selection of method out of limits.Program ref: arg.

Recommended actionsSelect one of the identification methods given. Press Start tocontinue.

41516, LoadId Error

DescriptionTask: arg.The configuration angle is not adequate.Program ref: arg.

ConsequencesIt is not possible to run the identification.

Probable causesThe selected value of the configuration angle is less than 30,or has another value that is not possible to use for identification.

Recommended actionsSelect a configuration angle between +/- 30 and +/- 90 degrees.Press Start to continue.

41517, LoadId Error





PP has been moved to the beginning of the Load Identificationroutine and is now ready for a new restart.Program ref: arg.

Probable causesService routine was stopped during measurement, interruptedwith cancel by the user or interrupted because some type ofother error. Check former Event Log message for reason.

Recommended actionsStart service routine again Use Debug - Cancel Call Routine toquit execution of service routine. NOTE: Cancel Call Routinewill result in a lost Program Pointer. Use Debug - PP to Mainto get a new Program Pointer.

41518, LoadId Error

DescriptionTask: arg.Selection of MechUnit out of limits.Program ref: arg.

Recommended actionsSelect one of the Mechanical Units displayed. Press Start tocontinue.

41519, LoadId Error

DescriptionTask: arg.Mass must be > 0 kg.Program ref: arg.

Recommended actionsSpecify the mass to something greater than 0. Press Start tocontinue.

41520, Error Recovery Constant Not Booked

DescriptionTask: arg.Error recovery constant arg is not booked.Program ref: arg.

Recommended actionsUse instruction BookErrNo to book the constant or use an errorrecovery constant booked by the system (cannot be used withErrRaise).

41521, Task Status Error


None of the tasks in the task list is a NORMAL, activated task.Program ref: arg.

Recommended actionsCheck in the Task Selection Panel that at least one of the tasksin the task list are selected = activated. Check in the .cfg-filethat at least one of the tasks selected is NORMAL.

41522, Wrong Error Recovery Constant Used

DescriptionTask: arg.Error recovery constant arg has been booked by the system.The constant cannot be used with instruction ErrRaise.Program ref: arg.

Recommended actionsBook a new error recovery constant with instruction BookErrNo.


DescriptionTask: arg.Argument arg is not an integer or is negative.Program ref: arg.

Recommended actionsChange the value of the argument to a non-negative integer.


DescriptionTask: arg.The program is executing in an UNDO handler. It is not allowedto execute the instruction arg in an UNDO handler.Program ref: arg.



DescriptionTask: arg.The program is executing in an EVENT routine. It is not allowedto execute the instruction arg in an EVENT routine.Program ref: arg.






DescriptionTask: arg.Instruction arg may only be used in an ERROR handler.Program ref: arg.

Recommended actionsRemove the instruction or move it to an ERROR handler.

41527, Argument Switch Is Missing

DescriptionTask: arg.There is an argument missing.Program ref: arg.

Recommended actionsOne of the switch parameters \Continue or \BreakOff in arg hasto be defined.


DescriptionTask: arg.Instruction arg may only be used in a no-stepin routine.

Recommended actionsRemove the instruction or move it to a no-stepin routine.


DescriptionTask: arg.The switch \Inpos is only allowed when the task is in control ofa mechanical unit.Program ref: arg.

Recommended actionsRemove the switch \Inpos from the instruction.


DescriptionTask: arg.It is not possible to execute the instruction arg, while thecoordinated workobject has a reference to the mechanical unitarg, located in another task.Program ref: arg.

Recommended actionsChange to a workobject with reference to a mechanical unitlocated in the same task as the TCP robot. Function CalcJointTcan be used even when the coordinated workobject is located

in another task if: Switch \UseCurWObjPos is used. Thecoordinated workobject is standing still.

41531, Task Not In TaskList

DescriptionTask: arg.arg is not one of the tasks in the TaskList, or there is a mismatchbetween the task lists in the different tasks.Program ref: arg.

Recommended actionsAdd current task to the TaskList. Check that the task lists in thedifferent tasks are similar. When using PERS variables, it mightbe necessary to unload the modules containing the task lists,and then reload them again.

41532, Mismatch of task list

DescriptionTask: arg.Failed to synchronize because of: The task list, arg, does notmatch with the task lists with the same SyncID in the othertasks, or a task name is used multiple times in the task list. Notthe same active tasks in task selection panel in the firstexecuted instruction as in the following instructions. Programref: arg.


Probable causesThe reason for this error is one of the following: Task lists donot have the same content for the same SyncID or a task nameis used multiple times. One or several tasks has beenenabled/disabled in the task selection panel after first instructionwas executed.

Recommended actionsCheck and modify task lists and SyncIDs, or the same error willoccur again. Start again. The instructions will be executed withthe current status of the task selection panel.

41533, Mismatch Of SyncID

DescriptionTask: arg.SyncID arg does not match with SyncID in the other task/tasks.Program ref: arg.

Probable causesUse of task lists that are non-global can cause this error.




Recommended actionsChange SyncID and check the task lists. PP must be moved tomain in all tasks before you can continue.

41534, Inconsistent Synch Data

DescriptionTask: arg.Inconsistent synchdata in TaskList arg.Program ref: arg.

Recommended actionsChange content of the TaskList. PP must be moved to main inall tasks before you can continue.

41535, Unexpected SyncMoveOn

DescriptionTask: arg.Unexpected SyncMoveOn (SyncID arg). The system is alreadyin synchronized mode.Program ref: arg.

Probable causesThe program task is already in synchronized mode becauseSyncMoveOn has already been executed. Use of task lists thatare non-global can cause this error.

Recommended actionsPP must be moved to main in all task before you can continuethe program execution. Remove the SyncMoveOn instruction.Every SyncMoveOn must be followed by a SyncMoveOffinstruction. Check your task lists.

41536, Unexpected SyncMoveOn

DescriptionTask: arg.Unexpected SyncMoveOn (SyncID arg). The system is waitingfor a SyncMoveOff.Program ref: arg.

Recommended actionsRemove the SyncMoveOn instruction. Every SyncMoveOn mustbe followed by a SyncMoveOff instruction.

41537, Unexpected SyncMoveOff

DescriptionTask: arg.Unexpected SyncMoveOff (SyncID arg). The system is waitingfor a SyncMoveOn.

Program ref: arg.

Recommended actionsRemove the SyncMoveOff instruction. Every SyncMoveOn mustbe followed by a SyncMoveOff instruction.

41538, Wrong TaskList

DescriptionTask: arg.The task, arg, in the TaskList is a read task and cannot besynchronized.Program ref: arg.

Recommended actionsChange the TaskList or the configuration.

41539, Speed Too High

DescriptionTask: arg.Speed is over arg mm/s. This is too fast when Stiff Stop (switch\Stop) is used.Program ref: arg.


Recommended actionsChange the speed, or change type of stop.

41540, Wrong Mechanical Unit

DescriptionTask: arg.The task reads the control task, arg, which does not control themechanical unit arg.Program ref: arg.

Recommended actionsChange \MechUnit or the configuration.

41541, Not Allowed From a Read Task

DescriptionTask: arg.The instruction is not allowed to execute in a read task.Program ref: arg.





41542, Program Stop

DescriptionTask: arg.Not possible to regain to path because of program stop in thesystem.Program ref: arg.



DescriptionTask: arg.A loaddata has been defined, but is no longer available in thesystem.Program ref: arg.

Probable causesThe reason for this error is one of the following: The instructionGripLoad might have been run in a module that is no longeravailable in the system. A movement instruction with an optionalargument Tload might have been run in a module that is nolonger available in the system.

Recommended actionsBe sure to run GripLoad load0, to reset loaddata. If using Tloadoptional argument in movement instructions, run SetSysDataload0 to reset loaddata.

41544, Obsolete Instruction

DescriptionTask: arg.The procedure arg is obsolete. It will work for now, but mightbe removed in a later release. Use arg instead and you will havethe same functionality.Program ref: arg.


DescriptionTask: arg.The argument arg may not be of type LOCAL PERS.Program ref: arg.

Recommended actionsRemove the directive LOCAL from the data declaration.


DescriptionTask: arg.The object arg does not exist in the system or is of type LOCALPERS.Program ref: arg.

Recommended actionsDeclare the object. Remove the directive LOCAL from the datadeclaration.


DescriptionTask: arg The \Corr switch cannot be used without the optionPath Offset.Program ref: arg.

Recommended actionsRemove the argument or install the option.

41548, Module Error

DescriptionTask: arg.The module you are trying to erase, arg, is active and thuscannot be removed.Program ref: arg.

Recommended actionsCheck that the module you want to erase is not active.

41549, UnexpectedSyncMoveOnorSyncMoveOff

DescriptionTask: arg.Wrong path level. It is not possible to use SyncMoveOn orSyncMoveOff on StorePath level. Used arg: arg.Program ref: arg.


41550, PathRecorder Start/Stop Error

DescriptionTask: arg.Unable to execute arg.Program ref: arg.




Recommended actionsEnsure that a backward motion has not been initiated withPathRecMoveBwd without being terminated withPathRecMoveFwd.

41551, PathRecorder Move Error

DescriptionTask: arg.Unable to execute arg. The given identifier cannot be reached.Program ref: arg.


Probable causesThe reason for this error is one of the following: ThePathRecorder has not been started. The program pointer hasbeen moved manually. The limit of arg recorded moveinstructions has been exceeded. Program execution has beenlimited by a WaitSyncTask or SyncMoveOff.

Recommended actionsCheck RAPID program.

41552, PathRecorder Path Level Error

DescriptionTask: arg.Cannot execute arg on current path level.Program ref: arg.

Recommended actionsSwitch to trap-level. Execute StorePath to switch path level.

41553, Destroyed Data

DescriptionSystem data arg in one of the tasks has been changed. It isNOT allowed to change this data.

Recommended actionsThe system has restored the data when it was started, but theprogram has to be checked. Remove where arg has beenassigned a value.

41554, Synchronized Mode

DescriptionTask: arg.It is not possible to use the optional parameter \Conc when thesystem is in synchronized mode.Program ref: arg.

Recommended actionsRemove the optional parameter \Conc from any move instructionused in synchronized mode.


DescriptionTask: arg.There is no contact with the I/O device arg.Program ref: arg.

Probable causesThe I/O device may have been deactivated. No power to theI/O device.



DescriptionTask: arg.There is no contact with I/O device.Program ref: arg.

Probable causesThe I/O device may have been deactivated. No power to theI/O device.


41557, Mechanical Unit not stopped

DescriptionTask: arg.Not allowed to change run mode, if not all Motion tasks arestopped.Program ref: arg.

Recommended actionsDo program stop and try again.

41558, Argument Switch Missing

DescriptionTask: arg.An argument is missing to instruction arg.Program ref: arg.

Recommended actionsAdd switch SyncOrgMoveInst or SyncLastMoveInst to theinstruction.




41559, Not PERS variable

DescriptionTask: arg.The task list, arg, is either LOCAL or TASK persistent. It is notallowed. It has to be global.Program ref: arg.

Recommended actionsChange the task list to PERS.

41560, No Start of Movement

DescriptionTask: arg.It was not possible to start the movement.Program ref: arg.

Probable causesThere has been an emergency stop. There was another errorin the system.

Recommended actionsReset the emergency stop, if there has been one. Check formererror messages for reason. Recovery: arg.

41561, No Text in Function Key

DescriptionTask: arg.The instruction TPReadFK has no text in either of the functionkeys.Program ref: arg.

ConsequencesWhen the instruction is executing there will be no buttonavailable to press.

Recommended actionsPut a text in at least one of the function keys TPFK1 .. TPFK5.

41562, Risk for faulty circular movement

DescriptionTask: arg.Risk for faulty circular movement because of: An asynchronousprocess error has occurred and was not handled in any errorhandler. Program Pointer at circular instruction in combinationwith done MODPOS of any previous move instruction. Programref: arg.

ConsequencesThe Program may not be started from the current position,because there is a risk that the robot might perform anunexpected movement.

Probable causesOne of following: The RAPID program is missing an errorhandler or the error handler does not handle this specific error.MODPOS operation done when not running in step or movestep mode.

Recommended actionsOne of following: Edit the program. Move the program pointerto be able to start the program.


DescriptionTask: arg.The mechanical unit arg specified in the WObj for this MOVEinstruction is the same mechanical unit arg as the robot for thisprogram task.Program ref: arg.

ConsequencesIt is not possible that the robot moves the work object itself.

Recommended actionsEdit the used wobjdata.

41564, Not allowed to run from a Motion Task

DescriptionTask: arg.The instructions StopMove, StartMove and StopMoveResetwith the option parameter \AllMotionTasks are not allowed torun from a Motion task.Program ref: arg.

Probable causesIt is only allowed to do stop and restart of all movements in thesystem from a supervision program task running as a read (orbackground) program task.


41565, Not allowed value





Recommended actionsCheck and change the value. It must be an integer between argand arg.

41566, Signal exceeds max number of allowedbits

DescriptionTask: arg.The signal arg is too big.Program ref: arg.

Recommended actionsGroup signals consisting of 23 bits or less can be representedby the num data type, and group signals of 32 bits or less canbe represented by the dnum data type, if they are used in aRAPID program.

41567, Digital Output Break

DescriptionTask: arg.A digital output interrupted the execution.Program ref: arg.


41568, Specified name is not a network

DescriptionTask: arg.The network name arg doesn't exist.Program ref: arg.

Probable causesThe I/O device name is misspelled or not defined.


41569, Socket error

DescriptionTask: arg.The socket is already connected and cannot be used to listenfor incoming connections.Program ref: arg.

Recommended actionsUse another socket to listen for incoming connections.

41570, Socket error

DescriptionTask: arg.The socket cannot accept incoming connection requests sinceit is not set to listen state.Program ref: arg.

Probable causesSocketAccept is used before SocketListen.

Recommended actionsSet socket to listen for incoming connections before trying toaccept.

41571, Socket error

DescriptionTask: arg.The address and port is already in use and cannot be used bythis socket.Program ref: arg.


41572, Socket error

DescriptionTask: arg.Unexpected error creating socket. Check log for furthermessages of possible cause.Program ref: arg.

Recommended actionsMove program pointer to main and restart program.

41573, Socket error

DescriptionTask: arg.No more sockets can be created. The maximum number ofconcurrent sockets is 32.Program ref: arg.

Recommended actionsClose one or more sockets, to allow a new socket to be created.

41574, Socket error

DescriptionTask: arg.The socket must be created before it can be used in any socketinstruction.




Program ref: arg.

Probable causesThe reason for this error is one of the following: Socket notcreated at all. PP movements has been done. Start of programafter power fail. The socket has been closed after SocketCreate.

Recommended actionsInsert a SocketCreate instruction at a suitable place in theprogram before the socket is used.Recovery: arg.

41575, Socket error

DescriptionTask: arg.The specified address is invalid. The only valid addresses arethe LAN address of the controller or the service port address,192.168.125.1.Program ref: arg.

Recommended actionsSpecify the LAN address or the service port address.

41576, Socket error

DescriptionTask: arg.The specified port is invalid.Program ref: arg.

Recommended actionsIt is recommended that a port number in the range 1025-4999is used.

41577, Socket error

DescriptionTask: arg.The timeout specified in the instruction is too low. The timeoutis specified in seconds and must not be zero.Program ref: arg.

Recommended actionsUse a timeout value greater than zero.

41578, Socket error

DescriptionTask: arg.Unexpected error when connecting socket. Check event log forother messages for possible cause.Program ref: arg.

Recommended actionsMove program pointer to Main and restart program.

41579, Socket error

DescriptionTask: arg.The connection was refused by the remote host.Program ref: arg.

41580, Socket error

DescriptionTask: arg.The socket is already connected and cannot be connectedagain.Program ref: arg.

Probable causesSocketConnect has already been executed for the specifiedsocket.

Recommended actionsClose the socket and recreate before connecting.

41581, Socket error

DescriptionTask: arg.The instruction was not finished within the timeout period.Program ref: arg.

Recommended actionsUse a higher timeout value or use an error handler to retry theinstruction.Recovery: arg.

41582, Socket error

DescriptionTask: arg.Empty data was specified to be sent or as storage in receive.Program ref: arg.

Recommended actionsUse a string, rawbyte or byte array with size greater than zero.

41583, Socket error

DescriptionTask: arg.The specified data is too big.Program ref: arg.




Recommended actionsA socket can handle at most 1024 bytes in one instruction.

41584, Socket error

DescriptionTask: arg.The specified string or data to be sent is empty.Program ref: arg.

Recommended actionsCheck that the data is correct.

41585, Socket error

DescriptionTask: arg.The number of bytes to send has to be a value bigger than zero.Program ref: arg.

Recommended actionsChange the value for the optional parameter NoOfBytes to avalue bigger than zero.

41586, Socket error

DescriptionTask: arg.The specified number of bytes to be sent is longer than thelength of the actual data.Program ref: arg.

Recommended actionsChange the value for the optional parameter NoOfBytes to beless than or equal to the actual data. If all data should be sentremove the optional parameter.

41587, Socket error

DescriptionTask: arg.An unexpected error occurred when sending data. Check theevent log for other messages for the possible cause.Program ref: arg.

Recommended actionsMove the program pointer to Main and restart the program.

41588, Socket error

DescriptionTask: arg.Network is unreachable.

A socket operation was attempted to an unreachable network.This usually means the local software knows no route to reachthe remote host.Program ref: arg.

ConsequencesThe operation was aborted.

Recommended actionsCheck your connection and network settings.Recovery: arg

41590, Socket error

DescriptionTask: arg.The byte array is invalid. A byte array can only contain integersbetween 0 and 255.Program ref: arg.

Recommended actionsChange the byte array to contain valid data or use rawbytes tosend complex data.

41591, Socket error

DescriptionTask: arg.Unexpected error when trying to get socket state.Program ref: arg.


41592, Socket error

DescriptionTask: arg.No data was received.Program ref: arg.

Probable causesThe connection may have been closed by the remote host.


41593, Socket error

DescriptionTask: arg.The data received is too long to be stored in a string. Themaximum length of data that can be stored in a string is 80characters.




Program ref: arg.

Recommended actionsUse a byte array or rawbytes to receive data longer than 80bytes.

41594, Socket error

DescriptionTask: arg.The socket is not connected.Program ref: arg.

Probable causesFor client, use SocketConnect before receiving/sending/peekingdata. For server, use SocketAccept beforereceiving/sending/peeking data.

Recommended actionsUse SocketConnect or SocketAccept to connect socket beforetrying to receive/send/peek.

41595, Socket error

DescriptionTask: arg.The connection has been closed by the remote host.Program ref: arg.

Recommended actionsUse error handler to re-establish connection before retrying tosend/receive/peek.Recovery: arg.

41596, Socket error

DescriptionTask: arg.Unexpected error binding socket.Program ref: arg.


41597, Socket error

DescriptionTask: arg.The socket has already been bound to an address and cannotbe bound again.Program ref: arg.

Recommended actionsClose socket and recreate before trying to bind socket to a newaddress.

41598, Socket error

DescriptionTask: arg.Unexpected error trying to listen for connections.Program ref: arg.


41599, Socket error

DescriptionTask: arg.The socket has not been bound to an address.Program ref: arg.

Recommended actionsUse SocketBind to specify which address to listen for incomingconnections.

41600, Socket error

DescriptionTask: arg.The specified client socket is already in use. The client socketmust not be created before calling SocketAccept.Program ref: arg.

Probable causesSocketAccept has already been executed for the specifiedsocket.

Recommended actionsClose the client socket before using it in the call toSocketAccept, or remove multiple SocketAccept with sameclient socket.

41601, Socket error

DescriptionTask: arg.Unexpected error accepting connection.Program ref: arg.





41602, Socket error

DescriptionTask: arg.Unexpected error receiving data.Program ref: arg.


41603, Socket error

DescriptionTask: arg.The socket has already been created. A socket can only becreated once and must be closed before it can be created again.Program ref: arg.

Recommended actionsUse another socket or close socket before creating.

41604, Socket error

DescriptionTask: arg.The socket is already listening for incoming connections. Asocket can only be used once to listen for incomingconnections.Program ref: arg.

Probable causesMultiple use of SocketListen with same socket.

Recommended actionsUse another socket or close socket before using it again.

41605, Socket error

DescriptionTask: arg.The socket is not valid anymore.Program ref: arg.


Probable causesThe socket used is not valid. The arg has probably been copiedwith instruction arg. Then the original arg has been closed witharg. If using the copied arg you will have this problem. A modulethat has been installed shared has a declaration of a variableof the data type socketdev. The variable has been used whencreating a new socket. When moving PP to main, the socketdevvariable keeps it value, but is not valid anymore.

Recommended actionsUse socket instructions when handling data types of arg. Donot declare and use socketdev variables in a shared module.

41606, Socket error

DescriptionTask: arg.The socket type is of the type datagram protocol UDP/IP.Current instruction arg is only supported for stream typeprotocol TCP/IP.Program ref: arg.


Probable causesThe socket type used is not valid.

Recommended actionsCheck how the socket was created.

41607, Socket error

DescriptionTask: arg.The socket type is of the type stream type protocol TCP/IP.Current instruction arg is only supported for datagram protocolUDP/IP.Program ref: arg.


Probable causesThe socket type used is not valid.

Recommended actionsCheck how the socket was created.

41611, UIMsgBox - No user or program actiondefined

DescriptionTask: arg.The instruction UIMsgBox or function UIMessageBox has nouser or program action defined. None of the option arguments\Buttons, \BtnArray,\MaxTime, \DIBreak or \DOBreak are used.Program ref: arg.

ConsequencesThe RAPID program will be executed for ever.




Recommended actionsUse one or several of the arguments \Buttons, \BtnArray,\MaxTime, \DIBreak or \DObreak.Recovery: arg.

41612, MinValue greater than MaxValue

DescriptionTask: arg.In function arg, the argument \MinValue is greater than\MaxValue.Program ref: arg.

ConsequencesNot possible to continue the program execution.

Recommended actionsChange the RAPID program so argument \MaxValue is greaterthan \MinValue.Recovery: arg.

41613, InitValue not within specified value range

DescriptionTask: arg.In function arg, the argument \InitValue is not specified withinthe range \MaxValue ... \MinValue.Program ref: arg.

ConsequencesNot possible to continue the program execution.

Recommended actionsChange the argument \InitValue so it's inside the value range.Recovery: arg.

41614, InitValue is not an integer

DescriptionTask: arg.In function arg, the argument \InitValue is not an integer valueas specified in argument \AsInteger.Program ref: arg.

ConsequencesThe program execution cannot continue.

Recommended actionsChange the argument \InitValue to an integer.Recovery: arg.


DescriptionTask: arg.The datapos arg is undefined.Program ref: arg.

Recommended actionsAll datapos is retrieved with the function GetNextSym.


DescriptionTask: arg.The taskid arg is unknown in the system.Program ref: arg.

Recommended actionsProgram tasks must be defined in the system parameter andnot in the RAPID program. (Taskid can be used as a parameterwhen declaring a routine).

41617, Too intense frequency of WriteInstructions

DescriptionA high usage frequency of user interface write instructions,such as TPWrite, has forced the program execution to slowdown.

Recommended actionsDecrease the usage frequency of user interface writeinstructions. Add wait instructions, such as WaitTime, whenmany write instructions are used in conjunction.

41618, Argument error buttondata

DescriptionTask: arg.The argument Buttons of type buttondata has not allowed value.Only allowed to use the predefined data of type buttondata.Program ref: arg.

Probable causesButtondata must be: an integer, have a value within thepredefined range.

Recommended actionsEdit the program.

41619, Argument error icondata





The argument Icon of type icondata has not allowed value. Onlyallowed to use the predefined data of type icondata.Program ref: arg.

Probable causesIcondata must be: an integer, have a value within the predefinedrange.

Recommended actionsEdit the program.

41620, Socket Error

DescriptionTask: arg.The Socket Messaging subsystem is overloaded.Program ref: arg.

Probable causesThis can happen if sockets are created and closed frequentlyand very rapidly.

Recommended actionsTry to rewrite the program in such a way that sockets are reusedinstead of closed and then recreated.

41621, StorePath Error

DescriptionTask: arg.Instruction arg is used with arg switch in one or several taskstogether with arg without arg switch.Program ref: arg.


Probable causesError in the RAPID programs.

Recommended actionsCheck that no mix of StorePath and StorePath \KeepSync isused. Change the program. PP must be moved in all tasksbefore you can continue.

41622, Unexpected instruction

DescriptionTask: arg.The instruction arg can only be used in between instruction argand instruction arg (on store path level).Program ref: arg.


Probable causesError in the RAPID program.

Recommended actionsCheck and change the RAPID program. PP must be moved inall tasks before you can continue.

41623, Faulty use of arg

DescriptionTask: arg.Instruction arg is used multiple times, or the instruction is usedwhen already in synchronized motion mode. arg suspendssynchronized coordinated movements. arg resumessynchronized coordinated movements.Program ref: arg.




41625, Unexpected arg

DescriptionTask: arg.Instruction arg is used directly after instruction arg, or thesystem is not in synchronized motion mode. A change toindependent motion mode cannot be done.Program ref: arg.




41626, Unexpected arg \arg

DescriptionTask: arg.Instruction arg \arg is used in independent motion mode.Program ref: arg.







41627, Faulty use of arg

DescriptionTask: arg.arg is used on store path level and system was not insynchronized motion mode before arg.Program ref: arg.




41630, Unsafe Synchronization

DescriptionTask: arg.To reach safe synchronization functionality, variable arg shouldbe used only one time, not in several arg or arg instructions.Program ref: arg.

ConsequencesProgram tasks/movements may not always be synchronized.

Probable causesUse of arg several times in the same program.



DescriptionTask: arg.The program is executing in an EVENT routine. It is not allowedto execute the current instruction in an EVENT routine withshelf arg.Program ref: arg.


41632, Argument does not exist

DescriptionTask: arg.Only TP_LATEST is supported in TPShow instruction.Program ref: arg.

ConsequencesUsing other argument than TP_LATEST, nothing will happen.


41633, Can only be used in an UNDO handler

DescriptionTask: arg.The instruction arg can only be used in an UNDO handler.Program ref: arg.

ConsequencesProgram execution will be stopped.

Recommended actionsUse another instruction and/or move this instruction to theUNDO handler.

41634, Unknown Task Name

DescriptionTask: arg.The task name arg is unknown in the system.Program ref: arg.

ConsequencesIt is not possible to execute this instruction with a task namethat is not found in the system.

Probable causesThe program task is not defined in the system parameters. Thetask name is wrong spelled.



DescriptionTask: arg.Unexpected SyncMoveOff (SyncID arg). The system is alreadyin unsynchronized mode.Program ref: arg.





Recommended actionsRemove the SyncMoveOff instruction. Every SyncMoveOn mustbe followed by one SyncMoveOff instruction. Check your tasklists.


DescriptionTask: arg.Unexpected SyncMoveOff (SyncId arg) from Task not includedin synchronized group.Program ref: arg.


Recommended actionsRemove the SyncMoveOff instruction. Every SyncMoveOn mustbe followed by one SyncMoveOff instruction. Check your tasklists.

41637, Task not active in task selection panelanymore

DescriptionTask: arg.The task arg is not active in the task selection panel anymore.The task arg was active in task selection panel at start frommain. Because of that not possible to pass this arg instruction.Program ref: arg.


Probable causesThe task arg has been deactivated in the task selection panel.

Recommended actionsActivate task arg in the task selection panel. To permanent skiptask arg for the rest of this cycle run the service routineSkipTaskExec. After that restart the instruction arg.

41638, Not allowed task activation

DescriptionTask: arg.The task arg is active in the task selection panel. This task wasnot active in the task selection panel when start from main wasdone. It is not allowed to add tasks in the task selection panelafter start from main.Program ref: arg.


Probable causesThe task arg was not active when start from main was done.Deactivation of task arg with service routine arg, but notdeactivating the task in the task selection panel. Activation oftask arg that earlier was deactivated in task selection panel anddeactivated with service routine arg.

Recommended actionsMove PP to main to reset tasks used at start from main. Thenuse the task selection panel to select which tasks that you wantto execute.

41640, Move PP Warning

DescriptionTask: arg.Move of program pointer when path is stored may causeproblems if moved to a place after the path restore.

ConsequencesPath may unintentionally stay in a stored state.

Probable causesStop of program when having a stored path. Then a PPmovement within the program has been done.

Recommended actionsEnsure that restore of path is not skipped by moving PP to aRestoPath instruction if necessary.

41641, Move PP Warning

DescriptionTask: arg.Move of program pointer when stop motion is active may causeproblems if moved to a place after stop motion deactivation.

ConsequencesRestart of motion may be blocked. Program execution may bewaiting at motion instructions.

Probable causesStop of program when stop motion is active. Then a PPmovement within the program has been done.

Recommended actionsEnsure that stop motion deactivation is not skipped.






Argument arg not within range.Program ref: arg.

Recommended actionsarg must be > 0 when arg = 0.



Recommended actionsarg must be an integer when arg < 0.



Recommended actionsarg must greater or equal to 0.

41645, Program Stopped from RAPID

DescriptionTask: arg.Program and movement are stopped with System Stop fromRAPID.Program ref: arg.

ConsequencesDue to a programmed System Stop in RAPID both programexecution and movements are stopped. The problem causingthe stop has preferable been presented in another log.

Recommended actionsFind out why the program has been stopped (maybe in otherlogs), correct the problem and restart the program.

41646, Program Blocked from RAPID

DescriptionTask: arg.Program and movement are stopped and blocked with SystemStop RAPID Block from RAPID.Program ref: arg.

ConsequencesDue to a programmed System Stop RAPID Block in RAPID bothprogram execution and movements are stopped. The problem

causing the stop has preferable been presented in another log.If the robot is performing a circular movement, the robot hasto be moved to the beginning of the circular movement beforerestarting the program.

Recommended actionsFind out why the program has been blocked (maybe in otherlogs), correct the problem and move program pointer in allMotion tasks before restarting the program.

41647, Program Halted from RAPID

DescriptionTask: arg.Program and movement are halted with System Halt fromRAPID.Program ref: arg.

ConsequencesDue to a programmed System Halt in RAPID both programexecution and movements are stopped. The problem causingthe stop has preferable been presented in another log.

Recommended actionsFind out why the program has been halted (maybe in otherlogs), correct the problem and turn motors on before restartingthe program.


DescriptionTask: arg.Not allowed to change run mode from forward to backward,from continues to stepwise or vice versa.Program ref: arg.

Recommended actionsSelect the original run mode and continue program execution.

41649, Incorrect Error Message

DescriptionTask: arg.At least one of the arguments in the instruction arg exceedsthe limitations described in the manual.Program ref: arg.

Probable causesThe arguments to instruction arg contain limitations both oneach string and the total amount of characters used in theinstruction. This is described in the manual.




Recommended actionsConsult the manual and correct the arguments.

41650, Task already stopped by another task

DescriptionThe non-Motion task arg has executed a StopMove instruction.No stop action has, however, been taken because the Motiontask arg was already stopped by task arg.Program ref: arg.

ConsequencesThe Motion task must be started, with the instruction StartMove,from the task that stopped it or the switch \AllMotionTasks hasto be used in StartMove from this task.

41651, Ignored StartMove actions for task

DescriptionThe non-Motion task arg has executed a StartMove instruction.The Motion task arg has, however, not been started.Program ref: arg.

ConsequencesNo movements can be performed if the Motion task has beenstopped by another non-Motion task.

Probable causesThe Motion task has not been stopped. The Motion task wasstopped by another non-Motion task arg. This time the causewas arg.

Recommended actionsUse the switch \AllMotionTasks in StartMove if this instructionshould start a movement that is stopped by another non-Motiontask.

41652, Forced StartMove action

DescriptionThe non-Motion task arg has executed a StartMove instruction.The instruction discovered that the Motion task arg has beenstopped by this task. That Motion task will be started to preventinexplicable stopped movements.Program ref: arg.

Probable causesThe Motion task has been stopped with the switch\AllMotionTasks active in the StopMove instruction but not inthe StartMove instruction. The StopMove instruction has beenexecuted in synchronized mode and the StartMove inindependent mode.

41653, Argument error CalcJointT

DescriptionTask: arg.It is not possible to execute the function CalcJointT withargument \UseCurWObjPos, if the coordinated workobjectmoved by some mechanical unit is located in the same task asthe TCP robot or if the workobject is not moved by anymechanical unit at all.Program ref: arg.

Recommended actionsRemove the argument \UseCurWObjPos, so can the functionCalcJointT be executed and the calculation can be done withdata solely from the RAPID program.

41654, Execution error CalcJointT

DescriptionTask: arg.It was not possible to execute the function CalcJointT withargument \UseCurWObjPos, because the mechanical unit argwas moving at the time of execution of CalcJointT.Program ref: arg.

Recommended actionsFunction CalcJointT with argument \UseCurWObjPos can onlybe executed without error, if the coordinated workobject movedby another task is standing still.Recovery: arg.

41655, Argument not a Motion task

DescriptionTask: arg.The function/instruction arg has been used with an argumentthat refer to a task, arg. That task is not a Motion task(controlling mechanical units) and can therefore not be used.Program ref: arg.

Probable causesarg with argument \TaskRef or \TaskName can only be usedwithout errors if the task that the arguments refer to is a Motiontask.

Recommended actionsChange the argument \TaskRef or \TaskName or remove it andrestart the program execution.Recovery: arg.






Recommended actionsCheck and change the value. It must be between arg and arg.


DescriptionTask: arg.Could not access the file/device arg.Program ref: arg.

Probable causesThe path or filename is wrong. The maximum number ofsimultaneously opened files is exceeded. The disk is full.Function does not support check of selected device.

Recommended actionsCheck the path or filename. Check the disk space. Recovery:arg.

41658, Program task is in StopMove state

DescriptionTask: arg.No movement will be performed in this Motion task, becausethe task is currently set in StopMove state ordered by somenon-Motion task.

ConsequencesNot possible to start any movements.

Probable causesSome non-Motion task connected to this Motion task has setthe task in StopMove state.

Recommended actionsTo perform movements in this Motion task, the StopMove statemust be reset by the responsible non-Motion task with one ofthe following actions: Execute StartMove. Start the non-Motiontask from main. a) Do power off-on if semi static non-Motiontask. b) Do installation start if static non-Motion task. c) Set PPto main if normal non-Motion task.

41660, No space left for the new view


Maximum number of views has been exceeded. There is nospace left on the FlexPendant for the new view.Program ref: arg.

ConsequencesThe view will not be launched.

Probable causesToo many open views.

Recommended actionsClose one view and try again.Recovery: arg.

41661, Assembly could not be found

DescriptionTask: arg. The assembly could not be found, or does not exist.The FlexPendant Interface option is missing. Status arg.Program ref: arg.


Probable causesThe assembly arg could not be found. The system image doesnot include the required option FlexPendant Interface.

Recommended actionsCheck inparameters. Make sure that the modules been loadedcorrectly to the robot controller. Check that FlexPendantInterface option is used. Recovery: arg.

41662, Assembly could not be loaded

DescriptionTask: arg.The assembly was found but could not be loaded. Status arg.Program ref: arg.


Recommended actionsMake sure that the loaded modules are executable files for theFlexPendant.Recovery: arg.

41663, Instance could not be created

DescriptionTask: arg.The assembly exist but no new instance could be created.Status arg.Program ref: arg.





Recommended actionsMake sure that the loaded modules are executable files for theFlexPendant.Recovery: arg.

41664, The typename is invalid for this assembly

DescriptionTask: arg.The inparameter arg is invalid. The typename does not matchthe assembly. Status arg.Program ref: arg.


Recommended actionsCheck the inparameters.Recovery: arg.

41665, arg does not match assembly to load

DescriptionTask: arg The type or name of the assembly does not matchwith the used arg. Status arg.Program ref: arg.


Probable causesUse of arg without setting it to 0 first.

Recommended actionsSet arg to 0 before using it.Recovery: arg.

41666, Fatal UIShow error

DescriptionTask: arg.Unknown error code arg received.Program ref: arg.


Recommended actionsReport this to ABB Robotics.

41667, Fatal UI error

DescriptionTask: arg.Instruction or function used with switch arg and without optionalargument arg.Program ref: arg.


Probable causesAn illegal combination of optional arguments and switches wasused.

Recommended actionsCorrect the RAPID program.

41670, Entire Array Not Allowed As Argument

DescriptionTask: arg.The argument arg is of data type 'any type' and can for thatreason only be checked during runtime. An entire array cannotbe used as argument even if the array is of right data type.Program ref: arg.


Recommended actionsReplace the array with a valid argument.

41671, Too high poll rate

DescriptionTask: arg.The specified poll rate is too high for the robot system.Program ref: arg.

ConsequencesThe system can be overloaded.

Recommended actionsChange instruction WaitUntil, argument \PollRate to a valuegreater than or equal to 0.01 s.

41672, Invalid Combination

DescriptionTask: arg.Invalid combination of parameters in Trigg.Program ref: arg.




Recommended actionsEither run Trigg without \Time optional argument, or useTriggRampAO with optional argument \Time to specify that theRampLength is seconds instead of distance.

41673, Index Out Of Bounds

DescriptionTask: arg.Index for cfg instance was out of bounds.Program ref: arg.


41674, Value Out Of Bounds

DescriptionTask: arg.Parameter arg is not in the range of 0 to 100.Program ref: arg.


41675, Not Integer

DescriptionTask: arg.Parameter arg is not an integer.Program ref: arg.

Recommended actionsCheck the RAPID program, or use ERROR handler.Recovery: arg.

41676, Device access error

DescriptionTask:arg Unable to open File or Serial channel, 'arg' does notexist.Program ref: arg.

Recommended actionsCheck file or serial channel name.Recovery: arg.



Unable to write to file: arg, the disc is full.Program ref: arg.

Recommended actionsMake sure there are enough free space on the disc.Recovery: arg.


DescriptionTask: arg.Unable to write to file: arg, the file is write-protected.Program ref: arg.

Recommended actionsRemove the write protection of the file or select a differentfilename.Recovery: arg.


DescriptionTask: arg.The maximum number of simultaneously opened files isexceeded.Program ref: arg.

Recommended actionsClose one or more I/O devices and try again.Recovery: arg.

41680, String too long

DescriptionTask: arg.The string arg exceeds the maximum number of charactersallowed for a module.Program ref: arg.

Recommended actionsChange the string for module name.Recovery: arg.

41682, Too many subscriptions from I/O

DescriptionTask: arg.The number of simultaneous subscriptions on signal eventshas been exceeded.Program ref: arg.




Recommended actionsRemove some subscriptions on signals or change the time forthe event. (i.e. any ISignalXX or TriggIO).


DescriptionTask: arg.The argument arg must be given when searching for a notnamed parameter.Program ref: arg.

Recommended actionsAdd the parameter arg to the instruction.

41684, Value Error

DescriptionTask: arg.The argument arg is outside the range of value type unsignedlong.Program ref: arg.

Probable causesThe value is too large.

Recommended actionsUse a smaller value for arg.

41685, Not valid value

DescriptionTask: arg.A wrong combination of switch and value is used. The signalcan have values between:Min: arg.Max: arg.Switch and value used: arg.Program ref: arg.


Probable causesWrong value used, or wrong switch used.

Recommended actionsChange the value used, or change the switch argument.

41687, File Open Error

DescriptionTask: arg.Unable to open arg.

Program ref: arg. An unknown error occurred while openingthe file.

Probable causesIf the file was located on an USB disk, check that the disk isnot removed, or has too many files in root folder. Check thatthe given file is not a directory.

Recommended actionsDo a check of Probable Causes.Recovery: arg.

41688, Invalid Argument

DescriptionTask: arg.Inparameter arg is declared as a PERS.Program ref: arg.


Probable causesUsing a PERS in argument arg to instruction arg.

Recommended actionsReplace the PERS with a valid argument.


DescriptionTask: arg.The argument arg is of the type arg and is not valid to use.Program ref: arg.


Recommended actionsCheck the data type. Non-value, semi-value types or motsetdatadata type cannot be used.

41691, RMQ Error - Client name not valid

DescriptionTask: arg.The name arg cannot be found. It is not a valid RMQ clientname.Program ref: arg.

Probable causesA non-valid name is used.

Recommended actionsChange name to search for.




Recovery: arg.

41692, RMQ Error - Not valid Slot

DescriptionTask: arg.The arg used is not valid.Program ref: arg.

ConsequencesCommunication with client with current arg is no longerpossible.

Probable causesThe arg has not been initialized. The destination slot is not validanymore. This can happen if a remote client has disconnectedfrom the controller. Instruction RMQSendWait was restartedafter a power fail. When the instruction is restarted, the arg isset to 0.


41693, RMQ Error - Max size for messageexceeded

DescriptionTask: arg.The size of the data in arg exceeds maximum size.Program ref: arg.

ConsequencesThe message will not be sent.

Probable causesTrying to send larger messages then arg. Due to limitations inRMQ, such big messages cannot be sent.

Recommended actionsSend smaller messages.Recovery: arg.

41694, RMQ Error - Not equal data types

DescriptionTask: arg.The data type in the rmqmessage is of the type arg and thedata type in argument Data is of the type arg.Program ref: arg.

ConsequencesNo data can be fetched.

Probable causesThe data type in the rmqmessage is of type arg and the datatype used in argument Data is of type arg. If the data types hasequal names, the structure of the data can be different.

Recommended actionsUse data type arg in argument Data. Check that the data typesare equal defined in both sender and receiver code. Recovery:arg.

41695, RMQError - Not equal dimensions on data

DescriptionTask: arg.The data types are equal, but the dimensions differs betweenthe data in the message and the parameter used in argumentarg.Program ref: arg.

ConsequencesThe data could not be copied.

Recommended actionsUse a parameter in argument arg with equal dimensions as thedata in the message.Recovery: arg.

41696, RMQ Error - Not valid use of instruction

DescriptionTask: arg.The instruction arg is only supported on TRAP level.Program ref: arg.


Probable causesInstruction arg is used either on user execution level or normalexecution level.

Recommended actionsRemove instruction, or move it to a TRAP routine.

41697, RMQ Error - No RMQ configured

DescriptionTask: arg.No RMQ is configured for task arg.Program ref: arg.





Probable causesNo configuration has been added for the RAPID MessageQueue.

Recommended actionsAdd configuration for the RAPID Message Queue.

41698, RMQ Error - Faulty use of instruction

DescriptionTask: arg.Instruction arg can only be used on normal level, not in a TRAProutine or service routine.Program ref: arg.


Probable causesInstruction arg used on wrong level.

Recommended actionsUse instruction on normal level.

41699, RMQ Error - Max size for messageexceeded

DescriptionTask: arg.The size of the data in arg exceeds maximum size.Program ref: arg.

ConsequencesThe message will not be sent.

Probable causesTrying to send larger messages then allowed. The receivingclient is not configured to receive the size of the message sent.

Recommended actionsChange the size of the RMQ for the receiver, or send smallermessages.Recovery: arg.

41700, RMQ Error - Interrupt setup failed

DescriptionTask: arg.Two different interrupt identities cannot be used for the samedata type in instruction arg. Each data type need a uniqueinterrupt identity and unique TRAP routine.Program ref: arg.


Probable causesSame data type is used in two arg instructions with two differentinterrupt identities.

Recommended actionsA unique interrupt identity is needed for each data type whenorder and enable interrupts for a specific data type.

41701, RMQ Error - No message to collect

DescriptionTask: arg.Instruction arg failed. There was no message to collect.Program ref: arg.

ConsequencesNo message was collected.

Probable causesThis can happen if the power fail occur between the trap wasordered and the instruction arg was executed.If multiple use ofarg in a TRAP routine.If using arg in a TRAP routine that executewithout any new message in the RMQ.


41702, RMQ Error - arg not valid

DescriptionTask: arg.Use of non-valid data in argument arg.Program ref: arg.

ConsequencesThe program execution is immediately stopped.

Probable causesUse of a variable arg that not contain any valid data. Thevariable has only been initialized, no valid data has been copiedto the variable.


41703, RMQ Error - Data could not be copied

DescriptionTask: arg.The data type arg exceeds the maximum size supported for theRMQ configured for task arg.Program ref: arg.

ConsequencesNo message has been received.




Probable causesThe RMQ of the receiving task is not configured for the size ofthe data sent. The sending client have sent data that is biggerthan the size the RMQ for task arg can receive.

Recommended actionsIncrease the size of the RMQ for task arg. Or, send less data.Recovery: arg.

41704, RMQ Error - Full Queue

DescriptionTask: arg.The client named arg cannot receive more messages.Program ref: arg.

ConsequencesThe sent message will be thrown.

Probable causesThe client does not receive in the same pace as the sender issending messages. If using instruction arg, you might need await time between each arg instruction.

Recommended actionsThe client should receive messages to make room for newmessages. Or the sender should limit the number of messagessent.Recovery: arg.

41705, RMQ Error - Max Time Expired


ConsequencesThere is no guarantee that the message has arrived to the client.

Probable causesThe client that should receive the message is not interested ofreceiving data of the specified data type. The message hasbeen discarded. The client has received the message, and inthe answer sent a data type not matching with the specifieddata type used in arg of instruction arg.The client has receivedthe message. The answer is delayed so the time out time forinstruction arg expired.

Recommended actionsCheck the client program. Increase the waiting time forinstruction arg.Recovery: arg.

41706, RMQ Error - Max Time Expired


ConsequencesNo message has been received.

Probable causesThe time out time for instruction arg expired.

Recommended actionsIncrease the waiting time for instruction arg.Recovery: arg.

41707, RMQ Error - Instruction invalid in currentmode

DescriptionTask: arg.arg is only allowed when RMQ is configured in arg mode.Program ref: arg.


Probable causesThe RMQ is configured in arg mode.

Recommended actionsChange the configuration of the RAPID Message Queue in argto arg mode, or use an instruction that is allowed in the currentmode.

41708, RMQ Error - Invalid message

DescriptionTask: arg.The received RMQ message was invalid.Program ref: arg.

ConsequencesThe received RMQ message was discarded.

Probable causesA received RMQ message had a corrupt header or data part.


41711, Value is not percent





The value of argument arg is not a valid percent.Program ref: arg.

Recommended actionsCheck that the value is in the range of 0 to 100.


DescriptionTask: arg.Tooldata arg has been defined, but is no longer available in thesystem.Program ref: arg.

Probable causesTooldata might have been defined in a module that is no longeravailable in the system.


DescriptionTask: arg.Wobjdata arg has been defined, but is no longer available inthe system.Program ref: arg.

ConsequencesWobjdata might have been defined in a module that is no longeravailable in the system.

41714, Too many error events

DescriptionExecution of task arg has stopped. There are too manyunhandled error events in queue. The system can only handleone error event at a time.

ConsequencesThe system goes to blocked state and cannot be restartedbefore moving the program pointer to an arbitrary position.

Probable causesA power off or restart of the controller occurred while handlinga process error.

Recommended actionsNever restart the controller while handling a process error. If arestart is needed, first move PP to Main in all tasks to reset theprocess error.

41715, Invalid Direction


The argument arg must be either CSS_X, CSS_Y, CSS_Z,CSS_XY, CSS_XZ, CSS_YZ, CSS_XYZ, CSS_XYRZ.Program ref: arg.

Recommended actionsCheck the value of arg.

41716, Invalid Offset Direction

DescriptionTask: arg.The argument arg must be either CSS_POSX, CSS_NEGX,CSS_POSY, CSS_NEGY, CSS_POSZ, CSS_NEGZ.Program ref: arg.

Recommended actionsCheck the value of arg.

41717, Too Low Value

DescriptionTask: arg.The value of argument arg is too low.Program ref: arg.

Recommended actionsIncrease the value of arg.

41718, Invalid Dimensions

DescriptionTask: arg.Dimension arg on searched symbol is incompatible withdimension arg in argument.Program ref: arg. A dimension of '{0}' means given symbol isof non-array type.


41719, Illegal Parameter

DescriptionTask: arg.The symbol in argument arg is an array from a parameter.Arrays from parameters are illegal to use inSetDataVal/GetDataVal.Program ref: arg.

41720, Path Not In Stop Point





The path did not finish for the following task(s): arg make surethe task is running.Program ref: arg.

Probable causesThe task is not running, the movement has been stopped, or amovement use low speed.


41721, Invalid Argument

DescriptionTask: arg.The type arg in argument arg is invalid.Program ref: arg.

Recommended actionsChange the type to a valid one (arg).

41722, Too High Value

DescriptionTask: arg.The value of argument arg is too high. The value must bebetween arg and arg.Program ref: arg.

41723, Network is in error state

DescriptionTask: arg.The I/O device arg cannot be activated. The network arg is inerror state.Program ref: arg.

ConsequencesDevice arg could not be activated.

Probable causesNetwork is in error state.


41724, Current Work Object is Invalid

DescriptionTask: arg.Cartesian Soft Servo Activation is not allowed with a movingwork object. Only a programmed user frame is allowed.Program ref: arg.

41725, Invalid Configuration Settings

DescriptionTask: arg.The configuration parameters for Cartesian Soft Servo areinvalid. The current combination can lead to unstable behavior.Program ref: arg.

Recommended actionsChange the configuration for Cartesian Soft Servo.

41726, Ignored StopMoveReset actions for task

DescriptionTask: arg.The StopMoveReset instruction had no impact on the system.Program ref: arg.

ConsequencesThe StopMove was not reset.

Probable causesThe Motion task has not been stopped. The Motion task wasstopped by another non-Motion task: arg. This time the causewas arg.

Recommended actionsUse the switch \AllMotionTasks in StopMoveReset if thisinstruction should reset a StopMove from another non-Motiontask.

41727, The size cannot be represented in a num

DescriptionTask: arg.When using instruction arg to read the size of the file system,it was detected that the value is too big to be set in a num.Program ref: arg.

ConsequencesThe size cannot be read.

Probable causesThe value cannot be represented in a num.

Recommended actionsUse a switch to specify another unit to show the size in.Recovery: arg.






The signal arg is too big. If using signals over 23 bits, use thedata type triggiosdnum that accept signals up to 32 bits.Program ref: arg.

Recommended actionsGroup signals can have 23 bits or less if using datatype triggiosin arg instruction.

41731, Signal name undefined

DescriptionTask: arg.The signal arg is unknown in the system.Program ref: arg.


Probable causesThe signal must be defined in the system parameters.

Recommended actionsDefine the signal in the system parameters.

41732, Too many trigs used

DescriptionTask: arg.Too many trigs has been set up for instruction arg. The limit isarg.Program ref: arg.


Recommended actionsRemove some trig actions in arg instruction.

41737, Instruction order Error

DescriptionTask: arg.The instruction arg needs to be executed before instructionarg.Program ref: arg.

Probable causesInstruction arg was executed before instruction arg.

Recommended actionsExecute instructions in right order.Recovery: arg.

41738, Wrist Interpolation option needed

DescriptionTask: arg.Instruction arg is used with a switch that requires option WristInterpolation.Program ref: arg.


Probable causesMissing a RobotWare option.

Recommended actionsDo not use any of the following switches: arg.

41739, StorePath required

DescriptionTask: arg.Instruction arg is executing in an error handler or a trap routine.Use arg before using a movement instruction on other levelthan base.Program ref: arg.

Probable causesA movement instruction executed without having the pathstored.

Recommended actionsExecute arg before using movement instruction arg. ReadProgramming type examples in the RAPID manual to see howto use movement instructions in TRAP routines and errorhandlers.

41740, Load Identification failed

DescriptionTask: arg.WARNING! Not possible to identify the mass for the arg becauseof too small weight for automatic load identification.Program ref: arg.

Recommended actionsDo a manually estimation of the actual load and manually editthe RAPID program.

41741, Calculation overflow

DescriptionTask: arg.The calculation result is not within the range 0 - 4294967295.Program ref: arg.




ConsequencesThe calculation will return error.

Probable causesThe values in the operation is probably too big.


41742, Negative subtraction

DescriptionTask: arg.The subtraction result is negative.Program ref: arg.

ConsequencesThe calculation will return error.

Probable causesThe first value in the subtraction is smaller than the secondvalue.

Recommended actionsMake sure the first value is larger than the second uponsubtraction.Recovery: arg.

41743, Division with zero

DescriptionTask: arg.Division with zero.Program ref: arg.

ConsequencesCalculation will return error.

Probable causesDivision with zero.



DescriptionTask: arg.The program is executing in an ERROR handler. It is not allowedto execute the instruction arg in an ERROR handler.Program ref: arg.



DescriptionTask: arg.The program is executing in a BACKWARD handler. It is notallowed to execute the instruction arg in a BACKWARD handler.Program ref: arg.



DescriptionTask: arg.The program is executing at USER level, i.e. in an event routineor a service routine. It is not allowed to execute the instructionarg at USER level.Program ref: arg.


41747, Process signal off

DescriptionTask: arg.The process signal arg is set to off (0).Program ref: arg.

ConsequencesA recoverable error ERR_PROCSIGNAL_OFF is thrown.

Probable causesThe optional argument \ProcSignal has been used for theinstruction ProcerrRecovery. The signal makes it possible forthe user to turn on/off the instruction ProcerrRecovery.

Recommended actionsAdd an error handler for ERR_PROCSIGNAL_OFF error orremove the optional argument \ProcSignal from the instructioncall.

41748, Value Error


Recommended actionsCheck the RAPID program.Recovery: arg.




41749, Value Error

DescriptionTask: arg.The value for parameter arg is out of limit.Program ref: arg.

Probable causesThe value is too large.

Recommended actionsUse a smaller value for arg.Recovery: arg.



Probable causesThe system has interpreted the expression as a num data type,and the value is above the maximum integer value for num(value 8388608). The system has interpreted the expression asa dnum data type, and the value is above the maximum integervalue for a dnum (value 4503599627370496).

Recommended actionsCheck and change the value. The parameter name arg can giveyou information about how the system interpreted the indata.

41751, Array size error

DescriptionTask: arg.The array arg is not big enough to fit arg number of elements.Program ref: arg.


Recommended actionsChange the size of the array to fit all elements.

41752, Num Limit Error

DescriptionTask: arg.The value for parameter arg is out of limit.Program ref: arg.


41753, Invalid path level

DescriptionTask: arg.Program ref: arg arg requires the robot to run at the first pathlevel.


Probable causesExecuting arg on wrong path level.


41754, Path Recorder cleared

DescriptionTask: arg.WARNING! Path Recorder is cleared. The stored path is clearedbefore doing friction identification.Program ref: arg.

41755, Path time too long

DescriptionTask: arg.Execution time is too long for friction tuning. arg > arg, whichis the maximum time in seconds.Program ref: arg.


Recommended actionsIncrease speed or shorten the length of the path.

41756, Missing FricIdInit

DescriptionTask: arg.arg must be executed before arg.Program ref: arg.


41757, Mechanical unit not found

DescriptionTask: arg.Mechanical unit arg not found.Program ref: arg.





Recommended actionsSpecify another mechanical unit.

41758, Array too small

DescriptionTask: arg.The array used is too small. The size of the array arg must beequal to arg, the number of robot axes.Program ref: arg.


Recommended actionsIncrease the size of the array arg.


DescriptionTask: arg.The signal arg is too big.Program ref: arg.

Recommended actionsGroup signals consisting of 23 bits or less can be used in IFstatements and assigned to the num datatype. Group signalsconsisting of 24 - 32 bits cannot be used in IF statements.Instead use the functions arg or arg.

41760, arg when in synchronized mode

DescriptionTask: arg arg cannot be used together with synchronizedmovement.Program ref: arg.


Recommended actionsRemove any SyncMoveOn between arg and arg.

41761, Value out of range

DescriptionTask: arg.The integer value arg cannot be copied to a arg datatype. Thevalue is out of limit for the data type arg.Program ref: arg.


Recommended actionsUse a variable of the type arg instead of a variable of type arg.

41762, The argument string value is invalid

DescriptionTask: arg.The argument string arg is invalid and cannot be converted.Program ref: arg.


Probable causesThe only valid letter characters is a-f and A-F and only forHexToDec. The ., - and + characters is not valid for HexToDec.The - character is not valid for DecToHex. The value is not avalid integer.

Recommended actionsEdit the argument value string so it gets valid and can beconverted.

41763, The argument string value is too high

DescriptionTask: arg.The argument string arg value exceeds the highest supportedvalue in the system.Program ref: arg.

ConsequencesThe argument value string is converted but it is set to thehighest supported value (9223372036854775807).

Probable causesThe argument string value exceeds the highest supported value.

Recommended actionsEdit the argument value string so it do not exceed the highestsupported value.

41764, Wrong combination in arg

DescriptionTask: arg.When using instruction arg, you cannot add a dnumvariable/persistent to a num variable/persistent.Program ref: arg.




Probable causesThe value to be added is of the type dnum, and thevariable/persistent that should be changed is a num.

Recommended actionsRead about arg in RAPID reference manual.

41765, The argument value is too high

DescriptionTask: arg.Too high value in argument arg.Program ref: arg.

Probable causesThe argument value exceeds the highest supported value. (arg).

Recommended actionsDecrease the value for argument arg.Recovery: arg.

41766, The precision will be lost

DescriptionTask: arg.Optional argument arg is used, and the group signal has argbits. This can cause loss of precision in the variable used inoptional argument arg.Program ref: arg.


Probable causesArgument arg is used, and it is a risk that the precision of thevalue is lost. Group signals consisting of 23 bits or less can berepresented by the num data type, and group signals of 32 bitsor less can be represented by the dnum data type, if they areused in a RAPID program.

Recommended actionsTo avoid loss of precision in the used variable in arg, useoptional argument arg instead.


DescriptionTask: arg.The instruction arg is used from a non-Motion task, and theMotion task that task arg is connected to does not control aTCP-robot.Program ref: arg.


Probable causesarg is used in a non-Motion task that is connected to a Motiontask that does not control a TCP-robot.

Recommended actionsCheck the configuration. The instruction must be removed. Thenon-Motion task arg is connected to a Motion task that doesnot control a TCP-robot.

41768, Switch is missing

DescriptionTask: arg.The switch arg is required when executing instruction/function.Program ref: arg.


Recommended actionsAdd switch when using instruction/function.

41769, Service data not found

DescriptionTask: arg.The service data for the mechanical unit arg could not be found.Program ref: arg.

ConsequencesNo service data is read.

Probable causesThere is no such service data present for this mechanical unit.

Recommended actionsCheck that the specified service data is defined for themechanical unit.


DescriptionTask: arg.Unknown camera unit arg. The data of type cameradev isunknown for the system.Program ref: arg.

Probable causesData of type cameradev has been declared in the program.




Recommended actionsRemove the declaration of cameradev data in the program anduse one of the predefined data of type cameradev (automaticallydefined by the system).

41771, Cancel load of job

DescriptionThe ongoing loading of the job arg for camera arg has beencancelled.

ConsequencesThe job may or may not have been successfully loaded into thecamera.

Probable causesThere has been a PP movement in the RAPID program beforethe job was loaded correctly into the camera. A job is notcompletely loaded into the camera before the instruction arghas been executed.

Recommended actionsLoad a new job into the camera named arg.


DescriptionTask: arg.None of the optional arguments listed below are specified ininstruction.Program ref: arg. Missing one of these optional arguments:argargarg.


Recommended actionsSpecify at least one of the arguments.

41773, Timeout

DescriptionTask: arg.A timeout interrupted the execution of instruction using cameraarg.Program ref: arg.

Recommended actionsUse a higher timeout value or use an error handler to retryinstruction.Recovery: arg.

41774, Type error

DescriptionTask: arg.It is not possible to set value arg into a variable of current type(arg). Check the used optional argument, and use an argumentwith proper type.Program ref: arg.

Probable causesWrong argument type used.

Recommended actionsCheck the RAPID program, and use other type of variable tostore the data in.Recovery: arg.

41775, Ongoing request towards camera

DescriptionTask: arg.It is not allowed to have several parallel requests towards acamera.Program ref: arg.

ConsequencesThe request was not performed.

Probable causesThere are more than one request towards the camera namedarg.

Recommended actionsWait for a while, and then try again. If trying to access the samecamera from different tasks, instruction WaitTestAndSet canbe used to prevent access of the camera at the same time.Recovery: arg.

41776, No more data available

DescriptionTask: arg.No more data available for camera arg.Program ref: arg.

ConsequencesNo data could be read.

Probable causesThe reasons are: No more data is available. There is no resultmatching the used arg.




Recommended actionsCheck that the camera has requested an image. Check that theresult map configured from "output to RAPID" is complete. If aarg is used, check that it is the correct variable that is used.Recovery: arg.

41777, The camera is not connected

DescriptionTask: arg.The camera arg is not connected.Program ref: arg.


Probable causesThe reasons for this error can be: The camera is not connectedto the controller. There is no power to the camera. The camera'sIP address is not valid. The camera does not have a name. Thecamera is not connected to the proper network interface.Normally only the service port is supported.

Recommended actionsCheck cabling between robot controller and camera. Checkthat the LED power and link indicators on the camera are active.Use RobotStudio to check that the IP address has beenconfigured correctly. Set a valid name to the camera.

41778, Failed to load job

DescriptionTask: arg.Failed to load the job named arg for camera arg.Program ref: arg.


Probable causesThe job arg is incorrect or unavailable. The camera arg is outof memory.

Recommended actionsCheck that the job named arg exists on the camera.

41779, Parameter cannot be modified

DescriptionTask: arg.The parameter written to the camera arg with instruction argcannot be modified, the parameter is not recognized or RAPIDdata used is of wrong data type.

Program ref: arg.

ConsequencesParameter not modified.

Probable causesThe reasons are: Wrong optional RAPID argument used. Valueis out of range. A cell with specified name does not exist. Thecells needs to be of type EditInt, EditFloat or EditString. Tryingto set wrong type to the cell, e.g. setting a string value to aparameter that is not a string.

Recommended actionsCheck the RAPID program, and use an optional argument ofcorrect data type and a value within the supported range.Recovery: arg.

41780, Camera is in program mode

DescriptionTask: arg.The operation failed because the camera arg is in programmode.Program ref: arg.

Probable causesThe function or instruction can only be used if the camera is inrunning mode.

Recommended actionsTo change to running mode, use instruction arg.Recovery: arg.

41781, Camera is in running mode

DescriptionTask: arg.The operation failed because the camera arg is in running mode.Program ref: arg.

Probable causesThe function or instruction can only be used if the camera is inprogram mode.

Recommended actionsTo change to program mode, use instruction arg.Recovery: arg.

41782, Camera does not support this

DescriptionTask: arg.The operation failed because the camera does not supportcurrent action (used switch arg).




Program ref: arg.


Probable causesUsing functionality not supported by this camera type.

Recommended actionsCheck what functionality the camera support.

41783, Communication timeout

DescriptionTask: arg.The communication towards the camera arg timed out.Program ref: arg.

ConsequencesThe camera is in an undefined state. The order against thecamera may or may not have been performed.

Probable causesThe camera is not responding.

Recommended actionsCheck the connection between the camera and controller.Restart the camera and try again.Recovery: arg.

41784, Communication error

DescriptionTask: arg.Communication error with camera arg. The camera is probablydisconnected.Program ref: arg.


41785, Failed to request image

DescriptionTask: arg.Failed to request image from camera arg.Program ref: arg.


Probable causesWhen using optional argument \AwaitComplete, the Triggersetting of the camera job has to be set to External. The camerahas to be set to Run Mode. The camera has no job loaded.

Recommended actionsGo to RobotStudio -> Integrated Vision tab -> Setup Image andchange the Trigger property to External and save the job. Runthe instruction CamSetRunMode. Load a job into the camera.Recovery: arg.

41786, Parameter out of range

DescriptionTask: arg.The value used for the parameter arg for camera arg is out ofrange.Program ref: arg.


Probable causesThe parameter value cannot be set.

Recommended actionsCheck the value used.

41787, Parameter cannot be read

DescriptionTask: arg.The parameter arg cannot be read or recognized.Program ref: arg.

Probable causesThe parameter cannot be accessed. A parameter with thespecified name does not exist.

Recommended actionsCheck that the name arg is a proper one.Recovery: arg.

41788, No ongoing load of camera task

DescriptionTask: arg.There is no ongoing loading of a task to camera arg.Program ref: arg.


Probable causesNo load order has been requested for camera arg.

Recommended actionsCheck that arg has been used before current instruction.




41789, No more data available

DescriptionTask: arg.No more data available for camera arg.Program ref: arg.

ConsequencesNo data could be read.

Probable causesThere is no result matching the used arg.


41790, No results in image

DescriptionTask: arg.An image was acquired with camera arg but the outputcontained no result.Program ref: arg.

Probable causesThe part is not present, not sufficiently visible or otherwise notdetectable in the field of view of the camera. The Output toRapid configuration is not setup correctly.

Recommended actionsCheck the following and acquire a new image: Verify that thepart is in the field of view. Check that the image settings andvision tool settings contained in the active vision job are ok.Verify that the lighting has not changed since setting up thevision job. 5) Verify that the desired vision outputs have beenconfigured in RobotStudio -> Integrated Vision tab -> Outputto Rapid. Recovery: arg.

41791, SoftMove is not allowed with zero mass

DescriptionTask: arg.The current load data that is used when CSSAct is called hasa mass of arg Kg. SoftMove need to have an accurate loaddefinition. This is normally set by the load definition that is partof the tool definition.Program ref: arg.

ConsequencesWhen SoftMove detects a mass less or equal to 0.001 Kg it willnot allow activation. Hence CSSAct instruction will not bepossible to run with tool0.

Probable causesCurrent tool when the instruction CSSAct was run is tool0 oranother tool with too small mass. The current tool is set by amove instruction or by jogging prior to the CSSAct instruction.

Recommended actionsUse as accurate tool definition as possible. Use the loadidentification. If simple tests of SoftMove is done with only themounting flange as tool then a tool definition similar to tool0needs to be created but with a mass greater than 0.002 Kg.

41792, Instruction not allowed

DescriptionTask: arg.The instruction arg can only be executed on normal level in aMotion task.

ConsequencesProgram execution will stop.

Probable causesInstruction arg is used from a TRAP or a background task.

41793, TriggInt stop error

DescriptionNo more trig restart actions can be stored. Instructions that cancause this problem is: arg.


Probable causesWhen using movement instructions that use interrupts at aspecified position on the robot's movement path, and the eventsreceived after a stop is more than the system can handle, thiserror stops the execution.

Recommended actionsTry to increase the length of the movements, or reduce thespeed on the movement can be a solution to this problem.Report this problem to ABB Robotics if this happens.

41794, Search error

DescriptionTask: arg.The search instruction arg has detected that the path and thesearch object has been removed.Program ref: arg.




ConsequencesThe position cannot be read by the instruction arg. The programexecution is stopped immediately.

Probable causesA TRAP executes a arg instruction just before the signalchange.A TRAP executes a arg instruction, and when theinstruction arg is ready (no signal detection occurred), argdetects that the search object has been removed.

Recommended actionsUse error handling with long jump in the TRAP to brake off thearg instruction, or rewrite the RAPID program. Seedocumentation of instruction arg how to implement errorhandling with long jump.

41795, Wrong payload mode

DescriptionTask: arg.Wrong payload mode.Program ref: arg.


Probable causesIf using \TLoad optional argument in a movement instruction,the configuration parameter ModalPayloadMode should be setto NO. If using GripLoad instruction, the configuration parameterModalPayloadMode should be set to YES. If using LoadIdinstruction and the configuration parameter ModalPayloadModeis set to NO, PayLoad identification is not possible.

Recommended actionsCheck the value of the configuration parameterModalPayLoadMode for domain SYS, type SYS_MISC.


DescriptionTask: arg.The mass is negative in used loaddata.Program ref: arg.

Recommended actionsDefine the correct load of the load before use of it for joggingor program movement. Load identification of the load can bedone with the service routine LoadIdentify.

41797, Signal not accessible

DescriptionTask: arg.The I/O signal arg is not accessible.Program ref: arg.

Probable causesThe reason for this error is one of the following: The real inputor output, on the I/O device, represented by the I/O signal isnot valid. The I/O device is not running. Error in theconfiguration of the I/O signal.


41798, No TCP robot found

DescriptionTask: arg.This task does not control a mechanical unit that is a TCP robot.Program ref: arg.


Probable causesNo TCP robot found for this task.

Recommended actionsCheck the RAPID program. Instruction arg can only be used ina RAPID task that controls a TCP robot.

41799, Speed value too low

DescriptionTask: arg.The speed value (arg) used in argument arg is too low.Program ref: arg.

ConsequencesIt is not possible to use current speed value.

Probable causesA value that is below the minimum value for speed has beenused.

Recommended actionsIncrease the speed value in argument arg.Recovery: arg.

41800, Manual action needed





Start of robot movements has been ordered from task arg.Reactivation of the enable device is needed when in manualreduced or manual full speed mode.

Probable causesAn order to activate robot movements has been executed inmanual reduced or manual full speed mode.

Recommended actionsRelease and reactivate enable device. Start RAPID programexecution again. NOTE: If using a MultiMove system, all robotsand external axis will start their movements after next programstart.

41801, In synchronized mode

DescriptionTask: arg.Not possible to execute arg in synchronized mode.Program ref: arg.


Probable causesThe system is in synchronized mode on basic path level or onstore path level.

Recommended actionsRemove synchronization before executing current instruction.

41802, Not supported instruction or function

DescriptionTask: arg.The RAPID instruction or function arg is not supported in thisrelease of RobotWare.Program ref: arg.

Probable causesUse of a function or instruction that is not supported in currentrelease of RobotWare.

Recommended actionsRemove RAPID instruction or function arg from your RAPIDprogram.


DescriptionTask: arg.The logical output value calculated by the argument ScaleValuein TriggSpeed instruction and the programmed speed in current

instruction exceeds the maximum physical output value for theanalog signal used in AOp argument in TriggSpeed instruction.Program ref: arg.

Probable causesLogical analog output exceeds physical output value.Logical output value = Scale value * programmed TCP speedin mm/s.Physical output value for analog signal = According definitionin configuration for actual analog output signal. The analogsignal can only be set within arg and arg according to the I/Osystem parameter configuration.

Recommended actionsDecrease the value used in ScaleValue or decrease theprogrammed speed in current instruction. Another solution isto change configured value for the analog output signal.Recovery: arg.


DescriptionTask: arg.Not allowed to change non-motion execution setting in Manualfull speed mode.Program ref: arg.


Recommended actionsMake sure that change of non-motion execution setting is notdone in Manual full speed Mode.

41805, Illegal dimension

DescriptionTask: arg.The dimension arg used for argument arg is not valid. Requireddimension: arg.Program ref: arg.

Probable causesWrong dimensions or wrong values on optional arguments areused.

Recommended actionsCheck and change the RAPID program.Recovery: ERR_ARRAY_SIZE.




41806, The matrix A is singular

DescriptionTask: arg.The matrix used in argument A is singular, and the linearequation system cannot be solved.Program ref: arg.

Recommended actionsModify the matrix A.Recovery: arg.

41807, Not enough memory

DescriptionTask: arg.The memory allocated is not enough to complete the currentcalculation.Program ref: arg.


Probable causesThe memory allocated at startup is too small to handle thecalculation.

Recommended actionsUse smaller sizes of the matrix used in the instruction. If thisis not possible, report the problem to ABB Robotics.

41810, Only allowed for 6 axis robot

DescriptionTask: arg.The instruction arg with switch arg is only allowed for a 6 axisrobot.Program ref: arg.


Probable causesInstruction arg used with switch arg.

Recommended actionsRemove arg or the switch arg.

41811, Not allowed to reset signal

DescriptionTask: arg.The instruction arg can only be used to reset a signal that hasbeen connected to a configured signal with instruction arg.

Program ref: arg.


Probable causesThe signal named arg is configured in the I/O configuration andcannot be reset.

Recommended actionsCheck the RAPID program and the argument used in instructionarg.

41812, Domain not valid or not in use

DescriptionTask: arg.The domain arg used in instruction arg is not valid or is not inuse.Program ref: arg.

Probable causesA domain that is not valid or a domain not in use has been usedin instruction arg.


41813, File or directory access error

DescriptionTask: arg.Unable to open file arg for writing, or directory specified doesnot exist.Program ref: arg.

Probable causesFile may be write protected. File or directory may have incorrectname. The directory specified does not exist. No storage spaceavailable on device.

Recommended actionsCheck if the file is write protected, and in such case change thesetting. Make sure the file and directory names are correct.Make sure that the directory exist. Make sure there is enoughstorage space available. Recovery: arg.


DescriptionTask: arg.The reference in argument arg is not an entire persistentvariable.Program ref: arg.





Recommended actionsIt is not possible to use record component or array element inarg. arg. It is only possible to use entire persistent variables forarg.

41815, Reference error in Cyclic bool

DescriptionTask: arg.The argument arg is not valid as a condition.Program ref: arg.


Probable causesAn invalid argument has been used in the condition part ofSetupCyclicBool.

Recommended actionsConsult the manual and replace arg with a valid argument.

41816, Too many connected Cyclic bool

DescriptionTask: arg.It is only allowed to setup arg number of cyclic bools.

ConsequencesThe program execution is stopped immediately. The givencondition will not be connected to arg.

Probable causesThe maximum number of cyclic bools (arg) has already beensetup.

Recommended actionsRemove all cyclic bools not used for the moment and try again.

41817, I/O Error in Cyclic bool

DescriptionFailure while evaluating a logical expression setup with RAPIDinstruction SetupCyclicBool. The signal arg is unknown to thesystem.


Probable causesConnection has been lost with the I/O device. If the signal isdefined in the RAPID program, it must be connected to theconfigured signal with instruction AliasIO.

Recommended actionsRe-establish the connection with the I/O device. Re-connectthe RAPID program defined signal using AliasIO.

41818, SDB Error in Cyclic bool

DescriptionFailure while evaluating a logical expression setup with RAPIDinstruction SetupCyclicBool. The persistent variable arg isunknown to the system.


Probable causesThe module containing the declaration of arg has probably beenunloaded.

Recommended actionsReload the module containing the declaration of arg. Disconnectthe logical expression containing using RemoveCyclicBool.

41819, Integer Error in Cyclic bool

DescriptionFailure while adding or evaluating a logical expression, setupwith RAPID instruction SetupCyclicBool. The persistent variablearg doesn't have an integer value.


Probable causesarg doesn't have an integer value.

Recommended actionsMake sure that arg has an integer value.

41820, Invalid EGM identity

DescriptionTask: arg.The EGM identity arg is not valid.Program ref: arg.





Probable causesThe EGM identity arg had not been initialized by means of theRAPID instruction EGMGetId.

Recommended actionsInitialize the EGM identity arg using the RAPID instructionEGMGetId.

41821, No EGM signals specified

DescriptionTask: arg.No EGM input signal was specified in arg.Program ref: arg.


Probable causes

Recommended actionsAt least one signal has to be specified in arg.

41822, No data from the UdpUc device

DescriptionTask: arg.No expected data packets have been received for the EGMinstance arg during arg seconds. Rapid Ref: arg.


Recommended actionsCheck the connection between the controller and the UdpUcdevice "arg". Check that the UdpUc device "arg" is workingproperly. Increase the value (arg) for \CommTimeout inEGMSetupUC.Recovery: ERR_UDPUC_COMM.

41823, Invalid frame type

DescriptionTask: arg.The frame type arg is not allowed together with the RAPIDinstruction arg.Program ref: arg.


Recommended actionsCorrect the used frame type.

41824, Not possible to open the UdpUc device

DescriptionIt was not possible to open the external device arg that wasspecified in the RAPID instruction arg.


Recommended actionsCheck if: The device name is spelled correctly. The device isconnected. The device is up and running.

41825, EGM not connected

DescriptionThe state of the EGM instance with EGM identity arg is notconnected.


Recommended actionsUse the instructions EGMGetId and/or EGMSetupAI,EGMSetupAI, EGMSetupGI or EGMSetupUC, to connect EGM.For more information see the User Manual for EGM.

41826, EGM mode mismatch

DescriptionThere is an EGM mode mismatch for EGM identity arg. It isimportant to use the same EGM mode (Joint or Pose) forEGMSetupAI, EGMSetupAO, EGMSetupGI, EGMSetupUdpUc,EGMActXX and EGMRunXX.


Recommended actionsUse EGMSetupAI, EGMSetupAO, EGMSetupGI andEGMSetupUdpUc with the \Joint switch together withEGMActJoint and EGMRunJoint. Use EGMSetupAI,EGMSetupAO, EGMSetupGI and EGMSetupUdpUc with the\Pose switch together with EGMActPose and EGMRunPose.

41827, TCP robot missing

DescriptionIt is not allowed to use EGM in a RAPID task without TCP robot.


Recommended actionsUse EGM in RAPID tasks with TCP robot only.




41828, Too many EGM instances

DescriptionTask: arg.There are no more EGM instances available. The maximumnumber per RAPID task is arg.Program ref: arg.


Recommended actionsYou have to disconnect an EGM instance using EGMResetbefore you can connect another.

41829, EGM state change error

DescriptionThe state of the EGM instance with EGM identity arg could notbe changed to arg.


Recommended actionsTry to reset the EGM instance using the RAPID instructionEGMReset. Move PP to Main to reset all EGM instances.

41830, Error sending EGM UdpUc message

DescriptionIt was not possible to write the whole UdpUc message to theexternal device arg that is connected to EGM. arg of arg weresent.


Recommended actionsCheck the connection between the controller and the externaldevice arg. Check the UDP server application on the externaldevice arg. Restart the controller and/or the external devicearg.

41831, ContactL Warning

DescriptionTask: arg.No hit during ContactL. Before performing next instruction,make sure that TCP is moved back to the start position of theContactL path.Program ref: arg.

ConsequencesIf no repositioning is done, before restart of ContactL, movementthat can cause damage might occur.


41832, EGM UdpUc inbound message containsinvalid data

DescriptionThe UdpUc server application on the external device arg thatis feeding EGM with position data, sent invalid data.


Recommended actionsCheck that the UDP server application on the external devicearg sends data according to the specification in egm.proto.Check that the UDP server application on the external devicearg sends data is suitable for the mechanical unit it is aimedfor.

41833, EGM input data from signals is invalid

DescriptionThe signal arg that is feeding EGM with position data, sentinvalid data.


Recommended actionsCheck that the input data from the signal arg sends data thatare suitable for the mechanical unit it is aimed for.


DescriptionTask: arg.No valid triggdata in TriggArray argument.Program ref: arg.


Recommended actionsDefine triggdata by executing instruction TriggIO, TriggInt,TriggEquip, TriggSpeed or TriggCheckIO before currentinstruction.





DescriptionTask: arg.The size of the array used in argument arg is arg. The max sizeof the array is limited to arg elements.Program ref: arg.




DescriptionTask: arg.Instruction arg used with argument arg and one of the optionalarguments T2, T3, T4, T5, T6, T7 or T8.Program ref: arg.


Probable causesAn illegal combination of arguments was used.


41843, Instruction not allowed in TRAP or serviceroutine

DescriptionTask:arg. It is not allowed to use the RAPID instruction arg ina TRAP or a service routine.Program ref: arg.


Recommended actionsRemove the instruction from your RAPID program.

41844, Search Error

DescriptionTask: arg.The persistent variable arg for the SearchX instruction is alreadyset to the specified value (high or low) at the start of searching.Before performing next search, make sure that TCP is movedback to the start position of the search path.Program ref: arg.



41845, Outside reach Error

DescriptionTask: arg.The position (robtarget) is outside the robot's working area.Program ref: arg.

Probable causesThe robtarget used is outside reach.

Recommended actionsUse a robtarget that is within the robot's working area.Recovery: arg.

41846, Signal not writeable

DescriptionTask: arg.The I/O signals bit(s) is set by a device transfer operation. Thesignal arg is read only.Program ref: arg.


Probable causesThe I/O signals bit(s) is set by a device transfer operation.

Recommended actionsCheck the I/O configuration for I/O signals and device transfer.Change signal used in RAPID program.

41847, Signal not writeable

DescriptionThe I/O signals bit(s) is set by a device transfer operation. Thesignal arg is read only.


Probable causesThe I/O signals bit(s) is set by a device transfer operation.

Recommended actionsCheck the I/O configuration for I/O signals and device transfer.Change signal used in RAPID program.




41848, Too low visualization time

DescriptionTask: arg.The specified visualization time is too low.Program ref: arg.


Recommended actionsCheck the RAPID documentation regarding the minimumvisualization time. Increase the visualization time used in theRAPID program.

41849, Bad combination of values used inarguments

DescriptionTask: arg.The specified visualization time arg is equal or higher than thetimeout arg for the instruction.Program ref: arg.


Recommended actionsChange the visualization time used in the RAPID program, orchange the maximum period of waiting time permitted.

41850, User interface already active

DescriptionTask: arg.A message is already active on the FlexPendant. A messagelaunched by instruction arg must be aborted before launchinga new message.Program ref: arg.

ConsequencesThe message will not be presented on the FlexPendant. Thiserror can be handled in an error handler.

Probable causesA arg message is already active on the FlexPendant.

Recommended actionsRecovery: arg. The current active arg message can bedeactivated with instruction arg.

41851, Wrong value type used

DescriptionTask: arg.Wrong value type used in optional argument arg. The only validtypes are bool, num or dnum, or any alias type of those threebase types.Program ref: arg.


Probable causesWrong value type used.

Recommended actionsChange type used in optional argument arg.

41852, Wrong signal value for signal arg

DescriptionIt is not possible to set the I/O signal arg to value arg.


Probable causesThe I/O signal arg is configured wrong, or the value that shouldbe set is wrong. The signal value that is used has been readfrom a persistent variable specified in one of the setupinstructions used for Trigg defining conditions and actions forsetting a digital, a group of digital, or an analog output signalat a fixed position. The error is detected when the actual signalsetting should be done.

Recommended actionsCheck the I/O configuration for I/O signal. Check the value ofthe persistent variable that is used in arg for the setupinstruction(s) for Trigg.

41860, Evaluation error in Cyclic bool

DescriptionFailure while evaluating the Cyclic bool arg.

ConsequencesThe evaluation of arg has been stopped immediately.

Probable causesThe module containing the declaration of arg has beenunloaded. An I/O signal needed to evaluate the logicalexpression connected to arg has been lost (see earlier errorlogs). The I/O signal that is updated with the cyclic bool valuehas been lost.




Recommended actionsReload the module containing the declaration of arg.Re-establish the connection with the I/O device. Re-connectthe RAPID program defined signal using AliasIO.

41861, Cyclic bool has been removed

DescriptionFailure while evaluating the Cyclic bool arg.

ConsequencesThe evaluation of arg has beem stopped immediately and theCyclic bool has been removed.

Probable causesThe module containing the declaration of arg has beenunloaded. An I/O signal needed to evaluate the logicalexpression connected to arg has been lost (see earlier errorlogs). The I/O signal that is updated with the cyclic bool valuehas been lost.

Recommended actionsReload the module containing the declaration of arg.Re-establish the connection with the I/O device. Re-connectthe RAPID program defined signal using AliasIO. Re-connectthe logical expression.

41862, ASCII log setup failed

DescriptionNot possible to setup ASCII log for the cyclic bool arg.

Probable causesThe cyclic bool is not active when activation of ASCII log isdone with RAPID instruction StartAsciiLog.

Recommended actionsUse RAPID instruction SetupCyclicBool using cyclic bool argbefore using StartAsciiLog.

41863, Mechanical unit not TCP robot

DescriptionTask: arg.The mechanical unit arg is not a TCP robot. arg can only beused if the mechanical unit is a TCP robot.Program ref: arg.


Recommended actionsUse arg with TCP robot only.


DescriptionTask: arg.Bad combination of switches.The switch arg can only be combined with switch arg.Program ref: arg.



41865, Invalid MAC address

DescriptionTask: arg.Invalid MAC address arg.Program ref: arg.


Probable causesThe format might be wrong.

Recommended actionsCheck the MAC address and correct the address used.The length of the MAC-address in format XX:XX:XX:XX:XX:XX.

41880, AliasCamera Define Error

DescriptionTask: arg.The camera in argument CameraName or FromCamera: arg,must be defined in the Communication configuration (SIO,cfg)and the camera in argument ToCamera: arg, must be declaredin the RAPID program and not defined in the Communicationconfiguration (SIO,cfg).Program ref: arg.

Recommended actionsCheck the Communication configuration and the RAPIDprogram.Recovery: arg.

41881, Persistent boolean Break

DescriptionTask: arg.A value change on a persistent boolean variable interruptedthe execution.Program ref: arg.





41882, Error in Cyclic bool

DescriptionTask: arg.The condition used in SetupCyclicBool is too complex.Program ref: arg.


Probable causesThe condition used in SetupCyclicBool in SetupCyclicBool istoo complex.

Recommended actionsDivide the expression into two subexpressions to make eachsubexpression less complex than the original expression.

41883, arg file is corrupted

DescriptionTask: arg.The file has been edited or a previous arg has been interrupted,and then the file was corrupted.Program ref: arg.

ConsequencesThe file has been renamed to arg.The arg will be created again next time the routine is executed.All history will be lost in arg, but can be found in the file arg inthe HOME: directory.

Probable causesFile edited or corrupted by a previous interrupted run of theroutine.

41884, CyclicBrakeCheck Error

DescriptionTask: arg.SafeMove option or the EPS option is a requirement if runningCyclicBrakeCheck.Program ref: arg.


Probable causesUsing CyclicBrakeCheck without required options.

Recommended actionsUse BrakeCheck to test brakes when not having any SafeMoveoption or EPS option.

41885, BrakeCheck Error

DescriptionTask: arg.When having a SafeMove option or the EPS option,CyclicBrakeCheck should be used to test brakes.Program ref: arg.


Probable causesUse of BrakeCheck routine when CyclicBrakeCheck should beused.

Recommended actionsUse CyclicBrakeCheck to test brakes.

41886, CyclicBrakeCheck Error

DescriptionTask: arg.CyclicBrakeCheck is already active.The CyclicBrakeCheck routine cannot be executed from severaltasks or execution levels at the same time.Currently task arg is executing CyclicBrakeCheck on executionlevel arg (LEVEL_NORMAL=0, LEVEL_SERVICE=2).Program ref: arg.


Probable causesMore than one call to procedure CyclicBrakeCheck.

Recommended actionsCheck that only one task is executing CyclicBrakeCheck routineif using a multimove system. If calling CyclicBrakeCheck froma service routine, check that the execution of CyclicBrakeCheckon normal level has been ended. To cancel an activeCyclicBrakeCheck, move program pointer to cursor or moveprogram pointer to main.

41887, BrakeCheck Error

DescriptionTask: arg.BrakeCheck is already active.




The BrakeCheck routine cannot be executed from several tasksor execution levels at the same time.Currently task arg is executing BrakeCheck on execution levelarg (LEVEL_NORMAL=0, LEVEL_SERVICE=2).Program ref: arg.


Probable causesMore than one call to procedure BrakeCheck.

Recommended actionsCheck that only one task is executing BrakeCheck routine ifusing a multimove system. If calling BrakeCheck from a serviceroutine, check that the execution of BrakeCheck on normal levelhas been ended. To cancel an active BrakeCheck, moveprogram pointer to cursor or move program pointer to main.


DescriptionTask: argThe instruction/function arg cannot be used when you have anongoing brake check.Program ref: arg

ConsequencesThe program execution is stopped immediately. Move PP tomain.

Probable causesA brake check is currently running, and then it is not allowedto use arg.

Recommended actionsEnd execution of CyclicBrakeCheck or BrakeCheck routinebefore using arg.

41889, Value error

DescriptionTask: argThe value read is an integer and above the maximum integervalue for num, 8388608. Value read: arg.Program ref: arg


Probable causesA num variable is used to store the read integer value, and thatvalue is above the maximum integer value for a num.

Recommended actionsChange datatype used in arg to a dnum variable.


DescriptionTask: argThe value used in argument NumPoints (arg) is larger than thearray size of argument Points (arg).Program ref: arg



41891, Too few points

DescriptionTask: argNeed at least two points to identify line.Used points: argProgram ref: arg




DescriptionTask:argNeed at least three points to identify plane.Used points: argProgram ref: arg




DescriptionTask:argNeed at least three points to identify circle.Used points: argProgram ref: arg







DescriptionTask:argNeed at least four points to identify sphere.Used points: argProgram ref: arg



41895, Too many points

DescriptionTask: argCan handle at most 100 points.Used points: argProgram ref: arg




DescriptionTask: argCannot calculate a plane because the three points are collinear.Program ref: arg




DescriptionTask: argCannot calculate a line because the two points are too close.Program ref: arg




DescriptionTask: argThe point distribution is not a plane.Program ref:argargargarg




DescriptionTask: argThe point distribution is not a line.Program ref:argargargarg



41900, Orientation Value Error

DescriptionTask: arg.Wrong orientation value in arg.Program ref: arg.

Recommended actionsAll used orientations must be normalized, i.e. the sum of thequaternion elements squares must equal 1.Recovery: arg

41901, Text Table Name not valid

DescriptionTask: arg




The text table name is too long. Max arg characters can be usedin the name.Program ref: arg

ConsequencesThe text table name is not valid.

Probable causesToo long name used as text table name.

Recommended actionsChange the name on the text table.

41902, Speed override changed

DescriptionTask: arg.The speed override set by the operator from the FlexPendanthas been changed. To get right performance, the speed overridehas to be set to 100%.Current setting: arg.


Probable causesThe speed override has been changed during execution ofroutine.

Recommended actionsMove PP, change the speed to 100%, and restart the routine.

41903, Brake Check, arg file renamed

DescriptionTask: arg.The Brake Check program has detected that tuning is used orhas been used. Current file arg cannot be modified with thenew entry arg.Program ref: arg.

Consequencesarg will be renamed to arg. A new file arg will be created.

Probable causesTuning is used or has been used for Brake Check program. Thefile zzz_internal_cbc_tuning.mod exist in the HOME: directory,or has been used earlier.

Recommended actionsNo action needed.

41904, Brake Check, task arg deactivated

DescriptionTask: arg.The Brake Check program has detected that motion task argis deactivated in the task selection panel.Program ref: arg.


Probable causesTask has been deactivated in the task selection panel.

Recommended actionsActivate the task arg in the task selection panel, and executethe brake check program again.


DescriptionTask: arg.Cannot calculate a sphere because the points are distributedalong a line.Program ref:arg.



41906, Path Not In Stop Point

DescriptionTask: arg.One or several mechanical units connected to task arg is notin a stop point. A path is currently active.Program ref: arg.


Probable causesA mechanical unit is not in a stop point.The reason for this error is one of the following:1) The break check program is executed as a service routine.The mechanical units connected to other tasks than the oneexecuting the service routine will not be forced into a fine point.2) One or several tasks is deactivated in the task selectionpanel, and then the paths cannot be finished for all mechanicalunits.




Recommended actionsBefore executing the brake check program, end the ongoingpath for all mechanical units in all tasks. This is done bystepping the movements forward.

41907, Too far from path

DescriptionTask: arg.One or several mechanical units connected to task arg is toofar from the path to perform a regain movement.

Program ref: arg.

ConsequencesThe execution of the routine arg has been stopped.

Probable causesThe mechanical unit has been jogged from the path.

Recommended actions1) Start execution again and choose if regain or remove path.2) Cancel call routine to end arg.




5.7 5 xxxx

50021, Joint position error

DescriptionActual position of joint arg is too far away from the orderedposition.

Recommended actionsCheck tuning parameters, external forces or hardware.

50024, Corner path failure

DescriptionTask: arg.Corner path executed as stop point due to some of the followingreasons: Time delay. Closely programmed points. Systemrequires high CPU load. Program ref. arg.

Recommended actionsReduce the number of instructions between consecutive moveinstructions. Reduce speed, use wider spaced points, use/CONC option. Increase system parameter 'Prefetch Time' intopic Motion and type Motion Planner. If the stop comes at thefirst movement after a finepoint, increase the system parameter'Interpolation Buffer Startup Adjust' in topic Motion and typeMotion Planner. The warning can be suppressed using theRAPID instruction CornerPathWarning.

50025, Restart interrupted

DescriptionCurrent position is too far from path.

Recommended actionsMake a new restart with regain.

50026, Close to singularity

DescriptionTask: arg.Robot too close to singularity.Program ref. arg.(Internal status: arg).

Recommended actionsModify the robot path away from the singularity or change thejogging mode for the robot to joint/axis jogging.In the case when the robot position is dependent on anadditional axis being jogged then that dependency may alsoneed to be relaxed, that is by changing the jogging coordinatesystem for the robot from world to base.

50027, Joint Out of Range

DescriptionPosition for arg joint arg is out of working range.

Recommended actionsUse the joystick to move the joint into its working range.

50028, Jog in wrong direction

DescriptionPosition for arg joint arg is out of working range.

Recommended actionsUse the joystick to move the joint in opposite direction.

50031, Command not allowed

DescriptionSystem parameters cannot be changed in Motors On state.

Recommended actionsChange to Motors Off.


DescriptionAn attempt was made to calibrate while in Motors On.



DescriptionAn attempt was made to commutate the motors in Motors On.



DescriptionAn attempt was made to synchronize in Motors On.





50036, Correct regain impossible

DescriptionA stop occurred with too many close points with corner zones.At restart the robot will move to a point farther forward in theprogram.

Recommended actionsReduce the number of close points, increase the distancebetween them or reduce the speed.

50037, Motors On order ignored

DescriptionMotors On order ignored since the previous stop was not yetacknowledged.

Recommended actionsOrder Motors On again.

50042, Could not create path

DescriptionThe path could not be created.

Recommended actionsIncrease the distance between close points. Decrease speed.Change acceleration.

50050, Position outside reach

DescriptionPosition for arg joint arg is outside working area.Joint 1-6 : Number of the axis which causes the error.Joint 23: Combination of axis 2 and 3 causes the error.

Probable causesThe reason may be that ConfL_Off is used and a movement istoo large, more than 90 degrees for an axis.

Recommended actionsCheck work object or working range. Move the joint in jointcoordinates. Check Motion system parameters. Insertintermediate points on large movements.

50052, Joint speed error

DescriptionThe speed of joint arg is wrong relative the ordered speed dueto error in system or collision.

Recommended actionsCheck the tune parameters, external forces on the joint andhardware. Reduce programmed speed.

50053, Too large revolution counter difference

DescriptionToo large revolution counter difference for joint arg. The systemhas detected too large a difference between the actualrevolution counter value on the serial measurement board andthe value anticipated by the system.

ConsequencesThe robot is not calibrated and may be jogged manually, butno automatic operation is possible.

Probable causesThe position of the robot arm may have been changed manuallywhile the power supply was switched off. The serialmeasurement board, resolver or cables may also be faulty.

Recommended actionsUpdate the revolution counter. Check resolver and cables.Check the serial measurement board to determine whether itis faulty. Replace the unit if faulty.

50055, Joint load too high

DescriptionActual torque on joint arg too high. Might be caused by incorrectload data, too high acceleration, high external process forces,low temperature or hardware error.

Recommended actionsCheck load data. Reduce acceleration or speed. Checkhardware.

50056, Joint collision

DescriptionActual torque on joint arg is higher than ordered while at lowor zero speed. Might be caused by jam error (the arm has gotstuck) or hardware error.

Recommended actionsCheck that arm is not stuck.Check hardware.Check for other hardware event logs.

50057, Joint not synchronized

DescriptionThe position of joint arg after power down/failure is too far awayfrom the position before the power down/failure.

Recommended actionsMake a new update of the revolution counter.




50058, Tool coordinate system error

DescriptionThe z-direction of the tool coordinate system is almost parallelwith the path direction.

Recommended actionsChange the tool coordinate system to achieve at least 3 degreesdeviation between z-direction and path direction.

50063, Circle uncertain

DescriptionTask: arg.The points are misplaced, reason arg: End point too close tostart point. Circle point too close to start point. Circle point tooclose to end point. Uncertain reorientation. Circle too large >240 degrees. Program ref. arg.

Recommended actionsCheck the points of the circle and the end point of the moveinstruction before. The points of the circle can be verified bystepping trough the circle in manual mode.

50065, Kinematics error

DescriptionThe destination of the movement is outside the reach of therobot or too close to a singularity. Robot arg.

Recommended actionsChange the destination position.

50066, Robot not active

DescriptionAttempt to coordinate motion or calculate position of deactivatedrobot arg.

Recommended actionsActivate robot from the Jogging window, or program. Checkwork object and program.

50067, Unit not active

DescriptionAttempt to coordinate motion or calculate position of deactivatedsingle unit arg.

Recommended actionsActivate robot from the Jogging window, or program. Checkwork object and program.

50076, Orientation not correct

DescriptionOrientation is incorrectly defined.

Recommended actionsMake an accurate normalization of the quaternion elements.

50078, Too many close positions

DescriptionToo many consecutive closely spaced positions.

Recommended actionsIncrease the distance between consecutive close positions.

50079, Cannot use wrist weaving

DescriptionWrist weaving not possible.

Recommended actionsUse smaller weaving amplitude or a larger TCP.

50080, Position not compatible

DescriptionThe desired position cannot be reached with the given robotconfiguration. Robot arg.

Recommended actionsModify the robot position in the program.

50082, Path calculation time exceeded

DescriptionThe path calculation time for mechanical units running in motionplanner arg exceeds internal limit. The motion task did notexecute within its time limit.

Probable causesThe CPU load is too high. Could for example be generated bytoo frequent I/O communication.

Recommended actionsSet system parameter 'High Interpolation Priority' for theaffected motion planner. Try to reduce the CPU load by one ormore of the following actions: Reduce speed. Change AccSet.Avoid singularity (SingArea\Wrist). If the error comes directlyafter start from finepoint, increase the system parameter'Interpolation Buffer Startup Adjust' in topic Motion and typeMotion Planner.




50085, Too many user frames

DescriptionFor mechanical unit arg more than one user frame has beendefined.

Recommended actionsTake away one user frame or define one more mechanical unit.

50086, Singularity problem

DescriptionToo close to wrist singularity with respect to numericalresolution for joint 4 of arg.

Recommended actionsChange destination position a few increments.

50087, Singularity problem

DescriptionToo close to wrist singularity with respect to numericalresolution for joint 6 of arg.

Recommended actionsChange destination position a few increments.


DescriptionIt is not possible to restart the path due to a previous error.

Recommended actionsMove the program pointer to clear the path and start a newmovement.

50089, Weaving changed

DescriptionTask: arg.The ordered weaving is not achieved due to: High weavingfrequency. Not allowed shift of weave method or thatSingArea/Wrist is used with wrist weave. Program ref. arg.

Recommended actionsIncrease weave length or period time.Don't shift between arm and wrist weave.Use SingArea/Off with wrist weave.


DescriptionRestart no longer possible. Change of mechanical unit statemade restart of program impossible.

Recommended actionsMove the program pointer and start a new movement.

50092, Axis computer response

DescriptionIncorrect response from the axis computer.

Recommended actionsCheck Motion system parameters.Check the axis computer hardware.

50094, TuneServo not possible

DescriptionTuning is not implemented for the specified joint.

Recommended actionsVerify that a parameter and/or joint that can be used withTuneServo is chosen.

50096, TuneServo not allowed

DescriptionTuning is not allowed for the specified joint.

Recommended actionsVerify that a parameter and/or joint that can be used withTuneServo is chosen.

50124, Zone converted to fine point

DescriptionTask: arg.Corner path executed as stop point because the calculated timemargin for next segment is 0.This can be caused by: Closely programmed points. Systemrequires high CPU load. Program ref. arg.

Recommended actionsReduce the number of instructions between consecutive moveinstructions. Reduce speed, use wider spaced points, use/CONC option. Increase system parameter 'Prefetch Time' intopic Motion and type Motion Planner. If the stop comes at thefirst movement after a finepoint, increase the system parameter'Interpolation Buffer Startup Adjust' in topic Motion and typeMotion Planner. The warning can be suppressed using theRAPID instruction CornerPathWarning.

50132, Commutation failed

DescriptionCommutation failed for joint arg.




Recommended actionsMake a new commutation. Restart the controller.

50133, No signals available

DescriptionNo signals are available for robot arg.

Recommended actionsVerify that correct signals are defined.

50134, Correction vector failed

DescriptionSensor correction vector calculations failed due to previouserror.

Recommended actions

50135, SoftAct not possible

DescriptionSoft servo is not possible to activate.

Recommended actionsVerify that a joint that can be used with SoftAct is chosen.

50138, Arm check point limit

DescriptionThe robot arg has reached the limit for arm check point.

Recommended actionsUse the joystick to move the involved joint into the workingrange again.

50139, Arm check point limit

DescriptionJogging was made in wrong direction when arm check pointwas out of working range for robot arg.

Recommended actionsUse the joystick to move the joint in opposite direction.

50140, Payload too large

DescriptionHeavy payload caused static torque limit to be exceeded onjoint arg.

Recommended actionsCheck and reduce payload for arm and/or wrist. Reduce jointworking range to decrease static torque due to gravity.

50142, Motion configuration

DescriptionConfiguration of the manipulator failed.argarg.

Recommended actionsCheck system parameters in topic Motion.Use correct parameters and reset the system.

50143, Robot axes configuration

DescriptionActual configuration is not the same as ordered and/ormovement of any robot axis is larger than 90 degrees. Robotarg, axis arg.

Recommended actionsUse SingArea_Wrist, ConfL_Off, modify position or insertintermediary point.Proceeding in automatic mode will not be possible withoutcorrecting the configuration. To be able to move to the positionanyway change to manual mode and repeat start.

50144, Displacement frame uncertain

DescriptionCalibration of displacement frame uncertain for robot arg, dueto one or several of: Wrong TCP. Reference points inaccurate.Reference points badly spaced.

Recommended actionsIf estimated error is unacceptable: Verify that correct TCP isused. Try more than 3 reference points. Be careful whenpositioning robot to reference points.

50145, Kinematic limitation

DescriptionKinematic limitation for robot arg, no solution found. Longsegment. Position close to singularity. Joint 1, 2 or 3 out ofrange. Position outside reach.

Recommended actionsInsert an intermediary point to reduce the length of the segment.Use MoveAbsJ. Check working range.

50147, Power fail restart failed

DescriptionRe-creation of the path failed.




Recommended actionsMove the program pointer and start a new movement.


DescriptionTask: arg.The given instruction, or command, was not allowed since therobot program was executing in a hold state.(Internal status: arg arg).Program ref. arg.

Recommended actionsModify program or stop program execution before issuingcommand.

50156, Not an Independent Joint

DescriptionJoint arg is not configured as an Independent Joint.

Recommended actionsModify the program or configure the joint as an IndependentJoint in topic Motion and type Arm.

50157, Correction vector X failed

DescriptionSensor correction vector X calculations failed due to previouserror.

Recommended actions

50158, Sensor process missing

DescriptionSensor process missing during initialization. Named sensorprocess arg could not be found or initialized.

Recommended actionsCheck process name in topic Motion and type Process.

50159, No external process

DescriptionAttempt to coordinate motion or calculate position of single argwithout an external process.

Recommended actionsCheck process name in topic Motion and type Processconfiguration files.

50160, Cannot reach position

DescriptionProgrammed position of independent joint arg is outsideworking range and thus cannot be reached.

Recommended actionsChange the position. Check the joint working area limits. Checkthe used work object.

50163, Position adjustment

DescriptionExternal position adjustment too large. TCP speed, orientationspeed, or external position speed exceed allowed robotperformance.

Recommended actionsReduce programmed TCP- and orientation speeds. Modify thepath. WaitWObj closer to sync. Run in automatic mode.

50164, Deactivation not possible

DescriptionDeactivation of mechanical unit may not be done while inindependent mode.

Recommended actionsMake sure that independent mode is not used and try todeactivate again.

50167, New sync

DescriptionNew object sync signal has arrived while conveyor is activeand program is running.

Recommended actions

50168, New sync on arg

DescriptionNew object sync arrived while conveyor was tracking theprevious object. Cannot track two objects simultaneously.

Recommended actionsReduce speed of conveyor. Increase programmed speed.

50172, MoveJ not allowed

DescriptionMoveJ not allowed with work object coordinated with externalposition mechanical unit.




Recommended actionsChange to linear movement or work object.

50174, WObj not connected

DescriptionThe WObj is not connected to the conveyor arg. Robot TCPcannot be coordinated to work object. Object can be droppedbecause of time synchronization fault on conveyor node.

Recommended actionsCheck for missing WaitWObj.Check for DropWObj occurring before end of coordination.Check for time synchronization fault, see status on conveyornode.

50175, Conveyor moving

DescriptionConveyor arg moving while attempt to coordinate robot TCP toconveyor work object while in prohibited mode.

Recommended actionsIt is not possible to coordinate to conveyor while in manualreduced speed, or stepping in automatic mode, and theconveyor is moving.

50176, Conveyor not active

DescriptionConveyor arg was not active when attempt to coordinate robotTCP to conveyor work object.

Recommended actionsMake sure conveyor mechanical unit is active. Check forfinepoint for last coordinated motion before DeactUnit.

50177, Unable to restart

DescriptionConveyor arg moving while attempting to restart or beforepressing Stop or stepping through program.

Recommended actionsMake sure conveyor is standing still. Move the program pointerand start a new movement.

50181, Out of coupled range

DescriptionJoint arg and arg are out of coupled working range.

Recommended actionsUse the joystick to move joints into their coupled working range.

50182, Jog in wrong direction

DescriptionJoint arg and arg are out of coupled working range.

Recommended actionsUse the joystick to move joints into their coupled working range.

50183, Robot outside work area

DescriptionThe robot has reached the World Zone arg, arg.

Recommended actionsCheck the reason of the World Zone. Use the joystick to movethe robot out of the World Zone if needed.

50184, Correction vector Y failed

DescriptionSensor correction vector calculations failed due to previouserror.

Recommended actions

50189, Relay signal not found

DescriptionThe signal arg for relay arg is not found in the I/O configuration.The mechanical unit using this relay is ignored.

Recommended actionsCheck I/O signal definitions and system parameters definitionin topic Motion and type Relay.

50190, Permanent interpolator lock error

DescriptionScanned number of active joints not equal to expected numberof joints.

Recommended actionsCheck configuration of the unit that is using general kinematics.

50192, Jogging error

DescriptionJogging is started too soon after program stop.

Recommended actionsTry to jog the robot again.




50193, Joint not synchronized

DescriptionThe speed of joint arg before power down/failure was too high.

Recommended actionsMake a new update of the revolution counter.

50194, Internal position error

DescriptionError caused by internal numerical limitation. Joint number arg.Calculated reference position = arg.

Recommended actionsAdjust the system parameters in topic Motion and typeUncalibrated Control Master 0. If TuneServo is used, adjustparameter 'TUNE_DF'.

50195, Cannot move independent

DescriptionJoint arg cannot be moved in independent mode.

Recommended actionsMake sure that independent mode is not used when trying tomove joint.

50196, Calibration failed

DescriptionPoints 0 and 1 too close.

Recommended actionsMake a new calibration with larger distance between points 0and 1.


DescriptionPoints 0, 1 and 2 on a line or point 2 too close to points 0 or 1.

Recommended actionsMake a new calibration with points moved so that 0, 1 and 2are not on a line or with larger distance between point 2 andpoints 0 and 1.


DescriptionInternal error during calibration due to unknown origin switch.

Recommended actionsReport the occurrence to ABB. Make a new calibration.

50200, Torque error

DescriptionTorque calculation error due to high speed for mechanical unitarg. Internal status arg.

Recommended actionsCheck load data. Reduce speed.

50201, Orientation outside reach

DescriptionThe error of the programmed orientation exceeds theacceptance limit.

Recommended actionsAdjust robtarget orientation. Adjust/check orientations ofcurrently used frames: tool frame, base frame, user frame,object frame. It is possible (but not recommendable) to switchoff the orientation supervision using the corresponding systemparameter. Please see system parameters documentation fordetails (topic Motion and type Robot).

50203, Measurement node used

DescriptionThe measurement node for joint arg is already used.

Recommended actionsSelect another node.

50204, Motion supervision

DescriptionMotion supervision triggered for axis arg on mechanical unitarg.

ConsequencesThe movement of mechanical unit arg is halted immediately. Itthen returns to a position on the path on which it was running.If Collision Error Handling is not configured, the execution willstop and it will remain in Motors On, awaiting a start request.If Collision Error Handling is configured, the execution willcontinue into an error handler.

Probable causesTriggering of the motion supervision may be caused by acollision, incorrect load definition or forces in external process.

Recommended actionsIf execution is stopped, acknowledge the fault, and resumeoperation by pressing the Start button on the FlexPendant.Make sure any loads are defined and identified correctly. If themechanical unit is exposed to forces from the external




processes, use RAPID command or system parameters to raisethe supervision level. Consider to configure Collision ErrorHandling in topic Controller, type General Rapid and add anerror handler for collision errors.

50205, Data logger error

Descriptionarg.

Recommended actionsSolution:arg.

50208, Missing function

DescriptionFriction compensation cannot be activated for joint arg.

Recommended actionsInstall the option Advanced Robot Motion.

50209, Kinematic limitation

DescriptionNo acceptable solution found. Residual: arg deg in orientation,arg mm in x,arg mm in y, arg mm in z.

Recommended actionsInsert an intermediary point. Check singularity. Increase positionand orientation tolerance. Use MoveAbsJ. Check working range.

50210, Load identification fail

DescriptionCannot perform load identification because configuration angleis too small.

Recommended actionsIncrease configuration angle.

50214, Work area configuration failed

DescriptionPossibly the defined work area is larger than max allowed areafor robot arg.

Recommended actionsAdjust the work area parameters in topic Motion and type Robotsystem parameters and try again.

50215, Load identification fail

DescriptionAxis arg will move outside working range.

Recommended actionsMove the axis to a position further from the working range limit.

50218, Path not finished

DescriptionTask: arg.Previous motion path was not finished before new motion wassent.Program ref. arg.

Recommended actionsUse StorePath when in Trap routines. Move the program pointerand start a new movement.

50220, No input signal

DescriptionNo input signal to the contactor relay for mechanical unit arg.

Recommended actionsEnsure that an input signal is connected and configured.

50221, Object outside limit

DescriptionObject on conveyor arg is outside maximum distance orminimum distance limits. Object Dropped.

Recommended actionsCheck limits or reduce conveyor speed.

50222, Mismatch type - MechUnit

DescriptionMismatch between selected identification type and selectedmechanical unit.

Recommended actionsMake sure that selected type corresponds to selectedmechanical unit and try again.

50224, Cannot define load

DescriptionIt is not allowed to define a load on axis arg for mechanical unitarg or the interpolation is not stopped in a finepoint.




Recommended actionsChange axis number, mechanical unit or change the movebefore to finepoint.

50225, Synchronization failed

DescriptionError in synchronization data. Controller updated with new data.System unsynchronized.

Recommended actionsUpdate all revolution counters.

50226, Motor reference error

DescriptionCalculation time for motor references exceeds internal limits.

Recommended actionsReduce load on the main computer. Restart the controller.

50227, Invalid log signal channel

DescriptionInvalid channel number arg.

Recommended actionsTest next channel number.

50228, Unknown log signal number

DescriptionUnknown signal number arg.

Recommended actionsMake sure that a valid signal number is defined.

50229, Unknown log signal unit

DescriptionUnknown mechanical unit arg.

Recommended actionsCheck spelling or configuration.

50230, Invalid log signal axis

DescriptionInvalid axis number arg for mechanical unit arg.

Recommended actionsCheck mechanical unit and axis number.

50231, Log signal unit not active

DescriptionMechanical unit arg not active.

ConsequencesLogged signals for deactivated units may be invalid.

Recommended actionsActivate mechanical unit to avoid this event message.

50234, Overflow during logging

DescriptionAn overflow occurred when logging signals.

Recommended actionsDefine fewer signals. Reduce load on the main computer.Reduce network load.

50235, No Motion interrupts received

DescriptionThe system has not generated motion interrupts within timeout.


Probable causesHigh system interrupt load or in rare cases hardware error.

Recommended actionsRestart the controller to resume operation. Check any othererror log messages coinciding in time with this one for clues.Replace the main computer if faulty.

50239, Emergency Stop change

DescriptionEmergency Stop changed brake mode because of accelerationlimitation.

Recommended actionsLimit acceleration in the program.

50240, Emergency Stop change

DescriptionEmergency Stop changed to brake mode because of torquelimitation.

Recommended actionsCheck load data.




50241, Missing function

DescriptionAbsolute Accuracy not purchased.

Recommended actionsChange Robot system parameter 'Use Robot Calibration' intopic Motion to r#_uncalib.

50242, Unsync due to system parameters

DescriptionMismatch between controller and system parameters for jointarg (calibration offset or calibration position), or Valid flags for'Calibration offset' or 'Commutation offset' not set to 'Yes' insystem parameters.

Recommended actionsUpdate measurement system: Update revolution counter.Recalibrate joint. Change system parameters.

50243, No acceleration limit

DescriptionAcceleration limitation is not implemented for robot arg.

50244, Absolute Accuracy calibration failed

DescriptionCould not perform an Absolute Accuracy calibration for robotarg, returned status arg.

Recommended actionsRestart the controller. Check that the hard drive isn't full. Installmore memory.


DescriptionCannot set non motion execution mode when in Motors On.


50246, Linked motor error

DescriptionLarge position offset between follower axis and master axis.

Recommended actionsStart linked motor service routine. Jog the follower axis to sameposition as the master axis.

50247, Clear of Path failed

DescriptionThe movement has to be stopped when the path is to becleared.

Recommended actionsUse StopMove before the ClearPath instruction. Move theprogram pointer and start a new movement.

50248, Servo Tool error

DescriptionError for tool arg in state argargargarg.

50249, Programmed force reduced

DescriptionProgrammed tip force too high for tool arg. Requested motortorque (Nm) = arg. Force was reduced to max motor torque.

Recommended actionsReduce programmed tip force. Check force vs torque calibrationin system parameters. Check 'Max Force Control Motor Torque'in system parameters.

50250, Calibration force reduced

DescriptionRequested calibration force too high for tool arg. Requestedmotor torque (Nm) = arg. Force was reduced to max motortorque.

Recommended actionsCheck calibration forces in system parameters. Check force vstorque calibration in system parameters. Check 'Max ForceControl Motor Torque' in system parameters.

50251, Tool opening failed

DescriptionAn ordered tool axis movement of arg was detected during toolopening.

Recommended actionsMake sure the tool opening is ready before executing next toolaxis movement. Decrease the system parameter'Post-synchronization Time'.




50252, Tool opening failed

DescriptionAn ordered tool axis movement of arg was detected during toolopening in calibration.

Recommended actionsMake sure no movements of the tool axis are ordered duringcalibration.

50253, Cannot deactivate unit

DescriptionDeactivation of mechanical unit may not be done while inprocess mode.

Recommended actionsMake sure to leave process mode before deactivatingmechanical unit.

50254, Linked motor error

DescriptionToo large speed for follower axis when follower axis is in jogmode.

Recommended actionsStart linked motor service routine. Reset jog mode.

50256, Sync pos outside limits

DescriptionSensor movement outside limits. The sensor start pos shouldbe arg than arg and found arg.

Recommended actionsCheck programmed sensor position in robtarget. Start syncearlier or change robtarget.

50257, Sync speed outside limits

DescriptionProgrammed speed outside limits. The speed should be argthan arg and found arg.

Recommended actionsCheck programmed robot speed. Check sensor teach pos.Check sensor nominal speed.

50258, Sensor direction error

DescriptionProgrammed sensor pos speed arg and found sensor speedarg in opposite direction.

Recommended actionsCheck programmed sensor positions in robtarget. Start syncearlier or reduce waitsensor distance.

50259, Sensor max distance error

DescriptionDistance between sensor position and programmed positiontoo large. arg.

Recommended actionsCheck programmed sensor positions in robtarget. Check sensorspeed. Start sync earlier or reduce waitsensor distance.

50260, Sensor Check dist error

DescriptionDistance sensor pos to programmed pos arg too large arg.

Recommended actionsCheck programmed sensor positions in robtarget. Check sensorspeed. Increase max deviation.

50261, WZone outside work area

DescriptionThe definition of minimum limit for the World Zone arg is outsidework area for: arg arg arg...

Recommended actionsChange the definition of the World Zone so the limit will beinside work area or insert 9E9 to remove an axis from test bythe WZone.

50262, WZone outside work area

DescriptionThe definition of maximum limit for the World Zone arg isoutside work area for: arg arg arg...

Recommended actionsChange the definition of the World Zone so the limit will beinside work area or insert 9E9 to remove an axis from test bythe WZone.

50263, Duty factor is too high

DescriptionThe duty factor for the gearbox of joint arg of robot arg is toohigh. Continued running without adjustment may cause damageto motor and gearbox. Contact your local ABB service supportcenter.




Recommended actionsReduce the speed or increase the wait time.

50265, Thickness out of reach

DescriptionServo tool: arg Programmed thickness arg mm is out of reach.

Recommended actionsAdjust programmed thickness. Check working range (min.stroke)

50266, Close request failed

DescriptionNot allowed to close servo tool: arg in reverse direction.Pre-close position: arg mm.Programmed thickness: arg mm.

Recommended actionsAdjust pre-close position. Adjust programmed thickness.

50267, Open request failed

DescriptionNot allowed to open servo tool: arg in reverse direction.

Recommended actionsCheck that programmed robtarget positions of the servo toolare larger than programmed thickness.


DescriptionNot allowed to calibrate servo tool: arg from negative position.

Recommended actionsAdjust servo tool position before calibration.

50269, Tune value out of limit

DescriptionTune value for servo tool: arg is out of limit. Parameter: arg.

Recommended actionsAdjust tune value.

50271, Poor event accuracy

DescriptionTask: arg.The system is presently configured with time event supervision,and now an event could not be accurately activated.Program ref. arg.

Recommended actionsDecrease the programmed speed or increase the distancebetween the programmed positions. Turn off this check bychanging the system parameters.


DescriptionFailed to read arg data for arg.

Recommended actionsCheck the configuration file.Use correct parameters and reset the system.Check both system parameters for the current instance andany instances below in the structure.


DescriptionIncorrect system parameter arg for arg. The system parametercould for instance be an unknown type or a numerical valuethat is out of range.

Recommended actionsCheck the configuration file.Use correct parameters and reset the system.


DescriptionFailed to read or create arg with the name: arg. If the currentinstance exists it is read, else it is created. In other words, theinstance could not be read or created.



DescriptionFailed to read next arg name, previous name is arg. Theprevious instance is ok, but the next instance cannot be read.Check also the configuration error log for more details.






DescriptionStandard servo queue length (arg) out of range (min=1,max=arg).

Recommended actionsCheck std_servo_queue_length in the configuration file.Use correct parameters and reset the system.


DescriptionNumber of joints (arg) in dynamic group override. Allowednumber is arg.



DescriptionFailed to configure servo gun (arg).

Recommended actionsCheck the servo gun data in the configuration file.Use correct parameters and reset the system.


DescriptionServo tool change requires option Servo Tool Change.Without this option, installation of this mechanical unit is notallowed.Mechanical unit arg and arg have the same configuredconnection.


50280, System configuration

DescriptionMechanical unit arg is defined in more than one RAPID program.


50281, Process failed

DescriptionTask: arg.A process in the task arg has failed. This is caused by a failureof a process in this task or a synchronized task if MultiMove isused.arg.

Recommended actionsCheck other messages occurring at the same time for thereason.Recovery: arg.

50282, Record not ready

DescriptionRecord not ready to activate.

Recommended actionsMake sure that record is finished before activating.Check sensor_start_signal.

50283, Unknown record file name

DescriptionRecord file name: arg is unknown.

Recommended actionsCheck file name or existence with file manager.Record a new file.

50284, Cannot activate Mechanical Unit

DescriptionThe mechanical unit arg cannot be activated because it is notconnected to a RAPID task.

Recommended actionsCheck that the connection between mechanical unit and RAPIDtask is done correctly in the Controller topic.

50285, DitherAct not possible

DescriptionDithering is not possible to activate.

Recommended actionsVerify that a joint that can be used with DitherAct is chosen.

50286, Mix of coordinated frames





More than one unit move frames, reason arg: It is not allowedto have a chain of coordinated frames. It is not allowed toexchange the unit that control the frame in a corner zone.Program ref. arg.

Recommended actionsRearrange the units so that all units, which perform coordinatedmovements, are following the same unit. Insert a finepoint ora not coordinated movement between the two coordinatedmovements.

50287, Unit not stopped in a controlled position

DescriptionThe robot arg is semi coordinated to unit arg from another taskand the unit has been moved or the regain to the path failed.

ConsequencesProgram run or restart will be interrupted.

Recommended actionsCheck all programs that the semi coordinated movement isseparated with finepoints and WaitSyncTask instructions beforeand after the movement and that the unit is not moved between.Note that WaitSyncTask also is needed after the semicoordination before SyncMoveOn and SyncMoveResume.Check that the unit is moved to the wanted position before thesemi coordinated movement. After SyncMoveOff,SyncMoveSuspend, ActUnit, DeactUnit or ClearPath the unitmust be moved (with a new movement instruction) to a positionto define the frame so the other task can read it. The positioncan be a new position, or the current position of the unit.Check if the program for the unit is active in the task selectionpanel.

50288, Sync ID mismatch

DescriptionThe specified id number for the move instruction has to beequal for all cooperating program tasks.Current id number mismatch arg, arg.

Recommended actionsVerify that the specified id numbers are equal and that allprogram pointers are synchronized before program start.

50289, Point type mismatch at sync

DescriptionThe move instructions with syncId = arg, have a mix betweenfinepoints and zonepoints.

Recommended actionsMake sure that the move instruction in all cooperating programtasks specifies the same kind of point type, either finepoints orzonepoints.

50290, Service unavailable

DescriptionUnable to obtain correct license.

Recommended actionsPlease check the license settings.

50294, Transmission error of data

DescriptionTransmission of data between controller and robot memory hasfailed.

Probable causesCable, or transmission electronics failed. Electrical interferencehigh.

Recommended actionsRestart try once more. Check cables. Check the SMB-board.Check the drive module.

50295, Motion data missing

DescriptionData in robot and controller memory missing for mechanicalunit arg.

Probable causesConfiguration file missing. New SMB-board together with newcontroller.

Recommended actionsLoad new configuration files.

50296, Robot memory data difference

DescriptionData in robot memory is not same as in controller for mechanicalunit arg.

Probable causesNot the same data or serial number in robot and controllermemory. Robot (SMB-board) or controller exchanged or systemparameters changed.

Recommended actionsCheck status via the FlexPendant and check if right systemparameters (serial number) loaded in controller. Check that




serial number belongs to the robot connected to the controller.If not, replace configuration files or manually transfer data fromrobot to controller memory if controller has been exchanged.If the serial measurement board is replaced with board fromanother robot (serial numbers not the same), clear first robotmemory via the FlexPendant and then transfer data fromcontroller to robot.

50297, Memory updated in robot

DescriptionData for mechanical unit arg is moved from controller to robotmemory.

50298, Memory updated in controller

DescriptionData for mechanical unit arg is moved from robot to controllermemory.

50299, Speed is reduced

DescriptionSpeed for unit arg is reduced due to limiting unit arg.Task: arg Instruction line: arg.

Probable causesProgrammed speed too high on this unit or movement too longon limiting unit.

Recommended actionsChange path or programmed speed.Set speed control off.

50300, Robot memory not used

DescriptionRobot memory is not used for this mechanical unit.

Probable causesAdditional axes can't and should not use the robot memory.

50301, All robot data missing

DescriptionAll data is missing in robot memory at SMB-board arg, link arg,drive module arg.

Probable causesAn error in robot memory or communication has occurred. Thedata has been cleared.

Recommended actionsIf proper data exists in controller - transfer the data to robotmemory. If still problem - check communication cable to theSMB-board. Replace the SMB-board.

50302, Sensor data missing

DescriptionNo serial number is defined for mechanical unit arg in robotmemory.

Probable causesThe robot memory has been cleared or new SMB-board hasbeen installed.

Recommended actionsIf proper data exists in controller - transfer the data to robotmemory.

50303, Controller data missing

DescriptionNo serial number is defined for mechanical unit arg in controller.

Probable causesThe controller memory has been cleared or new controller hasbeen installed.

Recommended actionsIf proper data exists in robot memory - transfer the data tocontroller memory.

50305, Old SMB board used

DescriptionOld SMB board used without data memory.

Recommended actionsReplace board with a new with data memory or set systemparameter 'Use old SMB' in topic Motion and type Robot.

50306, Load identification error

DescriptionCannot perform load identification because configuration anglemakes inertia matrix singular.

Recommended actionsMove axis 6 on the robot about 30 degrees in any direction.

50307, Extended working range

DescriptionThe option Extended working range has been installed.




Make sure that the mechanical stop has been removed.

50308, In Position timeout

DescriptionTask: arg.Program ref. arg.Condition for finepoint not fulfilled within arg seconds.

Recommended actionsCheck tuning of additional axes, In Position Conditions (InPosition Range, Zero Speed) and check if disturbance ofresolver cables.

50309, Absolute Accuracy error

DescriptionData moved from robot to controller memory. Absolute Accuracydata not valid in robot memory. Absolute Accuracy cleared incontroller for mechanical unit arg.

Recommended actionsLoad new Absolute Accuracy data if data available.

50310, Independent joint not active

DescriptionMechanical unit arg with independent joint is not active.

Recommended actionsActivate the mechanical unit before executing the independentjoint instruction.

50311, Cannot activate Mechanical Unit in task

DescriptionThe mechanical unit arg cannot be activated in specified task.

Recommended actionsCheck the connection between mechanical unit and RAPID taskin the configuration, topic Controller.

50312, Mechanical Unit already active in othertask

DescriptionCannot activate mechanical unit arg, since it is already activein another RAPID task.

50313, Independent move reset failed

DescriptionIndependent reset movement failed for arg, a synchronizedmovement (MoveL/MoveJ) of the servo tool occurred duringthe independent reset movement.

Recommended actionsMake sure the synchronized speed of the servo tool is zeroduring execution of independent reset movements.

50314, Independent move outside reach

DescriptionProgrammed independent move position for arg is outsidereach. Programmed position = arg mm.

Recommended actionsAdjust independent move position.Check working range of the servo tool.

50316, Absolute accuracy not activated

DescriptionAbsolute accuracy function not activated for robot arg.

ConsequencesRobot positioning will not be absolute accurate.

Recommended actionsSwitch Absolute Accuracy on by changing Robot systemparameter 'Use Robot Calibration' in topic Motion to r#_calib.Verify status in jogging window.

50317, Disconnecting the drive module notallowed

DescriptionAn attempt was made to disconnect drive module arg, whichis not allowed.

ConsequencesThe system goes to state Motors Off, and then disconnects thedrive module.

Probable causesDisconnecting the drive module is only allowed in Motors Offstate.

Recommended actionsMake sure that the system is in Motors Off state beforedisconnecting the drive module.




50318, Reconnecting the drive module notallowed

DescriptionThe drive module should not be reconnected since the systemis not in the state Motors Off.

ConsequencesAn attempt was made to reconnect drive module arg, which isnot allowed.

Probable causesReconnecting the drive module is only allowed in Motors Off.

Recommended actionsMake sure that the system is in Motors Off state beforereconnecting the drive module.

50319, Cannot activate Mechanical Unit

DescriptionAn attempt was made to activate mechanical unit arg, whichfailed.

ConsequencesThe mechanical unit remains deactivated.

Probable causesThe mechanical unit is connected to the drive module argwhichis disconnected.

Recommended actionsReconnect the drive module. Retry to activate the mechanicalunit.

50320, Drive Module has been disconnected

DescriptionDrive module arg has been disconnected.

ConsequencesNo mechanical units connected to the drive module may beoperated.

50321, Drive Module has been reconnected

DescriptionDrive module arg has been reconnected after beingdisconnected.

ConsequencesAll mechanical units connected to drive module arg may beoperated.

50322, Mechanical Unit not connected to Motiontask

DescriptionCannot activate mechanical unit arg, since it is not connectedto any motion task.

Recommended actionsCheck the connection between mechanical unit and RAPID taskin the configuration, topic Controller.

50323, Failed to read force sensor

DescriptionFailed to return calibrated force sensor reading.

Probable causesForce control system not calibrated.

Recommended actionsUse the instruction FCCalib before using this instruction.

50324, Force control calibration failed

DescriptionFailed to calibrate the force control system.

Probable causesThe system is not in position control.

Recommended actionsMake sure the robot is in position control mode before usingthe FCCalib instruction.

50325, Failed to activate force control

DescriptionActivation of force control failed.

Probable causesThe system is either not calibrated or we are already in forcecontrol. Another reason for this could be incorrect arguments.

Recommended actionsOnly use the FCAct or FCPress1LStart instruction when theforce control system is calibrated and we are in position control.Check all arguments to the activation instruction.

50326, Failed to deactivate force control

DescriptionFailed to return to position control.

Probable causesCannot set position control if the robot is moving due to externalforces or ordered references.




Recommended actionsStop any active references and remove any external forces andtry again.

50327, Failed to start references

DescriptionFailed to start the user specified references.

Probable causesOnly allowed to start references when in force control.

Recommended actionsMust activate force control before trying to start references.

50328, Parameter error in FCRefSprForce orFCRefSprTorque

DescriptionError in parameter 'Stiffness' in instruction FCRefSprForce orFCRefSprTorque.

Recommended actionsChange the parameter 'Stiffness' in instruction FCRefSprForceor FCRefSprTorque to a value larger than zero.

50329, Parameter error in FCRefSprForce

DescriptionError in parameter 'MaxForce' in instruction FCRefSprForce.

Recommended actionsChange the parameter 'MaxForce' in instruction FCRefSprForceto a value larger than zero.

50330, Parameter error in FCRefSprTorque

DescriptionError in parameter 'MaxTorque' in instruction FCRefSprTorque.

Recommended actionsChange the parameter 'MaxTorque' in instructionFCRefSprTorque to a value larger than zero.

50333, Error FCRefLine, FCRefRot or FCRefCircle

DescriptionThe parameter 'Distance' in instruction FCRefLine or instructionFCRefRot and the parameters Radius and Speed in instructionFCRefCircle have to be larger than zero.

Recommended actionsChange the parameters above according to the manual.

50335, Parameter error in FCRefSpiral

DescriptionNot allowed parameter value used in function FCRefSpiral.

Probable causesError in parameter values of function FCRefSpiral.

Recommended actionsModify the parameter values in function FCRefSpiral.

50336, Parameter error in FCGetProcessData

DescriptionFailed to retrieve process information.

Probable causesUsing the optional argument 'DataAtTrigTime' in instructionFCGetProcessData. If no trig has occurred this error is reported.

Recommended actionsRemove the optional argument.

50337, Force sensor not setup

DescriptionError in the force sensor parameters.

Recommended actionsCheck the force sensor system parameters.

50338, Parameter error in FCCondAdvanced

DescriptionError in parameter 'LogicCond' in instruction FCCondAdvanced.

Recommended actionsModify the parameter 'LogicCond' in instructionFCCondAdvanced.

50339, Parameter error in FCCondTime

DescriptionError in parameter 'Time' in instruction FCCondTime.

Recommended actionsChange the parameter 'Time' in instruction FCCondTime to avalue larger than zero.

50340, Error in force control box definition

DescriptionAn error in the parameter 'Box' in either FCCondPos orFCSupvPos.




Recommended actionsChange the parameter 'Box' in either FCCondPos orFCSupvPos.

50341, Error in force control cylinder definition

DescriptionAn error in the parameter 'Cylinder' in either FCCondPos orFCSupvPos.

Recommended actionsChange the parameter 'Cylinder' in either FCCondPos orFCSupvPos.

50342, Error in force control sphere definition

DescriptionAn error in the parameter 'Sphere' in either FCCondPos orFCSupvPos.

Recommended actionsChange the parameter 'Sphere' in either FCCondPos orFCSupvPos.

50343, Error in force control cone definition

DescriptionAn error in the parameters for either FCCondOrient orFCSupvOrient.

Recommended actionsChange the parameters in either FCCondOrient orFCSupvOrient.

50344, Joints outside limits in force control

DescriptionOne or more joints are outside their working range in forcecontrol.

Recommended actionsModify the program to avoid the physical joint limits.

50345, Force control supervision error

DescriptionThe user specified supervision has trigged. The type is arg.Types: TCP position. Tool orientation. TCP speed. Reorientationspeed. Force. Torque. Teach TCP speed. Teach Reorientationspeed.

ConsequencesThe robot will stop.

Recommended actionsDeactivate force control.Modify the supervision or the program.

50346, Motor temperature error

DescriptionMotor temperature for joint arg is too high.

ConsequencesIt is not possible to continue until the motor has cooled down.

50348, Log signal definition failed

DescriptionDefinition of a signal failed for arg, axis arg on channel arg.

Probable causesThe signal number does not correspond to an actual log signal.

50349, Same synchronization ID

DescriptionTwo consecutive synchronized move instructions in arg havethe same synchronization ID value arg.

ConsequencesIf the ID value is repeated for more than one move instructionit can be very difficult to keep track of which move instructionsare synchronized. This can, for example, cause problems whenmodifying positions.

Recommended actionsChange the synchronized move instruction arg in arg so that ithas a unique synchronization ID value.

50350, Software Equalizing Not Allowed

DescriptionIt is not possible to run Software Equalizing since IndependentMove is active.

Recommended actionsMake sure independent move is not active when executing aSoftware Equalizing servo spot.

50351, Independent Move not allowed

DescriptionIt is not possible to execute an Independent Move whenSoftware Equalizing is active.




Recommended actionsMake sure Software Equalizing is off when executing anIndependent Gun Move.

50352, Number of move instruction mismatch

DescriptionUsing the path recorder within synchronized motion requires:That Tool offset must be present for all or none cooperatingprogram tasks.That all cooperating program tasks move backwards/forwardsthe same number of move instructions.

Recommended actionsVerify that the all tasks or none of the tasks use the optionalargument Tool Offset.Verify that the path recorder identifier moving towards are atthe same position in all tasks within the synchronized block.

50353, Failed to read data from encoder card

DescriptionThe system has failed to read data from one encoder card.

ConsequencesThe tracking accuracy during acceleration and decelerationmight be reduced.

Probable causesWrong unit name has probably been specified in the processparameter forarg.

Recommended actionsCheck that the correct unit name is specified in the processparameter I/O unit name for arg.

50354, Ordered force reference is too large

DescriptionThe ordered force reference is larger than the configuredmaximum value.

ConsequencesThe ordered force reference has been reduced to the configuredvalue.

Recommended actionsTo allow a larger reference force the system parameters needto be updated. Note that there is an absolute limit of forcereference size that depends on the robot type.

50355, Ordered torque reference is too large

DescriptionThe ordered torque reference is larger than the configuredmaximum value.

ConsequencesThe ordered torque has been reduced to the configuredmaximum value.

Recommended actionsTo allow a larger reference torque the system parameters needto be updated.

50356, Ordered MaxForce is too large

DescriptionThe parameter 'MaxForce' in instruction FCRefSprForce islarger than the configured maximum value.

ConsequencesThe parameter 'MaxForce' has been reduced to the configuredmaximum value.

Recommended actionsTo allow a larger value the system parameters need to beupdated.

50357, Ordered MaxTorque is too large

DescriptionThe parameter 'MaxTorque' in instruction FCRefSprTorque islarger than the configured maximum value.

ConsequencesThe parameter 'MaxTorque' has been reduced to the configuredmaximum value.

Recommended actionsTo allow a larger value the system parameters need to beupdated.

50358, Close to singularity when in force control

DescriptionClose to singularity when in force control mode for robot arg.

Recommended actionsModify path away from the singularity or change to jointinterpolation.




50359, Path Recorder on StorePath level notallowed

DescriptionThe path recorder can only be used on base path level. Thepath recorder has been stopped.

Recommended actionsStop path recorder before StorePath, restart it after RestoPath.

50361, Brake release error

DescriptionToo large position error of joint arg after brake release.

Probable causesThe joint has for example collided or been blocked just beforethe error occurred.

Recommended actionsTry a few more times. Check cables and hardware. Check tuningif error on additional axis.

50362, Brake release time out

DescriptionJoint arg was not in position after max time for brake release.

Recommended actionsTry once more. Check cables. Check hardware. Check tuningif error on additional axis.

50363, SyncMoveOn failed

DescriptionStarting synchronized movements failed due to an internal error.

ConsequencesIt is not possible to restart the programs from the currentposition.

Recommended actionsMove the program pointers and try again.

50364, Axis in current vector mode

DescriptionJoint arg is configured in arg data as a current vector axis. Drivesystem will be disconnected for this axis during normaloperation.

Recommended actionsRun service routine to activate the current vector.Set system parameter 'Current Vector On' in topic Motion andtype Drive System to No, for normal operation.


DescriptionAn error has occurred in the reference calculation in motionplanner arg. Internal status arg.

ConsequencesThe controller goes to Motors Off.

Recommended actionsCheck the error logs for previous errors that could be causingthis problem.Try to restart the program possibly after moving the programpointer.Restart the controller.

50368, Too Short distance between equidistantevents

DescriptionThe events are too close together. End of internal resources(events).Task: arg.Program ref. arg.

Recommended actionsIncrease the distance between equidistant events or useintermediate positions to decrease segment length.

50369, Calibration using stored offset failed

DescriptionFailed to calibrate the sensor using stored offset.

ConsequencesThe force control system is not calibrated. It is not possible toactivate force control.

Probable causesCalibration using stored offset is only possible if a normalcalibration has been performed earlier.

50370, Transfer of data to robot memory failed

DescriptionTransfer of data from controller to robot memory not allowedor interrupted for mechanical unit arg due to disconnect of SMB.

Probable causesSMB was disconnected before or during calibration or manualmove of data to robot memory.




Recommended actionsRetry to calibrate or manually move data from controller to robotmemory when SMB is reconnected.

50371, The programmed speed is too high

DescriptionThe speed change functionality is only allowed for lowprogrammed speed.

Probable causesThe programmed speed is too high.

Recommended actionsLower the programmed speed or modify the system parameters.

50372, Contact force too high

DescriptionThe contact force is too high during the recover phase.

Probable causesThe programmed path in the recover function causes too highcontact forces.

Recommended actionsCheck and modify the recover function or allow higher contactforce.

50373, Too high Event Preset Time

DescriptionThe configured Event Preset Time is too high. The maximumvalue is arg.

ConsequencesThe Event Preset Time is reduced to the maximum value.

Probable causesThis error can occur for robots with a low 'Dynamic Resolution'and a high 'Event Preset Time'. The reason is a computermemory limitation.

Recommended actionsReduce the system parameter 'Event Preset Time' in topicMotion and type Motion Planner to a value no higher than arg.

50374, FC SpeedChange program stop error

DescriptionFC SpeedChange cannot stop robot at recover state.

Recommended actionsMove program pointer, jog robot away from current positionand restart the program.

50375, Dynamic load too high

DescriptionRequired torque for robot arg axis arg too high.

Recommended actionsIf weaving one of these actions may help: Reduce weavefrequency or weave amplitude for this movement. Reduceprocess speed. Check load data. Increase zone size if smallzones are used. Increase distance between programmed pointsif they are close. If Conveyor Tracking: Reduce conveyor speed.

50376, Geometric interpolation failed

DescriptionTask. arg.Failed to interpolate the desired geometry.Program ref. arg.(Internal status: arg).

Recommended actionsIncrease the zone size, move the programmed point, changetool orientation or change interpolation method.

50377, Only allowed in position control

DescriptionThe instruction is only allowed when the robot is in positioncontrol mode.

Probable causesThe error depends on calling an instruction that is only allowedto be used in position control while in force control mode.

Recommended actionsCall the instruction only when the robot is in position controlmode.

50378, Error in FCSetMaxForceChangeTune

DescriptionIncorrect value of the parameter 'ForceChange' in instructionFCSetMaxForceChangeTune.

ConsequencesThe program will stop.

Probable causesThe parameter must be set larger than zero and less than theconfigured value.

Recommended actionsChange the parameter value.




50379, Active mechanical units have changed

DescriptionWhen calling RestoPath all mechanical units have to be in thesame active state as when StorePath was called.

Recommended actionsMake sure that all mechanical units that were active whencalling StorePath still are and that no other mechanical unit isactive when calling RestoPath.

50380, Checksum error

DescriptionData in robot memory for mechanical unit arg has erroneouschecksum.

Probable causesNew SMB-board. System shut down before data save finished.

Recommended actionsLoad new configuration files.

50381, Speed too low

DescriptionTask. arg.The speed is too low (numerical resolution).Program ref. arg.

Recommended actionsIncrease the programmed speed.Check also the other synchronized tasks in a MultiMoveapplication.

50382, Weave pattern error

DescriptionCalculation of weave pattern has failed due to an internal error.

Recommended actionsTry to restart the program.

50383, Cartesian Soft Servo configuration error

DescriptionSome system parameters for Cartesian Soft Servo is not valid.

ConsequencesThe system will not start.

Probable causesSome system parameters has been set to a value that is notallowed.

Recommended actionsVerify that any modified parameter are within allowed limits.

50384, Cartesian Soft Servo quaternions invalid

DescriptionThe quaternions of the tool, workobject or the argumentRefOrient in the CSSAct instruction are invalid.

ConsequencesCartesian Soft Servo will not activate.

Recommended actionsCheck the quaternions of the tool, workobject or the argumentRefOrient in the CSSAct instruction.

50385, Cartesian Soft Servo activation failed

DescriptionThe instruction CSSAct failed.

Probable causesCartesian Soft Servo already active.

Recommended actionsCartesian Soft Servo needs to be deactivated before it can beactivated.

50386, Cartesian Soft Servo offset activationfailed

DescriptionThe instruction CSSForceOffsetAct failed.

ConsequencesForce offset was not activated.

Probable causesCSSForceOffsetAct instruction is only allowed when CartesianSoft Servo is active.

Recommended actionsActivate Cartesian Soft Servo with the instruction CSSAct beforeusing the instruction CSSForceOffsetAct .

50387, Cartesian Soft Servo close to unstable

DescriptionCartesian Soft Servo is close to unstable.

ConsequencesThe robot is halted as a security measure.

Probable causesThe system damping is too low.




Recommended actionsThe damping is calculated from a ratio of stiffness.Change the value of 'Stiffness' or 'StiffnessNonSoftDir' in theCSSAct instruction. If that does not help increase the value ofthe system parameter 'Damping stability limit' or change theparameter 'Stiffness to damping ratio' in topic Motion and typeCSS.

50388, Cartesian Soft Servo position supervisionerror

DescriptionThe user defined position supervision in Cartesian Soft Servomode trigged.

ConsequencesThe robot halts.

Probable causesThe position error is larger than the allowed range specified inthe configuration.

Recommended actionsIncrease the allowed position error in the configuration or modifythe program.

50389, Cartesian Soft Servo singularity

DescriptionThe robot is too close to singularity which effects the CartesianSoft Servo behavior.

ConsequencesThe robot behavior will be different from specified.

Recommended actionsModify the program to avoid the singularity.

50390, Cartesian Soft Servo speed supervision

DescriptionThe user defined speed supervision in Cartesian Soft Servomode trigged.

ConsequencesThe robot halts.

Probable causesThe speed error is larger than the allowed range specified inthe configuration.

Recommended actionsIncrease the allowed speed error in the configuration or modifythe program.

50391, Cartesian Soft Servo movement notallowed

DescriptionJogging or a programmed movement has been detected.

ConsequencesThe ordered movement is ignored.

Recommended actionsMovement during Cartesian Soft Servo is only allowed if theswitch AllowMove has been used in the CSSAct instruction.

50392, SafeMove communication error

DescriptionCommunication with the SafeMove controller on drive modulearg has failed.

ConsequencesBrake tests cannot be done.

Recommended actionsCheck if the SafeMove hardware is connected.

50393, Force offset applied in non-soft direction

DescriptionThe force-offset direction in CSSForceOffsetAct is not the sameas the soft direction specified by CSSAct.

ConsequencesThe robot will not become easier to push in the soft direction.There can also be position deviations from the programmedpath in the non-soft directions.

Recommended actionsMake sure the direction given in CSSForceOffsetAct iscompatible with the direction given in CSSAct.

50394, The Path for the Unit is cleared

DescriptionThe robot arg is semi coordinated to unit arg from another taskand the path for the unit has been cleared.This can happen after a modpos, SyncMoveOff,SyncMoveSuspend, ActUnit, DeactUnit, ClearPath or if the unithas no move instruction with a well-defined position beforestarting the semi coordinated movement.The position of unit arg cannot be read from other tasks.

ConsequencesProgram run or restart will be interrupted.




Recommended actionsIf the programmed position of the unit is moved by modposwhen the robot is semi coordinated to the unit, then step theunit to the new position to define the path and move the programpointer in the robot program to be able to restart the program.Make sure that the unit arg has a move instruction with afinepoint to a well-defined position and that all programs has aWaitSyncTask before and after the semi coordinatedmovement.Make sure that the unit is not moved during the semicoordinated movement. Note that WaitSyncTask also is neededafter the semi coordination, before SyncMoveOn andSyncMoveResume.

50396, Default FC force supervision error

DescriptionThe default force supervision has trigged because theprogrammed or measured external forces are larger than thesafety limit for the robot type.


Recommended actionsModify the program to decrease the total external force actingon the robot.

50397, Path frame rotation speed error

DescriptionThe rotation speed of the path frame is too high when using FCMachining with ForceFrameRef set to FC_REFFRAME_PATH.


Recommended actionsReduce programmed speed, increase corner zones, or decreasethe distance between the programmed path and the surface.

50398, Circle begins with a frame change

DescriptionTask: arg.When having the Absolute Accuracy or Conveyor option, MoveCinstructions that are coordinated to another mechanical unitmust use the same tool and work object as the previous moveinstruction.


Recommended actionsChange the move instruction before arg so that they both usethe same frames. Alternatively, add a (redundant) MoveL to thestart point of the circle arc, using the same frames as the MoveCinstruction.

50399, Absolute Accuracy circle is firstmovement instruction

DescriptionTask: arg.When having the Absolute Accuracy option, MoveC cannot bethe first movement instruction.


Recommended actionsAdd a movement instruction before arg, using the same tooland frames.

50400, Motion configuration error

DescriptionThe parameter 'Disconnect at Deactivate' for measurementchannel was inconsistent for measurement link arg. All channelson the same link have to have the same setting for thisparameter.


50401, Startup synchronization failed

DescriptionThe system relay 'arg' is defined but no response was receivedduring the startup (waited for arg minutes).

Recommended actionsMake sure that the 'Input signal' of the relay is configured andconnected and startup all synchronized systems simultaneously.

50402, Correction is not ended in a finepoint

DescriptionTask: arg.The last move instruction with correction specified has to be afinepoint.Program ref. arg.

Recommended actionsChange the zone parameter to fine.




50403, AW board not connected

DescriptionDuring startup, no communication was established with unit<arg> on bus <arg>.

ConsequencesIt is not possible to access the unit or signals on the unit, sinceit is currently not communicating with the controller.

Probable causesThe unit is either not connected to the system, or it isconnected, but has been assigned the wrong address.

Recommended actionsMake sure all unit addresses match the configuration. Makesure all addresses are unique, and not used by more than oneunit. Change the address and/or connect the missing unit. Ifyou changed the address, the power supply to the unit mustbe cycled (switched OFF and then back ON), to make sure theaddress has been changed.

50404, Additional axis movement during WristInterpolation

DescriptionTask: arg.Program ref. arg.An additional axis is programmed to move during wristinterpolation.

ConsequencesThe task execution will stop.

Recommended actionsMake sure that no additional axis is programmed to move whiledoing wrist interpolation.

50405, Coordinated movement during WristInterpolation

DescriptionTask: arg.Program ref. arg.Attempt to do wrist interpolation against a moving frame.


Recommended actionsRemove movement coordination while doing the wristinterpolation.

50406, Wrist Interpolation point not on circleplane

DescriptionTask: arg.Program ref. arg.The target arg is not on the circle plane. The deviation is argmm.p1 = starting pointp2 = circle pointp3 = end point.

ConsequencesFor a cutting process, the cut hole will not be circular.

Recommended actionsIf a circular arc is intended, then change the correspondingtarget so that it is on the circle plane.

50407, Wrist axis locked

DescriptionTask: arg.Program ref. arg.Cannot do wrist interpolation using arg because axis arg islocked.


Recommended actionsChange to another wrist axis combination that does not involvethe locked axis. Note that the robot must have at least twomovable wrist axes to do wrist interpolation.

50408, Wrist joint limit

DescriptionTask: arg.Program ref. arg.Cannot do wrist interpolation because robot axis arg will violatea joint limit.


Recommended actionsChoose another robot configuration or another wrist axiscombination.

50409, Wrist Interpolation not possible





Program ref. arg.The programmed wrist interpolation is not kinematically possibleusing arg.


Recommended actionsChoose another robot configuration or another wrist axiscombination. Possible wrist axis combinations are: Wrist45,Wrist46, and Wrist56.

50410, Collinear targets in wrong order

DescriptionTask: arg.Program ref. arg.The programmed targets are collinear, but the end point isbetween the start point and the circle point.


Recommended actionsIf a straight line is intended, then let the circle point and the endpoint swap places with each other.

50411, Maximum allowed programmed TCP loadexceeded

DescriptionThe currently defined TCP load for robot arg exceeds themaximum allowed load for the robot variant.


Probable causesThe combination of the current tool load arg,payload arg and the additional arm loadsarg, argexceeds the maximum load allowed for the robot variant.

Recommended actionsMake sure that the total TCP load is inside the load diagram forthe robot.

50412, Error in speed change tuning instruction

DescriptionThe speed change tuning instruction resulted in an error.


Probable causesThe speed change tuning instruction was not allowed, or theparameters given were invalid.

Recommended actionsCheck the values for the parameter and tuning type, and makesure the correct force control option is installed and configuredcorrectly.

50413, Bleeder resistor overload error

DescriptionIn drive module arg, the bleeder resistor connected to therectifier unit at drive unit position arg was overloaded.

ConsequencesNo operation will be possible until the bleeder resistor hascooled down. The system goes to Motors Off.

Probable causesThe user program may contain too much deceleration of themanipulator's axes. This fault is more likely if the systemcontains additional axes. The bleeder resistor has wrongresistance. Short circuit in motor cable between phase to phaseor phase to ground.

Recommended actionsRewrite the user program to reduce the amount of highdecelerations. Disconnect the bleeder and check the cable andmeasure the bleeder resistance. The expected resistance shouldbe approximately arg ohms. Verify that the motor cables hasno short circuits internally or to ground.

50414, Bleeder resistor overload

DescriptionIn drive module arg, the bleeder resistor connected to therectifier unit at drive unit position arg is close to overload.


Probable causesThe user program may contain too much deceleration of themanipulator's axes. This fault is more likely if the systemcontains additional axes. The bleeder resistor has wrongresistance. Short circuit in motor cable between phase to phaseor phase to ground.

Recommended actionsRewrite the user program to reduce the amount of highdecelerations. Disconnect the bleeder and check the cable and




measure the bleeder resistance. The expected resistance shouldbe approximately arg ohms. Verify that the motor cables hasno short circuits internally or to ground.

50415, Motor temperature error

DescriptionMotor temperature for joint arg is too high.

ConsequencesIt is not possible to continue until the motor has cooled down.The system goes to Motors Off.

Probable causesThe user program may contain too much high acceleration anddeceleration of the joint. Gravity torque or external forces forthe joint can also be too high.

Recommended actionsRewrite the user program to reduce the motor utilization.If error occurs in spite of cold motor due to extra cooling or lowambient temperature, the sensitivity of the thermal supervisioncan be reduced. Decrease the system parameter 'ThermalSupervision Sensitivity Ratio' in topic Motion and type Arm insteps of 0.1.WARNING! : With too low value the supervision is deactivatedand the motor can be overheated and destroyed!

50416, Motor temperature close to maximum

DescriptionThe motor temperature for joint arg is close to maximum value.


Probable causesThe user program may contain too much high acceleration andhigh deceleration of the joint. The gravity torque or externalforces for the joint can also be too high.

Recommended actionsRewrite the user program to reduce the motor utilization.

50417, Drive unit overload error

DescriptionThe drive unit for joint arg has reached a too high temperaturelevel. The joint is connected to drive module arg with the driveunit at unit position arg and node arg.

ConsequencesNo operation will be possible until the drive has cooled down.The system goes to Motors Off.

Probable causesThe joint may be running with a too high torque for extendedperiods of time. Short circuit in the manipulator using long motorcables.

Recommended actionsIf possible, rewrite the user program to reduce the amount ofhigh acceleration and high deceleration. Reduce the statictorque due to gravity or external forces. Check for short circuitin the motor cable or in the motor. Check for other hardwareevent logs.

50418, Drive unit overload

DescriptionThe drive unit for joint arg, connected to drive module arg withthe drive unit at unit position arg and node arg is approachinga too high temperature level.

ConsequencesIt is possible to continue but margin to max temperature is toolow for long term operation.

Probable causesThe joint may be running with a too high torque for extendedperiods of time. Short circuit in the manipulator using long motorcables.

Recommended actionsIf possible, rewrite the user program to reduce the amount ofhigh acceleration and high deceleration. Reduce the statictorque due to gravity or external forces. Check for short circuitin the motor cable or in the motor. Check for other hardwareevent logs.

50419, Common base_frame error

DescriptionTask: arg.The Base Frame is moved by another task than the robot andcould not be solved, reason arg: SingArea\Wrist not supportedwith MoveC. The Base Frame must be moved by firstsynchronized motion_group. Only one common Base Framecan be handled. Absolute Accuracy not supported with MoveC.The common Base Frame can only be solved in synchronizedmove. Program ref. arg.




Recommended actionsUse SingArea\Off. The CirPathMode can also be used. CheckController and Motion configuration. Use MoveL or removeAbsolute Accuracy. Use MoveAbsJ.

50420, IndCnv Mechanical Unit Error

DescriptionThe mechanical unit arg is not correctly configured for IndCnvfunctionality.

ConsequencesProgram execution is stopped.

Probable causesThe mechanical unit arg consists of more than one single.The single connected to arg is not of type 'FREE_ROT'.The single connected to arg is not defined as an Indexing Movesingle.

Recommended actionsMake sure mechanical unit arg consists of only one single.Make sure system parameter 'Mechanics' in topic Motion andtype Single is of type 'FREE_ROT'.Make sure system parameter 'Indexing Move' in topic Motionand type Single Type is 'Yes'.

50421, IndCnv Tracking Single Error

DescriptionThe single arg is not configured as an Indexing Move single


Recommended actionsMake sure system parameter 'Single To Track' in topic Processand type Can Interface refers to a Single with 'Indexing Move'in topic Motion and type Single Type set to 'Yes'.

50422, IndCnv and Independent joint error

DescriptionIndependent joint instructions are not allowed when single argis in indexing mode.


Recommended actionsExecute the RAPID instruction IndCnvReset before using theaxis as an independent joint.

50423, IndCnv Time before indexing move toolow

DescriptionThe time between trig signal and start of indexing movementis configured too low.

ConsequencesThe program execution is stopped.

Recommended actionsIncrease system parameter 'Time before indexing move' in topicMotion and type Single Type to at least arg (ms).Remove or decrease robot acceleration limitations if possible.Please consult the Conveyor Tracking application manual forfurther actions.

50425, Friction FFW parameter is not On

DescriptionTuning friction parameters requires 'Friction FFW On' to be setto 'Yes'.

ConsequencesFriction tuning for joint arg will have no effect.

Recommended actionsSet system parameter 'Friction FFW On' to 'Yes' for joint arg intype arg and topic Motion.

50426, Out of interpolation objects

DescriptionThe maximum number of available interpolation objects hasbeen reached. This can occur if the dynamic performance isset to a very low value for example by use of the AccSet orPathAccLim command.

ConsequencesThe program execution is stopped and the system goes toMotors Off state.

Recommended actionsIncrease the number of objects by increasing the value of the'Use Additional Interp. Object Batch' system parameter by 1,in the corresponding instance of type Motion Planner in topicMotion.

50427, Joint not synchronized after calibration

DescriptionAfter fine calibration of joint arg witch is using alternativecalibration position, the joint has not been moved to normalsynchronize position for updating the revolution counter.




ConsequencesThe system will unsynchronize the joint next time the systemmakes a restart or power up.

Recommended actionsClear the revolution counter in normal position for clearingrevolution counter.

50428, SC Software synchronization started

DescriptionSafety Controller software synchronization procedure hasstarted.

50429, CSS parameter damping obsolete

DescriptionThe CSS parameters regarding damping is obsolete. Thedamping is now in all directions set by the stiffness to dampingratio. To change the behaviorof the non soft directions, use the parameters 'Stiffness in nonsoft dir'.

Recommended actionsChange the damping parameters to 'Stiffness in non soft dir'according to description in the manual.

50430, Underrun in the axis computer

DescriptionThe axis computer in drive module arg has detected underrunof data from the main computer and therefore stopped theexecution.

ConsequencesThe system goes to SYS HALT.

Probable causesThere is a communication error/glitch between the maincomputer and the axis computer. A previous error has put thesystem in a high CPU load state. High CPU load in the maincomputer, for example generated by too frequent I/Ocommunication.

Recommended actionsCheck for other error logs. Check the Ethernet cabling andconnector on both the main computer and the axis computer.Reduce load on the main computer.

50431, Predicted Collision

DescriptionPredicted a collision between objects 'arg' and 'arg'.

ConsequencesThe robots stop immediately.

Probable causesRobotWare has predicted that one or more robots are about tocollide.

Recommended actionsJog the robot in another direction if the problem occurred duringjogging. Change the robot program to increase the clearancebetween the involved objects. Decrease the safety distance forthe involved objects (in the Collision Avoidance configurationfile). If you are sure that the involved objects are not about tocollide, then try the following: Check that the CollisionAvoidance configuration for the involved objects is correct.Check that the base-frame definition of the involved robots arecorrect. Turn off Collision Avoidance.

50432, Identical Base Frames

DescriptionThe mechanical units arg and arg have identical base frames.

ConsequencesSince the base frames are identical, Collision Avoidance canonly check for robot self-collisions. Hence, collision checksbetween robots and between robot and environment will notbe done.

Probable causesThe base frames are not properly defined.

Recommended actionsDefine the base frames, for example using the base-framecalibration routine.

50433, Position changed to inside working area

DescriptionThe joint arg is outside its normal working area when anIndependent Reset instruction is executed.

ConsequencesThe position is moved to inside the normal working area.

Probable causesThe joint has been moved too far away in independent mode.The configured normal working area is too small.

Recommended actionsTo avoid this event message - move the joint back to inside itsnormal working area before the instruction IndReset executedor PP to Main is done.Increase the normal working area.




50434, Position changed to inside working area

DescriptionThe joint arg is outside its normal working area when anIndependent Reset instruction is executed with argument Old.

ConsequencesThe position is moved to inside the normal working area.

Probable causesThe joint has been moved too far away in independent modebefore IndReset Old.The configured normal working area is too small.

Recommended actionsTo avoid this event message - move the joint back to inside itsnormal working area before the instruction IndReset Oldexecuted or PP to Main is done.Increase the normal working area.

50435, Inconsistent system parameter

DescriptionThe joint arg has an inconsistent value in the system parameter'arg' in instance arg.

ConsequencesSystem cannot start up.

Probable causesTwo or more joints has different values on same systemparameter.

Recommended actionsSet the same value/name on the parameter for all joints thatare pointing to the same instance or hardware.

50436, Robot configuration error

DescriptionIt is not possible to reach the programmed position with givenrobot configuration.Task: arg.Program ref. arg.

Probable causesThe programmed position is such that the robot cannot reachthe given robot configuration or must pass through a singularpoint to reach the position.

Recommended actionsStep through the program in manual mode and modify the faultypoints. Note that it is possible to continue in manual mode asonly first try is stopped. The movement can also be changedby use of SingArea\Wrist, ConfL\Off or be replaced by MoveJ.

50437, Follower axis is connected to wrongMotion Planner

DescriptionThe follower axis arg is connected to a motion planner with alower number than its corresponding master axis arg.

ConsequencesThe performance of the Electronically Linked Motors will bedecreased compared to the normal setup.

Recommended actionsChange the Motion configuration in such a way that the followeraxis arg is in the same motion planner or in a motion plannerwith a higher number than the master axis arg.

50438, Motor off sequence has timed out

DescriptionThe mechanical unit arg has not been able to finish the motoroff sequence during configured time.

ConsequencesThe brake sequence can be ended before the axes standingstill.

Recommended actionsIf the time to brake axis is longer than the default value of 5seconds, increase the value by setting the system parameter'Max Brake Time' in topic Motion and type Brake to a highervalue. Restart the controller. Try again.

50439, Soft servo activation failure

DescriptionThe joint arg has not been able to set to soft servo mode. Thereason for this is that the axis has reached its maximum torquelevel a short time before or during activation.

ConsequencesThe system makes an emergency stop and the soft activationcommand is canceled.

Recommended actionsFind the reason for the high torque. Check if any collision hasoccurred. Check load data. Reduce acceleration or speed toreduce speed. Check hardware. Move the program pointer andrestart.

50440, Correction generator lost

DescriptionCorrection generator has been removed.




Probable causesInstruction CorrDiscon or CorrClear during robot movement.

Recommended actionsWait until robot reach finepoint or start movement without \Corr.

50441, Low voltage on battery inputs

DescriptionThe serial measurement board on drive module arg, link argand board number arg indicates low voltage. If main power isswitched off the revolution counters will be lost.Battery voltage: arg V.External voltage: arg V.

Probable causesThe battery is not connected or discharged. If external powersupply is used, too low voltage is present.

Recommended actionsReplace battery. If external power supply is used - check cablesand the power source.

50442, Robot axis configuration error

DescriptionIt is not possible to reach the programmed position with givenrobot configuration.Task: arg.Program ref. arg.Robot: arg.Axis: arg.

Probable causesThe programmed position is such that at least one robot axiscannot move from the current position to the given robotconfiguration or must pass through a singular point to reachthe position.

Recommended actionsStep through the program in manual mode and modify the faultypoints. Note that it is possible to continue in manual mode asonly first try is stopped. The movement can also be changedby use of SingArea\Wrist, ConfL\Off or be replaced by MoveJ.

50443, Lack of Internal Event Objects

DescriptionToo few internal event objects were allocated to execute theinstruction.

ConsequencesThe movement of all mechanical units was halted immediately.

Probable causesNot enough event objects were allocated.

Recommended actionsAllocate more event objects by increasing the systemparameters 'Number of Internal Event Objects' in topic Motionand type Motion Planner and restart the controller.

50444, Manipulator supervision

DescriptionLoose arm detection triggered for axis arg on mechanical unitarg.

ConsequencesThe movement of mechanical unit arg is halted immediately. Itthen returns to a position on the path on which it was running.There, it will remain in Motors On, awaiting a start request.

Probable causesTriggering of the manipulator supervision may be caused by adetection of loose arm, collision, incorrect load definition orforces in external process.

Recommended actionsIf any of the parallel arms has come loose reattach them ifpossible, then acknowledge the fault, and resume operation bypressing the Start button on the FlexPendant. If possible,acknowledge the fault, and resume operation by pressing theStart button on the FlexPendant. Make sure any loads aredefined and identified correctly. If the mechanical unit isexposed to forces from the external processes, use RAPIDcommand or system parameters to raise the supervision level.

50445, Sync on/off not allowed while ExternalMotion Interface is active

DescriptionSwitching synchronized motion on or off while External MotionInterface is activated is not allowed.

ConsequencesThe program execution is stopped, and the system goes toMotors Off state.

Probable causesSyncMoveOn or SyncMoveOff was executed while ExternalMotion Interface was active.

Recommended actionsSyncMoveOn and SyncMoveOff are not allowed to be executedwhile External Motion Interface is active. Check the application




that is utilizing the External Motion Interface functionality, andcorrect the RAPID program.

50446, External Motion Interface ramp timeincreased

DescriptionExternal Motion Interface ramp time was increased in order toavoid over-speed when ramping down correction arg.New ramp time: arg seconds.

ConsequencesThe user defined ramp time was increased to avoid over-speed.

Recommended actionsIncrease the maximum allowed correction speed to allow fasterramp-down, or increase the user defined ramp time.

50447, Incorrect mechanical units for ExternalMotion Interface

DescriptionOne or more specified mechanical units for correction arg arenot allowed in External Motion Interface.

ConsequencesThe correction will not be activated.

Probable causesAn attempt was made to activate an External Motion Interfacecorrection with mechanical units that are not active, or do notbelong to the same motion task.

Recommended actionsCheck the application that is utilizing the External MotionInterface functionality, and change the activation parametersto the correct mechanical unit(s).

50448, Error in External Motion Interface input

DescriptionIllegal format for the External Motion Interface input forcorrection arg.


Probable causesThe format of the input written to External Motion Interface wasillegal. Two possible reasons are: The quaternions that are usedby External Motion Interface are not properly normalized. Otherillegal numerical values used as input to External MotionInterface.

Recommended actionsMake sure that the External Motion Interface input data iscorrect, and restart the program.

50449, Mechanical unit close to joint bound

DescriptionThe movement created by the External Motion Interfacecorrection arg is causing mechanical unit arg joint arg to movetoo close to its joint bound.


Probable causesOne or more axes is approaching its joint bound.

Recommended actionsAvoid moving too close to the joint bounds, or decrease themaximum allowed correction speed to decrease safe stopdistance.

50450, External Motion Interface activation error

DescriptionThe activation of External Motion Interface correction arg failed.


Probable causesCommunication with the source of External Motion Interfaceinput, for example a sensor or other device, could not be setup correctly.

Recommended actionsCheck for possible other error messages regarding sensor orcommunication errors.

50451, External Motion Interface deactivationerror

DescriptionThe deactivation of External Motion Interface correction argfailed.





Probable causesCommunication with the source of External Motion Interfaceinput, for example a sensor or other device, could not bedeactivated correctly.


50452, External Motion Interface cyclic error

DescriptionCyclic execution of External Motion Interface correction argfailed.


Probable causesCommunication with the External Motion Interface input source,for example a sensor or other device, has failed.


50453, Move not allowed in External MotionInterface

DescriptionExternal Motion Interface correction arg is not setup to allowRAPID movement instructions or jogging.


Probable causesThe application utilizing the External Motion Interfacefunctionality does not allow RAPID movement instructions orjogging.

Recommended actionsMake sure no other movements are ordered while ExternalMotion Interface is active.

50454, External Motion Interface positionsupervision

DescriptionThe position is outside the allowed range for External MotionInterface correction arg, mechanical unit arg joint arg.


Probable causesThe deviation of the position from the path or the latest finepointexceeded the maximum allowed value.

Recommended actionsCheck the application that is utilizing the External MotionInterface functionality to increase the maximum allowed positionvalue, or modify the programmed positions to be closer to thegoal position.

50455, External Motion Interface speedsupervision

DescriptionThe speed was outside the allowed range for External MotionInterface correction arg, mechanical unit arg joint arg.


Probable causesThe speed was outside the allowed range.

Recommended actionsCheck the application that is utilizing the External MotionInterface functionality to increase the maximum allowed speedvalue.

50456, Close to singularity while External MotionInterface active

DescriptionThe robot in External Motion Interface correction arg is tooclose to a singularity.


Probable causesThe robot is close to a singularity, or too small numericaltolerance have been specified in the system parameters.

Recommended actionsAvoid moving too close to the singularity.




50457, External Motion Interface configurationfailed

DescriptionThe system could not read the system parameters for ExternalMotion Interface correction arg.


Probable causesThere are incorrect or missing parameters in the configurationfor the correction.

Recommended actionsCheck the system parameters for type External Motion InterfaceData and topic Motion.

50458, Programmed speed too high

DescriptionThe programmed speed is too high for External Motion Interfacecorrection arg.


Probable causesExternal Motion Interface correction is not allowed when theprogrammed speed is too high.

Recommended actionsDecrease the programmed path speed.

50459, External Motion Interface input out ofbounds

DescriptionThe External Motion Interface input for correction arg wasoutside bounds for mechanical unit arg joint arg.


Probable causesThe specified External Motion Interface input was outside thejoint bounds for a robot or additional axis.

Recommended actionsMake sure the input is inside the bounds, and restart theprogram.

50460, External Motion Interface deactivation notallowed

DescriptionExternal Motion Interface correction arg cannot be deactivatedwhile mechanical units are moving.


Probable causesAn attempt is made to deactivate a correction, while one ormore mechanical units are moving.

Recommended actionsMake sure all movements and other External Motion Interfacecorrections have finished before deactivating.

50461, Too many continuous log signals

DescriptionThe maximum number of continuous log signals have beenreached. No additional log signals can be defined.

ConsequencesThe required log signal will not be defined.

Probable causesTo avoid high CPU load the maximum number of continuouslog signals is limited to arg. All log signals except binary I/Osignals are categorized as continuous.

Recommended actionsDelete any unnecessary log signals.

50462, Cartesian speed too high

DescriptionToo high speed has been detected for the wrist center point orthe arm check point for robot arg.

ConsequencesThe system makes an emergency stop.

Probable causesExternal interference forces has caused the robot to move toofast. Check error log for other causes.

Recommended actionsReduce speed of robot.

50463, Log server communication error

DescriptionSending logged signals over the network failed.




Internal status: arg.

ConsequencesLogging is deactivated and all defined signals are removed.

Probable causesClient was shut down without disconnecting properly, networkerrors, or too high CPU load on the robot controller.

Recommended actionsCheck Ethernet connections.Define fewer signals.

50464, A collision has occurred

DescriptionTask: arg.A collision has occurred. This can be handled in a RAPID errorhandler. If it is not handled, the RAPID execution will stop.arg.

Recommended actionsCheck other messages occurring at the same time for thereason.Recovery: arg.

50465, Tuning of robot stiffness parameters isrecommended

DescriptionNo tuned system parameters for 'Motion Process Mode' onrobot arg found.

Recommended actionsUse the robot variant of the TuneMaster application to tune andset 'Motion Process Mode' parameters for arg.

50466, Measurement Channel Conflict

DescriptionJoint arg is using the same measurement channel arg asanother joint. This is only allowed when they also share thesame drive system.


50467, Brake Relay Conflict

DescriptionMechanical unit arg shares brake relay with mechanical unitarg, but 'Activate at Start Up' and 'Deactivation Forbidden' ismissing.

This configuration can cause unexpected movement of the axisat program start due to brakes being released while the axis isnot being controlled.


50468, Cartesian speed limits changed

DescriptionCartesian speed limits have been changed for robot arg. Thecurrent 'Global Speed Limit' is arg m/s and 'Arm Check PointSpeed Limit' is arg m/s.The previous 'Global Speed Limit' was arg m/s and 'Arm CheckPoint Speed Limit' was arg m/s. Note that every robot type hasa maximum limit that cannot be exceeded even if an attempt ismade to configure a higher value.

Recommended actionsVerify that these limits are correct.

50469, I/O controlled axis configuration failed

DescriptionMechanical unit arg I/O signal arg missing.

ConsequencesMechanical unit arg can't be used.

Probable causesThe required I/O signal arg is not defined.

Recommended actionsThe required I/O signal arg must be defined.

50470, I/O controlled axis not ready for activation

DescriptionThe I/O signal arg is low.


Probable causesThe I/O signal arg must be high for activation.

Recommended actionsThe I/O signal arg must be set.

50471, I/O controlled axis not ready

DescriptionThe I/O signal arg is low.





Probable causesThe I/O signal arg must be high.

Recommended actionsThe I/O signal arg must be set.

50472, Absolute accuracy data missing

DescriptionAbsolute accuracy is activated but no data exists for robot arg.

ConsequencesRobot positioning will not be absolute accurate.

Recommended actionsMake sure that absacc.cfg is loaded into controller memory.Verify that data exists in a backup.

50473, Ascii Log configuration failed

DescriptionAscii Log Setup file arg not found or incorrect.

ConsequencesAscii Log function can't be used.

Probable causesThe required Ascii Log Setup file arg is missing or incorrect.

Recommended actionsVerify the Setup file name and directory.

50474, Target in a singularity

DescriptionThe robot target is near singular because joint arg is too closeto arg degrees.

Recommended actionsDuring program execution, use SingArea instruction orMoveAbsJ.During jogging, use axis by axis.

50475, Target in a singularity

DescriptionThe robot target is near singular because the TCP is too closeto the arm-angle reference direction.

Recommended actionsDuring program execution, use MoveAbsJ or use a differentreference direction.

During jogging, use axis by axis or use a different referencedirection.

50476, AxisCal error

DescriptionData moved from robot to controller memory. AxisCal data notvalid in robot memory. AxisCal cleared in controller formechanical unit arg.

Recommended actionsLoad new AxisCal data if data available.

50477, Axis Calibration data missing

DescriptionMechanical unit arg is calibrated with axis calibration but systemparameters are missing from controller.

ConsequencesCannot execute the axis calibration service routine.

Recommended actionsMake sure that axis calibration configuration is loaded intocontroller memory.Verify that data exists in a backup.

50478, Could not deactivate lead-through

DescriptionCould not deactivate lead-through mode because one or morejoints were moving.

ConsequencesThe controller goes to Motors Off.

Probable causesOne or more joints were being moved in lead-through modewhen the deactivation command was sent. The controller willdeactivate lead-through mode when the user jogs or starts aprogram.

Recommended actionsMake sure that the system is standing still when deactivatinglead-through mode.

50479, Cannot jog joints in independent mode

DescriptionAn attempt was made to jog one or more joints in independentmode.

ConsequencesJoints in independent mode cannot be jogged.




Recommended actionsMake sure that independent mode is not used when trying tojog. Use IndReset to reset joint or PP to Main to reset all joints.

50480, I/O controlled axis RefSync failed

DescriptionInternal error during refsync or robot moving.

ConsequencesI/O controlled axis feedback pos and pos ref are notsynchronized.

Recommended actionsWait until zero speed and check internal error. Make a newRefSync.

50481, I/O controlled axis not synchronized

DescriptionRefsync not finished when the I/O signal arg is changed.

ConsequencesI/O controlled axis arg feedback pos and pos ref are notsynchronized.

Recommended actionsRun IoCtrlAxis_RefSyncOn before change of arg signal or checkinternal error.

50482, Search speed not reached

DescriptionA collision search hit was detected on the servo gun before thefull search speed was reached.

ConsequencesThe accuracy of the results may be unreliable.

Recommended actionsCheck that there is enough time to accelerate and that nothingobstructs the servo gun.

50483, Movement in wrong direction

DescriptionMoving from current to target position when opening arggave a movement in wrong direction.

ConsequencesThe opening sequence will start with a closing movement.

Probable causesThe motion force control has to move the mechanical unit backto the starting position it had when taking over from the positioncontrol, before handing back the control to the position control.In this case the starting position for the force movement is moreclosed than current position is and that will lead to closingmovement before position control can take over.The situation indicate that there was a collision with the plateduring the closing movement, that the plate thickness is notcorrect, or that the calibration is not correct.

Recommended actionsMake sure that the proper configuration is made, for exampleplate thickness. Make sure that the calibration is correct.

50484, Stop-point too far away from circle

DescriptionTask: argProgram ref. argThe detected stop-point during execution of a SearchCinstruction is too far away from the circle-arc. This can happenif a large zone is used in the preceding movement-instruction.

ConsequencesIt will not be possible to run the movement backwards.

Probable causesA too large zone was used in the movement-instructionpreceding the SearchC.

Recommended actionsUse a smaller zone in the movement-instruction preceding theSearchC.

50486, Load supervision

DescriptionA mismatch between the expected and actual joints torquesfor the mechanical unit arg has been detected during the lastarg minutes.

ConsequencesThere is a risk of overloading the mechanical structure.

Probable causesThe load on the mechanical unit is bigger than expected.

Recommended actionsMake sure all loads are defined correctly.





DescriptionUpdate of system parameter arg for arg failed.The changes will not take effect until the controller is restarted.


50488, Using old target definition

DescriptionThe target for robot arg is using an old definition for cfx.This is not compatible with the current version of RobotWare.

Recommended actionsConvert robtargets in the RAPID program to the new arm-angledefinition (recommended) or use an older version of RobotWare.

50489, Trigg distance larger than movementlength

DescriptionA triggdata has been setup with a distance larger than themovement length.

Recommended actionsCheck for programmed points too close to each other. Checkthe Distance parameter in instructions like TriggInt, TriggEquip,TriggIO and other Trigg instructions.

50490, Measurement error detected

DescriptionA measurement error was detected for joint argwhile robot wasin battery mode (power off).

ConsequencesThe joint is unsynchronized.

Probable causesThe joint may have moved quickly while in battery mode.

Recommended actionsUpdate the revolution counter for the joint. Make sure that therobot is fixed while being transported so that quick movementsare avoided.

50491, Dual-arm base frame error

DescriptionThe mechanical units arg and arg are a dual-arm system, buthave different base frame data.

ConsequencesCoordination between the two arms will not work. Collisionprediction will not work.

Probable causesThe base frame data are different for the two units.

Recommended actionsGive both units the same base frame system parameters.

50492, Error during jogging

DescriptionAn attempt was made to jog in some mode other than axis byaxis, while one or more revolution counters were not updated.

Recommended actionsUse axis by axis jogging. Update revolution counters.

50493, LockAxis4 not supported

DescriptionCould not execute the current move-instruction becauseLockAxis4 is active and this robot type does not support it.


Probable causesUsing SingArea\LockAxis4 with a robot type that does notsupport it.

Recommended actionsRemove the instruction SingArea\LockAxis4, or change theswitch parameter to \Wrist or \Off.

50496, Conveyor Tracking position error at pick

DescriptionActual TCP position for robot arg is too far away from theordered position on conveyor arg due to ramping. Positionerror: arg

ConsequencesThe robot may miss the picking or placing.

Probable causesThe ramping of correction is not finished when reaching pickposition.

Recommended actionsIncrease distance between pick and place positions to ensurethat ramping is finished. Reduce programmed speed. Reduceramping length. System parameter 'Start ramp' and/or 'Stopramp' in topic Process and type Conveyor systems. Increase




max allowed position error at pick/place position. Systemparameter 'Max tracking error at pick pos'.

50497, Maximumnumber of axes in drivemodulereached

DescriptionJoint arg is configured so that the total number of axes in thedrive module becomes larger than maximum allowed (14).



DescriptionFailed to read configuration type in topic Motion from thecontroller.

Probable causesThis is often a result of syntax error or similar in a loadedconfiguration file.

Recommended actionsCheck for earlier Configuration errors in the start up. Checkconfiguration file in previous step. Use correct parameters andReset the system.

50499, Exceeded maximum allowed pathcorrection

DescriptionThe correction needed for arg to follow the actual path is largerthan the allowed maximum correction. The current correctionis arg mm while maximum allowed path correction is arg mm.


Probable causesToo large path correction, sensor fault or improper placementof the work object.

Recommended actionsIf this behaviour is expected and wanted, change the 'Maximumallowed path correction' parameter in topic Motion Planner andtopic Motion.

50500, Functionality has Beta status

DescriptionThe system has been configured with a non-default value forthe system parameter 'dyn_ipol_type'. This functionality has

currently beta status and shall only be used for testing andevaluation.

Recommended actionsUnless you are doing tests in cooperation with ABB werecommend that you change the value back to the previousvalue.

50501, Short movements

DescriptionOne or more consecutive move instructions resulted inmovements close to zero length.Task: arg.Program ref. arg.

ConsequencesProgramming with multiple close to zero length movements ina robot program can lead to high CPU load which can makezones to be converted into finepoints (event message 50024).Very close programmed points can also lead to non-smoothrobot motion.

Probable causesMultiple move instructions with the same programmed positionor subsequent move instructions with short distance betweenprogrammed positions.

Recommended actionsIncrease the distance between the programmed positions.Remove redundant intermediate programmed positions.If the behavior of the robot and the system is ok, the sensitivityof this event message can be adjusted by using the systemparameter 'Max allowed short segments' in topic Motion andtype Motion Planner.

50502, Collision Avoidance load error

DescriptionFailed to load the configuration files for Collision Avoidance.

ConsequencesNo collision checks will be made.

Probable causesIncorrect configuration files for Collision Avoidance. Check theinternal event log for a more specific error description.

Recommended actionsCorrect the configuration files.




5.8 7 xxxx

71001, Duplicate address

DescriptionThe I/O configuration is invalid.The same addresses have been given for I/O device arg andI/O device arg.I/O devices connected to the same network must have uniqueaddresses.This I/O device has been rejected.

Recommended actionsCheck that addresses are correct. Check that the I/O devicesare connected to the correct network.

71003, I/O device undefined

DescriptionThe I/O configuration for I/O signal arg is invalid.

ConsequencesThis I/O signal has been rejected, and no functions dependingon it will work.

Probable causesThe I/O device arg is unknown. All I/O signals must refer to anexisting/defined I/O device.

Recommended actionsMake sure the I/O device is defined. Make sure the I/O devicename is correctly spelled.

71005, Invalid filter time

DescriptionThe I/O configuration for I/O signal arg is invalid.The passive filter time should either be 0 ms or in the range[arg, arg] ms.This I/O signal has been rejected.

Recommended actionsCorrect the passive filter time for the I/O signal.

71006, Invalid filter time

DescriptionThe I/O configuration for I/O signal arg is invalid.The active filter time should either be 0 ms or in the range [arg,arg] ms.This I/O signal has been rejected.

Recommended actionsCorrect the active filter time for the I/O signal.

71007, Logical values out of range

DescriptionThe I/O configuration for I/O signal arg is invalid.The logical minimum value must be less than the logicalmaximum value.This I/O signal has been rejected.

Recommended actionsCorrect the logical values for the I/O signal so that the minimumvalue becomes less than the maximum value.

71008, Physical values out of range

DescriptionThe I/O configuration for I/O signal arg is invalid.The physical minimum value must be less than the physicalmaximum value.This I/O signal has been rejected.

Recommended actionsCorrect the physical values for the I/O signal so that theminimum value becomes less than the maximum value.

71017, Cross connection without actor I/O signal

DescriptionThe I/O configuration of cross connection arg is invalid.The parameter Actor arg have been omitted.Rules: All cross connections must specify at least one actorsignal, i.e. parameter Actor I/O signal 1 must always bespecified. For each operator specified an actor I/O signal mustfollow, e.g. if parameter Operator 2 is specified then parameterActor 3 must also be specified.

ConsequencesThe cross connection has been rejected, and no functionsdepending on it will work.

Recommended actionsCorrect the cross connection so the required actor I/O signalis specified.




71019, Cross connection with undefined I/Osignal

DescriptionThe I/O configuration of cross connection arg is invalid.The parameter Actor arg contains a reference to an undefinedI/O signal arg.


Recommended actionsMake sure the I/O signal is defined. Make sure the I/O signalname is correctly spelled.

71020, Cross connection without resultant I/Osignal

DescriptionThe I/O configuration of cross connection arg is invalid.The parameter Resultant have been omitted.All cross connections must specify a resultant I/O signal.


Recommended actionsCorrect the cross connection so that the required resultant I/Osignal are specified.

71021, Duplicate cross connection with sameresultant I/O signals

DescriptionThe I/O configuration of cross connection arg is invalid.The cross connection has the same resultant I/O signal arg ascross connection arg.Having more than one cross connection that result in the settingof the same signal may cause unpredictable behaviors, as youcannot control their order of evaluation.


Recommended actionsMake sure that the I/O signal is not specified as the resultantof several cross connections.

71037, Closed chain in cross connection

DescriptionThe I/O configuration is invalid.The I/O signal arg is part of a cross connection chain that isclosed (i.e. forms a circular dependence that cannot beevaluated).The complete cross connection configuration has been rejected.

Recommended actionsCorrect the configuration for the cross connections where theI/O signal above is part.

71038, Cross connection max depth exceeded

DescriptionThe I/O configuration is invalid.The I/O signal arg is part of a cross connection chain that is toodeep.The maximum depth of a cross connection chain is arg.The complete cross connection configuration has been rejected.

Recommended actionsMake the cross connection less deep.

71045, Invalid filter specification

DescriptionThe I/O configuration for I/O signal arg is invalid.No filter times can be specified for this type of I/O signal.This I/O signal has been rejected.

Recommended actionsSet filter time to 0 or remove the statement.

71049, Analog I/O signal inverted

DescriptionThe I/O configuration for I/O signal arg is invalid.Analog I/O signals must not be inverted.Only digital and group I/O signals can be inverted.This I/O signal has been rejected.

Recommended actionsRemove the invert for the I/O signal (or change the signal type).

71050, Cross connection with non-digital actorI/O signal

DescriptionThe I/O configuration of cross connection arg is invalid.The parameter Actor arg refer to an I/O signal arg that is notdigital.




Only digital I/O signals can be cross connected.


Recommended actionsRemove the non-digital I/O signal from the cross connection.

71052, Max number of cross connectionsexceeded

DescriptionThe I/O configuration is invalid.The maximum number of cross connections, arg , in the I/Osystem has been exceeded.

ConsequencesNot all the cross connections have been accepted.

Recommended actionsModify the configuration of the I/O system (by reducing thenumber of cross connections) so that the maximum limit is notexceeded.

71054, Invalid signal type

DescriptionThe I/O configuration for I/O signal arg is invalid.The specified signal type arg is invalid/unknown.Valid signal types are: DI (Digital input). DO (Digital output). AI(Analog input). AO (Analog output). GI (Group input). GO (Groupoutput). This I/O signal has been rejected.

Recommended actionsCorrect the signal type of the I/O signal.

71058, Lost communication with I/O device

DescriptionThe previously working communication with I/O device argwithaddress arg on network arg has been lost.

ConsequencesIt is not possible to access the I/O device itself or I/O signalson the I/O device since it is currently not communicating withthe controller.

Probable causesThe I/O device may have been disconnected from the system.

Recommended actionsMake sure that the network cable is connected to the controller.Make sure the I/O device is correctly powered. Make sure thecabling to the I/O device is correctly connected.

71076, Communication error from rtp1

DescriptionNo response from the serial line.

Recommended actionsCheck the device or connection.


DescriptionNot possible to deliver the received message.

Recommended actionsCheck the communication flow.


DescriptionThe response from the device has an invalid frame sequence.

Recommended actionsCheck for noise on the serial line.

71080, Max number of device predefined typesexceeded

DescriptionThe I/O configuration is invalid.The maximum number, arg, of device predefined types in theI/O system has been exceeded.

Recommended actionsModify the configuration of the I/O system (by reducing thenumber of device predefined types) so that the maximum limitis not exceeded.

71081, Max number of physical I/O signalsexceeded

DescriptionThe I/O configuration is invalid.The maximum number, arg, of physical I/O signals(bit-mappings) in the I/O system has been exceeded.

Recommended actionsModify the configuration of the I/O system (by reducing thenumber of physical I/O signals) so that the maximum limit isnot exceeded.

71082, Max number of user I/O signals exceeded

DescriptionThe I/O configuration is invalid.




The maximum number, arg, of user I/O signals in the I/O systemhas been exceeded.

Recommended actionsModify the configuration of the I/O system (by reducing thenumber of I/O signals) so that the maximum limit is notexceeded.

71083, Max number of symbols exceeded

DescriptionThe I/O configuration is invalid.The maximum number, arg, of symbols in the I/O system hasbeen exceeded.The number of symbols is the sum of all named configurationinstances: Industrial Networks I/O Devices Device Trust LevelsI/O Signals Commands Access Levels Signal Safe Levels CrossConnections Routes

Recommended actionsModify the configuration of the I/O system (by reducing thenumber of symbols) so that the maximum limit is not exceeded.

71084, Max number of subscribed I/O signalsexceeded

DescriptionThe I/O configuration is invalid.The maximum number, arg, of subscribed I/O signals in the I/Osystem has been exceeded.

Recommended actionsModify the configuration of the I/O system (by reducing thenumber of subscriptions) so that the maximum limit is notexceeded.

71085, Max number of I/O devices exceeded

DescriptionThe I/O configuration is invalid.The maximum number, arg, of I/O devices in the I/O systemhas been exceeded.

Recommended actionsModify the configuration of the I/O system (by reducing thenumber of I/O devices) so that the maximum limit is notexceeded.

71098, NFS server lost

DescriptionThe contact with the NFS server arg is lost.

Recommended actionsThe NFS server. The network connection. The NFS client.

71099, Trusted NFS server lost

DescriptionThe contact with the trusted NFS server arg is lost.

Recommended actionsThe NFS server. The network connection. The NFS client.

71100, Max number of Industrial Networksexceeded

DescriptionThe I/O configuration is invalid.The maximum number, arg, of Industrial Networks in the I/Osystem has been exceeded.

Recommended actionsModify the configuration of the I/O system (by reducing thenumber of Industrial Networks) so that the maximum limit isnot exceeded.

71101, Network undefined

DescriptionThe I/O configuration for I/O device arg is invalid.The network arg cannot be found in the system. An I/O devicemust refer to a defined network.Installed Industrial Networks are:arg arg arg

ConsequencesThis I/O device has been rejected, and no functions dependingon it will work.

Recommended actionsMake sure the network is defined. Make sure the network nameis correctly spelled.

71114, Invalid IP address

DescriptionThe IP address arg is not valid.

Recommended actionsCheck the Communication configuration.

71115, Invalid subnet mask

DescriptionThe subnet mask arg is not valid.




Recommended actionsCheck the Communication configuration.

71116, Not allowed to deactivate I/O device

DescriptionThe I/O configuration of I/O device arg is invalid.I/O devices with a Device Trust Level containing the parameterDeny Deactivate is not allowed to be deactivated.


Recommended actionsCorrect the configuration of the I/O device by either activatingit or changing the Device Trust Level.

71122, Incorrect IP address

DescriptionThe address arg in protocol arg is not a correct IP address.

Recommended actionsCorrect the address.

71123, No transmission protocol

DescriptionThe transmission protocol arg given for application protocolarg could not be found.

Recommended actionsChange the transmission protocol.

71125, Mount permission denied

DescriptionPermission was denied to mount the directory arg on the serverarg.

Recommended actionsChange the User or Group ID.

71126, Directory not exported

DescriptionMounting directory arg as arg failed since it is not exported onthe server computer arg.Protocol: arg.

Recommended actionsExport the directory on the server computer.

71128, Ethernet not installed

DescriptionThe Ethernet Services option has to be installed when usingremote mounted disk.

Recommended actionsRestart the controller and install the Ethernet Services option.

71129, Too many remote disks

DescriptionThe maximum number of remote mounted disks have beenexceeded.The maximum number is arg.

Recommended actionsReduce the number of remote mounted disks.

71130, Too many remote servers

DescriptionThe maximum number of servers for remote mounted diskshas been exceeded.The maximum number is arg.

Recommended actionsReduce the number of servers.

71131, Could not mount directory

DescriptionMounting directory arg on the computer arg failed.Protocol: arg.

Recommended actionsCheck the server setup.

71141, Default value for I/O signal out of range

DescriptionThe I/O configuration for I/O signal arg is invalid.The default value is out of range.This I/O signal has been rejected.

Recommended actionsChange the default value for the I/O signal.

71156, IPC queue full

DescriptionThe inter-process communication (IPC) queue arg was full,when sending to trap routine.





71158, Address out of range

DescriptionThe I/O configuration is invalid.The address of I/O device arg is invalid (out of range).This I/O device has been rejected.

Recommended actionsChange the address. Check the address syntax.

71163, I/O signal on internal I/O device

DescriptionThe I/O configuration is invalid.The user-defined I/O signal arg must not be connected to theinternal I/O device arg.User defined I/O signals are not allowed to be connected tointernal I/O devices.This I/O signal has been rejected.

Recommended actionsConnect the I/O signal to another I/O device.

71164, Internal I/O signal in cross connection

DescriptionThe I/O configuration of cross connection arg is invalid.The Actor arg arg is a user-defined I/O signal whereas theresultant I/O signal arg is an internal I/O signal.It is not allowed to define cross connections where user-definedI/O signals affect internal I/O signals.


Recommended actionsCorrect the cross connection so that there are no internal I/Osignals in the resultant expression.

71165, FTP server went down

DescriptionThe connection to a non-trusted FTP server has been lost.IP address: arg.

Recommended actionsCheck cable and FTP server settings.

71166, FTP server went down

DescriptionThe connection to a trusted FTP server has been lost.IP address: arg.

Recommended actionsCheck cable and FTP server settings.

71167, Wrong transmission protocol

DescriptionNo matching transmission protocol was found in thecommunication configuration.

Recommended actionsChange the transmission protocol.

71169, Ethernet not installed

DescriptionThe option Ethernet Services with FTP is not installed on thissystem.

Recommended actionsRestart the controller and install the Ethernet Services with FTPoption.

71182, I/O signal undefined

DescriptionThe I/O configuration of cross connection arg is invalid.The parameter Resultant contains a reference to an undefinedI/O signal arg.


Recommended actionsCorrect the cross connection so that the resultant I/O signalrefers to an existing I/O signal.

71183, Cross connection with invalid operator

DescriptionThe I/O configuration of cross connection arg is invalid.The parameter Operator arg contains an invalid/unknownoperator arg.Valid values for the logical operator are: AND OR





Recommended actionsCorrect the operator.

71185, Duplicate name

DescriptionThe I/O configuration is invalid.The identifier arg has already been used as the name of anotherconfiguration instance.The following configuration instances must have unique names:Industrial Networks I/O Devices Device Trust Levels I/O SignalsCommands Access Levels Signal Safe Levels CrossConnections Routes

Recommended actionsRename one of the configuration instances in I/O configuration.Restart the controller.

71193, Invalid physical I/O mapping

DescriptionI/O mapping error on I/O device arg.The I/O device uses an input size of arg bits, the controller canhandle maximum arg bits.The I/O device uses an output size of arg bits, the controllercan handle maximum arg bits.

Recommended actionsCheck configuration for the physical I/O device.

71196, Invalid encoding type

DescriptionThe I/O configuration for I/O signal arg is invalid.The encoding type arg is not valid for signal type arg.Valid encoding types are: UNSIGNED TWO_COMP This I/Osignal has been rejected.

Recommended actionsCorrect the encoding type for the I/O signal.

71201, Unknown network

DescriptionThe I/O configuration is invalid.The network arg cannot be found in the system.Installed Industrial Networks are: arg arg arg arg.

ConsequencesThis network has been rejected, and no functions dependingon it will work.

Recommended actionsMake sure the system has been configured with the desirednetwork. Make sure the network option at hand is installed.Check the I/O configuration for network.

71205, Could not mount directory

DescriptionMounting directory arg on the computer arg failed.Protocol: arg.

Recommended actionsCheck the FTP server setup. Check the FTP client configuration.Check communication hardware, cabling.

71220, No PROFIBUS option has been installed

DescriptionA PROFIBUS board has been fitted, but no PROFIBUS optionhas been installed.

ConsequencesNo communication on the PROFIBUS network is possible. Theremay be consequential errors from configuring the PROFIBUSnetwork when no such option has been installed.

Probable causesAn attempt may have been made to add the PROFIBUSfunctionality, without installing the option correctly.

Recommended actionsIf the PROFIBUS option is required: configure a new systemwith this option, and install the system. If the PROFIBUS optionis not required: configure a new system without this option, andinstall the system.

71221, PROFIBUS firmware file not found

DescriptionThe PROFIBUS firmware file was not found or not readable.The board firmware may be out of date.


71222, PROFIBUS configuration file not found

DescriptionThe binary PROFIBUS configuration file was not found. File:arg. Path: arg.

Recommended actionsMake sure the file exists. Change the path in the I/Oconfiguration.




71223, PROFIBUS configuration file parse error

DescriptionThe binary PROFIBUS configuration file is corrupt. Internalerror: arg. File: arg Path: arg.

Recommended actionsRecreate and download the binary configuration file using theexternal PROFIBUS configuration tool.

71224, PROFIBUS board has been re-flashed

DescriptionThe firmware of the PROFIBUS board has been updated.

71228, PROFIBUS binary configuration fault

DescriptionThe configuration data in the binary file is not accepted by thedevice at address arg.

Recommended actionsMake sure the intended configuration bin file is loaded on therobot controller. Make sure the correct I/O device is connectedto the network. Make sure the input and output size in theconfiguration is correct. Restart the controller.

71229, PROFIBUS binary parameter fault

DescriptionThe parameter data in the binary file is not accepted by thedevice at address arg.

Recommended actionsMake the parameter data in the binary file match the parametersfor the device and restart the controller.

71230, Device configuration error

DescriptionThe device arg is configured in the I/O configuration but ismissing or incorrect in the PROFIBUS binary file.

Recommended actionsMake sure the device is present in the PROFIBUS binary file.Check that the PROFIBUS address in the I/O configurationmatches the address in the binary file. Make sure remainingfields in the binary file match the I/O configuration.

71231, Wrong PROFIBUS device is connected

DescriptionPROFIBUS device arg at address arg has the wrong identitynumber. Reported identity number is arg. Expected identitynumber is arg.

ConsequencesThe robot controller will not be able to activate the device.

Probable causesThe I/O device at address arg may be the wrong type ofdevice.The configuration may be incorrect, i.e. an incorrectbinary configuration file and in some cases incorrect I/Oconfiguration.

Recommended actionsMake sure the I/O configuration is correct. Make sure thePROFIBUS binary file is correct. Replace the I/O device.

71241, Too many I/O devices on network

DescriptionThe I/O configuration for I/O device arg is invalid.The number of I/O devices on network arg must not exceedarg.This I/O device has been rejected.

Recommended actionsReduce the number of defined I/O devices and restart thecontroller.

71261, Transport layer failure

DescriptionThe physical channel for transport layer arg is invalid.

Recommended actionsVerify that the physical channel is valid, see manual.

71262, Industrial network communication failure

DescriptionCommunication with 'arg' master failed on I/O device with macid arg.

Recommended actionsCheck the connection to the gateway.

71263, CAN communication failure

DescriptionCAN communication failed due to arg.Code: arg.




71264, Conveyor tracking error

DescriptionConveyor tracker 'arg' reported error message: arg.

71273, I/O device configuration mismatch

DescriptionI/O device arg with address arg is configured in the I/Oconfiguration, but it cannot be found in the network specificconfiguration.

Probable causesThe address of the I/O device in the I/O configuration is not thesame as in the network specific configuration. The I/O devicehas not been configured at all in the network specificconfiguration.

Recommended actionsCheck I/O device configuration in the I/O configuration Checknetwork specific configuration.

71276, Communication established with I/Odevice

DescriptionCommunication established with I/O device arg with addressarg on network arg.


DescriptionPermission was denied to mount the directory arg on the serverarg.

Recommended actionsCheck the username and password.

71288, Mount path is too large

DescriptionMount path is too large. Mount path consists of FTP servermount point and server path. Max length: arg. Protocol used:arg.

Recommended actionsChange FTP server mount point or server path.

71289, Memory partition is too big

DescriptionThe memory partition for communication purposes cannot beallocated. The requested partition arg kB. System partition willbe used.

Recommended actionsDecrease commPartSize.

71290, Could not add FTP device

DescriptionAdding the FTP device arg to the operating system failed.Application protocol arg.

Recommended actionsChange the local path of the configuration of the FTP device.

71291, Invalid local path

DescriptionLocal path of the FTP device arg is invalid.

Recommended actionsLocal path must end with :

71293, Invalid input size

DescriptionOn DeviceNet I/O device arg the connection input size doesnot match the I/O device.

Recommended actionsChange size in I/O configuration. Check module. UseDN_Generic device template.

71294, Invalid output size

DescriptionOn DeviceNet I/O device arg the connection output size doesnot match the I/O device.

Recommended actionsChange size in I/O configuration. Check module. UseDN_Generic device template.

71295, Invalid input size

DescriptionOn DeviceNet I/O device arg the connection 2 input size doesnot match the I/O device.

Recommended actionsChange size in I/O configuration. Check module.





DescriptionOn DeviceNet I/O device arg the connection 2 output size doesnot match the I/O device.

Recommended actionsChange size in I/O configuration. Check module.

71297, Invalid connection type

DescriptionThe DeviceNet I/O device arg does not support arg connection.

Recommended actionsChange connection type in I/O configuration. Use DN_Genericdevice template.

71298, Duplicated address

DescriptionThe address arg for the DeviceNet master on network DeviceNetis occupied by the I/O device arg on the network.

Recommended actionsChange master address in I/O configuration. Disconnect I/Odevice occupying the address from the network. Restart thecontroller.

71299, No power on DeviceNet network

DescriptionThe 24 V power supply from the DeviceNet power supply ismissing.

ConsequencesNo communication on the DeviceNet network is possible.

Probable causesThe power supply unit, cabling, input voltage to the powersupply or the output load may cause the power loss. See theTrouble Shooting Manual and Circuit Diagram!

Recommended actionsCheck all cabling to the power supply unit. Measure the outputand input voltage levels. Replace the faulty I/O device ifrequired.

71300, DeviceNet network communicationwarning

DescriptionA minor number of communication errors occurred on theDeviceNet network.

ConsequencesNormal operation will be maintained, even on the DeviceNet.

Probable causesThe fault may be caused by interference, power supply unitsand cables, or communication cables.

Recommended actionsMake sure any terminating resistors are correctly connected.Make sure all communication cables and connectors areworking correctly and of the recommended type. Check networktopology and cable length. Make sure the DeviceNet PowerSupply unit is working correctly. Replace any faulty unit.

71301, Bus off, DeviceNet networkcommunication failure

DescriptionA major number of communication errors occurred on DeviceNetnetwork.

ConsequencesAll communication on the DeviceNet Bus has stopped.

Probable causesThe fault may be caused by interference, power supply unitsand cables, or communication cables.

Recommended actionsMake sure the DeviceNet power supply unit is working correctly.Replace any faulty I/O device. Make sure any terminatingresistors are correctly connected. Make sure all communicationcables and connectors are working correctly and of therecommended type. Check network topology and cable length.Restart the controller.

71302, No DeviceNet option has been installed

DescriptionA DeviceNet master/slave board has been fitted, but noDeviceNet option has been installed.

ConsequencesNo communication on the DeviceNet is possible. There may beconsequential errors from configuring DeviceNet when no suchoption has been installed.

Probable causesAn attempt may have been made to add the DeviceNetfunctionality, without installing the option correctly.

Recommended actionsIf the DeviceNet option is required: configure a new systemwith this option, and install the system. If the DeviceNet option




is not required: configure a new system without this option, andinstall the system.

71303, Invalid DeviceNet vendor id

DescriptionThe vendor id read from DeviceNet I/O device arg doesn't matchvalue in I/O device configuration. Configuration: arg. Actual:arg.

ConsequencesIt is not possible to access the I/O device or I/O signals on it.

Recommended actionsChange vendor id in I/O configuration. Check that the type ofI/O device is correct.

71304, Invalid DeviceNet device type

DescriptionThe device type read from DeviceNet I/O device arg doesn'tmatch value in device I/O configuration. Configuration: argActual: arg


Recommended actionsChange device type in I/O configuration. Check that the typeof I/O device is correct. Check for a duplicate DeviceNet addressin the connected I/O units.

71305, Invalid DeviceNet product code

DescriptionThe product code read from DeviceNet I/O device arg doesn'tmatch value in I/O device configuration. Configuration: argActual: arg


Recommended actionsChange product code in I/O configuration. Check that the typeof I/O device is correct. Check for a duplicate DeviceNet addressin the connected I/O units.

71306, DeviceNet unknown error

DescriptionAn unknown error is reported from I/O device arg error codearg.

Recommended actionsRestart the controller. Report the problem to ABB.

71307, DeviceNet generic connection 1

DescriptionOn DeviceNet I/O device arg connection 1 configuration isgeneric.Real values: Connection 1 type: arg. Connection 1 input size:arg. Connection 1 output size: arg.

Recommended actionsUpdate your current I/O device configuration.

71308, DeviceNet generic connection 2

DescriptionOn DeviceNet I/O device arg connection 2 configuration isgeneric.Real values: Connection 2 type: arg. Connection 2 input size:arg. Connection 2 output size: arg.


71309, DeviceNet generic device identification

DescriptionOn DeviceNet I/O device arg identity configuration is generic.Real values: Vendor Id: arg. Product code: arg. Device type:arg.


71310, DeviceNet I/O device connection error

DescriptionDeviceNet I/O device arg is occupied by another master.

Recommended actionsCheck I/O configuration. Cycle power on I/O device.

71311, Unable to establish communication onthe DeviceNet network

DescriptionUnable to establish communication on the DeviceNet networkbecause no I/O devices are physically connected.

Recommended actionsCheck cables and connectors. Connect I/O devices to network.Restart the controller. Remove I/O devices on the DeviceNetnetwork from the I/O configuration.




71312, DeviceNet I/O device explicit connectionnot enabled

DescriptionDeviceNet I/O device arg does not have the explicit messageconnection enabled.

Recommended actionsChange I/O configuration.

71313, Device commandorder number not unique

DescriptionThe I/O configuration is invalid.The device command <arg> connected to the I/O device <arg>has the same order number <arg> as the device command<arg>.The order number of device commands connected to the sameI/O device must be unique.This device command has been rejected.

Recommended actionsModify the I/O configuration so that device commands on thesame I/O device have unique order numbers.

71315, Max number of device commandsexceeded

DescriptionThe I/O configuration is invalid.The maximum number, arg, of device commands in the I/Osystem has been exceeded.

Recommended actionsModify the configuration of the I/O system (by reducing thenumber of device commands) so that the maximum limit is notexceeded.

71317, I/O device reset

DescriptionThe I/O device arg on the network arg has been reset throughthe device command arg, to make sure that the device commandvalues are activated.This causes the I/O device to loose contact while it is restartedbut it will regain contact.

Probable causesA device command for reset has been defined for the I/O devicein the configuration of the I/O system.

71320,Max number of I/O access levels exceeded

DescriptionThe I/O configuration is invalid.The maximum number, arg, of I/O access levels in the I/Osystem has been exceeded.

Recommended actionsModify the configuration of the I/O system (by reducing thenumber of I/O access levels) so that the maximum limit is notexceeded.

71321, Invalid I/O access level

DescriptionThe I/O configuration is invalid.The I/O signal arg has a reference to an invalid/undefined I/Oaccess level arg.All I/O signals must either omit the access level or refer to anexisting access level.This I/O signal has been rejected.

Recommended actionsChange I/O access level to one that exist or define a new I/Oaccess level.

71323, Invalid bit values

DescriptionThe I/O configuration for I/O signal arg is invalid.The minimum bit value arg must not be less than arg.The maximum bit value arg must not exceed arg.The minimum bit value must be less than the maximum bitvalue.This I/O signal has been rejected.

Recommended actionsCheck that the I/O signal is configured with the correct encodingtype. Check that the min and max bit values are correct.

71324, Physical limitation values out of range

DescriptionThe I/O configuration for I/O signal arg is invalid.The physical limitation minimum value must be less than thephysical limitation maximum value.This I/O signal has been rejected.

Recommended actionsCorrect the physical limitation values for the I/O signal so thatthe minimum value becomes less than the maximum value.




71325, Invalid network configuration

DescriptionThe I/O configuration for network arg is invalid.User-defined (externally loaded) Industrial Networks must notbe specified with the name Local.This network has been rejected.

Recommended actionsChange the name of the network.

71326, Invalid device predefined typeconfiguration

DescriptionThe I/O configuration for device predefined type arg is invalid.User-defined (externally loaded) device predefined types mustnot be specified for the Local network.This device predefined type has been rejected.

Recommended actionsChange the device predefined type.

71328, Invalid name

DescriptionThe I/O configuration is invalid.The configuration instance arg does not comply with the rulesof RAPID identifiers.This configuration instance has been rejected.

Recommended actionsCorrect the name of the configuration instance so that itcomplies with the following rules:Rules of RAPID identifiers: The length must not exceed 16characters. The first character must be a letter (a-z or A-Z).Subsequent characters must be letters (a-z or A-Z), digits (0-9)or underscores (_).

71329, Invalid network connection

DescriptionThe I/O configuration for network arg is invalid.Invalid connection arg is selected for the network.Valid connections are: arg.


Recommended actionsSelect a valid connection for the network.

71331, Invalid network

DescriptionThe I/O configuration for network arg is invalid.The name of the network is not valid.Installed valid networks are:arg.


Recommended actionsCorrect the name for the network.

71332, Invalid recovery time

DescriptionThe I/O configuration for the I/O device arg is invalid.The value of the recovery time parameter arg is incorrect.The recovery time (how often to try regaining contact with lostI/O devices) must not be less than arg milliseconds.This I/O device has been rejected.

Recommended actionsCorrect the recovery time for the I/O device.

71333, Invalid DeviceNet baud rate

DescriptionThe I/O configuration for DeviceNet network is invalid.The value of the DeviceNet baud rate parameter is incorrect.Valid DeviceNet baud rates are: 125 250 500 This network hasbeen rejected.

Recommended actionsCorrect the baud rate for the DeviceNet network.

71336, Device command without path

DescriptionThe I/O configuration is invalid.No path is defined for the device command <arg>.This device command has been rejected.

Recommended actionsDefine a path for the device command.

71338, Invalid device command service identifier

DescriptionThe I/O configuration is invalid.The service identifier <arg> is not valid for the device command<arg>.Valid service identifiers are:




<arg>This device command has been rejected.

Recommended actionsCorrect the service identifier for the device command.

71339, Device commandwithout reference to I/Odevice

DescriptionThe I/O configuration is invalid.The device command arg has no reference to an I/O device.The device command must have a reference to an existing I/Odevice.

ConsequencesThis device command has been rejected, and no functionsdepending on it will work.

Recommended actionsDefine an I/O device reference for the device command.

71340, Device command with reference tonon-existing I/O device

DescriptionThe I/O configuration is invalid.The device command arg has a reference to an invalid/unknownI/O device arg.The device command must have a reference to an existing I/Odevice.

ConsequencesThis device command has been rejected, and no functionsdepending on it will work.

Recommended actionsCorrect the I/O device for the device command.

71344, Device map undefined

DescriptionThe I/O configuration for I/O signal arg is invalid.Device map is undefined or empty.A Device map must be specified for all physical I/O signals (i.e.signals connected to an I/O device).This I/O signal has been rejected.

Recommended actionsDefine a device map for the I/O signal.

71346, Device map out of range

DescriptionThe I/O configuration for I/O signal arg is invalid.The device map arg is invalid since bit arg is out of range.All bits in the device map must be in the range [0, arg].This I/O signal has been rejected.

Recommended actionsCorrect the device map.

71347, Device map with overlapping segments

DescriptionThe I/O configuration for I/O signal arg is invalid.The device map arg contains segments (e.g. bit arg) that overlapeach other.This I/O signal has been rejected.


71348, Device map with unexpected character

DescriptionThe I/O configuration for I/O signal arg is invalid.Found unexpected end or character at position arg in the devicemap: arg.This I/O signal has been rejected.

Recommended actionsCorrect the device map so that is comply with the followingsyntax: {bit} = ([0-9]+) {range} = ([0-9]+[-][0-9]+) {segment} =({bit} | {range}) {device map} = ({segment}[,])*{segment}Examples of valid device maps: "1" "0-7, 15-8" "1,4-3,7"

71349, Invalid signal size

DescriptionThe I/O configuration for I/O signal arg is invalid.There is a mismatch between the signal type and the size ofthe signal.The signal size arg is given by the device map: arg.This I/O signal has been rejected.

Recommended actionsCorrect either the signal type or the device map so that thefollowing rules are fulfilled: The size of digital I/O signals mustbe exactly one bit. The size of analog and group I/O signalsmust be between 1 and 32 bits.




71350, Invalid network

DescriptionThe I/O configuration is invalid.The device predefined type arg has an invalid/unknown typeof network arg.Installed valid Industrial Networks are:arg arg arg.

ConsequencesThis device predefined type has been rejected, and no functionsdepending on it will work.

Recommended actionsCorrect the network for the device predefined type.

71351, Invalid connection 1 type

DescriptionThe I/O configuration is invalid.The unit type arg has an invalid/unknown type for connection1 arg.The type for connection 1 must be one of the following: POLLEDSTROBE COS CYCLIC COS_ACKSUP CYCLIC_ACKSUP Thisunit type has been rejected.

Recommended actionsCorrect the connection 1 type of the unit type.

71352, Invalid connection 2 type

DescriptionThe I/O configuration is invalid.The unit type arg has an invalid/unknown type for connection2 arg.The type for connection 2 must either be omitted or one of thefollowing: POLLED STROBE COS CYCLIC COS_ACKSUPCYCLIC_ACKSUP This unit type has been rejected.

Recommended actionsCorrect the connection 2 type of the unit type.

71354, I/O device without reference to network

DescriptionThe I/O configuration is invalid.No reference to a network is defined for the I/O device arg.This I/O device has been rejected.

Recommended actionsDefine a network reference for the I/O device.

71355, Invalid Device Trust Level

DescriptionThe I/O configuration is invalid.I/O device arg has an invalid/unknown Device Trust Level: arg.Installed valid Device Trust Levels are:arg.


Recommended actionsCorrect the Device Trust Level for the I/O device.

71356, Bus type mismatch

DescriptionThe I/O configuration is invalid.Device arg refers to a network and a unit type with different bustypes.This I/O device has been rejected.

Recommended actionsCheck that the I/O device is connected to the correct networkand that the bus type of that network is correct. Check that theI/O device refers to the correct unit type and that the bus typeof that unit type is correct.

71357, Duplicated I/O devices on network Local

DescriptionThe I/O configuration for I/O device arg is invalid.There is already another user-defined I/O device connected tothe network Local.Only one user-defined I/O device may be connected to thenetwork Local.This I/O device has been rejected.

Recommended actionsCorrect the I/O configuration.

71361, Cross connection with non-digitalresultant I/O signal

DescriptionThe I/O configuration of cross connection arg is invalid.The parameter Resultant refer to an I/O signal arg, that is notdigital.Only digital I/O signals can be cross connected.





Recommended actionsRemove the non-digital I/O signal from the cross connection.

71362, I/O signal mapped outside the I/O devicedata area

DescriptionCannot change physical state of I/O signal arg to VALID.The reason is that the I/O signal is mapped to bit(s) that liesoutside the data area of the I/O device it is assigned to.I/O signal assigned to I/O device arg.I/O signal mapped to bit(s): arg.Output data area size for the I/O device is arg bits.Input data area size for the I/O device is arg bits.

ConsequencesThe physical state of this I/O signal remains NOT VALID.

Recommended actionsCheck that the device mapping of the I/O signal is correct.Check that the I/O signal is assigned to the correct I/O device.Check the I/O configuration Connection Input/Output size onthe I/O device.

71363, Internal slave configuration invalid

DescriptionThe I/O device arg configured on the master address is notvalid as an internal slave.

Recommended actionsChange the address on the I/O device. Use DN_Slave devicetemplate.

71364, User I/O queue overload

DescriptionThe user I/O queue handling I/O signal changes has beenoverloaded.

ConsequencesThe system will go to status SYS STOP.

Probable causesThis is caused by too frequent signal changes or too largebursts of signal changes, generated by input I/O signals orcross connections between I/O signals.

Recommended actionsCheck the cross connections. How to check the configurationfile is detailed in the Trouble Shooting Manual. Check thefrequency of input I/O signals from any external equipmentconnected to the system. Make sure it is not abnormal, and

change if required. If an extremely heavy I/O load is normal andrequired, investigate whether programming delays in the RAPIDapplication may solve the problem.

71365, Safety I/O queue overload

DescriptionThe safety I/O queue handling safety I/O signals has beenoverloaded.

ConsequencesThe system will go to status SYS HALT.

Probable causesThis is caused by too frequent signal changes of safety I/Osignals. Sometimes this may be due to erratic groundconnection in I/O signals from external equipment.

Recommended actionsRepeated safety input I/O signals will cause the system to halt.See the error log for other faults that may cause the condition.Check the grounding of each signal from any externalequipment affecting the safety I/O signals. Check the frequencyof input I/O signals from any external equipment connected tothe system. Make sure it is not abnormal, and change isrequired.

71366, Cross connection I/O queue overload

DescriptionThe cross connection I/O queue handling I/O signals has beenoverloaded.


Probable causesThis is caused by too frequent signal changes or too largebursts of signal changes, generated by I/O signals being actorsin cross connections.

Recommended actionsCheck the cross connections. How to check the configurationfile is detailed in the Trouble Shooting Manual. Check thefrequency of I/O signals being actors in cross connections. Ifan extremely heavy I/O load is normal and required, investigatewhether programming delays in the RAPID application maysolve the problem.




71367, No communication with I/O device

DescriptionDuring start-up, no communication was established with I/Odevice arg with address arg on the network arg.

ConsequencesIt is not possible to access the I/O device or I/O signals on it,since it is currently not communicating with the controller.

Probable causesThe I/O device is either not connected to the system, or it isconnected, but has been assigned the wrong address.

Recommended actionsMake sure all I/O device addresses match the configuration.Make sure all addresses are unique, and not used by more thanone I/O device. Change the address and/or connect the missingI/O device. If you changed the address, the power supply to theI/O device must be cycled (switched OFF and then back ON),to make sure the address has been changed.

71379, Unknown communication physicalchannel connector

DescriptionThe connector arg defined for the physical channel arg isunknown.

ConsequencesThe physical channel will not be available for use.

Probable causesThe connector defined in the physical channel configurationmay be misspelled or refers to a connector not available foruse. Connector configuration is missing.

Recommended actionsMake sure the connector defined in the physical channelconfiguration is referring to an available connector. Make surethe option Multiple Serial Ports is installed if required by theused configuration. Reinstall the system to make sure thesystem configuration files are OK.

71380, Communication connector driver isalready in use

DescriptionThe connector arg cannot use the driver arg. The driver isalready in use by connector arg.

ConsequencesThe connector and the physical channel using the connectorwill not be available for use.

Probable causesThe configuration files may have been faulty. A configurationfile with improperly configured Physical Channels may havebeen loaded.

Recommended actionsMake sure physical connector configuration is valid. Reinstallthe system to make sure the system configuration files are OK.

71381, Communication connector is already inuse

DescriptionThe physical channel arg cannot use connector arg. Theconnector is already in use by physical channel arg.

ConsequencesThe connector and the physical channel using the connectorwill not be available for use.

Probable causesSeveral physical channels may have been assigned to the sameconnector in the configuration.

Recommended actionsMake sure each connector is used by one physical channelonly.

71382, DeviceNet watchdog time has expired

DescriptionThe system has not received any reply from the DeviceNet I/Odevice, and the watchdog timer has timed out.

ConsequencesThe DeviceNet network is not running, and no communicationon the DeviceNet network will be possible. The system goesto system failure state. The full meaning of this status isdescribed in the Trouble Shooting Manual, IRC5.

Probable causesThe I/O load on the DeviceNet network may be too high, forinstance if a RAPID program is trying to set I/O signals at a ratethat exceeds the bandwidth available on the DeviceNet network.

Recommended actionsReduce the I/O load on the DeviceNet network.

71383, User defined I/O devices can't beconnected to the network Local

DescriptionThe I/O configuration for I/O device arg is invalid.




No user-defined I/O device may be connected to the networkLocal.This I/O device has been rejected.

Recommended actionsCorrect the I/O configuration.

71385, Request message resource exhausted

DescriptionUnable to handle more concurrent I/O requests.Out of concurrent I/O request using delay, pulse, or timeoutargument.

ConsequencesI/O request cannot be fulfilled.

Probable causesToo many I/O instructions with pulse or delay argument.Too many process instructions with pulse, delay or timeout.

Recommended actionsReduce the number of concurrent I/O instructions with pulseor delay argument. Reduce the number of concurrent processinstructions that use pulse, delay or timeout argument.

71390, The DeviceNet network has recoveredfrom bus off

DescriptionThe DeviceNet network has recovered from bus off state.

71391, System Signal configuration

DescriptionThere was an error during the configuration of the System I/OSignal arg.

ConsequencesThe system will go to system failure state.

Probable causesAll errors during configuration of System I/O Signals areconsidered fatal and the system will go to system failure state.

Recommended actionsCheck the connection of the I/O device to which the SystemSignal is connected. Check the configuration of the I/O device.


DescriptionOn DeviceNet I/O device arg the connection output size argdoes not match the I/O device. When using strobe connectionthe only valid output sizes are 1 or -1.

Recommended actionsChange size in configuration. Check module. Use DN_Genericdevice template.

71393, Error when allocating generic size

DescriptionFailed to allocate generic arg size (-1) on DeviceNet I/O devicearg.

Probable causesThe DeviceNet I/O device arg cannot be configured with ageneric arg size (-1).

Recommended actionsUpdate your current unit type configuration with new arg size.Use DN_Generic device template.

71394, Invalid physical communication channel

DescriptionThe communication channel arg is out of range.

ConsequencesThe communication channel arg is unavailable.

Probable causesAdapter board DSQC 1003 not installed or the communicationchannel arg is out of range.

Recommended actionsCheck the allowed minimum and maximum of connectors.Check hardware required.

71395, No transport protocol

DescriptionThe transport protocol arg for channel arg is missing.

ConsequencesThe transport instance arg is unavailable.

Probable causesThe option holding the transport protocol arg is not installed orthe protocol name is faulty.

Recommended actionsInstall missing option. Change the transport protocol name.




71396, No transmission protocol

DescriptionThe transport protocol arg is missing or the name of thetransport protocol is faulty for arg.

ConsequencesThe application protocol instance arg is unavailable.

Probable causesThe option holding the transport is not installed or theapplication name is faulty.

Recommended actionsInstall the option. Change the name of the transport in theconfiguration.

71397, No application protocol

DescriptionThe application protocol arg is missing or the name is faulty.

ConsequencesThe application instance arg is unavailable.

Probable causesThe option holding the application protocol is not installed orthe protocol name is faulty.

Recommended actionsInstall the option. Change the name of the application protocol.

71398, Communication error from bosv24

DescriptionNo response from the serial line.

Recommended actionsCheck the device or connection.


DescriptionNot possible to deliver the received message.

Recommended actionsCheck the communication flow.


DescriptionThe response from the device has an invalid frame sequence.

Recommended actionsCheck for noise on the serial line.

71401, No option exists for the arg Anybusmodule.

DescriptionAn argAnybus module has been found, but no option has beeninstalled.

ConsequencesNo communication on arg Anybus module is possible. Theremay be consequential errors from configuring when no suchoption has been installed.

Probable causesAn attempt may have been made to add the argAnybus modulefunctionality, without installing the option correctly.

Recommended actionsIf the arg Anybus module option is required: configure a newsystem with this option, and install the system.

71402, Duplicate address on the arg network.

DescriptionThe arg network address is duplicated on the network.Conflicting address arg.

ConsequencesNo communication on the arg network is possible.

Recommended actionsChange the address on the conflicting adapter (or physicallydisconnect the adapter) or change the address for the argnetwork.Restart the controller.

71403, The interval time is invalid

DescriptionFor the DeviceNet device arg the connection arg interval timeis invalid.

Probable causesThe interval time has a lower value than the production inhibittime.

Recommended actionsChange the connection arg interval time to be higher than theproduction inhibit time for the DeviceNet device arg in the I/Oconfiguration.

71404, Invalid input/output size

DescriptionThe I/O device arg has an invalid value (zero) for the input oroutput size.




Recommended actionsChange the input/output size to a value greater value than zero.

71405, Duplicate device mapping

DescriptionThe I/O signal arg has overlapping bit(s) in the device map withthe I/O signal arg.

ConsequencesThis I/O signal has been rejected, and no functions dependingon it will work.

Recommended actionsCorrect the device mapping for the overlapping I/O signals inthe I/O configuration.

71406, Communication established onDeviceNetnetwork

DescriptionThe DeviceNet network has established communication.

71407, Route interface not found

DescriptionThe route interface arg for network arg is not found in thesystem.

ConsequencesThe route is not available. Messages to I/O devices connectedto the network arg will not forwarded.

Probable causesThe network arg not defined.

Recommended actionsChange the network identifier.

71408, Route port number out of range

DescriptionThe given port number arg of route arg is outside its range.

ConsequencesThe route is not available. Messages to I/O devices connectedto the network arg will not be forwarded.

Probable causesThe number arg is outside its range.

Recommended actionsChange port number.

71409, Not able to add a port to arg

DescriptionNot able to define port arg of route arg due to lack of resources.

ConsequencesThe route is not available. Messages to I/O devices connectedto port arg are not forwarded.

Probable causesThe network arg doesn't support this many ports.

Recommended actionsWhen possible reduce the number of ports or report the problemto ABB.

71410, CIP route option not installed

DescriptionThe CIP route option is not enabled since it was not selectedat system creation.

ConsequencesAny CIP route definitions will be omitted.

Probable causesThe CIP route option is not installed in the system.

Recommended actionsCreate and install a system with the CIP route option.

71411, Out of route resources

DescriptionNot able to add anymore routes due to no more route resourcesin the system.

ConsequencesRoute arg will not be added to the system.

Probable causesToo many routes have been defined. The system only allowsarg routes.

Recommended actionsReduce the number of routes.

71412, The DeviceNet network has regained thebus power

DescriptionThe DeviceNet network has regained the 24 V bus power.




71414, Concurrent changes of signal value

DescriptionConcurrent changes of I/O signal arg value have been detected.

ConsequencesA signal value change of I/O signal arg is aborted due to anothervalue change of the same I/O signal.

Probable causesThe concurrent value change is due to an undesired signalchange sequence in a program. Multiple changes of I/O signalarg might appear when a I/O signal is pulsed, e.g.SetDO arg, 0;PulseDO /High /PLength = 0.01, arg;WaitTime 0.01;SetDO arg, 1;The I/O signal arg will be 1 at the end, but at rare occasionsthere will not be any visible pulse. This type of sequence shouldbe avoided.

Recommended actionsVerify that concurrent value changes are desired of I/O signalarg, otherwise modify the signal change sequence.

71428, DeviceNet I/O device configured

DescriptionA new I/O device has been found and configured on theDeviceNet network.Device name: arg.Device address: arg.Input bytes / Output bytes: arg.Vendor ID: arg.Product code: arg

Recommended actionsRestart the controller to activate the I/O device configuration.Edit or delete the configuration.

71443, Too many PROFINET internal devices

DescriptionThere are too many PROFINET internal devices defined in thecontroller.

ConsequencesPROFINET I/O device arg will not be configured. Nocommunication with this I/O device will be possible.

Probable causesPROFINET I/O device arg is defined as a PROFINET internaldevice while another PROFINET internal device has alreadybeen configured.

Recommended actionsRemove I/O device arg from the configuration.

71446, PROFINET configuration mismatch

DescriptionConfiguration mismatch between the Anybus adapter and theconnecting PROFINET controller in slot arg.

ConsequencesThe Anybus adapter will indicate a diagnostic error and nocommunication will be established between the Anybus adapterand the connecting PROFINET controller.

Probable causesMismatch of the data type/size in slot arg for the PROFINETcontroller configuration. The expected data type/size is arg argbytes.

Recommended actionsCorrect the data type/size in slot arg in the external configurationtool or change the data size in the I/O configuration.NOTE:In the PROFINET controller configuration input data shall be inslot 1 and output data in slot 2.

71449, Too many Anybus adapters configured

DescriptionToo many Anybus adapters configured. It is only allowed tohave one Anybus adapter configured.

ConsequencesThe Anybus adapter arg has been rejected, and no functionsdepending on it will work.

Recommended actionsRemove an Anybus adapter in the configuration. Restart thecontroller.

71450, EtherNet/IP Scanner/Adapter option notinstalled

DescriptionAn EtherNet/IP network is configured, but the EtherNet/IPScanner/Adapter option has not been installed.




ConsequencesNo communication on the EtherNet/IP is possible. There maybe consequential errors from configuring EtherNet/IP when nosuch option has been installed.

Probable causesAn attempt may have been made to add the EtherNet/IPfunctionality, without installing the option correctly.

Recommended actionsIf the EtherNet/IP option is required: configure a new systemwith this option, and install the system. If the EtherNet/IP optionis not required: configure a new system without this option, andinstall the system.

71452, Too many EtherNet/IP networks areconfigured

DescriptionToo many EtherNet/IP Industrial Networks are configured. Thereis only possibly to have one network for the EtherNet/IPScanner/Adapter option.

Recommended actionsRemove one of the EtherNet/IP Industrial Networks from theI/O configuration. Restart the controller.

71453, Wrong identity for EtherNet/IP adapter

DescriptionThe identity for the adapter arg in the I/O configuration is notcorrect.The correct identity is:Vendor ID arg.Device Type arg.Product Code arg.

ConsequencesNo contact will be established with this adapter.

Recommended actionsCorrect the I/O configuration for the adapter with the identityinformation above.

71454, The arg address is missing

DescriptionNo IP address is specified for the arg network.


Recommended actionsSpecify a valid IP address in the network configuration. Restartthe controller.

71455, EtherNet/IP connection type unknown

DescriptionThe I/O configuration is invalid.The unit type arg has an invalid/unknown connection type arg.The connection type must be one of the following: MULTICASTPOINT2POINT

ConsequencesThis unit type has been rejected.

Recommended actionsCorrect the connection type of the unit type. Restart thecontroller.

71457, The EtherNet/IP gateway address is invalid

DescriptionIt is not possible to have the gateway address same as the IPaddress.Or the gateway address cannot be same as the defaultdestination 0.0.0.0.

ConsequencesThe default controller gateway address arg will be used andnot the specified gateway address arg.

Recommended actionsIf no physical gateway is used, do not specify any gatewayaddress in the configuration. Restart the controller.

71458, Could not change the default gatewayaddress

DescriptionIf no destination address is specified in the Ethernet/IPconfiguration, the default controller gateway address will bechanged. The destination address was not given and thespecified gateway address arg was not valid and could not beused.

ConsequencesNo communication on the EtherNet/IP network is possible.

Recommended actionsCorrect the gateway in the EtherNet/IP network configuration.Restart the controller.




71459, Illegal address for EtherNet/IP

DescriptionThe address arg for the EtherNet/IP network is illegal.


Recommended actionsCorrect the address in the EtherNet/IP network configuration.Restart the controller.

71460, Not able to connect to EtherNet/IP adapter

DescriptionThe configured adapter argwith address arg does not physicallyexist on the EtherNet/IP network.

ConsequencesIt is not possible to access the adapter itself or I/O signals onthe adapter since it is currently not communicating with thecontroller.

Probable causesThe adapter does not exist physically.The adapter address is wrong.The adapter is malfunctioning.

Recommended actionsCheck that the adapter physically exists on the EtherNet/IPnetwork and that the address is correct. If the address has beenchanged, restart the controller.

71461, Duplicated address on the EtherNet/IPnetwork

DescriptionThe adapter arg and the EtherNet/IP scanner have beenconfigured with the same address in the controller.

ConsequencesIt is not possible to access the adapter or I/O signals on it, sinceit is currently not communicating with the controller.

Recommended actionsChange the address for the adapter arg or the address for theEtherNet/IP controller in the I/O configuration. If changing theI/O device address and it have this address physically it mustalso be changed in the adapter.Restart the controller.

71462, Illegal subnet mask for EtherNet/IP

DescriptionThe subnet mask arg for the EtherNet/IP network is illegal.


Recommended actionsCorrect the subnet mask in the EtherNet/IP networkconfiguration. Restart the controller.

71463, Illegal address for EtherNet/IP network

DescriptionThe EtherNet/IP address arg is reserved.


Probable causesThe specified address is on a subnet reserved by anotherEthernet port. Two Ethernet ports on the controller cannot beon the same subnet.Example:EtherNet/IP port: 192.168.125.xService port: 192.168.125.xNote:The subnets within the range 192.168.125.xxx - 192.168.130.xxxare predefined and cannot be used.

Recommended actionsChange the address to another subnet. Restart the controller.

71464, Could not add a new gateway forEtherNet/IP

DescriptionCould not add the gateway address arg with the destinationaddress arg for EtherNet/IP.


Probable causesThe gateway address or the destination address are invalid.No destination address have been specified.

Recommended actionsCorrect the gateway address or the destination address in theEtherNet/IP network configuration. Restart the controller.

71469, Max number of internal I/O signalsexceeded

DescriptionThe I/O configuration is invalid.The maximum number, arg, of internal I/O signals in the I/Osystem has been exceeded.




Recommended actionsModify the configuration of the I/O system (by reducing thenumber of I/O signals specified in the additional optionconfiguration) so that the maximum limit is not exceeded.

71473, DeviceNet network scan result

DescriptionAddress___Vendor_ID___Product_code___Device_name__arg

71476, DeviceNet firmware file not found

DescriptionThe DeviceNet firmware file arg was not found or is notreadable.The board firmware may be out of date.


71477, Invalid connection size for EtherNet/IPadapter

DescriptionThe adapter arg is configured with invalid input and/or outputsize.

ConsequencesNo communication with the adapter is possible.

Recommended actionsCorrect the input size to arg and the output size to arg for theadapter in the I/O configuration.

71478, Invalid input or output assembly forEtherNet/IP adapter

DescriptionThe adapter arg has invalid input and/or output assembly.


Recommended actionsCorrect the input/output assembly for the adapter in the I/Oconfiguration.

71479, Invalid configuration assembly forEtherNet/IP I/O device

DescriptionThe adapter arg has invalid configuration assembly.


Recommended actionsCorrect the configuration assembly for the adapter in the I/Oconfiguration.

71480, Adapter occupied by another scanner

DescriptionIt is not possible to connect to the adapter arg because italready has an active connection.

ConsequencesNo communication with the adapter arg is possible as long asthe adapter is occupied by another scanner.

Recommended actionsRelease the connection from the other scanner to the adapterarg or change the address.

71481, PROFINET configuration file error

DescriptionThe PROFINET configuration file arg could not be found oropened.

ConsequencesThe configuration file is needed to be able to use the I/O devicesdefined on the arg network.

Recommended actionsMake sure the file exists. Make sure that the configuration fileis placed in the HOME directory of your current system iffilename without path is used.

71482, PROFINETnetwork configuration changed

DescriptionI/O configuration for the network arg has been changed by anexternal configuration tool or a connecting controller.The following values have been changed:IP Address: arg.Subnet mask: arg.Gateway address: arg.

71483, PROFINET identification request received

DescriptionA PROFINET identification request has been received from anexternal configuration tool.The MAC address on the arg network is arg.




71485, Illegal subnet mask

DescriptionThe subnet mask arg for the arg network is illegal. The allowedsubnet mask range is 255.255.255.xxx.

ConsequencesThe subnet mask on the arg network was not changed.

Recommended actionsCorrect the subnet mask for the arg network.

71486, Illegal address for arg network

DescriptionThe IP address arg for the arg network is illegal.

ConsequencesThe arg network cannot be used.

Recommended actionsCorrect the address for the arg network.

71487, Illegal IP address for arg network

DescriptionThe arg network address arg is reserved.


Probable causesThe specified address is on a subnet reserved by anotherEthernet port. Two Ethernet ports on the controller cannot beon the same subnet.Example:arg port: 192.168.125.xxxService port: 192.168.125.xxxNote:The subnets within the range 192.168.125.xxx - 192.168.130.xxxare predefined and cannot be used.

Recommended actionsChange the address to another subnet.

71488, Illegal gateway address for arg network

DescriptionThe specified gateway address arg is not valid and cannot beused.

ConsequencesThe gateway address is not changed.

Probable causesThe specified gateway address might not be within the rangeof the arg network subnet mask arg.

Recommended actionsCorrect the gateway address in the arg network configuration.

71489, PROFINET internal device configurationwarning

DescriptionA PROFINET controller has established a connection with thePROFINET internal device on the arg network. The connectingPROFINET controller and the internal PROFINET device slotconfiguration differs.The internal PROFINET device is currently configured with thefollowing modules:Slot 1: DI arg bytes.Slot 2: DO arg bytes.

ConsequencesNot all I/O signals will be possible to use.

Recommended actionsReconfigure the connecting PROFINET controller to match theinternal PROFINET device. Reconfigure the internal PROFINETdevice in the Robot controller to match the connectingPROFINET controller.

71490, PROFINET I/O device configurationwarning

DescriptionThe I/O device arg on the arg network is configured in thePROFINET configuration file arg but not in the I/O configuration.

Recommended actionsAdd the I/O device arg to the I/O configuration or remove theI/O device from the PROFINET configuration file.

71491, PROFINET I/O device configurationmissing

DescriptionThe I/O device arg on the arg network is configured in the I/Oconfiguration but not in the PROFINET configuration file arg.

ConsequencesNo communication with I/O device arg is possible.

Recommended actionsAdd the I/O device arg to the PROFINET configuration file orremove the I/O device from the I/O configuration.




71492, PROFINET diagnostic data reported

DescriptionThe I/O device arg has reported diagnostic data on slot arg.arg

71493, PROFINET I/O device auto configured

DescriptionA new I/O device has been found in the PROFINET configurationfile. This I/O device has been auto configured in the controllerwith the following parameters:Device name: arg.Input bytes: arg.Output bytes: arg.

Recommended actionsEdit or delete the configuration. Restart the controller to activatethe I/O device configuration.

71494, PROFINET option key missing

DescriptionThe option key needed to run the arg network on the controllerwas not detected.

ConsequencesNo communication on arg network is possible.

Probable causesAn attempt may have been made to add the PROFINETfunctionality, without installing the option correctly.

Recommended actionsConfigure a new system with the PROFINET option, and installthat system. If PROFINET is not required, configure a newsystem without this option, and install that system.

71495, PROFINET controller option key missing

DescriptionThe option key needed to run the arg network as a PROFINETcontroller on the controller was not detected. The I/O devicearg is not defined as an internal PROFINET device.

ConsequencesNo communication with the I/O device arg is possible.

Probable causesThe installed option key for the arg network only supports oneinternal PROFINET device.

Recommended actionsConfigure a new system with the PROFINET controller/deviceoption or remove the I/O device arg from the I/O configuration.

71498, PROFINETnetwork configuration changed

DescriptionI/O configuration for the network arg have been changed by anexternal configuration tool or a connecting controller.The following values have been changed:Station name: arg.

71499, I/O signals in cross connection hasoverlapping device map

DescriptionThe I/O configuration of cross connection arg is invalid.The resultant I/O signal arg has an overlapping device map withthe inverted actor I/O signal arg.Using I/O signals with overlapping device map in a crossconnection can cause infinity signal setting loops.


Recommended actionsCorrect the device map or define one of the I/O signals assimulated.

71500, EtherNet/IP connection failure

DescriptionNot able to connect to the adapter arg.arg


71501, PROFINET configuration file error

DescriptionThe PROFINET configuration file arg was not valid. Internalerror code arg.

ConsequencesNo communication on arg network is possible.

Probable causesThe PROFINET configuration file may be corrupt or have beencreated with an incompatible file format.

Recommended actionsGenerate a new PROFINET configuration file.





DescriptionThe I/O device arg reported a different slot configurationcompared with the configuration for this I/O device in thePROFINET configuration file arg.First slot mismatch reported on slot arg.arg slot mismatches found.

ConsequencesSome I/O signals might not be possible to use.

Probable causesThe module type used in slot arg may be of wrong type or of adifferent version compared to the actual hardware on the I/Odevice.

Recommended actionsUpdate the PROFINET configuration file arg.Check the I/Odevice hardware.

71503, PROFINET station name error

DescriptionThe network system parameter Station Name on the arg networkcontains one or more illegal characters. The character atposition arg is not allowed.

ConsequencesThe arg network is not possible to use.

Recommended actionsChange the Station Name system parameter to an allowedstring.

71504, File size exceeds max file size

DescriptionUnable to copy file data to the controller. The file arg is toolarge.File size: arg.Max file size: arg.

Probable causesThe file size is larger than the allowed file size.

Recommended actionsCheck the FTP client configuration and increase the systemparameter MaxFileSize to be able to transfer the file to thecontroller.

71505, Device command syntax error

DescriptionCould not send device command to I/O device arg becausethere is a syntax error in the command path string.Device command name arg.The syntax error: Missing comma.

ConsequencesThe device command was not sent.

Recommended actionsCorrect the device command path string.


DescriptionCould not send device command to I/O device arg becausethere is a syntax error in the command path string.Device command name arg.The syntax error: Bad path size specified.




DescriptionCould not send device command to I/O device arg becausethere is a syntax error in the command path string.Device command name arg.The syntax error: Incorrect path size.




DescriptionCould not send device command to I/O device arg becausethere is a syntax error in the command path string.Device command name arg.The syntax error: Bad data type.







DescriptionCould not send device command to I/O device arg becausethere is a syntax error in the command path string.Device command name arg.The syntax error: Missing space.




DescriptionCould not send device command to I/O device arg becausethere is a syntax error in the command path string.Device command name arg.The syntax error: Incorrect byte size.




DescriptionCould not send device command to I/O device arg becausethere is a syntax error in the command path string.Device command name arg.The syntax error: Incorrect data size.



71512, Invalid service identifier in devicecommand

DescriptionCould not send device command to I/O device arg because ofinvalid service identifier arg.Valid service identifiers are:arg.

Recommended actionsCorrect the service identifier.

71513, Device command response timeout

DescriptionA timeout occurred when sending device command arg to theI/O device arg.


Recommended actionsCheck the device command syntax. Make sure that the networkcable is connected to the controller.Make sure the I/O devicehas is correctly powered. Make sure the cabling to the I/O deviceis correctly connected.

71514, Device command connection error

DescriptionCould not send device command arg to the I/O device argbecause no active connection was present.



71515, Device command send error

DescriptionCould not send device command arg to the I/O device arg.arg.



71516, An EtherNet/IP adapter does not supportQuick Connect

DescriptionThe adapter arg does not support Quick Connect.

Recommended actionsSet the parameter Quick Connect to "Not used" for the adapterin the I/O configuration. Restart the controller.




71517, An attribute is changed for an EtherNet/IPadapter

DescriptionThe attribute arg is changed to "arg" for the adapter arg.

71519, Too many PROFINET Networks areconfigured

DescriptionToo many PROFINET Controller/Device Industrial Networksare configured. It is only possible to have one network forPROFINET Controller/Device.

Recommended actionsRemove all but one of the PROFINET Controller/DeviceIndustrial Networks from the configuration. Restart thecontroller.

71520, Input data invalid

DescriptionThe I/O device arg indicates input data invalid from slotarg.

ConsequencesThe input data is discarded.

Probable causesInternal error in the I/O device.

71521, Output data not processed

DescriptionThe I/O device arg indicates output data to slot arg cannot beprocessed.

ConsequencesThe output data is discarded by the I/O device.

Probable causesInternal error in the I/O device.

71522, Ethernet port occupied by another client

DescriptionThe specified Ethernet port for EtherNet/IP network is occupiedby another client.


Probable causesA MultiMove system is installed and occupies the specifiedEthernet port.

Recommended actionsSelect another Ethernet port by changing the connector ID forthe EtherNet/IP network.

71524, PROFINET I/O device unknown alarm

DescriptionThe I/O device arg has reported an unknown alarm in slot argUse I/O device specific documentation for explanation on thealarm code.Alarm code: arg.

71525, PROFINET I/O device diagnostics

DescriptionThe I/O device arg has reported diagnostic data in slot arg.Use I/O device specific documentation for more explanation onthe diagnostic data.arg.

71526, PROFINET I/O device unknown alarm

DescriptionThe I/O device arg has reported an unknown alarm in slot argUse I/O device specific documentation for explanation on thealarm code.Alarm code: arg.

71527, EtherNet/IP adapter state conflict

DescriptionThe current state of the adapter arg prevents communicationfrom being established or the execution of a specific service.This is an adapter specific behavior documented by the vendor.

ConsequencesNo communication with the adapter arg is possible as long asthe adapter is in this state.

Recommended actionsVerify the current state of the adapter arg.If the state is error,check the I/O configuration or hardware setup of the adapterand consult the vendor documentation. If the state is running,the I/O device was earlier temporarily busy duringcommunication attempt but has now recovered, no furtheractions are necessary.

71528, EtherNet/IP general failure

DescriptionNot able to connect to the adapter arg.




arg.


71529, The destination address is missing

DescriptionThe gateway address arg on network arg is defined, but nodestination is defined.

ConsequencesThe gateway will not be used since the destination is missing.

Recommended actionsSpecify a destination address to be used in conjunction withgateway address.OrRemove gateway address definition.

71530, The subnet mask is missing

DescriptionThe subnet mask, on arg network, is missing. The arg networkis on connector arg.

ConsequencesThe arg network will not operate. No communication on argnetwork is possible.

Probable causesThe subnet mask is missing.

Recommended actionsAdd a subnet mask.

71531, Faulty destination address

DescriptionThe given destination address arg, on arg network, is notallowed. Doesn't follow the IP name standard or it's on the samenetwork as the scanner and the adapter.

ConsequencesNo destination is available.

Probable causesThe address given is not following IP address standard. Theaddress is equal to network address or gateway address. Theaddress is on the same network as network and gateway. Theaddress is equal to broadcast or network address.

Recommended actionsProvide a valid destination address.

71532, The gateway address is missing

DescriptionThe destination address arg on arg is defined, but no gatewayaddress is defined.

ConsequencesThe destination address will not be used since the gatewayaddress is missing.

Recommended actionsSpecify a gateway address to be used in conjunction with thedestination address.OrRemove destination address definition.

71533, Invalid configuration size for EtherNet/IPadapter

DescriptionThe adapter arg has an invalid configuration size. Maximumconfiguration size supported is arg bytes.


Recommended actionsCorrect the configuration size for the adapter in the I/Oconfiguration.

71534, Invalid output size for EtherNet/IP adapter

DescriptionThe adapter arg has an invalid output size. Maximum outputsize supported is arg bytes.


Recommended actionsCorrect the output size for the adapter in the I/O configuration.

71535, Invalid input size for EtherNet/IP adapter

DescriptionThe adapter arg has an invalid input size. Maximum input sizesupported is arg bytes.


Recommended actionsCorrect the input size for the adapter in the I/O configuration.





DescriptionCould not send device command to adapter arg because thereis a syntax error in the command value string.Device command name arg.The syntax error: Can't decode arg.


Recommended actionsCorrect the device command value string.

71537, Invalid configuration data for EtherNet/IPadapter

DescriptionThe adapter arg has an invalid configuration data. Can't decodearg at position arg in the configuration data.


Recommended actionsCorrect the configuration data for the adapter in the I/Oconfiguration.

71538, The EtherNet/IP network address mustexist on PC

DescriptionThe given address arg, configured on the EtherNet/IP network,is not found on any network interface on PC.


Probable causesThe arg address is not configured on any PC network interface.

Recommended actionsSet the arg address on the network interface connected to theEtherNet/IP network on PC.

71539, Invalid Signal Safe Level

DescriptionThe I/O configuration is invalid.I/O signal arg has an invalid/unknown Signal Safe Level: arg.This I/O signal has been rejected.

Recommended actionsCorrect the Signal Safe Level for the I/O signal.

71541, Network auto configuration, scan,successful

DescriptionThe network auto configuration, operation: scan, on networkarg was successful.

Recommended actionsView the information in the Event log.

71542, Network auto configuration, scan, notsuccessful

DescriptionThe network auto configuration, operation: scan, on networkarg was not successful.

Recommended actionsView the errors in the Event log.

71543, Network auto configuration, scan EDS file,successful but with warnings

DescriptionThe network auto configuration, operation: scan EDS file(s), onnetwork arg and file arg was successful but with warnings.

ConsequencesThe Template Device arg might not be complete.

Probable causesInternal info:argarg

Recommended actionsVerify the Template Device arg. Invalid parameters has to bemanually corrected.

71544, Network auto configuration, scan EDS file,not successful

DescriptionThe network auto configuration, operation: scan EDS file(s), onnetwork arg and file arg was not successful.

ConsequencesNo Template Device could be created from the file arg.

Probable causesInternal info:argargarg




Recommended actionsCreate the device manually.

71545, Network auto configuration, device,successful

DescriptionThe network auto configuration, operation: add I/O device(s),on network arg was successful.View the information in the Event log.

Recommended actionsRestart the controller to activate the new I/O device(s).

71546, Network auto configuration, device, notsuccessful

DescriptionThe network auto configuration, operation: add I/O device(s),on network arg was not successful.


71547, Network auto configuration, device andsignals, successful

DescriptionThe network auto configuration, operation: add I/O device(s)and I/O signals, on network arg was successful.View the information in the Event log.

Recommended actionsRestart the controller to activate the new I/O device(s) and I/Osignals.

71548, Network auto configuration, device andsignals, not successful

DescriptionThe network auto configuration, operation: add I/O device(s)and I/O signals, on network arg was not successful.


71549, Overlapping I/O signals with differentvalues on ActionAtSysRestart

DescriptionThe I/O signal arg has overlapping bit(s) in the device map withthe I/O signal arg.

The I/O signal arg is using Signal Safe Level arg and the I/Osignal arg is using Signal Safe Level arg.I/O signals with overlapping device mapping must have thesame value on the Signal Safe Level parameterActionAtSysRestart.

ConsequencesThe I/O signal arg has been rejected, and no functionsdepending on it will work.

Recommended actionsCorrect the Signal Safe Level definitions for the overlappingI/O signals in the I/O configuration.

71550, Overlapping I/O signals with differingdefault values

DescriptionThe I/O signal arg has overlapping bit(s) in the device map withthe I/O signal arg. The I/O signal arg is using the default valuearg and the I/O signal arg is using the default value arg.I/O signals with overlapping device mapping must have defaultvalues with equal values on overlapping bit(s).

ConsequencesThis I/O signal arg has been rejected, and no functionsdepending on it will work.

Recommended actionsCorrect the default values for the overlapping I/O signals in theI/O configuration.

71551, Network auto configuration not supported

DescriptionNetwork auto configuration is not supported on network arg.

71552, Max number of device trust levelsexceeded

DescriptionThe I/O configuration is invalid.The maximum number, arg, of device trust levels in the I/Osystem has been exceeded.

Recommended actionsModify the configuration of the I/O system (by reducing thenumber of device trust levels) so that the maximum limit is notexceeded.




71553, Max number of device transfer instancesexceeded

DescriptionThe I/O configuration is invalid.The maximum number, arg, of device-transfer instances in theI/O system has been exceeded.

Recommended actionsModify the configuration of the I/O system (by reducing thenumber of device-transfer instances or transfer information inI/O signals) so that the maximum limit is not exceeded.

71554, Max number of signal safe levelsexceeded

DescriptionThe I/O configuration is invalid.The maximum number, arg, of signal safe levels in the I/Osystem has been exceeded.

Recommended actionsModify the configuration of the I/O system (by reducing thenumber of signal safe levels) so that the maximum limit is notexceeded.

71555, Invalid configuration ofTransferInputOffset and TransferOutputOffset

DescriptionThe signal arg has both TransferInputOffset andTransferOutputOffset set.

ConsequencesThe configuration has been rejected.

Recommended actionsRemove either TransferInputOffset or TransferOutputOffset.

71556, Signal cannot be transferred

DescriptionThe signal arg has the signal type arg.Only signals with the signal type DI or GI can be transferredwith TransferOutputOffset and only DO/GO can be transferredwith TransferInputOffset.


Recommended actionsChange the signal type or transfer another signal.

71557, Signal transfer was defined but no internaldevice was found

DescriptionThe signal arg is being transferred but no internal device wasfound.

Recommended actionsMake sure the device is defined/configured before restartingthe controller.

71558, Transfer signals overlap

DescriptionThe signal arg and the signal arg both have transfer signaldefintions and overlap.


Recommended actionsChange the configuration so that the signals don't overlap.

71559, Transfer signal and crossconnectionoverlaps

DescriptionThe signal arg and the crossconnection arg overlaps.


Recommended actionsMake sure that no crossconnection and transfer signal overlap.

71560, Transfer signal andSYSOUT_SIGoverlaps

DescriptionThe transfer signal arg and the SYSOUT_SIG arg overlaps.


Recommended actionsMake sure that no SYSOUT_SIG and transfer signal overlap.

71561, Signal transfer has bitswapped devicemap

DescriptionThe transfer signal arg has a bitswapped device map, which isnot allowed.






71562, Signal transfer has a split devicemap

DescriptionThe transfer signal arg has a split device map, which is notallowed.



71563, Signal on internal device with signaltransfer definition

DescriptionThe signal arg is on an internal device and cannot have atransfer definition on it.


Recommended actionsCorrect the configuration.

71564, Signal on internal device with signaltransfer definition

DescriptionThe signal arg is being transferred to/from a network that is notPROFINET.



71565, Signal on internal device overlaps withtransfer signal

DescriptionThe signal arg and the signal arg on an internal device overlap.



71566, Signal has both transfer signal attributes

DescriptionThe signal arg has both the TransferFromDevice andTransferToDevice attribute.



71567, Signal transfer without offset

DescriptionThe signal arg is being transferred to/from a device but ismissing the offset attribute.



71568, Signal transfer to/from undefined device

DescriptionThe signal arg is being transferred to/from an undefined devicearg.



71569, Signal has offset but no transfer attribute

DescriptionThe signal arg has a transfer offset set but noTransferFromDevice/TransferToDevice attribute.



71570, Signal has transfer defined with wrongoffset

DescriptionThe signal arg has a transfer defined but uses the wrong offset.






71571, Transfer signal I/O queue overload

DescriptionThe I/O queue handling transfer signal changes has beenoverloaded.


Probable causesThis is caused by too frequent signal changes or too largebursts of input bit changes, generated by inputs on I/O devices.

Recommended actionsCheck the transfer definitions on I/O signals. How to check theconfiguration is detailed in the Trouble Shooting Manual. Checkthe frequency of inputs from any external equipment connectedto the system. Make sure it is not abnormal, and change ifrequired. If an extremely heavy I/O load is normal and required,investigate whether programming delays in the RAPIDapplication may solve the problem.

71572, I/O device has entered error state

DescriptionSystem has indicated that the I/O device arg with address argon the network arg is faulty.

ConsequencesIt is not possible to access the I/O device or I/O signals on it,since it is malfunctioning.

Probable causesThere are a number of potential causes for a device to startmalfunctioning. Consult the corresponding application manualfor possible causes.

Recommended actionsConsult the application manual for possible causes. Check thehardware for potential errors. Replace the device hardware, ifapplicable.


DescriptionThe I/O device arg reported a different slot configuration thenconfigured in the system. Module in slot arg is of wrong type.


Probable causesThe module type used in slot arg may be of wrong type or of adifferent version compared to the actual hardware on the I/Odevice.

Recommended actionsUpdate the PROFINET configuration file to match the hardware.Check the I/O device.


DescriptionThe I/O device arg reported a different slot configuration thenconfigured in the system. Module in slot arg is correct but oneor several submodules indicate errors.


Probable causesOne or several submodules in slot arg may be of wrong typeor of a different version compared to the actual hardware onthe I/O device.



DescriptionThe I/O device arg reported a different slot configuration thenconfigured in the system. There is no module present in slotarg however one is configured in the configuration.


Probable causesThe module in slot arg is missing on the I/O device.


71576, Submodule could not be taken over

DescriptionThe submodule in subslot arg in slot arg on device arg couldnot be taken over.





Probable causesThe submodule in subslot arg in slot arg on device arg cannotbe accessed by the robot.

Recommended actionsMake sure that the device configuration does not conflict withan external controller configuration. E.g. This could be the casein a shared device setup. Check if device supports this feature.

71577, Submodule has qualified informationavailable

DescriptionThe submodule in subslot arg in slot arg on device arg hasqualified information available.


Probable causesThe submodule in subslot arg in slot arg on device arg hasgenerated qualified information.

Recommended actionsCheck the device diagnostic data for additional diagnosticinformation. Consult the device vendor for additionalinformation.

71578, Submodule requires maintenance

DescriptionThe submodule in subslot arg in slot arg on device arg hasmaintenance required information available.


Probable causesThe submodule in subslot arg in slot arg on device arg requiresmaintenance.


71579, Submodule demands maintenance

DescriptionThe submodule in subslot arg in slot arg on device arg hasmaintenance demanded information available.


Probable causesThe submodule in subslot arg in slot arg on device arg demandsmaintenance.


71580, Submodule has diagnostic informationavailable

DescriptionThe submodule in subslot arg in slot arg on device arg hasdiagnostic information available.


Probable causesThe submodule in subslot arg in slot arg on device arg hasgenerated diagnostic data.


71581, Submodule is blocked by device

DescriptionThe submodule in subslot arg in slot arg on device arg has apending AR.


Probable causesThe submodule in subslot arg in slot arg on device arg is notaccessible for controller.

Recommended actionsPower cycle the device to reestablish the connection. Consultthe device vendor for additional information.

71582, Access from Robot Controller toIO-Submodule is denied

DescriptionThe submodule in subslot arg in slot arg on device arg is lockedby another I/O controller.





Probable causesThe submodule in subslot arg in slot arg on device arg cannotbe accessed.

Recommended actionsCheck if submodule is defined as a shared device within aproject of another controller. Check diagnostic information ofthe I/O device for additional details.

71583, Submodule is locked by another IOcontroller

DescriptionThe submodule in subslot arg in slot arg on device arg is lockedby another IO controller.



Recommended actionsCheck if submodule is defined as a shared device within aproject of another controller. Check diagnostic information ofthe I/O device for additional details.

71584, Submodule is locked by another IOsupervisor

DescriptionThe submodule in subslot arg in slot arg on device arg is lockedby another I/O supervisor.



Recommended actionsVerify that device is not defined within an I/O Project of anothercontroller. Check diagnostic information of the I/O device foradditional details.

71585, Submodule is of wrong type

DescriptionThe submodule in subslot arg in slot arg on device arg is ofwrong type.


Probable causesThe submodule in subslot arg in slot arg on device arg is ofwrong type.


71586, Submodule is missing

DescriptionThe submodule in subslot arg in slot arg on device arg ismissing.


Probable causesThe submodule in subslot arg in slot arg on device arg ismissing.



DescriptionCould not send device command to I/O device arg becausethere is a syntax error in the command path string.Device command name arg.The syntax error: Unsupported segment.




DescriptionCould not send device command to I/O device arg becausethere is a syntax error in the command path string.Device command name arg.The syntax error: Duplicated segment.






71589, Fiber optics error

DescriptionSlot arg on device arg is signaling problems with the fiber optics,power budget.

ConsequencesThe device may not work properly due to transmissionproblems.

Recommended actionsMaintenance is needed of the device and or the fiber optics.Check the fiber optic transmission chain. Replace the deviceand or the fiber optic cables if the error remains.

71590, Duplicate device name on networkdetected

DescriptionDevice arg with serial number arg is involved in a name conflicton the network. The device name on network is arg.

ConsequencesIt will not be possible to use the device until the conflict issolved.

Recommended actionsConfigure device with unique name on the network.

71591, Input signal update rate too high

DescriptionDevice arg is producing input signal changes at too high rate.

ConsequencesPossible loss of signal changes.

Recommended actionsConfigure device to produce input changes at a lower rate bychanging to a higher 'Input Request Packet Interval' value orchange 'Connection Timeout Multiplier' to a higher value. If thisis the internal device change the corresponding parameters atthe Scanner.

71592, Transfer to/from an invalid internal slot.

DescriptionThe signal arg has transfer to/from internal device arg that doesnot fulfill the requirements for the action.


Probable causesTransfer to/from a safety slot, Transfer from a slot with inputsize 0 and Transfer to a slot with output size 0.

Recommended actionsMake sure that neither of the probable causes are true. Whenusing RobotStudio, only internal devices that fulfill therequirements are shown.

71593, Firmware upgraded

DescriptionDevice arg with serial number arg has been upgraded with newfirmware.

71594, Firmware upgrade failed

DescriptionDevice arg with serial number arg has failed during upgrade orcheck of firmware versions.

ConsequencesOld versions of firmware are still in use at the device.

Probable causesLoss of power or connectivity.

Recommended actionsTry again.

71595, Firmware upgrade available

DescriptionDevice arg with serial number arg has got a new firmwareversion available.

ConsequencesBugs are fixed or new functionality is added.

Recommended actionsManually upgrade the device.

71596, No SFTP fingerprint configured

DescriptionMounting device on remote host argwas done without checkingfingerprint.Protocol: arg.Using the default fingerprint configuration, no secure verificationof remote host has been done.Fingerprint received: arg.




Recommended actionsRecommended action is to double-check that the controller isconnected to the expected remote host and then update thefingerprint in configuration.

71597, Invalid SFTP fingerprint configured

DescriptionSecurity Alert!Attempting to mount device on remote host arg failed. Thefingerprint check failed.Protocol: arg.Configured fingerprint: arg.Received fingerprint: arg.

ConsequencesNo mounting can be done until the fingerprint configuredmatches the one received.

Probable causesThe remote host that the controller is attempting to mount onmay be pretending to be someone that it not. The remote hostmay have changed public key.

Recommended actionsDouble-check that the controller is attempting to mount on theexpected remote host and then update the configuration.

71598, Could not mount device

DescriptionMounting device on remote host arg failed.Protocol: arg.



DescriptionPermission was denied to mount device on remote host arg.Protocol: arg.

Recommended actionsCheck the username and password.

71600, Authentication not supported by remotehost

DescriptionUser and password authentication is currently required whenmounting a device on a remote host using SFTP. Remote host:arg.Protocol: arg.

Recommended actionsConfigure the server to support password identification orreplace it with one that does.

71601, Unable to identify remote server

DescriptionSFTP fingerprint is configured to verify that the remote SFTPserver is the expected one and to do so the server must supporthost key hash algorithm MD5 or SHA1. The used SFTP serverat remote host arg does not support any of them.Protocol: arg.

Recommended actionsRemove the usage of fingerprint in the configuration or replacethe SFTP server.




5.9 9 xxxx

90200, Limit Switch opened by SC

DescriptionThe limit switch on the robot has been opened by the SafetyController (SC).

ConsequencesThe system goes to the Guard stop state.

Probable causesThe Safety Controller has opened the limit switch because ofa safety violation.

Recommended actionsCheck for reason found in other event messages. Check thecable between the contactor board and the Safety Controller.Do a Confirm Stop by pressing the Motors ON push button orby activating the appropriated system input.

90201, Limit Switch open

DescriptionThe limit switch on the robot has opened.

ConsequencesThe system goes to the Motors OFF status.

Probable causesThe robot has been run outside the working range defined bythe limit switches fitted to the robot.

Recommended actionsPress an eventual existing external "Override Limit" button andmanually jog the robot back into the working area. Resumeoperation.

90202, Emergency Stop open

DescriptionThe emergency stop circuit has previously been broken, andwhile broken, an attempt was made to operate the robot.



Recommended actionsTo resume operation, first reset the emergency stop buttontriggering the stop. Then switch the system back to state MotorsON by pressing the Motors ON button on the control module.

90203, Enabling Device open

DescriptionOnly one of the two enabling device chains was opened.


Probable causesThe FlexPendant enabling device may be faulty or incorrectlyconnected. The FlexPendant and its enabling device isdescribed in the Trouble Shooting Manual, IRC5.

Recommended actionsCheck the FlexPendant cable and its connection. If required,replace the faulty FlexPendant or its cable.

90204, Operation Key imbalance

DescriptionThe system has detected an imbalance in the two parallelMANUAL / AUTO operation key circuits.

Probable causesThe contact pair in any of the cables connected to the operationkey circuit is not working correctly.

Recommended actionsIsolate the cable connection causing the conflict. Connect thecable in a correct way.

90205, Auto Stop open

DescriptionThe Automatic Mode Safeguarded Stop circuit has been broken.

ConsequencesThe system goes to the Auto Stop status.

Probable causesOne or more of the switch connected in series with theAutomatic Mode Safeguarded Stop circuit have been opened,which may be causes by a large number of faults. This is onlypossible while in the Auto operational mode. The AutomaticMode Safeguarded Stop circuit is described in the TroubleShooting Manual.





90206, General Stop open

DescriptionThe General Mode Safeguarded Stop circuit has been broken.

ConsequencesThe system goes to the General Stop status.

Probable causesOne or more of the switch connected in series with the GeneralMode Safeguarded Stop circuit have been opened, which maybe causes by a large number of faults. This is possible in anyoperational mode. The General Mode Safeguarded Stop circuitis described in the Trouble Shooting Manual.


90208, Chain switches open

DescriptionA safety chain, other than Auto Stop and General Stop, hasbeen broken.

ConsequencesThe system goes to the Guard Stop status.

Probable causesOne or more of the switch connected in series with the runchain top circuit have been opened, which may be causes bya large number of faults. The run chain top is described in theTrouble Shooting Manual and Circuit Diagram.

Recommended actionsCheck other error messages for primary fault reason. Locatethe switch, reset it and restart the controller. Check cables andconnections.

90209, External Contactor open

DescriptionAn external contactor has been opened.

ConsequencesThe system goes from the Motors OFF status to SYS HALTwhen attempting to start.

Probable causesThe run chain of external equipment has been broken, whichmay be caused by the external contactor auxiliary contacts or,if used, any PLC, controlling it. The external contactor suppliespower to a piece of external equipment, equivalently to how theRUN contactor supplies a robot. This fault may occur when

attempting to go to the Motors ON mode only. The run chain isdescribed in the Trouble Shooting Manual and Circuit Diagram.

Recommended actionsLocate the switch, reset it and restart the controller. Checkcables and connections. Check the external contactor auxiliarycontacts. If used, check any PLC equipment controlling theexternal contactor.

90211, Two channel fault, Enable Chain

DescriptionA switch in only one of the two enable chains was brieflyaffected, opening the chain and then reclosing it, without theother chain being affected.


Probable causesThere may be a loose signal connection on either the axiscomputer or the safety system. The enable chain is describedin the Trouble Shooting Manual and Circuit Diagram.

Recommended actionsCheck cables and connections. Make sure all signal connectorson the axis computer board and the safety system are securelyconnected. If there is no loose connection, replace the faultyboard.

90212, Two channel fault, Run Chain

DescriptionOnly one of the two run chains was closed.


Probable causesAny of the switches connected to the run chain may be faultyor not correctly connected, causing only one channel to close.The run chain is described in the Trouble Shooting Manual,IRC5.

Recommended actionsCheck cables and connections. Check other event messagesoccurring at the same time to determine which switch causedthe fault. Make sure all switches are working correctly. To assistin returning the chains to a defined status, first pressing, thenresetting the Emergency Stop. If there is no loose connection,replace the faulty switch.




90213, Two channel fault

DescriptionA brief status change in any of the run or enable chains hasbeen detected.


Probable causesThis may be caused by a number of faults. The enable and runchains are described in the Trouble Shooting Manual, IRC5.

Recommended actionsCheck cables and connections. Check other event messagesoccurring at the same time to determine the cause of the fault.To assist in returning the chains to a defined status, firstpressing, then resetting the Emergency Stop may work.

90214, Limit Switch open, DRV1





90215, Superior Stop open

DescriptionThe Superior Mode Safeguarded Stop circuit has been opened.

ConsequencesThe system goes to the Superior Stop status.

Probable causesOne or more of the switch connected in series with the SuperiorMode Safeguarded Stop circuit have been opened, which maybe causes by a large number of faults. This is possible in anyoperational mode. The Superior Mode Safeguarded Stop circuitis described in the Trouble Shooting Manual.

Recommended actionsLocate the switch, reset it and restart the controller.

90216, Enabling device active in Auto mode

DescriptionThe system has detected that the enabling device has beenpressed for more than 3 seconds in Automatic operating mode.

ConsequencesThe system goes to status Guard Stop.

Recommended actionsRelease the enabling device. Switch to Manual mode.



















90220, Superior stop conflict

DescriptionOnly one of the two Superior Mode Safeguarded Stop chainswas opened.


Probable causesAny of the switches connected to the Superior Stop chain maybe faulty or not correctly connected, causing only one channelto close. The Superior Stop chain is described in the TroubleShooting Manual, IRC5.

Recommended actionsCheck cables and connections. Check other event messagesoccurring at the same time to determine which switch causedthe fault. Make sure all switches are working correctly. If thereis no loose connection, replace the faulty switch.

90221, Run chain conflict

DescriptionStatus conflict for run chain.

Recommended actionsPlease check the run chain cables.

90222, Limit switch conflict

DescriptionOnly one of the two limit switch chains was opened.


Probable causesAny of the switches connected to the limit switch chain may befaulty or not correctly connected, causing only one channel toclose. The limit switch chain is described in the TroubleShooting Manual, IRC5.


90223, Emergency Stop conflict

DescriptionOnly one of the two Emergency Stop chains was opened.


Probable causesAny of the switches connected to the Emergency Stop chainmay be faulty or not correctly connected, causing only onechannel to close. The Emergency Stop chain is described inthe Trouble Shooting Manual, IRC5.


90224, Enabling Device conflict

DescriptionOnly one of the two enabling device chains was opened.


Probable causesThe FlexPendant enabling device may be faulty or incorrectlyconnected. The FlexPendant and its enabling device isdescribed in the Trouble Shooting Manual, IRC5.

Recommended actionsCheck the FlexPendant cable and its connection. If required,replace the faulty FlexPendant or its cable.

90225, Auto Stop conflict

DescriptionOnly one of the two Automatic Mode Safeguarded Stop chainswas opened.


Probable causesAny of the switches connected to the Auto Stop chain may befaulty or not correctly connected, causing only one channel toclose. The Auto Stop chain is described in the Trouble ShootingManual, IRC5.

Recommended actionsCheck cables and connections. Check other event messagesoccurring at the same time to determine which switch caused




the fault. Make sure all switches are working correctly. If thereis no loose connection, replace the faulty switch.

90226, General Stop conflict

DescriptionOnly one of the two General Mode Safeguarded Stop chainswas opened.


Probable causesAny of the switches connected to the General Stop chain maybe faulty or not correctly connected, causing only one channelto close. The General Stop chain is described in the TroubleShooting Manual, IRC5.


90227, Motor Contactor conflict, DRV1

DescriptionOnly one of the two motor contactors for drive system 1 hasacknowledged the activation order.


Probable causesA failure of the motor contactor auxiliary contacts or the supplyto these.

Recommended actionsCheck cables and connections. Check the function of theauxiliary contacts.

90231, Delayed Emergency Stop due to circuitimbalance

DescriptionThe system has detected an imbalance in the two parallelEmergency Stop circuits.

ConsequencesThe system goes to status Emergency Stop after approximately1 sec.

Probable causesThe contact pair in any of the Emergency Stop buttons is notworking correctly.

Recommended actionsIsolate the Emergency Stop button causing the conflict. Checkthe contact pair. Make sure all connections are tight. Replacethe button if required.

90232, Delayed Auto Stop due to circuitimbalance

DescriptionThe system has detected an imbalance in the two parallel AutoStop circuits.

ConsequencesThe system goes to status Guard Stop after approximately 1sec.

Probable causesThe contact pair in any of the safety devices connected to theAuto Stop circuit is not working correctly.

Recommended actionsIsolate the safety device causing the conflict. Make sure thedevice used is a two-channel device. Check the contact pair.Make sure all connections are tight. Replace the device ifrequired.

90233, Delayed General Stop due to circuitimbalance

DescriptionThe system has detected an imbalance in the two parallelGeneral Stop circuits.


Probable causesThe contact pair in any of the safety devices connected to theGeneral Stop circuit is not working correctly.


90234, Immediate Emergency Stop

DescriptionThe Emergency Stop circuits have been broken.

ConsequencesThe system goes directly to status Emergency Stop.




Probable causesOne or more of the red emergency stop buttons have beenactivated.

Recommended actionsIsolate the Emergency Stop button that was opened. Reset thebutton.

90235, Immediate Auto Stop

DescriptionThe Auto Stop circuits have been broken.

ConsequencesThe system goes directly to status Guard Stop.

Probable causesOne or more of the safety device switches in the Auto Stopcircuit have been opened.

Recommended actionsIsolate the safety device that was opened. Reset the deviceswitch.

90236, Immediate General Stop

DescriptionThe General Stop circuits have been broken.


Probable causesOne or more of the safety device switches in the General Stopcircuit have been opened.


90237, Immediate Superior Stop

DescriptionThe Superior Stop circuits have been broken.


Probable causesOne or more of the safety device switches in the Superior Stopcircuit have been opened.


90238, Delayed Superior Stop due to circuitimbalance

DescriptionThe system has detected an imbalance in the two parallelSuperior Stop circuits.


Probable causesThe contact pair in any of the safety devices connected to theSuperior Stop circuit is not working correctly.


90240, Conflict between ENABLE signals

DescriptionA switch in only one of the two enable chains was affected,without the other chain being affected.


Probable causesThere may be a loose signal connection on the safety system.The enable chain is described in the Trouble Shooting Manualand Circuit Diagram.

Recommended actionsCheck cables and connections. Make sure all signal connectorson the safety system are securely connected. If there is noloose connection, replace the faulty board.

90241, Operating mode conflict

DescriptionThere is a conflict between the operating mode selected on theoperating mode selector on the controller cabinet front and theactual operating mode as detected by the axis computer.


Probable causesThere may be a hardware fault in the operating mode selectoror its cabling to the safety system.




Recommended actionsCheck the operating mode selector and its cabling to the safetysystem.

90245, Run Control status conflict, DRV2

DescriptionStatus conflict between run control and motor contactors fordrive system 2.


Probable causesA failure of the motor contactors or the supply to these.

Recommended actionsCheck cables and connections. Restart the controller.


























90252, Motor temperature high, DRV1

DescriptionOver temperature in manipulator motor. Make sure to let themotor cool down before ordering Motors On again.

Recommended actionsWait until the overheated motor has cooled down beforeordering Motors On again. If optional air filter is used, check ifit is clogged and has to be exchanged.




90253, External device temperature high, DRV1

DescriptionOver temperature in external device. Make sure to let theexternal device cool down before ordering Motors On again.

Recommended actionsWait until the overheated motor has cooled down beforeordering Motors On again.
























90262, SC arg Not found

DescriptionThe system has an option for arg Safety Controller (SC) ondrive module arg, but no Safety Controller was found.

Recommended actionsCheck Safety Controller cabling. Check Safety Controller health.Restart the robot controller, after performing recommendedactions.

90263, SC arg Communication Failure

DescriptionCommunication error with Safety Controller (SC) arg.





90264, SC arg Option Not Present

DescriptionFound arg Safety Controller (SC) on drive module arg.Thissystem does not have the option for a Safety Controller on thatdrive module.

Recommended actionsCheck drive module software options. Install a system withSafety Controller option.

90265, SC Soft Stop Error

DescriptionSafety Controller (SC) Soft Stop has not opened the motorcontactors within the calculated time.

Recommended actionsCheck Lim-switch connection if SafeMove is present.

90266, SC arg PIN Code Request

DescriptionSafety Controller (SC) arg has a new safety configuration andneeds a new PIN code to be activated.

Recommended actionsLog in as a user with Safety Configuration grants. Enter newPIN-Code for the Safety Controller in the Control Panel. If inputof PIN-code does not help, upload calibration offset from themanipulator and download it to the safety controller. Repeatstep 2.

90267, SC arg Initialization Failed

DescriptionSafety Controller (SC) arg failed to initialize properly, or failedto respond during start up.


90268, SC argWrong Type

DescriptionFound arg Safety Controller (SC) on drive module arg, expectedarg.

Recommended actionsCheck drive module software options. Install a system withcorrect Safety Controller option. Install a Safety Controller ofthe correct type.

90269, SC arg Motor Calibration Data Error

DescriptionNo calibration data has been downloaded to Safety Controller(SC) on drive module arg, or erroneous data.

Recommended actionsDownload motor calibration data to Safety Controller (SC).

90270, System failure during startup

DescriptionThe safety system orchestrator cannot start up properly becauseof a system failure.


Probable causesA critical failure in hardware, software or configuration.

Recommended actionsCheck other event log messages for more information. Do a'Reset system' of the robot controller.

90303, Acknowledge timeout

DescriptionThe acknowledge signal, coming from a PLC, was not activatedwithin the expected time during a remote change of operatingmode to Automatic- or Manual full speed mode.

ConsequencesOperating mode cannot be changed to Automatic- or Manualfull speed mode. Manual operating mode remains.

Probable causesCable connection fault. Acknowledge signal was not activatedby the PLC. Incorrect I/O configuration.

Recommended actionsMake sure that the acknowledge signal becomes activatedwhen expected. Check I/O configuration.

90304, Change of Operating Mode is not allowed

DescriptionRemote change of operating mode from a PLC is not allowed.




ConsequencesOperating mode cannot be changed from the PLC.

Probable causesRemote control activation signal not activated. Incorrect I/Oconfiguration.

Recommended actionsMake sure that the remote control activation signal is activated.Check I/O configuration.

90305, Missing option for Remote OperatingMode

DescriptionThe option that is required for remote change of operating modefrom a PLC is not selected.

ConsequencesOperating mode cannot be changed from the PLC.

Probable causesOption "Auto acknowledge input" is not selected.

Recommended actionsUpdate Robot system with the "Auto acknowledge input" optionselected. Restart the robot controller.

90306, Not possible to activate I/O signals inSafety system

DescriptionIt was not possible to activate I/O signals in the safety systemduring startup.

ConsequencesThe safety system cannot use I/O signals to detect statechanges and critical states. This will end up in a system failurecondition.

Probable causesDrive system option is not present.

Recommended actionsCheck if there is a drive system option present. Create a newsystem including the correct drive system option and do arestart.

90307, Motor cooling fan malfunction, axis 1

DescriptionThe axis 1 motor cooling fan on the robot connected to drivemodule arg does not work correctly.

ConsequencesThe full meaning of this status is described in the TroubleShooting Manual, IRC5.

Probable causesThe fan power cabling may be damaged or not connectedcorrectly to motor or contactor unit. The fan or the drive modulepower supply may be faulty.

Recommended actionsMake sure the fan cable is correctly connected. Make sure thefan is free to rotate and that the air flow is not obstructed. Makesure the drive module power supply output and input voltagesare within specified limits as detailed in the Trouble shootingmanual. Replace any faulty unit.














90310, SC arg Communication Failed

DescriptionAn error occurred while trying to communicate with SafetyController (SC) arg.


90311, Enable 1 open

DescriptionThe Enable 1 circuit monitoring the safety system has beenopened.


Probable causesThere may be an internal fault in the safety system or theinternal supervision has detected a fault.

Recommended actionsCheck all connections to the safety system. If faulty, replacethe faulty board.

90312, Enable 2 open

DescriptionThe Enable 2 circuit monitoring the axis computer has beenopened.


Probable causesThere may be a connection problem between main computerand axis computer.

Recommended actionsCheck all connections to the axis computer. Check cablesconnected to the safety system.

90313, Enable 1 supervision fault

DescriptionThe Enable 1 circuit has been broken. This circuit monitors thefunction of the safety system and the main computer.


Probable causesA fault, probably a software fault, has been detected by any ofthe units supervised by the Enable 1 circuit.

Recommended actionsAttempt restarting by pressing the Motors ON button. Ifrestarting is IMPOSSIBLE it indicates a possible hardware fault.If restarting is POSSIBLE, it indicates a software fault. In suchcase, contact your local ABB representative. Determine whichunit is faulty by checking its indication LEDs. The LEDs aredescribed in the Trouble Shooting Manual. Replace the faultyunit.

90314, Enable2 supervision fault

DescriptionThe Enable 2 circuit to drive module 1 has been broken. Thiscircuit monitors e.g. the function of the safety system and theaxis computer.



Recommended actionsAttempt restarting by pressing the Motors ON button. Ifrestarting is IMPOSSIBLE it indicates a hardware fault in safetysystem, axis computer. If restarting is POSSIBLE, it indicatesa software fault. In such case, contact your local ABBrepresentative. Determine which unit is faulty by checking itsindication LEDs. The LEDs are described in the TroubleShooting Manual. Replace the faulty unit.

90315, Enable2 Supervision fault







Recommended actionsAttempt restarting by pressing the Motors ON button. Ifrestarting is IMPOSSIBLE it indicates a hardware fault in safetyboard, axis computer. If restarting is POSSIBLE, it indicates asoftware fault. In such case, contact your local ABBrepresentative. Determine which unit is faulty by checking itsindication LEDs. The LEDs are described in the TroubleShooting Manual. Replace the faulty unit.





Recommended actionsAttempt restarting by pressing the Motors ON button. Ifrestarting is IMPOSSIBLE it indicates a hardware fault in safetysystem, axis computer. If restarting is POSSIBLE, it indicatesa software fault. In such case, contact your local ABBrepresentative. Determine which unit is faulty by checking itsindication LEDs. The LEDs are described in the TroubleShooting Manual. Replace the faulty unit.





Recommended actionsAttempt restarting by pressing the Motors ON button. Ifrestarting is IMPOSSIBLE it indicates a hardware fault in safety

system, axis computer. If restarting is POSSIBLE, it indicatesa software fault. In such case, contact your local ABBrepresentative. Determine which unit is faulty by checking itsindication LEDs. The LEDs are described in the TroubleShooting Manual. Replace the faulty unit.

90326, Missing required UAS grant

DescriptionThe user arg does not have the required UAS grant (arg) forthe requested operation.

ConsequencesThe operation is not performed.

Recommended actionsLog in as another user that has the required grant, or add thegrant to the existing user.

90327, Operation only allowed in Manual mode

DescriptionThe requested safety-related operation requires that thecontroller is in Manual mode.


Recommended actionsChange the controller to Manual mode.

90328, Operation only allowed in Motors OFF

DescriptionThe requested safety-related operation requires that thecontroller is in Motors OFF.


Recommended actionsChange the controller state to Motors OFF.

90329, Safety configuration is Locked

DescriptionThe requested safety-related operation could not be performedbecause the safety configuration is Locked.


Recommended actionsUnlock the current configuration (requires UAS grantLOCK_SAFETY_CONFIG).




90330, Safety Mode not allowed

DescriptionThe requested Safety mode is not allowed in the currentcontroller state.It is not allowed to change Safety mode when in Automaticmode.It is not allowed to set Safety mode to Service Mode when inAutomatic or ManualFullSpeed modes.


Recommended actionsChange the controller state to one of the allowed modes first.

90450, SC arg CBC Speed exceeded

DescriptionCyclic Brake Check (CBC) speed limit is exceeded in SafetyController (SC) on mechanical unit arg. Either CBC test intervalhas expired or a previous brake check failed.

Recommended actionsDecrease speed and execute Brake check.

90451, SC arg Not synchronized

DescriptionSafety Controller (SC) arg is not synchronized with supervisedmechanical units.

Recommended actionsMove all mechanical units supervised by Safety Controller argto the synchronization positions defined in the safetyconfiguration.

90452, SC arg Synchronized

DescriptionSafety Controller (SC) arg is now synchronized to supervisedmechanical units. Safety supervision can be used.

90453, SC arg: Wrong Sync. Position

DescriptionThe positions of the supervised mechanical units do not matchthe synchronization positions defined in the safety configurationfor Safety Controller (SC) arg on axis arg.

Recommended actionsCheck that all supervised mechanical units are positioned atthe configured synchronization position. Check that thesynchronization switch is working properly. Check that motor

calibration and revolution counters are updated and correct.Check that the synchronization position in the safetyconfiguration is correct. Check for configuration error. Downloadmotor calibration values. Check if axis 4 or 6 is configured asindependent, if YES, check that the EPS configuration isconfigured likewise.

90454, SC arg Servo-Lag Limit exceeded

DescriptionSafety Controller (SC) arg detected a too big difference betweenthe ordered and actual position, for mechanical unit arg on axisarg.

Recommended actionsCheck for collision. If using external axis, check Servo Lagsettings in the safety configuration. If using Soft Servo, Checkthat the Operational Safety Range (OSR) Tolerance in the safetyconfiguration is not set too low. Verify that revolution countersare updated. Check for communication problems to the maincomputer, axis computer or the serial measurement board.Check if tool weight is correctly defined.

90455, SC arg Incorrect Position Value

DescriptionIncorrect position value from serial measurement boarddetected by Safety Controller (SC) arg on mechanical unit arg.


90456, SC arg Reference Data Timeout

DescriptionThe robot controller has stopped sending reference data toSafety Controller (SC) arg.


90457, SC arg Changed safety configuration

DescriptionThe safety configuration for Safety Controller (SC) arg haschanged contents or doesn't fit with the used hardware.

Probable causesNew safety configuration has been downloaded, the normalcase. The configuration doesn't fit with the used hardware.




Typically when the event message with request for new pincode is repeated. Corrupt safety configuration. Typically whenthe event message with request for new pin code is repeated.

Recommended actionsCheck for new event messages that indicates if a new safetyconfiguration has been downloaded. If no new safetyconfiguration has been downloaded and this event messagecomes after a restart, download a new safety configuration tothe Safety Controller. Create and download a new safetyconfiguration if this event message comes after every restartand there is a request for new pin code again.

90458, SC arg Internal Failure

DescriptionInternal Failure in Safety Controller (SC) arg.

Recommended actionsCheck Safety Controller cabling. Check Safety Controller healthon LED. Replace Safety Controller if remaining error.


DescriptionI/O Error on Safety Controller (SC) arg.

Recommended actionsCheck Safety Controller cabling. Check Safety Controller health.Restart robot controller, after performing recommended actions.

90460, SC arg safety configuration not found

DescriptionFailed to retrieve safety configuration for Safety Controller (SC)arg.

Recommended actionsRestart robot controller. Download a safety configuration to theSC. Reinstall system.

90461, SC arg Robot Configuration not found

DescriptionFailed to retrieve robot configuration for Safety Controller (SC)arg.

Recommended actionsRestart robot controller. Reinstall system.

90462, SC arg Calibration Offset not found

DescriptionFailed to retrieve motor calibration offsets for Safety Controller(SC) arg.

Recommended actionsDownload new calibration offsets to the SC.

90463, SC arg safety configuration downloaded

DescriptionDownload of safety configuration was successful for SafetyController (SC) arg.

90464, SC arg OSR Limit exceeded

DescriptionSafety Controller (SC) arg detected a too big difference betweenthe ordered and actual position inside Operational Safety Range(OSR), for mechanical unit arg on axis arg.

Recommended actionsCheck for collision. Check that Operational Safety Range (OSR)Tolerance in the safety configuration is not set too low.Synchronize the Safety Controller, if the revolution countershave been updated since last synchronization.

90465, SC arg SAS Speed exceeded

DescriptionSafe Axis Speed (SAS) violation on mechanical unit arg axisarg on Safety Controller (SC).

Recommended actionsDecrease speed on axis arg.


DescriptionI/O Error on Safety Controller (SC) arg I/O arg Type arg.Type 1: Input.Type 2: Output.

Probable causesWrong connection to I/O terminals on SC. Two channel I/Omismatch.

Recommended actionsCheck SC cabling. Check SC health. Restart robot controller,after performing recommended actions.




90467, SC arg STS speed exceeded

DescriptionSafe reduced Tool Speed (STS) in Safety Controller (SC) onmechanical unit arg too high. Cause arg.

Probable causesTool0 speed. Elbow speed. Tool speed. Additional axis speed.

Recommended actionsReduce tool speed.

90468, SC arg STZ violation

DescriptionSafe Tool Zone (STZ) arg is violated on mechanical unit arg.Tool arg was active.Cause arg.

Probable causesExceeded speed. Wrong tool position. Wrong tool orientation.Wrong elbow position. Wrong tool point 1 position. Wrong toolpoint 2 position. Wrong tool point 3 position. Wrong tool point4 position. Wrong tool point 5 position. Wrong tool point 6position. Wrong tool point 7 position. Wrong tool point 8position.

Recommended actionsReduce speed. Move robot tool to safe position. Adjust toolorientation.

90469, SC arg SAR violation

DescriptionSafe Axis Range (SAR) arg is violated on mechanical unit argaxis arg.

Recommended actionsMove mechanical unit to safe position.

90470, SC arg Synchronization Pre-warning

DescriptionSynchronization required for mechanical units supervised bySafety Controller (SC) arg in less than arg hour(s).

Recommended actionsPerform synchronization before the time limit expires.

90471, SC arg Synchronization Timeout

DescriptionSynchronization time limit expired for Safety Controller (SC)arg.

Recommended actionsPerform synchronization.

90472, SC arg New safety configuration

DescriptionSafety Controller (SC) arg has received a new safetyconfiguration. A new PIN-code is needed to activate.

Recommended actionsLog in as a user with safety configuration grants. Enter newPIN-Code for the Safety Controller in the Control Panel.

90473, SC arg Dual Computer mismatch

DescriptionSafety Controller (SC) arg have had conflicting values for aSafety Output for too long.

ConsequencesThe Safety Controller has entered a Safe State and issue anerror after 10 minutes of internal mismatch, if recommendedactions are not performed.

Probable causesThe mechanical unit have been parked at a position on, or closeto, a supervised or monitored function limit for too long time.Internal computation error in Safety Controller.

Recommended actionsMove all mechanical units' axes and tools well inside or outsidemonitored and supervised function limits.

90474, SC arg I/O Supply Failure

DescriptionI/O supply voltage level for Safety Controller (SC) arg is out ofrange.

Probable causesEither the voltage is out of limits or the voltage is missing.

Recommended actionsConnect 24V supply with correct voltage level to I/O supplyterminals. Restart robot controller.

90475, SC arg Synchronization rejected

DescriptionSafety Controller (SC) arg is not correctly configured forsynchronization.




Probable causesSafety configuration PIN is not set or is incorrect. Safetyconfiguration is empty. Safety configuration is corrupt ormissing. Safety Controller connected to the wrong SMB bus.I/O power supply missing.

Recommended actionsVerify and check possible causes.

90476, SC arg Disabled

DescriptionSafety Controller (SC) arg is disabled.

ConsequencesAll safety supervision has been disabled in the Safety Controller.Risk for safety hazards.

Recommended actionsDownload a safety configuration to the Safety Controller.

90477, SC arg SMB Communication Failure

DescriptionSafety Controller (SC) arg failed to communicate with serialmeasurement board (SMB).

Recommended actionsMake sure that the cabling from SMB to Safety Controller isconnected to the right SMB connector and functional. Restartthe robot controller.

90478, SC arg Main Supply Failure

DescriptionThe main power supply voltage for Safety Controller (SC) argis out of range.

Probable causesEither the voltage is out of limit or the voltage is missing.

Recommended actionsCheck Safety Controller cabling. Check voltage from powersupply. Restart robot controller.

90479, SC arg Additional Axis missing

DescriptionAn additional axis that is supervised by Safety Controller (SC)arg is no longer present in the system configuration.

Recommended actionsReinstall the supervised additional axis, or download a safetyconfiguration without supervision of the additional axis.

90480, SC arg SST violation

DescriptionSafe Stand Still (SST) arg in Safety Controller (SC) is violatedon mechanical unit arg axis arg.

Recommended actionsVerify RAPID program. Verify process equipment. Check thatmovement is not ongoing when SST is active. Check previousevent messages.

90481, SC arg OVR active

DescriptionOverride Operation (OVR) active on Safety Controller (SC) arg.SafeMove will stop the robot after approximately 20 minuteswith OVR active.Speed is limited to 250 mm/s or 18 degrees/s.

Recommended actionsDeactivate signal connected to OVR input.

90482, SC arg OVR time out

DescriptionOverride Operation (OVR) has been active too long time onSafety Controller (SC) arg.

Recommended actionsRestart robot controller. Toggle signal connected to OVRinput.Activate Confirm stop by pressing Motors On push button.Jog robot back into working area. Deactivate signal connectedto OVR input.

90483, SC arg CBC soon required

DescriptionCyclic Brake Check (CBC) required in less than arg hours.


90484, SC arg CBC needs to be done

DescriptionCyclic Brake Check (CBC) time limit expired in Safety Controller(SC) or last brake check failed.





90485, SC arg Too low brake torque

DescriptionToo low brake torque in Safety Controller (SC) on mechanicalunit arg axis arg.

Probable causesAxis has not been tested. Worn out brake(s).

Recommended actionsCheck that the failing axis is activated. If failing axis is activatedreplace brake(s) as soon as possible.

90486, SC arg CBC interrupted or incorrect

DescriptionSafety Controller (SC) has detected that the last Cyclic BrakeCheck (CBC) on mechanical unit arg was interrupted orincorrect.

Recommended actionsCheck previous event messages. Perform a new brake checkonly if needed, typically if event message 20485 also has beendisplayed.

90487, SC arg Unsynchronized speed exceeded

DescriptionExceeded axis speed when Safety Controller (SC) arg wasunsynchronized.

Recommended actionsJog mechanical unit to synch position with low axis speed.Reduce speed to 250 mm/s or 18 degrees/s.

90488, SC argUnsynchronized time limit expired

DescriptionAvailable time to move the robot when unsynchronized hasexpired for Safety Controller (SC) arg.

Recommended actionsDo a Confirm stop by pressing the Motors ON push button oractivate system input. Synchronize SC arg.

90489, SC arg has been disabled

DescriptionSafety Controller (SC) arg has been disabled and no supervisionfunctions are active.

Probable causesEither a system reset has been performed or it's the first startupof SC.

Recommended actionsDownload a configuration to SC arg.

90490, SC arg OVR Speed exceeded

DescriptionOverride (OVR) Speed limit exceeded on mechanical unit arg.

Probable causesIf Override (OVR) is active, then OVR speed limitations will beactive.

Recommended actionsDecrease speed. Deactivate OVR.

90491, SC arg Override active during startup

DescriptionOverride digital input was active during startup on SC arg.

90492, SC arg SST violation in Brake test

DescriptionMovement detected during Brake test on Safety Controller (SC)arg. Mechanical unit arg. Axis arg.

Probable causesInterrupted braketest. Worn out Brakes.

Recommended actionsRestart CBC. Replace Brake.

90493, SC arg SBR triggered

DescriptionSafe Brake Ramp (SBR) on Safety Controller (SC) wasinterrupted by a Class 0 stop due to slow deceleration onmechanical unit arg. This is normal and occurs in cases whena stop1 is to slow. Check for other safety controller eventmessages.

Recommended actionsChange parameter value for SBR in Motion configuration.Trigger a new stop to test the Brake Ramp. If this happensfrequently, check the Application manual for mechanical units'configuration.

90494, SC arg Tool change incorrect

DescriptionIncorrect tool change with Tool arg on mechanical unit arg.




Recommended actionsCheck if correct tool. Decrease speed if needed. Perform a newtool change.

90500, Safety Controller Internal Failure

DescriptionAn internal Failure has occurred in the safety controller.

ConsequencesThe safety controller will go into safe state. No operation willbe possible until restart.

Recommended actionsCheck other error messages arriving at the same time for causeof the error. Check the safety controller configuration andinstallation.

90501, Safety Controller Reference Data Error

DescriptionThe robot controller has stopped sending reference data to thesafety controller for drive module arg.

ConsequencesThe safety controller will stop all robot movements.

Recommended actionsRestart the program. If the problem persists, restart the system.

90502, Safety Controller SMB CommunicationFailure

DescriptionThe safety controller for drive module arg failed to communicatewith the serial measurement board (SMB).


Probable causesErrors in the configuration of external axes. Disturbances inthe communication links between the SMB, the robot controller,and the safety controller.

Recommended actionsCheck the configuration of external axes. Check the cablingfrom the axis computer to the main computer for possibledisturbances.

90503, Safety Controller Illegal Position Value

DescriptionAn illegal position value from the serial measurement boardwas detected by the safety controller (for drive module arg.The cause was arg.


Probable causesThe square sum of the measured positions exceeded theconfigured max. The square sum of the measured positionswas below the configured minimum value. Too high accelerationwas detected in the resolver input.

Recommended actionsCheck the configured square sum limits in the safetyconfiguration. Check the cabling to the serial measurementboard and resolvers.

90504, Safety Controller not synchronized

DescriptionThe safety controller for drive module arg is not synchronizedwith supervised mechanical units.

Probable causesThe robot has been moved while the power was off. An errorhas occurred in the communication with the serial measurementboard (SMB). There is a mismatch between the calibrationposition parameters in the robot controller and the safetyconfiguration.

Recommended actionsPerform a new synchronization of the safety controller.

90505, Safety Controller Synchronization rejected

DescriptionThe synchronization of Safety Controller drive module arg failed.

ConsequencesThe safety controller will remain in the unsynchronized state.

Probable causesOne or more axes moved during synchronization. Thesynchronization was not performed within the timeout limit.

Recommended actionsMake sure that the speed during synchronization is within limits,and perform a new synchronization of the safety controller.




90506, Safety Controller Wrong Sync Position

DescriptionThe axis arg position does not match its synchronizationposition, as defined in the safety configuration for the safetycontroller on drive module arg.

ConsequencesSynchronization will not be performed, and the safety controllerwill go to the unsynchronized state.

Probable causesOne or more axes are not in the correct synchronizationposition. The revolution counters or calibration values of therobot controller are not correct.

Recommended actionsCheck that the synchronization positions in the safetyconfiguration are correct, and that all axes are in theirsynchronization position. Perform revolution counter update orcalibration in the correct position, followed by a newsynchronization of the safety controller. Check that thesynchronization switch is working properly.

90507, Safety Controller Synchronized

DescriptionThe safety controller for drive module arg is now synchronizedto supervised mechanical units.

ConsequencesSafety supervision can be used.

90508, Safety Controller Tool Change Incorrect

DescriptionIncorrect tool change, in the safety controller for drive modulearg.The cause was arg.

ConsequencesThe safety controller will stop all robot movements. Operationis not possible until a valid tool has been selected.

Probable causesInvalid tool selection input. Very high speed was detected duringthe tool change.

Recommended actionsCheck that exactly one tool selection input is active.

90509, Safety Controller Brake Ramp supervisiontriggered

DescriptionToo slow deceleration was detected during a Category 1 stop,in the safety controller for drive module arg.

ConsequencesThe Category 1 stop is automatically changed to a Category 0stop.

Recommended actionsUsually, no actions are necessary. If this happens frequently,check the Application manual for mechanical units'configuration. For external axes, change the parameter valuefor Brake ramp in the safety configuration.

90511, Safety Controller Servo-Lag Limitexceeded

DescriptionThe safety controller for drive module arg has detected a toobig difference between the ordered and actual position on axisarg.


Probable causesA collision has occurred. Incorrect load definition in the robotprogram. Incorrect configuration of external axes. A functionhas been activated that result in greater servo lag, such as softservo or force control.

Recommended actionsIf there was a collision, check the robot and perform a newsynchronization if required. Make sure that the robot load isdefined correctly. Check the Servo Lag settings in the safetyconfiguration for the external axis. Check that ContactApplication Tolerance is activated correctly. Check that thesafety controller is synchronized correctly.

90512, SC Contact Application Tolerance servolag exceeded

DescriptionThe safety controller for drive module arg detected a too bigdifference between the ordered and actual position for axis arg,while inside Safety Area arg.





Probable causesThe robot has moved too far from the path, due to externalforces or programmed compliance (soft servo or force control).

Recommended actionsDecrease the compliance, or limit the external forces on theaxis. Increase the Contact Application Tolerance positiontolerance in the safety configuration.

90513, Tool Position supervision violation

DescriptionTool position supervision arg caused a violation of zone arg indrive module arg. Tool argwas active and geometry arg causedthe violation.

ConsequencesIf configured with a stop action, the safety controller will stopall robot movements, and no operation will be allowed until theviolation has ceased or manual mode has been selected.

Probable causesThe tool geometry entered a forbidden region.

Recommended actionsSwitch to manual mode, and jog the robot out of the violation.

90514, Safety Controller Standstill violation

DescriptionStandstill supervision arg in the safety controller for drivemodule arg is violated for axis arg.

ConsequencesIf configured with a stop action, the safety controller will stopall robot movements.

Probable causesAn attempt to move the robot has been done while Standstillsupervision was active.

Recommended actionsMake sure that no supervised axis is moving while Standstillsupervision is active. Increase the Tolerance parameter for theaxis, in the configuration for Standstill supervision.

90515, Safety Controller Tool Speed violation

DescriptionTool Speed supervision argwas violated in the safety controllerfor drive module arg.The cause was arg.


Probable causesTCP speed too high. Elbow speed too high. Tool speed at point1 too high. Tool speed at point 2 too high. Tool speed at point3 too high. Tool speed at point 4 too high. Tool speed at point5 too high. Tool speed at point 6 too high. Tool speed at point7 too high. Tool speed at point 8 too high. Robot wrist speedtoo high. TCP speed too low.

Recommended actionsModify the program so that all speeds are inside the configuredlimits.

90516, Safety Controller ReducedSpeed violation

DescriptionThe reduced speed limit was exceeded in the safety controllerfor drive module arg.


Probable causesOne or more mechanical units exceeded the reduced speedlimit. The type of speed violation was arg. TCP. Elbow. Wrist.Axis arg.

Recommended actionsCheck that the correct tool is selected in the safety controller,matching the tool definition used for jogging or programexecution. Check that the configured manual mode speed inthe safety controller matches the value in the robot controllerconfiguration. If the robot is mounted on a track, set the robotcontroller configuration parameter 'Use checkpoint limitationin world' to Yes, in type Motion Planner, topic Motion. If a CyclicBrake Check was not performed within the specified timeinterval, perform a new brake check.

90517, Safety Controller Unsynchronized speedexceeded

DescriptionThe unsynchronized mode speed limit was exceeded in thesafety controller for drive module arg.





Probable causesOne or more mechanical units exceeded the unsynchronizedmode speed limit.

Recommended actionsJog all axes slowly to the synchronization position, and performa synchronization of the safety controller.

90518, Safety Controller Emergency Stoptriggered

DescriptionEmergency Stop arg has been triggered in the safety controller.


Probable causesAn emergency stop request has been received by the safetycontroller.

Recommended actionsDeactivate the emergency stop and restart the program.

90519, Safety Controller Input/Output Mismatch

DescriptionDifferent inputs/outputs reported by the two channels in thesafety controller for drive module arg. The mismatch type wasarg.Type 1: Input.Type 2: Output.

ConsequencesThe safety controller will stop all robot movements. No fullspeed operation is possible until the mismatch has ceased.

Probable causesError in the cabling to the safety controller. Dual channelmismatch in the safety supervision, due to limited numericalaccuracy.

Recommended actionsCheck the safety controller cabling. Check if one or more axes,points, or volumes are close to a zone or range border.

90520, Safety Controller Result Mismatch

DescriptionDifferent supervision results reported for the two channels inthe safety controller for drive module arg.

ConsequencesThe safety controller will stop all robot movements. No fullspeed operation is possible until the mismatch has ceased.

Probable causesOne or more axes, points, or volumes are close to a zone orrange border.

Recommended actionsIn manual mode, jog away from the zone or range border.

90521, Safety Controller Brake Test violation

DescriptionMovement detected during Brake test for drive module arg, axisarg.

Probable causesThe brake test failed or was interrupted.

Recommended actionsPerform a new brake test. If the problem persists, replace thebrake.

90522, Safety Controller External power supplyerror

DescriptionIncorrect feedback from the external power supply contactorswas detected by the safety controller.

ConsequencesThe safety controller will deactivate the external power supply.

Probable causesThe contactors or the cable harness may be defect.

Recommended actionsCheck the connections to the external power supply.

90523, Safety Controller Protective Stop triggered

DescriptionProtective Stop arg has been triggered in the safety controller.


Probable causesA protective stop request has been received by the safetycontroller.

Recommended actionsDeactivate the protective stop and restart the program.

90524, Safety Controller configuration error

DescriptionThe Safety Controller failed to load the safety configuration filearg.





Probable causesAn invalid safety configuration has been loaded.

Recommended actionsCreate and load a new safety configuration using theconfigurator.

90525, Operation in current mode not allowed bySafety Controller

DescriptionThe safety controller does not allow operation in the operatingmode selected in drive module arg.


Probable causesAutomatic operating mode was selected while commissioningmode was active. Automatic or Manual Full Speed operatingmode was selected while the safety controller wasunsynchronized.

Recommended actionsSwitch to manual mode to resume operation.

90526, SafetyController AutomaticModeWarning

DescriptionThe active safety controller configuration has not been locked.

90527, Safety Controller difference in revolutioncounters

DescriptionAn error was detected in the position data for drive module arg.


Recommended actionsPerform a new synchronization of the safety controller.

90528, Safety Controller Tool Orientation violation

DescriptionTool Orientation supervision arg was violated in the safetycontroller for drive module arg. Tool arg was active.


Probable causesThe orientation of the tool was outside the configured boundswhile Tool Orientation supervision was active.

Recommended actionsSwitch to manual mode, and jog the robot so that the toolorientation does not violate the configured bounds.

90529, Safety Controller axis Position violation

DescriptionAxis position supervision arg in the safety controller for drivemodule arg was violated for axis arg.


Probable causesThe position of one or more axes were outside the configuredbounds while axis position supervision was active.

Recommended actionsSwitch to manual mode, and jog the robot to a position insideconfigured bounds.

90530, Safety Controller Axis Speed violation

DescriptionAxis Speed supervision arg in the safety controller for drivemodule arg was violated for axis arg. The cause was arg.


Probable causesAxis speed too high. Axis speed too low.

Recommended actionsModify the program, ensuring that all axis speeds are insidethe configured limits.

90531, Cyclic Brake Check needs to be done

DescriptionCyclic Brake Check (CBC) time limit expired in Safety Controller(SC) arg or last brake check failed.





90532, Max allowed speed during Cyclic BrakeCheck exceeded

DescriptionThe maximum speed limit, 250 mm/s, during Cyclic Brake Checkwas exceeded in Safety Controller (SC) arg.

Probable causesThe maximum allowed speed limit exceeded.

Recommended actionsPerform a new brake check and run with a speed lower than250 mm/s.

90533, Cyclic Brake Check will be required soon

DescriptionCyclic Brake Check (CBC) required in arg hours.


90534, Cyclic Brake Check interrupted orincorrect

DescriptionSafety Controller (SC) arg has detected that the last CyclicBrake Check (CBC) was interrupted or incorrect.

Recommended actionsCheck previous event messages. Perform a new brake checkonly if needed.

90535, Tool Position supervision violation, arm

DescriptionTool position supervision arg caused a violation of zone arg indrive module arg. The violation was caused by geometry argon the robot arm.

ConsequencesIf configured with a stop action, the safety controller will stopall robot movements, and no operation will be allowed until theviolation has ceased or manual mode has been selected.

Recommended actionsSwitch to manual mode, and jog the robot out of the violation.

90536, External power supply activated while inerror mode

DescriptionThe external power supply was activated while the feedbackfrom the external power supply contactors was incorrect.

ConsequencesThe external supply output will remain in its old state.

Recommended actionsCheck the connections to the external power supply.

90537, Missing Sync-request

DescriptionThe synchronization switch is pressed without a synchronizationrequest being sent to the Safety Controller.

ConsequencesNo synchronization will be done.

Recommended actionsSend a synchronization request to the Safety Controller beforepressing the sync-switch.

90538, Safety Enable input not set

DescriptionThe SafetyEnable input to the Safety Controller is not set.


Probable causesErrors in the safe communication. Errors in the Safe IOconfiguration of the safety controller.

Recommended actionsCheck that the safe communication is working correctly. Checkthe Safe IO configuration of the safety controller.

90539, Drive module without safety supervision

DescriptionThe safety configuration contains on or more drive moduleswith no mechanical units defined.

ConsequencesNo safety supervision will be done for the corresponding drivemodules.

90540, Only manual mode allowed

DescriptionThe safety controller only allows operation in Manual mode,because of an error in the safety configuration or lockinformation.





Probable causesAn error in the safety configuration or lock information haspreviously been reported. Until this has been corrected,operation is only allowed in Manual mode.

Recommended actionsSwitch to Manual mode to resume operation. Correct the errorin the configuration or lock information.

90541, Superior Stop opened by the SafetyController

DescriptionThe Superior Mode Safeguarded Stop circuit has been openedby the safety controller.


Probable causesOne or more safety supervision functions has detected an activeviolation. Error in the safety controller cabling.

Recommended actionsCheck the event log for active safety function violations, andtake the recommended actions to remove the violations. Checkthe safety controller cabling.

90542, Unknown axis in safety configuration

DescriptionThe safety controller configuration for drive module arg containsone or more axes that are not present in the robot controllerconfiguration.

ConsequencesThe safety controller will prevent all robot movements.Operation is not possible until the error has been corrected.

Probable causesOne or more axes have been removed from the robot controllerconfiguration. Alternatively, one or more axes were temporarilydisabled during an upgrade or restart of the system.

Recommended actionsCheck the robot controller configuration. If one or moremechanical units were temporarily disabled during an upgrade,a new restart with all mechanical units enabled should besufficient.

90600, Invalid SiosCfg tag

DescriptionThe SiosCfg tag on line arg is invalid.

ConsequencesThe system will stop all robot movements.

Probable causesThe safety configuration has not been created usingRobotStudio.

Recommended actionsUpdate the safety configuration.

90601, Version attribute not found

DescriptionThe SiosCfg version attribute is missing on line arg.



Recommended actionsAdd the version attribute to the safety configuration file.

90602, Specified version is not supported

DescriptionThe specified SiosCfg version in the safety configuration fileon line arg is not supported.


Probable causesThe safety configuration was not created for the current versionof the system.

Recommended actionsUpdate the safety configuration to a version supported by theSafety Controller.

90603, Unsupported XML tag in safetyconfiguration file

DescriptionXML tag arg, found on line arg, is unknown.







90604, Tag/Attribute is empty or contains invalidcharacter(s)

DescriptionTag/attribute arg, found on line arg, is empty or contains invalidcharacter(s).




90605, Net name attribute is missing

DescriptionThe net name attribute on line arg is missing.




90606, Invalid net name

DescriptionThe net name arg is invalid. Valid names arearg.




90607, Net already exists

DescriptionThe net arg, specified on line arg has already been specified.




90608, Could not create network instance

DescriptionCould not create network arg instance. It already exists.




90609, Device attribute is missing

DescriptionDevice arg attribute arg is missing on line arg.




90610, Device already exists

DescriptionDevice arg on line arg already exists.




90611, Device create failed

DescriptionDevice arg failed. The device already exists.







90612, Device attribute insize is invalid

DescriptionDevice arg attribute insize is empty or not a number.




90613, Device attribute outsize is invalid

DescriptionDevice arg attribute outsize is empty or not a number.




90614, Could not attach device to net

DescriptionAttaching device arg to net arg failed because the device isalready attached to net arg.




90615, Could not attach device to net

DescriptionAttaching device arg to net arg failed.




90616, Could not find device

DescriptionCould not find device arg.




90617, Device attribute is missing

DescriptionDevice arg attribute arg is missing on line arg.




90618, Device attribute is invalid

DescriptionDevice arg attribute arg is invalid on line arg.







90619, Device attribute is invalid

DescriptionDevice arg attribute arg is invalid.




90620, Could not create device module

DescriptionCould not create device arg module.




90621, Signal width invalid in device mapping

DescriptionDevice arg signal arg width is invalid.




90622, Signal offset invalid in device mapping

DescriptionDevice arg signal arg offset is invalid.




90623, Signal direction invalid in devicemapping

DescriptionDevice arg signal arg direction is invalid.




90624, Could not find signal

DescriptionCould not attach signal argto device arg. Signal is missing.




90625, Could not find device

DescriptionCould not attach signal argto device arg. Device is missing.




90626, Signal name is missing

DescriptionSignal name is missing on line arg.







90627, Signal attribute is missing

DescriptionSignal arg attribute arg is missing.




90628, Signal type is unknown

DescriptionSignal arg type arg is unknown on line arg.




90629, Signal attribute invalid in this context

DescriptionSignal arg attribute arg is only valid when mapping to a device.Line arg.




90630, Signal default value empty or out of range

DescriptionSignal arg default value is empty or out of range to the signaltype.




90631, Signal type is invalid

DescriptionSignal arg type is invalid.




90632, Could not set signal value

DescriptionCould not set signal arg value.




90633, Signal create failed

DescriptionSignal arg already exists.







90634, Signal configuration conflict

DescriptionSignal arg configuration on line arg conflicts with previousdeclaration.




90635, Signal input already assigned

DescriptionSignal arg is already assigned to receive input from device arg.




90636, Signal value has already been set

DescriptionSignal arg input mapping failed. Signal value has already beenset by arg.




90637, Signal mapped outside of device I/O area

DescriptionSignal arg arg mapping to device arg failed. Device I/O size isarg.




90638, Signal overlaps other signal

DescriptionSignal arg arg mapping to device arg failed. Bits alreadymapped.




90639, Signal type does not match value type

DescriptionSignal arg type arg does not match value type arg.




90640, FuncIO name is missing

DescriptionThe name of FuncIO on line arg is missing.







90641, FuncIO attribute is missing

DescriptionFuncIO arg attribute arg is missing on line arg.




90642, Error parsing the safety configuration file

DescriptionFuncIO arg on line arg is already mapped to signal arg.




90643, FuncIO signal not found

DescriptionMapping of FuncIO arg to device arg on line arg failed becausethe FuncIOMapping mapping has not been specified.




90644, FuncIOMapping already exists

DescriptionMapping of FuncIO arg to signal arg failed because a mappinghas already been specified.




90646, FuncIOMapping attribute missing

DescriptionFuncIOMapping arg attribute arg is missing on line arg.




90648, FuncIOMapping signal does not exist

DescriptionFuncIOMapping arg to signal arg on line arg failed because thesignal does not exist.




90649, FuncIOMapping failed

DescriptionFuncIOMapping arg to signal arg on line arg failed because themapping has already been assigned to signal arg.







90650, Unexpected bitwidth mismatch

DescriptionUnexpected bitwidth arg when arg device arg arg from signalarg.




90651, Unexpected data size during import

DescriptionThe target buffer size when importing from device arg does notmatch device input area size.




90652, Unexpected data size during export

DescriptionThe data size when exporting to device arg does not matchdevice output area size.




90653, The version of the sc_cfg file is notsupported

DescriptionThe version of the sc_cfg file is not supported.


Probable causesRestore from an unsupported safety configuration.


90655, Invalid value of the encoding attribute

DescriptionDevice arg signal arg map encoding is invalid.


Probable causesRobotStudio version is too old to handle the expected version.

Recommended actionsUpdate RobotStudio.Update the safety configuration.

90656, Device Assembly attribute is missing

DescriptionDevice arg Assembly attribute arg is missing on line arg.




90657, Device Assembly attribute is invalid

DescriptionDevice arg Assembly attribute arg is invalid.




90660, FuncIO information missing

DescriptionCould not set signal value for FuncIO arg.







90661, FuncIO signal could not be set

DescriptionCould not set signal value for FuncIO arg.




90662, FuncIO signal not found

DescriptionCould not find signal for FuncIO arg.




90663, Unstable Operating Mode selector input

DescriptionUnstable input signals from the Operating Mode selector.


Recommended actionsSwitch back to previous operating mode and try again. If theproblem persists, restart the system.

90664, FuncIOMappings dependency failed

DescriptionFuncIOMappings for FuncIO arg has dependency to FuncIOarg.

If the first FuncIO is needed then the second FuncIO must alsobe specified.




90665, New safety configuration accepted

DescriptionThe safety configuration was successfully updated.

90666, Safety Controller configuration versionnot supported

DescriptionThe safety controller configuration version is not supported bythe software in the safety controller.


Probable causesThe safety controller configuration version is too new. Thesafety controller software is too old.

Recommended actionsDowngrade the safety controller configuration version. Upgradethe safety controller software.

90667, MC option does not match SCconfiguration file

DescriptionThe installed Robotware option(s) do(es) not match the contentsof the safety controller configuration file.


Probable causesThe MC option for the Operating Mode Selector type has beenmodified.

Recommended actionsReset the safety controller to factory settings and create a newsafety configuration.




90668, Emergency Stop Status input could notbe tested

DescriptionEmergency Stop Status input could not be tested becauseemergency stop circuit is broken.


Probable causesAn emergency stop button has been pressed. The cable to thesafety controller is not connected.

Recommended actionsReset the emergency stop button triggering the stop. Attachthe cable to the safety controller.

90669, Drive Enable Feedback is open

DescriptionThe Drive Enable Feedback input to the safety controller isopen.

ConsequencesThe system will stop all robot movements in automatic mode.

Probable causesThe Drive Enable Feedback signal is open. The cable to thesafety controller is not connected.

Recommended actionsMake sure the Drive Enable Feedback signal is closed. Attachthe cable to the safety controller.

90670, Detachable TPU is allowed

DescriptionDetachable TPU is allowed for arg seconds.Emergency stop on the TPU will not work during this period.The detached TPU must immediately be stored away.

90671, The TPU has been detached

DescriptionThe TPU has been detached. The emergency stop button onthe TPU no longer functions.The detached TPU must immediately be stored away.

90672, The TPU has been reattached

DescriptionThe TPU has been reattached to the robot controller.

The functionality of the emergency stop button must be verifiedby the operator.

90673, Repeating detach of TPU request detected

DescriptionRepeating detach of TPU request detected.


Probable causesThe operator has requested to detach the TPU within 5 secondsof the end of the previous detach period.

Recommended actionsRestart the robot controller.

90674, Detaching a TPU is not allowed becausethe emergency stop is activated

DescriptionDetaching a TPU is not allowed because the emergency stopon the TPU is activated.

Recommended actionsRelease the emergency stop button on the TPU and try again.

90681, CL version attribute is missing

DescriptionThe version attribute is missing in the CL configuration.




90682, CL version is invalid

DescriptionThe safety configuration contains an unsupported version argfor the CL configuration on line arg.







90683, Invalid safety configuration item

DescriptionThe safety configuration contains an invalid configuration item"arg" on line arg.




90684, Safety configuration item/Attribute isinvalid

DescriptionConfiguration item/attribute arg, found on line arg, is empty orcontains invalid character(s).




90685, More than one configuration item found

DescriptionDuplicate safety configuration item "arg" found on line arg.




90686, Safety configuration item missing

DescriptionConfiguration item "arg" is missing in the safety configuration.




90687, Safety configuration item attributemissing

DescriptionConfiguration item "arg" missing on line "arg".




90688, Too many configuration items specified

DescriptionThe Safety CL configuration contains too many "arg" items online "arg".




90689, Too few configuration items specified

DescriptionThe Safety CL configuration contains too few "arg" items online "arg".







90690, CL operator or operation already exists

DescriptionThe Safety CL configuration contains a duplicate item arg online arg.




90691, Actuator/resultant name already used

DescriptionActuator/resultant name arg on line arg has already beenspecified.




90692, The specified signal does not exist

DescriptionSignal "arg", specified on line arg, is not defined in the safetyconfiguration.




90693, Unknown signal type

DescriptionThe signal type "arg", specified on line arg, is unknown.




90694, Signal types differ

DescriptionThe operation signal type "arg" differs from the operator signaltype "arg" on line "arg".




90695, Operator name is unknown

DescriptionUnknown operator name "arg" is specified for operation "arg"on line "arg".




90696, Actuator/Resultant numbers differ

DescriptionOperation "arg": The number of "arg" differs from its operator"arg" count on line "arg".







90697, Operation actuator/resultant not found

DescriptionOperation actuator or resultant "arg" does not have acorresponding operator actuator/resultant on line "arg".




90698, Operator type is unknown

DescriptionUnknown operator type "arg" is specified for operator "arg" online "arg".




90699, Configured operator signal type is notsupported

DescriptionSpecified actuator/resultant "arg" type of the operator "arg" isnot supported. Line number "arg".




90700, arg initialization error

DescriptionThe Safety Network Controller arg failed to initialize.


Probable causesInternal error.

Recommended actionsCheck for other event messages. Restart the robot controller.

90701, arg stop failed

DescriptionThe Safety Network Controller arg was unable to stop.

ConsequencesThe system will stop all robot movements. Communication withthe network is not possible.



90702, arg start failed

DescriptionThe Safety Network Controller arg was unable to start.




90703, arg read failed

DescriptionThe Safety Network Controller argwas unable to read data fromthe network.


Probable causesNetwork partner is unavailable. Cabling error.

Recommended actionsCheck cables. Check for other event messages. Restart therobot controller.




90704, arg write failed

DescriptionThe Safety Network Controller arg was unable to write data tothe network.


Probable causesNetwork partner is unavailable. Cabling error.

Recommended actionsCheck cables. Check for other event messages. Restart therobot controller.

90705, arg sync failed

DescriptionThe Safety Network Controller argwas unable to sync betweenCPUs.




90707, arg initialization failed

DescriptionThe Safety Network Controller arg was unable to initializecommunication with the robot controller.




90720, Device already configured

DescriptionNetwork arg, device arg is already configured.


Probable causesUser has used the same device name twice.

Recommended actionsRemove or rename the extra device configuration.

90721, Module already configured

DescriptionNetwork arg, device arg, module arg is already configured ondevice arg.


Probable causesUser has used the same module name twice.

Recommended actionsRemove or rename the extra module configuration.

90722, Slot occupied by other module

DescriptionNetwork arg, device arg, slot arg is already configured onmodule arg.


Probable causesUser has used the same slot number for two different modulesin the same device. A slot can only be occupied by one module.

Recommended actionsRe-assign the erroneous module to the correct slot.

90723, Module F-Destination address alreadyused

DescriptionNetwork arg, module arg F-Destination address arg alreadyconfigured on module arg.


Probable causesThe F-Destination address must be unique on the entire ProfiNetnetwork. User has assigned the same F-Destination addressto two different modules.

Recommended actionsRe-assign the erroneous module to the correct F-Destinationaddress.




90724, Module F-Source address already usedas F-Destination address

DescriptionNetwork arg, module arg F-Source address arg used asF-Destination address on module arg.


Probable causesUser has assigned an F-Source address as the F-Destinationaddress.

Recommended actionsRe-assign the erroneous module to have the correctF-Destination/F-Source address.

90725, Module F-Destination address alreadyused as F-Source address

DescriptionNetwork arg module arg F-Destination address arg used asF-Source address on module arg.


Probable causesUser has assigned an F-Destination address as the F-Sourceaddress.

Recommended actionsRe-assign the erroneous module to have the correctF-Destination/F-Source address.

90770, CIP Safety IP Address mismatch

DescriptionThe NodeId arg.arg.arg.arg of the CIP Safety Adapter does notmatch the IP Address of the robot controller EtherNet/IPIndustrial Network.

ConsequencesCommunication with the CIP Safety adapter will not be possible.

Probable causesConfiguration mismatch.

Recommended actionsVerify that the NodeID of the CIP Safety Adapter matches theIP address of the EtherNet/IP Industrial Network.

90771, CIP Safety Electronic key mismatch

DescriptionAn external CIP Safety Scanner is attempting to connect to theCIP Safety Adapter of this robot controller with an unsupportedelectronic key.

ConsequencesCommunication with the external CIP Safety Scanner will notbe possible.

Probable causesThe external CIP Safety Scanner has an invalid value forparameter arg.

Recommended actionsCheck the electronic key configuration of the external CIP SafetyScanner.

90772, CIP Safety memory reset

DescriptionThe Persistant memory of the CIP Safety Adapter has beenreset to default.

ConsequencesThe output ownership of any previously established CIP Safetyconnections is no longer present in persistent memory.

Probable causesUser interaction.

Recommended actionsReconnect Safety Scanner.

90773, CIP Safety forward open fail

DescriptionThe CIP Safety Adapter of this robot controller has rejected asafety forward open from an external CIP Safety Scanner.

ConsequencesCommunication with the external CIP Safety Scanner will notbe possible.

Probable causesThe CIP Safety Scanner has an invalid value for parameter arg.

Recommended actionsCheck the configuration of the arg parameter.

90774, CIP Safety Forward Close fail

DescriptionThe CIP Safety Adapter of this robot controller has rejected asafety Forward Close from an external CIP Safety Scanner.




ConsequencesThe Robot Controller is not able to properly clean the safetyconnection. The external CIP Safety Scanner may not be ableto reestablish the connection.

Probable causesThe CIP Safety Adapter may be in a state where the closing ofa safe connection is not allowed.

Recommended actionsRestart the robot controller.

90775, Selected RPI below recommended value

DescriptionSelected RPI for arg is below recommended value of 20ms.

ConsequencesThe jitter in the observed packet interval and the worst casepacket interval has increased causing unstable communication.

Probable causesRPI below the recommended value.

Recommended actionsSet the Timeout Multiplier of the connection to a value greaterthan 3.

90776, Configuration Signature Mismatch

DescriptionThe Configuration Signature parameter received from anexternal CIP Safety Scanner in the Forward Open request doesnot match value in the CIP Safety Adapter of this robotcontroller. The signature is created in the ABB SafetyConfiguration Report and consist of ID, Date and Time.

ConsequencesCIP Safety Communication with the external Scanner is notpossible.

Probable causesThe external Safety Scanner has a signature configured butit did not match the value in the ABB Safety ConfigurationReport of the CIP Safety Adapter or the Adapter configured thesignature to "Not Used".

Recommended actionsVerify that the external Scanner has all parts of theConfiguration Signature (ID, date and time) according to theABB Safety Configuration Report of the Adapter. If you wish todisable the signature matching while opening a safetyconnection, then set the Configuration Signature parameter to

"Not Used" in the Adapter and disable it in the external Scanneras well.

90777, CIP Safety Configuration Mismatch - SizeMismatch

DescriptionThe configuration of EterNet/IP Device arg (or its EterNet/IP IOconnections) in I/O System Configuration does not match thecorresponding configuration in Visual SafeMove.

ConsequencesCIP Safety Communication with argmay not work properly. TheCIP Safety Configuration Signature (SCID) generated in theABB Safety Configuration Report is invalid.

Probable causesThe parameter arg in I/O System Configuration is set to arg.The corresponding parameter in Visual SafeMove is set to arg.

Recommended actionsVerify that the paramter arg has the same value in both: I/OSystem Configuration and in Visual SafeMove. Verify that thedevice arg configured in I/O System Configuration has all itsEtherNet/IP IO Connections attached as intended.

90778, CIP Safety ConfigurationMismatch - NameMismatch

DescriptionThe EtherNet/IP Device arg defined in the I/O SystemConfiguration does not exist in CIP Safety Scanner configurationin Visual SafeMove.

ConsequencesCIP Safety Communication with arg will not be possible. TheCIP Safety Configuration Signature (SCID) generated in theABB Safety Configuration Report is invalid.

Probable causesThe arg device does not exist in CIP Safety Scannerconfiguration in Visual SafeMove.

Recommended actionsVerify that the device arg is added in Visual SafeMoveconfiguration. Verify that the device arg has the same name inI/O System Configuration and in Visual SafeMove.

90779, CIP Safety Ownership Conflict

DescriptionAn external CIP Safety Scanner tries to connect and write toinputs of the CIP Safety Adapter. However, another Scanner




with different IP Address and/or Safety Network Number (SNN)already owns inputs of the CIP Safety Adapter. The IP Addressand SNN of the current owner are written to Non VolatileMemory of the CIP Safety Adapter.

ConsequencesAn external CIP Safety Scanner will not be able to connect andwrite signals to the CIP Safety Adapter of the Robot Controller.

Probable causesThe IP Address and/or SNN of the external CIP Safety Scannerhas changed. The inputs of this CIP Safety Adapter is alreadyowned by another external CIP Safety Scanner.

Recommended actionsVerify that the IP Address and SNN of the external CIP SafetyScanner is as intended. Reset CIP Safety to clear the ownershipfrom Non Volatile Memory of the CIP Safety Adapter.

90780, Two-channel fault in Safety Controller

DescriptionTwo-Channel fault for Safety Controller GPIO input arg: arg !=arg.


Probable causesCable fault. Signaling error.

Recommended actionsCheck cables to the Safety Controller. Restart the robotcontroller.

90781, Safe Local I/O GPIO input is unstable

Descriptionarg SNC: GPIO input arg is unstable.This is a warning only.

Probable causesCable fault. Signaling error.

Recommended actionsCheck cables to the Safety Controller. Verify that the indicatedsignal to the Safety Controller is stable.

90790, arg setup failed

DescriptionThe arg was unable to setup properly.

Consequencesarg is not running.

Probable causesNo communication with the PROFIsafe host. Bad parametervalues.

Recommended actionsCheck parameters and connection to the PROFIsafe host. Tryagain.

90791, arg start failed

DescriptionThe arg was unable to start.

Consequencesarg is not running.

Probable causesNo communication with the PROFIsafe host. Bad parametervalues.

Recommended actionsCheck parameters and connection to the the PROFIsafe host.Try again.

90792, arg fail-safe activated

DescriptionThe arg has activated fail-safe values.

Probable causesLost communication with the PROFIsafe host.

Recommended actionsCheck connection to the PROFIsafe host.

90793, arg Operator Acknowledge

DescriptionThe arg is in Operator Acknowledge state.The PROFIsafe host is waiting for operator acknowledgement.

Consequencesarg is sending fail-safe values.

Probable causesCommunication with the the PROFIsafe host has beenestablished.

Recommended actionsActivate the Operator Acknowledge signal for about 1 second.

90794, arg parameter mismatch

DescriptionThe arg F-Parameters do not match F-Parameters from thePROFIsafe host.




Probable causesIncorrect parameters sent from the PROFIsafe host.

Recommended actionsCheck the configuration in the PROFIsafe host and restartcommunication.

90795, arg watchdog timeout

DescriptionThe arg watchdog has timed out.

Probable causesLost communication with the PROFIsafe host.

Recommended actionsCheck that the Ethernet cable is properly inserted. Check thatthe PROFIsafe host is connected and running.

90796, arg CRC error

DescriptionThe arg is in CRC error state.

Probable causesCommunication fault from the PROFIsafe host.

Recommended actionsCheck connection to the PROFIsafe host and try again.

90797, arg fault

DescriptionThe arg is in device fault state.

Probable causesCommunication fault from the PROFIsafe host. Internal errors.

Recommended actionsCheck connection to the PROFIsafe host and try again.

90800, Bad XML syntax in arg safetyconfiguration file

DescriptionThe system could not parse the contents of the safetyconfiguration file.

Probable causesThe configurator has not been used for creating theconfiguration file. Internal error in the configurator.

Recommended actionsMake sure to use the configurator when creating the safetyconfiguration file.

90801, CRC error in arg safety configuration file

DescriptionThe CRC in the safety configuration file does not match thecontents of the file.

ConsequencesThe safety configuration file is not loaded and the SafetyController goes to Safe state.

Recommended actionsUpdate the safety configuration and restart the system.

90802, Lock Information Error

DescriptionThe lock information in the safety configuration file arg doesnot match the lock information stored in the Safety Controller,cause arg.Checksum safety configuration file: arg.Checksum Safety Controller: arg.

ConsequencesNo full speed operation is possible.

Probable causesThe safety configuration file contains LockInfo, but has notbeen locked to the Safety Controller. The Safety Controller islocked to another safety configuration-file. The Safety Controllerwas locked to another robot controller (mismatch ControllerId).The Safety Controller is locked to this safety configuration file,but the file does not contain LockInfo.

Recommended actionsLock the file to the Safety Controller or remove LockInfo fromthe safety configuration file. Unlock the safety configuration onthe Safety Controller, or revert to the file corresponding to thechecksum on the Safety Controller. Unlock the safetyconfiguration stored on the Safety Controller, or move the SafetyController hardware back to the correct robot controller (if ithas been moved). Add LockInfo to the safety configuration file,or perform Unlock on it to remove lock information from theSafety Controller.

90804, Communication lost with Safety Controller

DescriptionThe main computer has lost contact with the Safety Controller.

ConsequencesThe robot controller goes to SYS FAIL No operation will bepossible until the fault has been corrected and the system havebeen restarted.




Probable causesThis may be caused by faulty hardware.

Recommended actionsMake sure the Safety Controller board is properly mounted.Restart the system and check if the error remains.

90805, Start of Safety Controller failed

DescriptionThe main computer could not start the Safety Controller. Seethe event log for more details.

ConsequencesNo operation will be possible until the fault has been correctedand the system have been restarted.


Recommended actionsMake sure the Safety Controller board is properly mounted.Restart the system and check if the error remains.

90806, Safety Configuration Locked

DescriptionThe Safety configuration was successfully locked by user arg.

ConsequencesThe robot can now be run in automatic mode without warnings.The safety configuration cannot be changed unless it isunlocked first.

90807, Safety Configuration Unlocked

DescriptionThe safety configuration was successfully unlocked.

ConsequencesThe safety configuration can now be modified. Switching toautomatic mode will generate a warning.

90808, Unsupported Robot Type

DescriptionThe Safety Controller does not support the robot type.

ConsequencesNo operation will be possible.

Recommended actionsRemove the Safety Controller board and the Safety Controlleroption from the system. Change to a robot type that is supportedby the Safety Controller.

90809, Safety Controller set to defaultconfiguration

DescriptionThe safety controller configuration failed validation checks.

ConsequencesThe safety controller is running with the default configuration.

Probable causesUser misconfiguration.

Recommended actionsCorrect the safety controller configuration.

90810, Safety Controller hardware diagnosticsfailed

DescriptionThe Safety Controller hardware diagnostics failed: arg arg.



Recommended actionsMake sure the Safety Controller board is properly mounted.Restart the system and check if the error remains. If the errorremains replace the Safety Controller board.

90811, CPU register self-test failed

DescriptionThe CPU hardware diagnostics has detected an error: arg.



Recommended actionsRestart the system and check if the error remains. If the errorremains replace the Safety Controller board.

90812, GPIO register self-test failed

DescriptionThe GPIO hardware diagnostics has detected an error on GPIOID: arg.






Recommended actionsRestart the system and check if the error remains. If the errorremains replace the Safety Controller board.

90813, GPIO start-up circuit test failed

DescriptionThe GPIO start-up circuit test failed on GPIO ID: arg.



Recommended actionsMake sure that all cables to the safety controller are properlyattached. Restart the system and check if the error remains. Ifthe error remains replace the Safety Controller board.

90814, GPIO cyclic circuit test failed

DescriptionThe GPIO cyclic circuit test failed on GPIO ID: arg.




90815, Mode Selector input test failed

DescriptionThe Mode Selector input test failed on GPIO ID: arg.




90816, Invalid Mode Selector input

DescriptionThe Mode Selector has an invalid number of set inputs: arg.




90817, Invalid state of the Mode Selector

DescriptionThe Mode Selector input is in an invalid state GPIO ID: arg.




90818, Temperature test failed

DescriptionThe temperature is outside specification: arg.


Probable causesThe ambient temperature is either too high or too low.

Recommended actionsEnsure that the system is operating in an approvedenvironment. Restart the system and check if the error remains.If the error remains replace the Safety Controller board.




90819, Voltage test failed

DescriptionThe voltage is outside specification: arg.




90830, Safety Controller persistent storage datais corrupt

DescriptionData stored in persistent memory by Safety Controller wasdetected as corrupt/inconsistent. Data area will therefore beerased.

ConsequencesSee Application Manual for Functional safety and SafeMoveregarding persistent storage.

Probable causesThis can be caused by an uncontrolled shutdown or in rarecases faulty hardware.

Recommended actionsRestart the robot controller to see if the error remains. If theerror remains consider replacing the Safety Controller hardware.

90831, Safety Controller persistent data lost

DescriptionData stored in persistent memory by Safety Controller was notstored during last shutdown.

ConsequencesSee Application Manual for Functional safety and SafeMoveregarding persistent storage.

Probable causesThis was caused by an uncontrolled shutdown or in rare casesfaulty hardware.

Recommended actionsRestart the robot controller to see if the error remains. If theerror remains consider replacing the Safety Controller hardware.

90832, File arg not found

DescriptionThe XML file arg, which is used by the safety controller, wasnot found.

ConsequencesNo operation will be possible until the fault has been correctedand the system has been restarted.

Probable causesRestore of a backup from a system with a different configuration.Disc corruption.

Recommended actionsRestore to a system with the correct configuration. Reinstallsystem.

90833, Safety configuration version notsupported

DescriptionSafety configuration file arg version arg.arg.arg not supported.


Recommended actionsUse RobotStudio to create a valid safety configuration for thesystem.

90834, Safety configuration attribute missing orinvalid

DescriptionSafety configuration file arg element arg: Attribute arg invalidor missing on line arg.


Recommended actionsUse RobotStudio to create a valid safety configuration for thesystem.

90835, Safety Controller performance warning

DescriptionThe work load on the safety controller is near its limit.

ConsequencesIf the work load is increased, the safety controller will stop therobot.




Probable causesThe safety configuration is too demanding for the system.

Recommended actionsCreate and load a less demanding configuration with fewer andsimpler zones.

90836, Safety Controller has entered safe state

DescriptionThe safety controller has entered the safe state.


Probable causesThe cause of this is described in previous event log entries.

Recommended actionsCheck and handle previous event messages and restart therobot controller.

90851, Safety Configuration Error

DescriptionThe safety configuration file arg does not match the installedsystem options. The safety configuration file contains arginstances of arg when arg instances is allowed.

ConsequencesThe Safety Controller will not load the safety configuration andenters safe state.

Probable causesThe safety configuration file contains elements that are notsupported by the installed system options.

Recommended actionsRemove the instance arg in the safety configuration anddownload it to the controller, or install the required option, arg.

90852, Empty Safety Configuration

DescriptionThe safety configuration is empty.

ConsequencesNo supervision of the robot will be performed.

Recommended actionsUse the configurator to add safety supervision.

90890, Start of Safety Controller failed

DescriptionThe main computer could not start the safety controller. Seethe event log for more details.


Probable causesThis may be caused by faulty hardware or incompatible safetycontroller software version.

Recommended actionsReinstall system. Make sure the safety controller board isproperly mounted. Restart the system and check if the errorremains.




5.10 11 xxxx

110001, Process Supervision Phase PRE

DescriptionTask: argSupervision failed for process phase PRE.arg

Recommended actionsCheck the signal(s) that failed:argargRecovery:You might want to handle errno arg in your error handler

110002, Process Supervision Phase PRE_START

DescriptionTask: argSupervision failed for process phase PRE_START.arg


110003, Process Supervision Phase START

DescriptionTask: argSupervision failed for process phase START.arg


110004, Process Supervision Phase MAIN

DescriptionTask: argSupervision failed for process phase MAIN.arg


110005, Process Supervision Phase END_MAIN

DescriptionTask: argSupervision failed for process phase END_MAIN.arg


110006, Process Supervision Phase POST1

DescriptionTask: argSupervision failed for process phase POST1.arg


110007, Process Supervision Phase END_POST1

DescriptionTask: argSupervision failed for process phase END_POST1.arg





110008, Process Supervision Phase POST2

DescriptionTask: argSupervision failed for process phase POST2.arg


110009, Process Supervision Phase END_POST2

DescriptionTask: argSupervision failed for process phase END_POST2.arg


110012, Movement start timeout

DescriptionTask: argTime (arg second(s)) between start of process and Robotmovement is too long.

Recommended actionsCheck your process equipment.

110013, Application process interrupted

DescriptionTask: argThe application process was not terminated properly.arg

ConsequencesEventual post-motion phases were not executed.

Probable causes1. Logical RAPID instructions in a sequence of applicationmovement instructions consuming too much execution time.2. The last instruction in the sequence of application movementinstructions, that does not indicate the sequence end.

3. A process error occurred too close to the endpoint of theprocess: a process restart is not performed.

Recommended actionsRemove the logical instructions, that cause the delay,orcheck, that the last application movement instruction indicates,that it is the last one.

110014, Option 'Optical Tracking' or 'Weldguide'is missing

DescriptionTask: argThe optional argument '\Track' may not be used without theoption 'Optical Tracking' or 'Weldguide' or 'Sensor Interface'.arg

Recommended actionsRemove the optional argument '\Track'orOrder a RobotWare key that, depending on your equipment,contains the option 'Optical Tracking' or 'Weldguide' or 'SensorInterface'.

110015, Option Path Offset is missing

DescriptionTask: argThe switch '\Corr' may not be used without the option PathOffset.arg

Recommended actionsRemove the switch '\Corr'orOrder a RobotWare key, that contains the option 'Path Offset'.

110016, Unsafe flying end

DescriptionTask: argProgram execution proceeded to the next RAPID instructionbefore the application process had finished.

ConsequencesIf a process error occurs, the application process will be stoppedon the fly, but the robot movement will not be stopped.

Probable causesThe zone size and the fly_end distance of the flying endinstruction do not fit together.




Continued

Recommended actionsIncrease fly_end distance or decrease the zone size of theinstruction with flying end.arg arg

110017, Process data buffer full

DescriptionTask: argargThe process data buffer is full. The latest process data set androbtarget has been replaced by the data set and robtarget ofthe active instruction.

ConsequencesA set of process data and a robtarget are skipped. This couldresult in path shortcuts and inadequate process data.

Probable causesThe RAPID program contains too many short continuousprocess instructions in sequence.

Recommended actionsEither increase the length of the continuous process instructionsorreduce process speed.

110018, Too many concurrent flying welds

DescriptionTask: argThere are too many short movements with application processin sequence, that have flying start and flying end and that areprogrammed with a high process speed.

ConsequencesBecause the robot controller resources are not sufficient, thecontroller entered an error state.

Probable causes1. Too high process speed.2. Too short process movements with flying start and end.

Recommended actionsYou can:1. Decrease the process speed.2. Remove the flying start and/or end.3. Increase the length of the process movements.

110019, Option 'Optical Tracking' is missing


The optional argument '\FillTrBuff' may not be used without theoption 'Optical Tracking' or 'Weldguide' or 'Sensor Interface'.arg.

Recommended actionsRemove the optional argument '\Track'ororder a RobotWare license that, depending on your equipment,contains the option 'Optical Tracking' or 'Weldguide' or 'SensorInterface'.

110020, Supervision limit

DescriptionTask: argThe maximum number of signals to be supervised (max. 32)has been exceeded in one of the supervision phases.arg

Recommended actionsRemove signals from supervision for phase arg in order to meetthe limit of 32.

110021, Unknown supervision list

DescriptionTask: argThe Supervision list type arg is unknown.arg

ConsequencesSupervision is not set up or removed.

Recommended actionsChange the supervision list type.

110025, No active CAP process

DescriptionTask: argThere is no active CAP process for this instruction.arg

Recommended actionsVerify that arg is used according to documentation.

110026, Process start not allowed

DescriptionTask: argIt is not possible to start the process on the current instructionarg




Probable causesYou try to start the process on a CAP instruction, where thevalue for capdata.first_instr is not set to TRUE.

Recommended actionsEither set the value for capdata.first_instr to TRUEorMove the PP to a CAP instruction with capdata.first_instr =TRUEorMove the PP to an instruction that is not a CAP instruction.

110027, Robot movement is blocked

DescriptionTask: argIt is not possible to start the robot movement.arg

Probable causesThe RAPID instruction 'StopMove' has been executed prior tothis movement instruction.

Recommended actionsYou have to execute the RAPID instruction 'StartMove' or'StartMoveRetry' to unblock the movement of the Robot.

110030, Invalid ICap Event

DescriptionTask: argarg is invalid as event for the instruction ICap.arg

Recommended actionsUse one of the valid ICap events described in the referencemanual for CAP.

110032, No TRAP routine for CAP_STOP

DescriptionTask: argCAP requires a RAPID TRAP routine to be defined for the eventCAP_STOP.This is necessary as to stop external equipment when RAPIDexecution stops.arg

Recommended actionsAdd a TRAP routine for CAP_STOP in your RAPID code.

110034, Skip without process finished

DescriptionThe robot has reached the end of the distance it was requestedto move without active application process.

Recommended actionsRecovery:You might want to handle errno arg in your error handler

110035, Process start position reached

DescriptionTask: arg.The look-ahead buffer for tracking is filled and the robot TCPhas reached the programmed start position for the applicationprocess.arg.

ConsequencesThis recoverable error occurs if you have used the optionalargument '\FillTrBuff' in the first CAP instruction of a sequence.

Recommended actionsYou might want to handle errno arg in your error handler.

110040, Process Supervision Phase END_PRE

DescriptionTask: argSupervision failed for process phase END_PRE.arg


110041, Process Supervision PhaseSTART_POST1

DescriptionTask: argSupervision failed for process phase START_POST1.arg

Recommended actionsCheck the signal(s) that failed:argargRecovery:




Continued

You might want to handle errno arg in your error handler

110042, Process Supervision PhaseSTART_POST2

DescriptionTask: argSupervision failed for process phase START_POST2.arg


110100, Fatal process error

DescriptionTask: argA fatal process error has been reported. Check previous errormessages for more information about the reason of the error.

Recommended actionsA restart of the system or move of program pointer is highlyrecommended.

110101, Invalid weave shape

DescriptionTask: argThe weave shape used is invalid:[No shape = 0, Zig-zag shape = 1, V-shape = 2, Triangular shape= 3]

Recommended actionsCorrect the shape component.

110102, Invalid weave length

DescriptionTask: argThe weave length used is invalid:(0 - 1) [m]

Recommended actionsCorrect the component length.

110103, Invalid weave cycle time


The weave cycle time used is invalid:(0 - 100) [s]

Recommended actionsCorrect the component cycle_time.

110104, Invalid weave width

DescriptionTask: argThe weave width used is invalid:(0 - 1) [m]

Recommended actionsCorrect the component width.

110105, Invalid weave height

DescriptionTask: argThe weave height used is invalid:(0 - 1) [m]

Recommended actionsCorrect the component height

110106, Invalid weave dwell left

DescriptionTask: argThe weave dwell_left used is invalid:(0 - 1) [m]

Recommended actionsCorrect the component dwell_left

110107, Invalid weave dwell center

DescriptionTask: argThe weave dwell_center used is invalid:(0 - 1) [m]

Recommended actionsCorrect the component dwell_center

110108, Invalid weave dwell right

DescriptionTask: argThe weave dwell_right used is invalid:(0 - 1) [m]




Recommended actionsCorrect the component dwell_right

110109, Invalid weave bias

DescriptionTask: argThe weave bias used is invalid:(-1 - 1) [m]

Recommended actionsCorrect the component bias

110110, Invalid weave direction angle

DescriptionTask: argThe weave direction angle used is invalid:(-PI/2 - PI/2) [rad]

Recommended actionsCorrect the component dir

110111, Invalid weave tilt angle

DescriptionTask: argThe weave tilt angle used is invalid:(-PI/2 - PI/2) [rad]

Recommended actionsCorrect the component tilt

110112, Invalid weave rotation angle

DescriptionTask: argThe weave rotation angle used is invalid:(-PI/2 - PI/2) [rad]

Recommended actionsCorrect the component rot

110113, Invalid horizontal weave offset

DescriptionTask: argThe horizontal weave offset is invalid:

110114, Invalid vertical weave offset


The vertical weave offset is invalid:

110115, Invalid weave sync left

DescriptionTask: argThe weave sync left value is invalid:(0 - 100) [%]

Recommended actionsCorrect the component ptrn_sync_left in capweavedata.

110116, Invalid weave sync right

DescriptionTask: argThe weave sync right value is invalid:(0 - 100) [%]

Recommended actionsCorrect the component ptrn_sync_right in capweavedata.

110117, Weave bias not allowed

DescriptionTask: argIt is not allowed to use bias for shapes other than Zig-zag (=1).

Recommended actionsCorrect the components 'bias' and/or 'shape' in capweavedata.

110118, Weave bias too big

DescriptionTask: argIt is not allowed to use a bias that is bigger than half the width.

Recommended actionsCorrect the components 'bias' and/or 'width' in capweavedata.

110119, Weave dwell too big

DescriptionTask: argIt is not allowed to use a dwell that is bigger than the length.The ramp slope (amplitude/length) is limited.

Recommended actionsCorrect the components 'dwell_right/center/left' and/or 'length'in capweavedata.




Continued

110120, Weave bias change too big

DescriptionTask: argThe weave bias change is bigger than allowed.Max arg [m]

Recommended actionsAdjust weave tuning increment for bias, and/or check that thechange of the bias is less than the maximum.

110121, Weave width tuning error

DescriptionTask: argThe weave width change is bigger than allowed.Max arg [m]

Recommended actionsAdjust weave tuning increment for width, and/or check that thechange of the width is less than the maximum.

110122, Weave height tuning error

DescriptionTask: argThe weave height change is bigger than allowed.Max arg [m]

Recommended actionsAdjust weave height tuning increment, and/or check that thechange of the height is less than the maximum.

110130, Signal not defined

DescriptionTask: argThe signal arg is not defined.arg

Recommended actionsDefine the signal arg in eio.cfg

110131, No Signal specified

DescriptionTask: argNo signal specified!arg

Recommended actionsSpecify a DI signal

110132, An internal error occurred

DescriptionTask: argarg

Recommended actionsCheck the 'Internal' Log.

110133, Wrong path level

DescriptionTask: argargThis instruction is not allowed on this path level (arg).

Recommended actionsUse RestoPath, to change to path level 0.

110134, Change from fine to z0

DescriptionTask: argargA 'fine' point is not allowed in the middle of a Process sequence.The zone data was changed from 'fine' to 'z0'.

Recommended actionsCorrect your RAPID instruction's zone data.

110135, Capdata.first_instr changed to FALSE

DescriptionTask: argargA capdata.first_instr = TRUE is not allowed in the middle of aProcess sequence.The value is internally changed from 'TRUE' to 'FALSE'.

Recommended actionsCorrect your RAPID instruction's capdata.first_instr value orreview the Cap sequence.

110140, \ReportAtTool only allowed with LookAhead Trackers

DescriptionTask: argargIt is not allowed to use the optional argument \ReportAtToolwith other sensors than Look Ahead Trackers (e.g. LaserTrackers).




ConsequencesThe sensor variable interrupt was not set up.

Recommended actionsRemove the optional argument \ReportAtTool from theinstruction IVarValue.

110141, \Aptr only allowedwith At Point Trackers

DescriptionTask: argargIt is not allowed to use the optional argument \Aptr with othersensors than At Point Trackers (e.g. WeldGuide).


Recommended actionsRemove the optional argument \Aptr from the instructionIVarValue.

110142, Sensor variable type not supported byIVarValue

DescriptionTask: argargThe sensor variable type arg is not supported by IVarValue.


Recommended actionsChange the sensor variable type.

110143, Number of subscriptions exceeded

DescriptionTask: argargThe number of sensor variable subscriptions (IVarValue) isexceeded.Max. number of admitted subscriptions: arg

ConsequencesThe subscription was not set up.

Recommended actionsReduce the number of sensor variable subscriptions (IVarValue).

110160, Track error

DescriptionTask: argTrack error.arg

Recommended actionsCheck joint definition.Recovery: arg

110161, Track start error

DescriptionTask: argTrack start error.arg

Recommended actionsCheck joint definition in captrackdata.Recovery: arg

110162, Track max path corr error

DescriptionTask: argTrack max path corr error.arg

Recommended actionsCheck joint definition and max_corr in captrackdata.Recovery: arg

110163, Track communication error

DescriptionTask: argNo communication between sensor and controller.

Recommended actionsCheck the hardware

110164, Track correction lost

DescriptionTask: argTrack lost due to power fail.arg

Recommended actionsMove PP to main, or step through the rest of the CAP sequence.




Continued

110165, No Sensor Measurement

DescriptionTask: argNo sensor measurement available.arg

110166, Sensor Not ready yet

DescriptionTask: argThe sensor is not ready.arg

110167, General error from sensor

DescriptionTask: argGeneral sensor error.arg

110168, Sensor busy

DescriptionTask: argThe sensor is busy.arg

110169, Unknown command to sensor

DescriptionTask: argSome for the sensor unknown command was sent.arg

110170, Illegal variable or block number in sensor

DescriptionTask: argThe variable number or block number is unknown to the sensor.arg

110171, External alarm from sensor

DescriptionTask: argAn external sensor alarm occurred.arg

110172, Camera alarm from sensor

DescriptionTask: argThe sensor camera sent an alarm.arg

110173, Temperature alarm from sensor

DescriptionTask: argThe sensor temperature is out of admitted bounds.arg

110174, Value to sensor out of range

DescriptionTask: argThe value sent to the sensor is out of bounds.arg

110175, Camera check failed

DescriptionTask: argIt was not possible to perform a sensor camera check.arg

110176, Sensor communication time out

DescriptionTask: argTimeout occured in communication with the sensor.arg

110177, Tracker calibration error

DescriptionTask: argSensor: argIt was not possible to perform a valid tracker calibration.

ConsequencesThe sensor arg is not calibrated, thus should not be used fortracking.

Probable causesThe average calibration precisions obtained in the x-, y-, z-directions of the sensor tool are: arg. The desired ones are:arg.




Recommended actionsVerify that the calibration plate has not been moved. Check thesensor settings. Start LTC to run a manual calibration setupfollowed by a new calibration.

110178, Tracker verification error

DescriptionTask: argSensor: argIt was not possible to perform a valid tracker calibrationverification.

ConsequencesThe sensor arg does not meet the calibration precision and willtherefore be unreliable for tracking.

Probable causesThe average verification precisions obtained in the x-, y-, z-directions of the sensor tool are: arg. The desired ones are:arg.

Recommended actionsStart LTC to run a manual verification with a different numberof measurements. If problems persist, run a new manualcalibration from LTC.

110179, Left lap joint definition not correct

DescriptionTask: argSensor: argThe definition of the left joint (number arg) is not correct.

ConsequencesIt will not be possible to perform a sensor calibration.

Probable causesThe measure obtained in the y-direction of the sensor tool onthe left lap-joint is : arg mm. The value should be positive.

Recommended actionsCheck the left-lap joint definition (arg) in the sensor's (arg)PCinterface. Possibly switch between the right and left lap-jointdefinitions.

110180, Sensor Calibration Data updated

DescriptionThe sensor calibration data for arg (arg and arg) are updated.Task: arg

Recommended actionsIf you use CAP without RW Arc, you have to rerun the RAPIDinstructionCapLATRSetup arg,arg,arg\SensorFreq:=xxx;to make CAP use the updated sensor calibration data.

110181, Track max incremental corr error

DescriptionTask: arg.Track max incremental corr error.arg.

Recommended actionsCheck \MaxIncCorr in CapLATRSetup.Recovery: arg.

110182, Invalid sensordatatype in Data

DescriptionTask: arg.The value arg for sensordatatype at array index arg is not validarg.

Recommended actionsChange sensordatatype value to a valid value 0, 1 or 2.

110183, Invalid scale in Data

DescriptionTask: arg.The value arg for scale at array index arg is not validarg.

Recommended actionsChange scale value to a valid value 1, 10 or 100.

110184, Error reading Device configuration

DescriptionTask: arg.There was an error when trying to read the configuration forthe Device argarg.

Recommended actionsCheck the Device parameter.

110185, Value larger than sensordatatype allows





Continued

The value arg for sensordatatype at array index arg is to bigfor the sensordatatype argarg.

Recommended actionsChange the value in sensorVarData.

110186, Invalid sensordatatype in Data

DescriptionTask: arg.The value arg for sensordatatype at array index arg is not validfor configured devicearg.

Recommended actionsChange sensordatatype value to a valid value 0 or 1.

110203, Application error

DescriptionTask: argThe maximum program number, 'DA_PROG_MAX' is above thenum data type limit.Current value: arg

ConsequencesThe maximum configured program number will not be set.

Probable causesThe specified program number arg is above the maximuminteger value for the num data type, max value 8388608.

Recommended actionsCheck the program.


DescriptionTask: argAny return code other than DAOK is rejected from arg

Recommended actions


DescriptionTask: argForward sequence jumping is not allowed.

Recommended actionsCheck the program sequence.


DescriptionTask: argMissing I/O-signal arg.

Recommended actionsCheck the I/O configuration.


DescriptionTask: argProcess number arg of application arg was already installed.

Recommended actions


DescriptionTask: argNumber arg is not a valid start number.

Recommended actions


DescriptionTask: argThe user hook arg is not a valid sequence entry.

Recommended actionsCheck the program sequence.


DescriptionTask: argThe program number arg is above the num data type limit.

ConsequencesThe program number will not be set.

Probable causesThe specified program number arg is above the maximuminteger value for the num data type, max value 8388608.



DescriptionTask: argThe instruction arg reported a fatal error.




Line: arg.



DescriptionTask: argarg tried to use a non existent process descriptor.A fatal error in damastr class.arg

Probable causesThe XXShPowerOn has not been executed.

Recommended actionsCheck if XXShPowerOn was done.


DescriptionTask: argarg tried to use a non existent application descriptor.arg

Probable causesThe XXShPowerOn has not been executed, or to few DA_PROCtask are specified.

Recommended actionsCheck if XXShPowerOn was done.If using only DAP you should save a sys.cfg, and add a newDA_PROCX task in that file. Check what files are loaded forDA_PROC1 task and add them to your new task.


DescriptionTask: argAttempt to install a process numberoutside it's limits.argarg

Recommended actionsCheck the program, max number of processes are limited to 4.


DescriptionTask: argThe user data variable choice does not exist.arg

arg


DescriptionTask: argThe user data variable has incorrect type.argarg


DescriptionTask: argThe internal process data type lacks daintdata as first element.argarg



DescriptionTask: argThe user data type definitions exceed the maximum datastorage size.argarg



DescriptionTask: argThe user data type definitions does not correspond to what wasdefined.argarg


DescriptionTask: argAn error occurred while attempting to reload the Power Failurearea.An automatic restart of the processes will not be possible.argarg




Continued


DescriptionTask arg:Error from arg . The data type definitions exceed the maximumdata storage size.arg

Recommended actionsCheck the data size.


DescriptionTask arg:Not possible to execute instruction in motors off state for servotool arg .

Recommended actionsRetry after setting motors on.

110231, Application process time warning

DescriptionTask arg:arg. Max process time exceeded, waiting for process complete.Time: arg s.

Recommended actionsCheck the application code for any delays preventing theprocess to finish.


DescriptionTask: argThe max string length of the parameter arg is 5 characters.Current used name is arg.See specification in arg.arg

Recommended actionsCheck the length of the string data value.


DescriptionTask: argThe specified signal arg in the instruction arg has no reference.arg

Probable causesThe signal reference is not valid, no AliasIO has been done orthe signal is write protected in the EIO configuration..

Recommended actionsCheck the EIO configuration.


DescriptionTask: argThe optional signals \arg and \arg must be used together.See specification in arg.arg



DescriptionTask: argThe parameter arg of the instruction arg is not an array.arg

Recommended actionsCheck the data definition.


DescriptionTask: argThe dimension of the data array arg is to big.See specification in arg.arg

Recommended actionsCheck the data declaration.


DescriptionTask: argThe array arg of the instruction arg is not right defined.arg

Recommended actionsCheck the data against the specification.


DescriptionTask: argThe event time array element arg.arg is less than 0.See specification in arg.arg




Recommended actionsCheck the time event data.


DescriptionTask: argThe data selector arg in the instruction arg is not valid.arg

Recommended actionsCheck the selector against the specification.


DescriptionTask: argThe selector arg in the instruction arg is not valid.arg



DescriptionTask: argThe selector arg in the instruction arg is not valid.arg


110311, No Spot task

DescriptionTask: argNo motion task is configured for Spot.arg

Probable causesCheck the configuration

110312, Wrong number of DAPROC tasks

DescriptionTask: argError from arg. arg DA_PROC task(s) are configured in thesystem. Number of daprocs must be in the interval 1 - arg.arg


110313, Not possible to activate/deactivate

DescriptionTask: argError in arg. This daproc is not possible to activate/deactivate.arg

Recommended actionsCheck index in the daproc descriptor.

110401, Gas supervision

DescriptionTask:argargGas supervision signal not set at start of welding.

Recommended actionsCheck the gas equipment.Recovery: You might want to handle errno arg in your errorhandler.

110402, Water supervision

DescriptionTask: argargWater supervision signal not set at start of welding.

Recommended actionsCheck the water cooling equipment.Recovery: You might want to handle errno arg in your errorhandler.

110403, Arc supervision

DescriptionTask: argargArc ignition supervision signal not set at start of welding.

Recommended actionsCheck the power source.Recovery: You might want to handle errno arg in your errorhandler.

110404, Voltage supervision

DescriptionTask: argargVoltage supervision signal not set at start of welding.




Continued


110405, Current supervision

DescriptionTask: argargCurrent supervision signal not set at start of welding.


110406, Wirefeed supervision

DescriptionTask: argargWirefeed supervision signal not set at start of welding.

Recommended actionsCheck the wirefeed unit.Recovery: You might want to handle errno arg in your errorhandler.

110407, Wirestick supervision

DescriptionTask: argargWirestick supervision signal set at start of welding.

Recommended actionsCheck, if the wire got stuck at the object.Recovery: You might want to handle errno arg in your errorhandler.

110408, Arc ignition failed

DescriptionTask: argargArc ignition failed at start of welding.

Recommended actionsCheck the welding equipment.Recovery: You might want to handle errno arg in your errorhandler.

110409, Schedule strobe undefined

DescriptionTask: argargSchedule strobe undefined.

Recommended actionsDefine a weld schedule strobe input.Recovery: You might want to handle errno arg in your errorhandler.

110410, Schedule transfer error

DescriptionTask: argargIt was not possible to transfer the schedule.

Probable causesThe schedule port was busy with previous transfer.

Recommended actionsRecovery: You might want to handle errno arg in your errorhandler.

110411, Process stopped

DescriptionTask: argargProcess was stopped by the digital input 'stop process'.

Recommended actionsCheck the digital input 'stop process'.Recovery: You might want to handle errno arg in your errorhandler.

110412, Arc fill ignition failed

DescriptionTask: argargArc fill ignition failed.


110413, Torch supervision





argTorch supervision signal went low during welding.


110414, Weld supervision

DescriptionTask: argargWeld ignition supervision signal not set at start of welding.


110415, Weld Off Supervision timeout

DescriptionTask: argargThe ArcEst signal was not reset at the end of the weld withinthe specified time. (arg seconds)

Recommended actionsCheck the welding equipment and/or adjust the Weld Off timeoutvalue,found in Arc Equipment Properties.

110416, Weld Off Supervision timeout

DescriptionTask: argargThe WeldOK signal was not reset at the end of the weld withinthe specified time.(arg seconds)

Recommended actionsCheck the welding equipment and/or adjust the Weld Off timeoutvalue,found in Arc Equipment Properties.



Gas supervision signal went low during welding.Seam name: arg.Time from weld start: arg min.

Recommended actionsCheck the gas equipment.Recovery: You might want to handle errno arg in your errorhandler.


DescriptionTask: argargWater supervision signal went low during welding.Seam name: arg.Time from weld start: arg.

Recommended actionsCheck the cooling water equipment.Recovery: You might want to handle errno arg in your errorhandler.


DescriptionTask: argargArc supervision signal went low during welding.Seam name: arg.Time from weld start: arg.



DescriptionTask: argargVoltage supervision signal went low during welding.Seam name: argTime from weld start: arg.





Continued


DescriptionTask: argargCurrent supervision signal went low during welding.Seam name: argTime from weld start: arg



DescriptionTask: argargWirefeed supervision signal went low during welding.Seam name: argTime from weld start: arg

Recommended actionsCheck the wirefeed unit.Recovery: You might want to handle errno arg in your errorhandler.

110427, Process stopped

DescriptionTask: argargProcess was stopped during welding by the digital input 'stopprocess'.Seam name: argTime from weld start: arg



DescriptionTask: argargTorch supervision signal went low during welding.Seam name: arg.Time from weld start: arg.



DescriptionTask: argargSeam name: arg.Time from weld start: arg.



DescriptionTask: argargArc ignition failed during crater fill.Seam name: arg.Time from weld start: arg.


110431, Weld supervision

DescriptionTask: argargWeld supervision signal went low during welding.Seam name: arg.Time from weld start: arg.



DescriptionTask: argargSeam name: arg.




Time from weld start: arg.

Recommended actionsCheck the welding equipment. Signal WeldOK.Recovery: You might want to handle errno arg in your errorhandler.


DescriptionTask: argargArc ignition failed with signal WeldOk during crater fill.Seam name: arg.Time from weld start: arg.

110435, User defined signal supervision

DescriptionTask: argargUser defined signal defined by USERIO1 went low duringwelding.Seam name: arg.Time from weld start: arg.






DescriptionTask: argargUser defined signal defined by USERIO3 went low duringwelding.Seam name: arg.










DescriptionTask: argUser defined signal arg defined by USERIO1 went low duringwelding.








Continued

User defined signal arg defined by USERIO3 went low duringwelding.






DescriptionTask: argargGas supervision signal went low during welding.Seam name: argTime from weld start: arg.


DescriptionTask: argargWater supervision signal went low during welding.Seam name: argTime from weld start: arg.


DescriptionTask: argargArc supervision signal went low during welding.Seam name: argTime from weld start: arg.


DescriptionTask: argargVoltage supervision signal went low during welding.Seam name: arg



DescriptionTask: argargCurrent supervision signal went low during welding.Seam name: argTime from weld start: arg.


DescriptionTask: argargWirefeed supervision signal went low during welding.Seam name: argTime from weld start: arg.


DescriptionTask: argargTorch supervision signal went low during welding.Seam name: argTime from weld start: arg.

110460, Weld Error Recovery

DescriptionPROC Parameters was loaded by argConfiguration of Weld Error Recovery is Complete.


DescriptionPROC Parameters for Weld Error Recovery could not be loadedin task arg


DescriptionRobot arg moved from error location.Robot will attempt to move back to the error location.

110463, Weld Error Recovery Failed

DescriptionIncorrect Weld Error Recovery Usage.




A user-defined service routine must return the robot to within50mm of breakpoint.

Recommended actionsRe-program your service routine.

110464, EquipmentClass Error

DescriptionTask: argThe Specified EquipmentClass arg could not be unloaded.

110465, EquipmentClass Error

DescriptionTask: argThe Specified EquipmentClass arg could not be found at path:arg

110466, RW Arc Installation

DescriptionWeld System arg (of arg installed) started in task argActive EquipmentClass argStatus OK


DescriptionDeactivation and Unload of EquipmentClass arg failed.


DescriptionWeld System arg deactivated in task argStatus OK


DescriptionLoad and Init of EquipmentClass arg failed.

110470, Configuration Parameter Error

DescriptionTask: argPROC Configuration Parameter argargcould not be found in cfg database.

Recommended actionsCheck the installation of PROC domain parameters.

110471, Undefined Signal Error

DescriptionargFailing signal during weld phase arg could not be determined.

110472, Configuration Parameter Error

DescriptionTask: argPROC Configuration Parameter argargis a required parameter.


110473, Weld Equipment Error

DescriptionTask: argargError: arg(format: ErrorCode ErrorText)

Recommended actionsCheck the Power Source.

110474, RW Arc EIO signal error

DescriptionThere is no communication with signal arg on unit arg.

ConsequencesWelding will not be possible without communication with thisEIO unit.

Recommended actionsCheck the communication link with the EIO unit.

110475, Calibration variable missing

DescriptionTask: argNo Calibration variable is specified in Arc Sensor Properties.Default calibration data is used. arg=arg

ConsequencesCalibration data is needed for optimal sensor performance.

110476, Calibration variable error





Continued

The specified Calibration variable arg in in Arc SensorProperties could not be found in any loaded RAPID modules.Default calibration data is used. arg=arg

ConsequencesCalibration data is needed for optimal sensor performance.

Recommended actionsCheck variable name in Arc Sensor Properties and make surethat the Sensor Calibration program is loaded.

110477, Device name mismatch

DescriptionTask: argDevice name arg in in Arc Sensor Properties andCommunication settings does not match.

ConsequencesThe same device name must be specified in both Arc SensorProperties and Communication settings for the sensor to workproperly.

110478, Process stop due to WDM Stability error


ConsequencesRW Arc has stopped the welding process due to a Weld DataMonitor stability infraction.

Recommended actionsSee Weld Data Monitor elog for more information.

110479, Process stop due toWDMSignature error


ConsequencesRW Arc has stopped the welding process due to a Weld DataMonitor signature infraction.

Recommended actionsSee Weld Data Monitor elog for more information.

110480, Arc Welding Task Busy


Serious File System problem encountered.

Recommended actionsThe Controller must be restarted to solve the problem.

110481, System Retry limit

DescriptionTask: argargMax number of retries has been reached on system level.System Misc, NoOfRetry=arg

Recommended actionsIncrease parameter value to avoid reaching the limit.

110482, Sensor calibration data updated

DescriptionSensor calibration data updated in task: argActive calibration data: arg=arg

110490, Weld Error Recovery IO Error

DescriptionTask: argargThe breakout input was left on. The external device must resetthe signal.The Weld Error Recovery IO interface is disabled. Respond toFlexPendant.


DescriptionTask: argargInvalid response arg supplied on signal agiWER_Response.Valid range: (arg)Request has been changed to Abort.


DescriptionTask: argargEscape option is not available. Request has been changed toMoveOut.





DescriptionTask: argargSystem is waiting for the diWERAck input to go low.


DescriptionTask: argargSupplied value on giWER_Response (arg) is not within range:(arg)Request has been changed to: arg

110495, Weld Error Recovery IO Interface

DescriptionTask: argThe Weld Error Recovery IO Interface is successfully configuredfor argand is ready for use.

110496, IO signal not found

DescriptionTask: argConfigured IO signal does not exist in system.Configured parameter: arg.Signal name: arg.


110500, Track error

DescriptionTask: argargThe maximum distance ['blindcount'(trackdata)] without newcorrections is exceeded. The robot controller has not been ableto calculate valid corrections.

ConsequencesThe robot is stopped.

Probable causes1. The sensor does not send valid measurements, i.e. cannotsee the seam.2. the relationship between sensor look-ahead (la), sensorfrequency (f) and travel speed (v) is bad. It has to fulfill

a) 1 < (la / v) * f < 200 (internal track buffer size)b) la / v > 0.5 s (internal delay)

Recommended actionsCheck sensor mounting, sensor setup, travel speed andtrackdata.Recovery: You might want to handle errno arg in your errorhandler.

110501, Track start error

DescriptionTask: argargNot any valid correction data from the sensor while executingthe current ArcX instruction.

Recommended actionsCheck sensor setup and trackdata. Recovery: You might wantto handle errno arg in your error handler.

110502, Track correction error

DescriptionTask: argargThe correction is too big.

Recommended actions1. Check that the seam definitions in the program reflect theactual seams. 2. Increase 'max_corr' in 'trackdata'. Recovery:You might want to handle errno arg in your error handler.

110503, Illegal arcflydata specified

DescriptionTask: argargThe value of parameter arg in arcflydata is arg

ConsequencesFlying arg will not work correctly with this value.

Recommended actionsIncrease the value of arg in arcflydata to a value greater thanzero.

110504, Illegal flydata combination

DescriptionTask: argargFlying arg is not possible with finepoint.




Continued

ConsequencesThere will be no flying arg

Recommended actionsChange to zonepoint in ArcXarg instruction.

110505, Illegal zonepoint specified

DescriptionTask: argargA zonepoint is used in the weld arg instruction without anyoptional arcflydata in the instruction.

ConsequencesThe zonepoint will be converted to a finepoint.

Recommended actionsAdd the optional argument arcflydata to the ArcXarg instructionif flying arg is wanted.

110506, Illegal arcflydata combination

DescriptionTask: argargThe arcflydata parameter arg has a value which is greater thanthe value of parameter arg.

ConsequencesThe value of arg will be reduced to the value of arg.

Recommended actionsReduce the value of parameter arg so that the value is lowerthan or equal to the value of parameter arg.

110507, RW Arc EIO signal error

DescriptionTask: argargThe value of arg for signal arg is below its minimum logicalvalue (arg)

ConsequencesThe value of signal arg will be set to the minimum value arg.

Recommended actionsCheck the values of arg components in seamdata and welddata.Change the value or change the min logical parameter for signalarg to avoid this message.

110508, Wirestick supervision

DescriptionTask: argargWirestick supervision signal set at end of welding.

Recommended actionsCheck, if the wire got stuck at the object.Recovery: You might want to handle errno arg in yourerrorhandler.

110509, Weld Repair notification

DescriptionWelding was interrupted in task arg at seam argAn attempt to re-weld the interrupted seam will now be made.Program ref. arg

Probable causesDisturbances in the welding process.


DescriptionThe weld seam arg was successfully re-welded in task argProgram ref. arg


DescriptionThe weld seam arg in procedure arg in task arg was skipped.The maximum number of weld errors (arg) on seam arg wasreached.Program ref. arg.


DescriptionThe weld seam arg in procedure arg in task arg was skipped.The maximum number of retries (arg) on seam argwas reached.Program ref. arg.

110513, Error in Arc instruction synchronization

DescriptionTask: argarg.This robot is welding synchronized with a non-welding externalaxis or robot in task arg.




The weld end instructions are synchronized, so thecorresponding ArcMoveXXX instruction must be used in thenon-welding external axis or robot.

Recommended actionsUse ArcMoveXXX instruction in the non-welding external axisor robot.

110514, Illegal superv_distance specified

DescriptionTask: argarg.The value of parameter superv_distance is arg.

ConsequencesFlying start will not work correctly with this value.

Recommended actionsIncrease the value of superv_distance to a value greater thanzero.

110515, Illegal flyStart parameter combination

DescriptionTask: argarg.FlyStart can not be used at the same time as arg.

ConsequencesFlying start will not be enabled.

Recommended actionsRemove arg if flying start shall be used.

110516, Tracking Interface missing

DescriptionTask: arg.The system is missing the controller option 1553-Trackinginterface.

ConsequencesTracking will not be possible.

Recommended actionsInstall the controller option 1553-Tracking Interface.

110517, Fronius Tracking Equipment

DescriptionTask: arg.Fronius Tracking Equipment is activated.Version: arg.

Last modified: arg.

ConsequencesSeamtracking will be possible.


DescriptionTask: argFronius Tracking Equipment is deactivated.Version: arg.Last modified: arg.

ConsequencesSeamtracking will not be possible.

Probable causesController option 1553-Tracking Interface is missing.

Recommended actionsInstall the controller option 1553-Tracking Interface.


DescriptionTask: arg.Fronius Tracking Equipment configuration failed.

ConsequencesSeamtracking will not be possible.


110600, Spot Startup completed

DescriptionSpot startup was completed without errors.Task: arg

110601, Invalid configuration

DescriptionTask: argThe number of configured equipments in the system are lessthan one(1).Number of equipments: arg.

ConsequencesIt will not be possible to run any spot instructions.

Probable causesNo equipments are defined in the 'Spot Equipments'configuration.




Continued

Recommended actionsAdd one or more equipment instance(s) in the 'Spot Equipments'configuration.

110602, Invalid configuration

DescriptionTask: argThe number of configured equipments are more than 10.Number of equipments: arg.

ConsequencesIt will not be possible to run any spot instructions.

Probable causesToo many equipments are defined in the 'Spot Equipments'configuration.

Recommended actionsRemove equipment instances in the 'Spot Equipments'configuration.

110603, Optional argument error

DescriptionTask: argNo optional argument has been selected.At least one optional argument is required.

ConsequencesThe instruction will not work correctly.

Recommended actionsSelect an optional argument for this instruction.

110604, User hook execution time

DescriptionTask: argThe execution time for this user hook is too high.User hook: argExecution time greater than: arg s.

Recommended actionsReduce time consuming code in the user routine.

110605, Pre-position value error

DescriptionTask: argThe optional argument PrePos are less than zero(0).

ConsequencesIt will not be possible to run this instruction until the argumentare changed.

Recommended actionsChange the value to a higher value than zero (0).

110606, Gun not activated

DescriptionTask: argThe servo gun arg is not activated.

ConsequencesIt will not be possible to run any spot instructions until the servogun is activated.

Probable causesThe servo gun has not been activated before trying to run thisinstruction.

Recommended actionsActivate the servo gun arg.Use the instruction 'ActUnit' to activate the servo gun, or setthe 'Activate at Start Up' motion parameter to yes.

110607, Gun position not initialized

DescriptionTask: arg.The gun position is not initialized for the servo gun arg.A gun init calibration is needed to find the contact position ofthe gun.

ConsequencesIt will not be possible to run any spot instructions until a guninit calibration is done.

Probable causesThe servo gun has probably been fine calibrated and a gun initcalibration has not been done.

Recommended actionsRun the service routine 'ManualServiceCalib' to find the contactposition of the gun, use option 2 - Initialize the servo gunposition.

110608, Gun position not synchronized

DescriptionTask: arg.The gun position is not synchronized for the servo gun arg.A gun synchronization calibration is needed to find the contactposition of the gun.




ConsequencesIt will not be possible to run any spot instructions until a gunsynchronization calibration is done.

Probable causesThe revolution counters for the servo gun has probably beenupdated and a gun synchronization calibration has not beendone.

Recommended actionsRun the service routine 'ManualServiceCalib' to find the contactposition of the gun, use option 1 - Synchronize the servo gunposition.

110609, Gundata array index out of bounds

DescriptionTask: argThe configured data size of the gundata array is wrong.Current size: arg

Probable causesWrong gundata data size has been defined, it does not matchthe number of configured gun equipments in the system.

Recommended actionsCheck that the configured gundata array has the correct size.

110610, Gun name error

DescriptionTask: argThe servo gun arg specified in gundata {arg}, does not exist inthe motion parameters.

ConsequencesIt will not be possible to run any spot instruction until a validservo gun name (mecunit) is specified in gundata.gun_name.

Probable causesThe specified gun name does not match any mechanical unitin the system or no configuration parameters for a servo gunhas been loaded.

Recommended actions1. Load configuration parameters for the servo gun.2. Run the service routine 'ManualGunSearch' to search thesystem for servo guns and to update the gun name parameterin gundata,

110611, Invalid data value


Invalid value of data arg. Allowed values are arg to argCurrent value is arg

ConsequencesIt will not be possible to run this instruction until this data ischanged.

Probable causesAn invalid value is used.

Recommended actionsChange the value of arg.

110612, Invalid robot number

DescriptionTask: argInvalid robot number, robot number arg.

Recommended actionsCheck that arg was done.

110613, Invalid error text id

DescriptionTask: argInvalid error number IdInvalid use of arg.Current Error Id: arg

Probable causesThe error number id was larger than arg.

Recommended actionsDon't use arg. This routine is for the Spot application use only.

110614, Water flow supervision alarm

DescriptionTask: argThe water flow sensors indicate an error.

ConsequencesWater has been turned off.

Recommended actionsCheck the water circuit, and the water and air unit.

110615, Gun control in motors off

DescriptionTask: argIt is not possible to close or open the servo gun arg in motorsoff or emergency stop state.




Continued

ConsequencesThe gun has not opened or closed.

Probable causesThe system was set to motors off state during process for somereason.

Recommended actionsGo to motors on state again and restart the instruction.

110616, Weld position aborted

DescriptionTask: argThe weld position was aborted, current rob target arg.Current gun: arg

ConsequencesThis weld position was not welded.The strength of the welded object may have been reduced.

Probable causesThe spot instruction was aborted for some reason, the PP wasmoved or the instruction was skipped.

Recommended actionsCheck that it was OK to skip this position.

110617, Invalid gun type

DescriptionTask: argInvalid value of the gun type data in gundata {arg}.Allowed values for the gun type are: 1 = servo gun or 2 =pneumatic gun.Current value is arg.

ConsequencesThis instruction will not work properly.

Recommended actionsChange the value of the gun type parameter in gundata {arg}.

110618, Invalid gun pre-close time

DescriptionTask: argInvalid value of the pre closing time parameter in gundata {arg}.Allowed interval: 0 to max arg s.Current value: arg s.Current gun: arg

ConsequencesIt will not be possible to run any spot instructions until this valueis changed.

Recommended actionsChange the value of the pre closing time parameter in gundata{arg}.

110619, Invalid gun pre-equalizing time

DescriptionTask: argInvalid value of the pre equalizing time in gundata {arg}.Allowed interval: 0 to max arg s.Current value: arg s.Current gun: arg


Recommended actionsChange the value of pre equalizing time in gundata {arg}.

110620, Invalid weld timeout

DescriptionTask: argInvalid value of the weld timeout parameter in gundata {arg}.Allowed interval: arg to arg s.Current value: arg s.Current gun: arg


Recommended actionsChange the value of the weld timeout parameter in gundata{arg}.

110621, Invalid tip force

DescriptionTask: argInvalid value of the tip force parameter in spotdata.Allowed values are: arg to max arg.Current value: arg.


Recommended actionsChange the value of the tip force parameter in spotdata or checkthat the correct external data is used via the gun force groupinput (GI).




110622, Invalid plate thickness

DescriptionTask: argInvalid value of the plate thickness parameter in spotdata.Allowed values are: 0 to max arg mm.Current value: arg mm.


Recommended actionsChange the value of the plate thickness parameter in spotdataor check that the correct external data is used via the platethickness group input (GI).

110623, Invalid plate tolerance

DescriptionTask: argInvalid value of the plate tolerance parameter in spotdata.Allowed values are: 0 to max arg mm.Current value: arg mm.


Recommended actionsChange the value of the plate tolerance parameter in spotdataor check that the correct external data is used via the platetolerance group input (GI).

110624, Invalid program number

DescriptionTask: argInvalid value of the weld timer program number parameter inspotdata.Allowed values are: 0 to max arg.Current value: arg.


Probable causesThe program number parameter in spotdata has an invalidvalue.

Recommended actionsChange the value of the program number parameter in spotdataor check that the correct value is used as targetid or spotid.

110625, Invalid simulation type

DescriptionTask: argInvalid value of the simulation type parameter in simdata.Allowed values are: 0 to arg.Current value: arg.


Recommended actionsChange the value of the simulation type parameter in simdata

110626, Invalid tip force

DescriptionTask: argInvalid value of the tip force parameter in forcedata.Allowed values are: 0 to arg.Current value: arg.


Recommended actionsChange the value of the tip force parameter in forcedata.

110627, Invalid plate thickness

DescriptionTask: argInvalid value of the plate thickness parameter in forcedata.Allowed values are: 0 to max arg mm.Current value: arg mm.


Recommended actionsChange the value of the plate thickness parameter in forcedata.

110628, Invalid plate tolerance

DescriptionTask: argInvalid value of the plate tolerance parameter in forcedata.Allowed values are: 0 to arg mm.Current value: arg mm.




Continued


Recommended actionsChange the value of the plate tolerance parameter in forcedata.

110629, Invalid force time

DescriptionTask: argInvalid value of the force time parameter in forcedata.Allowed values are: arg to arg s.Current value: arg s.


Recommended actionsChange the value of the force time parameter in forcedata.

110630, Weld complete timeout

DescriptionTask: argargCurrent robtarget: argCurrent gun: arg

ConsequencesThe weld was not completed.

Probable causesThe weld controller did not reply with weld complete within theconfigured time.

Recommended actions1. Try to reweld the position.2. Check the weld controller for any errors.3. Increase the weld timeout parameter in gundata {arg}.

110631, External weld fault reported

DescriptionTask: argargCurrent robtarget: argCurrent gun: arg

ConsequencesThe weld was not completed.

Probable causesThe weld controller reported an error and stopped the weldsequence.

Recommended actions1. Check the event log for additional weld timer error logs (ifBosch).2. Check the weld controller for any errors.

110632, Tip wear ratio not allowed

DescriptionTask: argTip wear ratio only allowed when using the ReCalcTcp method.

ConsequencesIt will not be possible to run this instruction.

Recommended actionsCheck that the tip wear ratio parameter is set to 'Deactivated'before running this routine. Configuration - Process - Spot GunEquipment

110633, No mechanical unit

DescriptionTask: argargThe servo gun does not exist in the motion parameters, noservo gun parameters has been loaded.Current gun name: arg.

ConsequencesIt will not be possible to run any spot instructions until aconfiguration for a servo gun is added.

Probable causesNo configuration for servo gun parameters has been loaded.

Recommended actionsLoad configuration for servo gun.

110634, Configuration data limit error

DescriptionTask: argThe data value is outside the limit.

Recommended actionsChange the value.




110635, Tip position error

DescriptionTask: argTip position error.argCurrent gun: arg

Probable causes1. The geometry of the plates are wrong or the tips aredamaged.2. The value of the plate thickness parameter in arg is not thesame as the actual thickness of the plates.

Recommended actions1. Check that the thickness of the plates are correct andcorresponds to the value in the plate thickness parameter inarg.2. Check that the tips are OK.

110636, Process error

DescriptionTask: argargargCurrent gun: arg

ConsequencesThe position was not welded.

Probable causesAn error occurred before the weld process was started in theconnected equipment.

Recommended actionsCheck the connected equipment.

110637, Text index too high

DescriptionTask: argText index out of bounds in SwTextGet.Current index number: arg

Probable causesThe index number is too high.

Recommended actionsChange the index number.

110638, Weld program valid timeout

DescriptionTask: argThe weld controller did not reply with 'valid weld program' signalwithin the configured time.Current robtarget: argCurrent weld program: arg

ConsequencesThe weld will not start until the 'valid weld program' signal isset by the weld controller.

Recommended actions1. Check that the weld program valid signal is set in the weldcontrolller.2. Check that the configured program valid timeout time is bigenough.

110639, Configuration error

DescriptionTask: argProcess configuration data can not be found in cfg.Cfg path: arg

ConsequencesIt will be possible to run the application, but internal defaultvalues will be used instead of the missing configuration data.

Probable causesNo process configuration data has been loaded.

Recommended actionsLoad the missing configuration data and restart the system.

110640, Missing signal error

DescriptionTask: argThe signal arg is missing in the EIO configuration.

ConsequencesIt will not be possible to use some internal functionality.

Probable causesThe signal arg was removed from the EIO configuration.

Recommended actionsAdd the missing signal arg.

110641, Invalid simulation time





Continued

Invalid value of the simulation type parameter in simdata.Allowed values are: 0 to arg s.Current value: arg s.


Recommended actionsChange the value of the simulation type parameter in simdata.

110642, Reduced speed not allowed

DescriptionTask: argIt is not possible to run with reduced speed when softwareequalizing is active.Allowed value (in percent): arg %.argarg

ConsequencesThe instruction will not work until this value is changed.

Probable causesThe speed was probably lowered by the operator.

Recommended actionsSet the speed to arg %.

110643, Gun conflict error

DescriptionTask: argMore than one robot try to use the same gun at the same time.arg

ConsequencesAll the robots in the system are stopped.

Probable causesThe same gun is used from more than one motion task.

Recommended actionsChange the gun number or wait for the other robot to finish.You have to deactivate the used gun before another robot canuse it.

110644, Reference measurement already done

DescriptionTask: argA reference measurement has already been done.Instruction: arg

Probable causesThis instruction was run a second time with the reference switchselected.

Recommended actionsIf a new reference has to be done because the referenceposition has been moved, the \RefChange switch should beused instead.


DescriptionTask: argSoftware equalizing error.The instructions SpotML and SpotMJ can not be used with thesoftware equalizing functionality activated.

ConsequencesIt is not possible to run this instruction with software equalizingactivated.

Recommended actionsTurn off the software equalizing configuration for the specificgun(s) and run the instruction without software equalizing.Configuration - Process - Spot Gun Equipment

110646, Invalid release distance

DescriptionTask: argInvalid value of the release distance parameter in gundata {arg}.Allowed interval: 0 to max arg mm.Current value: arg mm.Current gun: arg


Recommended actionsChange the value of the release distance parameter in gundata{arg}.

110647, Invalid deflection distance

DescriptionTask: argThe calculated deflection distance for this gun is invalid.Allowed interval: -arg to max arg mm.Current value: arg mm.Current gun: argdeflection = spotdata.tip_force * gundata{arg}.deflection_dist /gundata{arg}.deflection_force





Probable causesA too big gun deflection value has been entered in gundata{arg}, or the deflection force in gundata is set too low.

Recommended actionsCheck the deflection distance and the deflection force ingundata {arg}.

110648, Invalid deflection time

DescriptionTask: argThe value of the deflection time parameter in gundata {arg} isinvalid.Allowed values are: > 0 to max arg s.Current value: arg s.Current gun: arg


Probable causesA too high gun deflection time has been specified ingundata{arg}.

Recommended actionsCheck the value of the deflection time parameter in gundata{arg}.

110649, I/O signal error

DescriptionTask: argIt is not possible to set the signal, the I/O unit is lost.

ConsequencesThe signal will not be set.

Probable causesThe power to the IO unit is lost or the cable is damaged.

Recommended actions1. Check the power to IO units.2. Check that the cabling is OK.

110650, Search error

DescriptionTask: argTouch up error, no surface, or sensor signal was found duringthe search sequence.Current gun: arg

ConsequencesThe tool will not be updated.

Probable causesCheck for missing or wrong tips and the reference plate islocated in the correct position.

Recommended actions1. Check that the correct tips are mounted on the gun.2.Check that the reference plate is in the correct position, orcheck that sensor is working properly.3. Increase the 'MeasureWearL movein distance' parameter.Configuration/Process/Spot SoftWare Equalizing

110651, Unexpected tip size after change

DescriptionTask: argNew tips with unexpected size, the size of the tips exceeds theconfigured tip change supervision value.Difference between new and old (worn) tips): arg mm.Tip change tolerance: arg to arg mm.Current gun: arg

Probable causesTips with unexpected size was mounted on the gun or the sizeexceeds the maximum allowed value defined in the tip changetolerance configuration data.Configuration/Process/Spot Gun Equipment/Tip changesupervision value.Current value: {arg} mm.

Recommended actions1. Check that the correct tips are mounted on the gun.2. Check that the maximum allowed supervision value is bigenough.

110652, Touch up force error

DescriptionTask: argThe calculated touch up force is to high!Overload at least of axis arg.

Probable causesThe touch up contact force is probably too high.

Recommended actionsLower the setup data for touch up contact force.Configuration/Process/Spot SoftWare Equalizing/MeasureWearLTouchup force.




Continued

110653, Unexpected tip size moveable tip

DescriptionTask: argNew moveable tip with unexpected size, the size of the tipsexceeds the configured tip change supervision value.Difference between new and old (worn) tips): arg mm.Tip change tolerance: arg to arg mm.Current gun: arg

Probable causes1. Tips with unexpected size was mounted on the gun.2. The size exceeds the maximum allowed value defined in thetip change supervision configuration data.Configuration/Process/Spot Gun Equipment/Tip changesupervision value.


110654, Unexpected tip size fixed tip

DescriptionTask: argNew fixed tip with unexpected size, the size of the tips exceedsthe tip change supervision value.Difference between actual tip and reference tip: arg mm.Tip change tolerance: arg to arg mm.Current gun: arg

Probable causes1. Tips with unexpected size was mounted on the gun.2. The size exceeds the maximum allowed value defined in thetip change supervision configuration data.Configuration/Process/Spot Gun Equipment/Tip changesupervision value.


110655, Tip wear out of range moveable tip

DescriptionTask: argTip wear out of range, the tip wear exceeds the configured tipwear supervision value.Actual tip wear (moveable tip): arg mm.Tip wear tolerance: arg to arg mm.

Current gun: arg

Probable causesThe current tip wear exceeds the maximum allowed valuedefined in the tip wear supervision configuration data.Configuration/Process/Spot Gun Equipment/Tip wearsupervision value.

Recommended actionsCheck that the maximum allowed supervision value is bigenough.

110656, Tip wear out of range fixed tip

DescriptionTask: argTip wear out of range, the tip wear exceeds the configured tipwear supervision value.Actual tip wear (fixed tip): argmm.Tip wear tolerance: arg to arg mm.Current gun: arg

Probable causesThe current tip wear exceeds the maximum allowed valuedefined in the tip wear supervision configuration data.Configuration/Process/Spot Gun Equipment/Tip wearsupervision value.

Recommended actionsCheck that the maximum allowed supervision value is bigenough.

110657, Independent mode error

DescriptionTask: argIt is not possible to use independent gun mode in Spotinstructions when software equalizing is activated.Current gun: arg

ConsequencesIt will not be possible to run any spot instruction until theindependent mode is deactivated.

Probable causesThe independent gun mode is activated.

Recommended actionsReset the independent mode with the instruction'IndGunMoveReset'.




110658, Singularity error

DescriptionTask: argThe robot is close to singularity. The performance of theSoftware Equalizing will be poor.

ConsequencesThe performance of the Software Equalizing will be poor.

Probable causesThe robot is close to singularity.

Recommended actionsReorient the robot or move the point.

110659, Robot outside working area

DescriptionTask: argThe robot is outside it's working area.

ConsequencesThe position is not possible to reach.

Probable causesThe robot is outside it's working area or the robot is very closeto it when the gun arm deflection compensation is working.

Recommended actionsReorient the robot or move the point.

110660, User module version warning

DescriptionTask: argThe version number of the user module(s) are older than thecurrent spot application versionCurrent version of the spot application, arg.Currently loaded user module and version number, arg, arg.

ConsequencesSome functionality might not work correctly since the templateuser modules has changed since previous RobotWare releases.There is a risk that improvements and/or corrections addedsince previous RobotWare releases are unavailable.

Probable causesThe user modules originates from a backup taken from an oldersystem.

Recommended actions1. Compare and upgrade the user modules to the latest versionsupplied in this RobotWare release.2. Load the correct(ed) module(s) and Reset RAPID.

110661, Signal label error

DescriptionTask: argThe 'SignalLabel' name arg is not defined in the I/Oconfiguration.

Probable causesThe 'SignalLabel' name is not defined in the I/O configuration.

Recommended actions1. Check that the 'SignalLabel' is defined in the I/O configuration.2. Add the missing 'SignalLabel'.

110662, Missing user routine

DescriptionTask: argA Spot user routine is missing, routine arg.

ConsequencesThis software option may not work correctly without this routine.

Probable causesThe module with the routine is not loaded or the routine hasbeen removed from the module.

Recommended actions1. Check that the module with the routine is loaded.2. Load or add the missing module or routine.

110663, User data missing

DescriptionTask: argA Spot user data is missing, data arg.

ConsequencesThis software option may not work correctly without this data.

Probable causesThe module with the data is not loaded or the data has beenremoved.

Recommended actions1. Check that the module with the data is loaded.2. Load or add the missing module or data.

110664, Software equalizing active error

DescriptionTask: argIt is not possible to run synchronized Spot instructions whenthe software equalizing mode is activated.




Continued

It is only possible to run spot instructions with softwareequalizing activated in semi coordinated mode.

ConsequencesIt will not be possible to run any spot instructions with softwareequalizing activated until the synchronized mode is disabled.

Probable causesSynchronized mode is selected in the spot instruction.

Recommended actionsTurn off software equalizing to be able to run in synchronizedmode or change the spot instructions to semi coordinatedmovements instead.

110665, arg

DescriptionTask: argargarg


110666, Servo gun already closed

DescriptionTask: argCan not close a closed servo gun, the servo gun arg is notopen!

Probable causesThe gun is already closed.

Recommended actionsOpen the gun before trying to close it.

110667, Gun force calibration error

DescriptionTask: argForce calibration failed for servo gun arg.Check the force calibration values and try again. Do not restartsystem until a valid force calibration is made.

ConsequencesThe force calibration data will not be saved to the motionparameters.

Recommended actionsCheck the values and try to do a force calibration again.

110668, Plate thickness error ignored

DescriptionTask: argargThe current plate thickness error was ignored.Current gun: argargarg

Probable causesThe operator probably ignored the thickness error.

Recommended actionsCheck that it was OK to ignore the thickness error.

110669, Gun index number out of range

DescriptionTask: argThe gun number arg is not a valid gun number, the gun indexis out of range.Allowed values are: arg to max arg.

ConsequencesIt will not be possible run this instruction until this value ischanged.

Probable causesA gun index number that was out of range was programmed inthe instruction.Current configured size of current gundata is arg.

Recommended actions1. Change the gun index number in the instruction.2. Increase the number of equipments in the configuration, andthe spot application data types if needed.

110670, User module changed

DescriptionTask: argThe routine arg has a newer syntax, the user module haschanged since previous RobotWare releases.Current module: argCurrent version: arg

ConsequencesThis instruction might not work correctly, some data(s) may notbe updated correctly.There is a risk that improvements and/or corrections addedsince previous RobotWare releases are unavailable.




Probable causesThe user modules probably originates from an backup takenfrom an older system.

Recommended actionsCompare and upgrade the user modules to the latest versionsupplied in this RobotWare release.

110671, Module not saved

DescriptionTask: argCould not save the module arg.

ConsequencesThe module arg was not saved.Data needed for the process was not saved and will be lost ifReset RAPID is done.

Probable causesThe module does not exist, or the disk is full or the file is writeprotected.

Recommended actions1. Check that the module exists in the specified location on thedisk.2. Try to save the module manually from the FlexPendant.

110672, Weld program GO limit

DescriptionTask: argThe weld program number is out of limits for the defined weldprogram group output (GO).Current value: arg.


Probable causesThe weld program signal group size is smaller than the specifiedweld program.

Recommended actions1. Increase the size of the weld program output group.2. Decrease the weld program number.

110673, Tool load undefined

DescriptionTask: argThe current used tool seems to have undefined load data.

The load of the tool is less than min. configured value and/orthe center of gravity is not defined correctly.argargarg

ConsequencesIt will not be possible run this instruction until a correctly definedtool is used.

Probable causes'LoadIdentify' for this tool has not been done.

Recommended actionsCheck that the tool is correctly defined before running thisroutine. Run the 'LoadIdentify' routine.

110674, Gun type error

DescriptionTask: argThis routine can not be used with this type of gun.Current gun type: arg.

ConsequencesIt will not be possible run this instruction with this gun type isused.

Probable causesThe gun type parameter in the gun equipment configuration isnot set correctly.

Recommended actionsCheck that the gun type parameter is set to the correct typebefore running this routine. Configuration - Process - Spot GunEquipmentPossible gun types: Servo gun or Pneumatic gun

110675, Process task error

DescriptionTask: argThe number of guns exceeds the number of activated processtasks.Current gun: arg.

ConsequencesIt will not be possible to weld with more guns than the numberof activated process tasks.

Probable causesFaulty configuration.

Recommended actionsRebuild the system with the 'Multiple Gun Support' selected.




Continued

110676, Power on sequence failed

DescriptionTask: argAn error has occured during startup of the system.The power on sequence has not been done.

ConsequencesThe spot application will not work correctly.

Recommended actions1. Check the event log for other errors occurring at the sametime.

110677, Instruction aborted

DescriptionTask: argThe instruction was aborted.Instruction: arg

ConsequencesSome data may not have been correctly updated.

Probable causesThe instruction was aborted by the operator and/or the PP wasmoved.

Recommended actionsCheck that it was OK to abort this instruction.

110678, Reference measurement not done

DescriptionTask: argA reference measurement must be done before a tip wear ortip change measurement can be done.Instruction: arg

Probable causesThis instruction was run for the first time without the referenceswitch selected.

Recommended actionsRun this instruction with the reference switch selected first,\Reference.

110679, Undefined signal

DescriptionTask: argThis signal is not defined in the I/O configuration.Signal: arg

Recommended actionsCheck that the correct name is used in the setup routine or inthe I/O configuration.

110680, Max gun force exceeded

DescriptionTask: argThe externally ordered gun force is too high and will be ignored.Ordered force: arg N.Current force: arg N.Maximum force: arg N.

ConsequencesExecution is stopped.

Probable causesThe ordered gun force is too high and exceeds the maximumallowed force for this gun.

Recommended actionsCheck the weld program in the timer or the setup data'gun_force_factor' value.

110681, Gun force change error

DescriptionTask: argIt is not possible to change servogun force.The parameters in the force calibration table are not correct.squeeze_pos_1 = arg mm.squeeze_pos_2 = arg mm.


Probable causesAn old motion configuration file is being used, or a forcecalibration has not been done.

Recommended actionsPerform a new force calibration or load valid servogunparameters.

110682, Too low gun force

DescriptionTask: argThe ordered gun force is lower than the minimum allowed value.Ordered force: arg N.Minimum force: arg N.Maximum force: arg N.Current robtarget: arg




ConsequencesThe weld quality in this position will be poor.

Recommended actionsCheck that the correct force value is used in the instruction orordered externally.

110683, SoftMove speed warning

DescriptionTask: argThe selected speed is lower than recommended.SoftMove equalizing functionality will not work optimal at toolow speed.Speed override (TP): argVelSet override: arg

ConsequencesLow speed will in many cases increase the inner friction of therobot and that can decrease SoftMove equalizing performance.

Recommended actionsIncrease the speed.

110684, Required signals missing

DescriptionTask: argRequired signals are missing, or I/O device is not running.The signals 'start weld', 'weld complete', 'stop weld' and 'processrun' are required to run the application.

ConsequencesIt is not possible to run the application without one of thesesignals.

Recommended actions1. Check that the configured I/O device is running.2. Add the missing signals to the weld equipment and/orequipment configuration, and restart the system.

110685, Sensor signal missing

DescriptionTask: argNo MeasureWearL sensor signal has been configured.

ConsequencesIt is not possible to run the instruction without the signal.

Recommended actionsAdd the missing signal to the gun equipment configuration, andrestart the system. Configuration - Process - Spot GunEquipment

110686, Invalid deflection force

DescriptionTask: argInvalid value of the deflection force parameter in gundata {arg}.Allowed interval: 0 to max arg arg.Current value: arg arg.Current gun: arg


Probable causes1. Used deflection force is outside limits.2. Deflection distance is used without a specified deflectionforce.

Recommended actionsChange the value of the deflection force parameter in gundata{arg}

110687, Event Preset Time not zero

DescriptionTask arg.Event Preset Time for arg is set to arg.

ConsequencesProcess cycle time will be affected.

Recommended actionsUnless Event Preset Time for arg was set to arg for a reason,consider setting it to 0.

110688, Invalid tw_ref_dist value

DescriptionSanity check for tw_ref_dist for Gun arg failed. Values shouldbe between arg and arg mm.

ConsequencesTip Wear management will not work as intended.

Recommended actionsThe values are normally changed by SpotWare, and should notbe changed by the user in most cases. A new tip wear referencemeasurement might be required.

110689, Force calibration not done





Continued

The gun is not force calibrated and/or a template servogunconfiguration file is loaded. If using a template file an initialforce table can be set by running the service routine'ManualForceCalib' or 'ManualServiceCalib'.Force difference between configured max gun force and lastentry in force calibration table is too big: arg arg.Current gun: arg.


Recommended actionsSet an initial force table or perform a force calibration of thegun with the service routine 'ManualForceCalib'.

110700, No weld internal.

DescriptionTask:argargWeld signal switched off at programming terminal.

Recommended actionsCheck programming unit setting Operating mode for Weldon/off, int.(S)/Weld/No weld (T).

110701, No weld external.

DescriptionTask:argargExternal weld signal was deactivated.

Recommended actionsCheck signal at weld external input.

110702, The weld sequence is inhibited, weldschedule stopped.

DescriptionTask:argargThe started program was inhibited for the sequence/schedule

Recommended actionsEnable program at the programming terminal at Operation -Modify - Programming - Sequence Setup Inhibit Sequence(S)/Start- Inhibit (T) for all programs or Inhibit Sequence(P)/Start-Inhibit (P) for one program - check program selection,select proper program.

110703, No valid weld program, no scheduleprogrammed.

DescriptionTask:argargwrong program selected - invalid spot selection - invalidparameters in started program

Recommended actionsCheck program selection - check spot selection - check valuerange of the following parameters: power unit number,electrode/stepper number, program number.

110704, The battery backup is low.

DescriptionTask:argargThe buffer battery voltage has dropped

Recommended actionsReplace the backup battery in the weldtimer.

110705, Memory has been deleted.

DescriptionTask:argargAll data of this weld timer has been deleted: - new timerfirmware was copied to system - battery is low or defective.

Recommended actionsCopy data (Operation - Services - Restore/Download) if theerror occurs repeatedly, replace timer.

110706, There is a hardware fault.

DescriptionTask:argargDefective module. When booting, a module is detected whichdoes not match the firmware: - a firmware was introduced intothe weld timer which is not permitted for the existing hardware.

Recommended actionsReplace module or timer - replace module - load proper firmwareto the timer.

110707, External temperature too high.

DescriptionTask:arg




argMessage of an external temperature input: - cable betweenthermostatic switch and timer interrupted - insufficient cooling- excessive welding heat/%I / duty cycle

Recommended actionscheck cable/connector - check cooling circuit - reduce weldingheat.

110708, Stop circuit open, no +24V.

DescriptionTask:argarg+24V supply at stop circuit input missing.

Recommended actionsClose stop contact - check +24V supply at the inputs of the stopcircuit.

110709, Circuit breaker tripped, weld withoutcommand.

DescriptionTask:argargThe timer module has activated the main switch relay: therelated main switch/circuit breaker is tripped.

Recommended actions-

110710, Current feedback open.

DescriptionTask:argargBroken sensor cable - detached plug connections - incorrectconnector assignment - defective sensor.

Recommended actionsReplace cable - check plug-in connections - check connectorassignment - replace sensor.

110711, Current feedback short circuit.

DescriptionTask:argargSqueezed sensor cable - incorrect connector assignment -defective sensor.

Recommended actionsReplace cable - check connector assignment - replace sensor.

110712, No primary voltage on first half wave.

DescriptionTask:argargNo primary voltage was measured in KUR mode.

Recommended actionsCheck connectors and cables.

110713, No current, weld 1 to 3.

DescriptionTask:argargElectrodes not closed - no electrical contact at the point to bewelded - contamination of sheets - use of sealant.

Recommended actionsCheck closing mechanisms (robot, machine) - check positionand pressure of electrodes - clean sheets - check conductivity.

110714, Current is too low, weld 1 to 3.

DescriptionTask:argargCurrent measured is below tolerance band: - tolerance bandtoo narrow - programmed value too high, e.g., because ofstepping - contamination of electrodes - contamination of sheets- bad electrode positioning - welding transformer too small.

Recommended actionsCheck tolerance band - check programmed value, steppervalues - repeat weld, clean electrodes - repeat weld, cleansheets - improve positioning - change over or replace weldingtransformer.

110715, Current is too high, weld 1 to 3.

DescriptionTask:argargCurrent measured exceeds tolerance band: - programmed valuejump to lower current values - handling of different sheetthicknesses or sheet layers - variant electrode pressureconditions - variant resistances (impedance) in secondarycircuit, e.g. shunt resistor - mains voltage fluctuations.




Continued

Recommended actionsIncrease tolerance band, reduce programmed value jumps -use several programs with different parameters - checkelectrode force system - check secondary circuit - increasetolerance band, ensure constant conditions.

110716, Current is low in consecutivewelds, weld1 to 3.

DescriptionTask:argargCurrent measured is below the limited tolerance band after nrepetitions: - programmed value jump to higher current values- handling of different sheet thicknesses or sheet layers - variantelectrode pressure conditions - variant resistance conditionsin secondary circuit - mains voltage fluctuations.

Recommended actionsValue jumps - use several programs with different parameters- check electrode force system - ensure constant conditions -increase tolerance band, ensure constant conditions.

110717, Weld time is too short, weld 1 to 3.

DescriptionTask:argargThe permitted time tolerance is not reached - externaltermination of weld signal.

Recommended actionsCheck setting at Operation - Modify - Programming - Weldingparameters - Time monitoring - check signal.

110718, Weld time is too long, weld 1 to 3.

DescriptionTask:argargThe permitted time tolerance is exceeded.

Recommended actionsCheck setting at Operation - Modify - Programming - Weldingparameters - Time monitoring.

110719, Bosch IO signal error

DescriptionTask: argIt is not possible to read the timer status signal, the Bosch timerI/O unit is lost.

ConsequencesIt will not possible to get the timer status.

Probable causesThe power to the Bosch IO unit is lost or the cable is damaged.

Recommended actions1. Check the power to Bosch weld timer.2. Check that the cabling is OK.

110720, Data value outside limits.

DescriptionTask:argProgram Ref. argThe value of 'TimerNo' is outside limits, current value: arg.Allowed values are: 1 to arg.

ConsequencesThe instruction will not work until a valid value is entered.

Probable causesAn invalid value was entered.

Recommended actionsChange the value.Recovery: arg

110721, Empty

DescriptionEmpty

110722, Unknown fault in weld timer.

DescriptionTask:argargThere is a unknown fault in the weld timer, code arg.

Recommended actionsConnect the BOS5000/6000 application and check the reasonfor the fault.

110723, Power unit not ready.

DescriptionTask:argargThe power unit temperature is too high.

Recommended actions1. Check cooling.2. Check duty cycle, load.




3. Check cables, connectors.

110724, 27~V Synchronisation, power fault.

DescriptionTask:argargWelding network has been switched off, or is outside the rangeof 50 to 60 Hz +- 5%.

Recommended actions1. Switch on and check weldin network.2. Reset error, check all line phases.3. Check synchronisation voltage.4. Check fuses in power unit or replace power unit.

110725, 24V off or too low.

DescriptionTask:argargThe 24V supply for the internal logic is too low(approx. 19V).

Recommended actions1. Check 24V supply.2. Check the connectors.

110726, Transformer temperature too high.

DescriptionTask:argargThe temperature of the welding transformer is too high.

Recommended actions1. Check cables and connectors.2. Check cooling circuit of the welding transformer.3. Reduce welding heat.

110727, Cooling temperature too high.

DescriptionTask:argargThe heat sink is too hot(above 70ºC) or the ambient temperatureis too high(above 70ºC).

Recommended actions1. Check cooling.2. Check duty cycle, load.3. Check temperature inside the process cabinet or checkprocess cabinet cooling.

110728, IO bus fault.

DescriptionTask:argargThe serial IO module has signalled a bus fault to the timermodule.

Recommended actionsReplace IO module or timer.

110729, Electrode life has expired, end ofstepper.

DescriptionTask:argargThe specified electrode has reached the Electrode life Expired,End of stepper condition.

Recommended actionsThe electrode must be replaced.

110730, Tip dress request.

DescriptionTask:argargThe specified electrode has reached the Tip dress request, Tipdress inq. condition.

Recommended actionsThe electrode tip must be dressed.

110731, Power voltage too high.

DescriptionTask:argargAn excessively high mains voltage was measured at the DClink level. The mains voltage was above limits. Mainsovervoltage or mains transients.

Recommended actionsCheck the line voltage supply.

110732, Power voltage too low.

DescriptionTask:argargThe mains voltage is too low or inexistent. The mains voltagewas below limits.




Continued

Recommended actionsCheck the line voltage supply.

110733, Termination ofWeld/No Primary Current.

DescriptionTask:argargNo current was measured for 40ms at the beginning of welding.The schedule is aborted

Recommended actions1. Check closing mechanism. robot, machine.2. Check position and pressure of electrodes.

110750, TCP Beam: Reorientation less than 24degrees.

DescriptionTask:argReorientation of argto small for QuickCheck.

Recommended actions

110751, TCP Beam: Tool differ from nominal.

DescriptionTask:argarg has changed since DAY 1.x: argy: argz: arg

Recommended actions

110752, TCP Beam: Update TCP

DescriptionTask:argUpdate arg with:x: argy: argz: arg

Recommended actions

110760, Tool Change Error

DescriptionTask:argargarg

arg


110790, Timer not connected

DescriptionNo communication with Bosch weld timer arg.

ConsequencesIt will not be possible to access the timer from the FlexPendant.

Probable causesFaulty configuration or disconnected hardware.

Recommended actionsCheck configuration and that the communication cable areconnected.

110791, Faulty configuration

DescriptionNumber of configured weld timers are arg.The configuration file(s) for Bosch weld timer interface doesnot contain all expected data.

ConsequencesIt will not be possible to access the timer from the FlexPendant.

Probable causesWrong version or corrupt configuration file(s).

Recommended actions1. Re-install correct Bosch weld timer interface configurationfiles.2. Check internal elog messages.

110801, Dispense Error

DescriptionTask:argargNot possible to start without On argument.arg

Recommended actionsAdd On switch to first instruction.


DescriptionTask: argargValue for DPUSER data dp_fl1_corr is out of limits.




arg


DescriptionTask: argargValue for DPUSER data dp_fl2_corr is out of limits.arg


DescriptionTask: argargValue for flow1_type in beaddata is out of limits.arg


DescriptionTask: argargValue for flow2_type in beaddata is out of limits.arg


DescriptionTask: argargNot possible to use two On instructions in sequence.arg

Recommended actionsRemove one instruction with On switch.


DescriptionTask: argargValue for fl1_delay in equipdata is out of limits.arg


DescriptionTask: argargValue for fl2_delay in equipdata is out of limits.

arg


DescriptionTask: argargValue for ref_speed in equipdata is out of limits.arg


DescriptionTask: argargValue for equip_no in beaddata is out of limits.arg


DescriptionTask: argargUnexpected Stop. Stopped while dispensing was active.argarg


DescriptionTask: argargUnknown error during dispensing.arg


DescriptionTask: argargValue for DPUSER data dp_nof_equip is out of limits.arg


DescriptionTask: argargValue for flow1 in beaddata is out of limits.arg




Continued


DescriptionTask: argargValue for flow2 in beaddata is out of limits.arg


DescriptionTask: argargValue for fl1_corr in equipdata is out of limits.arg


DescriptionTask: argargValue for fl2_corr in equipdata is out of limits.arg


DescriptionTask: argargNot possible to change equipment in the middle of a string.arg


DescriptionTask: argargValue for acc_max or decel_max in equipdata is too low.arg


DescriptionTask: argargThe calculated flow value is out of limits.arg


DescriptionTask: argargfl1_delay or fl2_delay in equipdata is out of limits.arg


DescriptionTask: argargValue for z_offset in beaddata is out of limits.arg


DescriptionTask: argargSize of triggdata array exceeds upper limit (10).arg

111000, Itemsource exists

DescriptionItemsource arg already exists.Two itemsources may not have the same name.

Recommended actionsCheck itemsource name at:argRecovery: arg

111001, Not a valid itemsource name

DescriptionName arg is not a valid itemsource name.

Recommended actionsCheck itemsource name at:argRecovery: arg

111002, Buffer size exceeded

DescriptionFatal internal error for itemsource arg.

Recommended actionsTry system restart or system reset. Please report this error.




111003, Itemsource not defined

DescriptionThe itemsource object has not been defined.

Recommended actionsCheck itemsource at:argRecovery: arg

111004, Itmsrc internal error

DescriptionInternal error for itemsource arg.Error type: arg.

Recommended actionsInstruction: argRecovery: arg

111005, Flush itemsource first

DescriptionItemsource arg must be flushed before it is used.argarg


111006, Ack item target first

DescriptionItem target must be acknowledged before executing theGetItmTgt(s) instruction again.Itemsource: arg.argarg



DescriptionItem target buffer full for itemsource arg.


111008, Too many item targets

DescriptionToo many item targets pushed to itemsource arg.argarg


111009, Conveyor eio init error

DescriptionError in the initialisation of the I/O signals for itemsource arg,for conveyor arg.


111010, Conveyor does not exist

DescriptionError for itemsource arg.The conveyor argdoes not exist.


111011, No conveyor name given

DescriptionError for itemsource arg.No conveyor name specified.



DescriptionError for itemsource arg, conveyor arg.The limits are incorrect specified.





Continued

111013, Cnv data defined late

DescriptionError for itemsource arg, conveyor arg. The ItmSrcCnvDatinstruction must be called before the ItmSrcFlush instruction.arg


111014, Timeout

DescriptionInstruction reached timeout


111015, Sortdata overridden

DescriptionUse of selection data will override the sortdata.


111016, Orientation error

DescriptionThe orientation in selection data is not correct defined.Itemsource: arg

Recommended actionsAll used orientations must be normalized i.e. the sum of thequaternion elements squares must equal 1.Instruction: argRecovery: arg

111017, Uplink message failed

DescriptionThe system failed to send a rapid uplink message

ConsequencesProgram execution may run as expected.Statistics may not be updated.

Probable causesNetwork interrupt.CPU overload in controller system.CPU overload in remote system.

Remote system may not run as expected.

Recommended actionsCheck network connection.Check state of remote system.Check robot program for infinite loops.

111100, Work object buffer full

DescriptionToo many conveyor strobes stored inbuffer for itemsource argIn queue index: argOut queue index: arg


DescriptionItem target buffer full for itemsource arg.Item tag: arg.Scene number arg.

111102, Too many item targets

DescriptionToo many item targets pushed to itemsource arg.Number of items: arg.Scene number arg.

111103, Push without any strobe

DescriptionPush received without any corresponding strobe signal isreceived for itemsource arg.Push scene number argLatest received strobe arg

Recommended actionsCheck hardware connections

111104, Push received too late

DescriptionPush of items was received too late in itemsource arg.Corresponding wobj already overwritten.Push scene number arg.Latest received strobe arg.

Recommended actionsCheck the position generation frequency.





DescriptionError in itemsource argConveyor argThe limits are incorrect specified.

Recommended actionsRequired: Enter < Exitor: Enter < Start < Stop < ExitGiven: arg

111106, Trig distance warning

DescriptionTrig distance is too long for conveyor arg.Trig distance is set to maximum.Max: arg.Given: arg.


DescriptionTrig distance is too short for conveyor arg.The limitation of the trig distance is depended on the value forthe Encoder parameter CountsPerMeter.

ConsequencesTrig distance is set to minimum.Min: argGiven: arg

Probable causesThe value for the trig distance is set too low.

Recommended actions1. Increase the trig distance value.2. Increase the value for the Encoder parameter CountsPerMeterto be able to set a trig distance value lower than actual minimumvalue.

111108, Failed to send data

DescriptionAn error occured when sending variable arg from the itemsourcearg to remote system.Status arg.

Recommended actionsCheck the position generation frequency and the networkconnections.

111109, Failed to open signal

DescriptionAn error occured when opening Position Generator signal: argfor itemsource: arg.Status arg.

Recommended actionsCheck the Position Generator signal name.


DescriptionAn error occured when opening Trig signal: arg for itemsource:arg.Status arg.

Recommended actionsCheck the Trig signal name.


DescriptionAn error occured when opening Strobe signal: arg foritemsource: arg.Status arg.

Recommended actionsCheck the Strobe signal name.


DescriptionAn error occured when opening Robot Execution signal: argfor itemsource: arg.Status arg.

Recommended actionsCheck the Robot Execution signal name.


DescriptionAn error occured when opening Queue Idle signal: arg foritemsource: arg.Status arg.

Recommended actionsCheck the Queue Idle signal name.




Continued


DescriptionAn error occured when opening Position Available signal: argfor itemsource: arg.Status arg.

Recommended actionsCheck the Position Available signal name.


DescriptionAn error occured when opening Conveyor Control signal: argfor itemsource: arg.Status arg

Recommended actionsCheck the Conveyor Control signal name.

111116, Prepared for PickMaster option notinstalled.

DescriptionThe Prepared for PickMaster option has not been correctlyinstalled in the system.

Recommended actionsReinstall the system using a proper key containing the Preparedfor PickMaster option.


DescriptionThe system failed to send a process uplink message.

ConsequencesItem targets may not be picked.The system may not run as expected.

Probable causesNetwork interrupt.CPU overload in controller system.CPU overload in remote system.Remote system may not run as expected.

Recommended actionsCheck network connection.Check state of remote system.Check robot program for infinite loops.

111118, Conveyor moving with negative speed

DescriptionConveyor arg is moving with negative speed.Measured speed: arg mm/s.

ConsequencesItem detection may fail.

Probable causes1. Conveyor is moving in reversed direction.2. Encoder is not connected properly.

Recommended actions1. Check the conveyor control.2. Check the encoder connection.

111119, Wrong trig signal type

DescriptionThe trig signal arg used with robot arg is not a digital output(DO) signal.

ConsequencesThe camera trigger function will not operate.

Probable causes1. Wrong signal selected.2. Wrong signal type configured.

Recommended actionsChange signal or signal type to DO.

111400, GAP IO Error

DescriptionTask: argContext: arg

111402, GAP Execution Error

DescriptionTask: argContext: argFailed to access routine, arg

111403, Failed to advance to station

DescriptionTask: arg, failed to advance to station arg

111404, GAP Error

DescriptionTask: arg ,




GAP Error posted from PartCrossCheckOK routine.PartCrossCheckOK not ok.


DescriptionBeforePart or AfterPart Sync Timeout in arg.

111406, Event execution error

DescriptionEvent procedure: arg in task arg does not exist

Recommended actionsCreate the procedure arg or change the procedure in theee_event data arg to an existing procedure.


DescriptionError in GAPExecCycle: arg


DescriptionWaitSyncPart Timeout: arg in arg.


DescriptionError in GapExecPart: arg.

111410, No part selected for station

DescriptionNo part selected for station arg in task arg.


DescriptionPart station number is invalid: argValid station: argNext station: arg

111412, Not matching tasklists in tasks

DescriptionTasklist in partdata arg in task arg does not match tasklist inpartdata arg in task arg.

Recommended actionsCheck and change the tasklists so they match.

111413, Invalid task name

DescriptionTaskname arg in partdata is invalid


DescriptionThe tasklist must include 'this' task: arg


DescriptionTask: argTasks could not be cross-checked. Station: arg


DescriptionGapEE_Stopped failed in task: arg

111417, GAP Access IO Error

DescriptionGAP Access IO Error in task: arg

111419, GAP cfg data error

DescriptionCfg data not found in InstancePath: argAttribute: arg

111420, GAP IO Error

DescriptionGAP IO Error in shared module.

111421, GAP Task Error

DescriptionMaximum of GAP tasks defined (arg).

111422, GAP event error

Descriptionarg GAP_EE_EVTUnknown event id: arg

111423, GAP proc error

DescriptionGAP_EE_EVT Unknown proc arg




Continued

111424, Partdata not found for PLC code

DescriptionNo matching partdata found in task arg for PLC code arg

Recommended actionsCreate partdata with matching plc code.

111425, Menudata not found for PLC code

DescriptionNo matching menudata found in task arg for PLC code arg

Recommended actionsCreate menudata with matching plc code.

111426, Not valid task state for menudata

DescriptionThe state of task arg should be at safe or at service whenrunning selected menudata.

111427, Not valid station for menudata

DescriptionCurrent station (arg) in task arg does not match valid stationarg in menudata

111428, Not valid user level for menudata

DescriptionNot valid menudata. Current user level arg does not matchminimum user level arg defined in menudata

111429, Part execution error

DescriptionPart procedure: arg in task arg does not exist

Recommended actionsCreate the procedure arg or change the procedure in thepartdata to an existing procedure.

111430, Menu execution error

DescriptionMenu procedure: arg in task arg does not exist

Recommended actionsCreate the procedure arg or change the procedure in the menuto an existing procedure.

111431, Timeout during handshaking

DescriptionTimeout during handshaking in task arg.

Probable causesThe configured signal run_part_signal_in or run_menu_signal_inwasn't set to 0 within configured timeout (arg seconds) afterthe configured signal run_ack_out was set to 1.

Recommended actionsMake sure to reset configured signal run_part_signal_in orrun_menu_signal_in after configured signal run_ack_out is setto 1.

111432, Not valid plc code in task

DescriptionNot valid plc code in task arg.

Probable causesThe configured group signal plc_cmd_group_in has a not validvalue arg.Values in the range of 1-99 is reserved for error codes.

Recommended actionsMake sure requests are higher than 99.

111433, Next station configuration error

DescriptionPROC configuration for next_stn_arg_signal_in not configured.

ConsequencesOrder for station arg may not be executed.

Recommended actionsConfigure next_stn_arg_signal_in to ensure that orders forstation arg will be executed.

111434, At station configuration error

DescriptionPROC configuration for at_stn_arg_signal_in not configured.

ConsequencesOrder for station arg may not be executed.

Recommended actionsConfigure at_stn_arg_signal_in to ensure that orders for stationarg will be executed.

111501, BullsEye Text Error

DescriptionBullsEye could not access text.




Index given: argText Table: arg

ConsequencesBullsEye will be unable to generate proper message dialogs.

Recommended actionsPlease report this error to your ABB support representative.

111502, BullsEye Obsolete Message

DescriptionBullsEye Obsolete Message

111503, BullsEye Error

DescriptionRange-of-motion test failed.


DescriptionRangeCheck feature does not support coordinated work objects.


DescriptionRangeCheck feature does not support uframe transforms.

111506, BullsEye Data Loaded

DescriptionStored reference data was loaded successfully.


DescriptionNo reference data file was found.

Probable causesNo previous data was stored.


DescriptionThe reference data file is already loaded.


DescriptionAn error occurred while unloading the reference data module.

Recommended actionsReset program by moving the program pointer to the mainroutine and restart program execution.


DescriptionAn error occured while reading data from the stored referencedata module.

111511, BullsEye Data Saved

DescriptionThe reference data has been saved successfully.


DescriptionAn error occured while saving the reference data.

111513, BullsEye Tool Initialized

DescriptionThe tool, arg, has been initialized in the BullsEye data collection.Task: arg

111514, BullsEye Tool Added

DescriptionThe tool, arg, has been added to the BullsEye data collection.Task: arg

111515, BullsEye Tool Removed

DescriptionThe tool, arg, has been removed from the BullsEye datacollection.Task: arg

ConsequencesBullsEye will no longer be able to evaluate this tool.

Recommended actionsExecute the BESetupToolJ setup instruction to add and initializethe tool.

111516, BullsEye IO Error

DescriptionInvalid input name: argTool: argTask: arg




Continued

ConsequencesNo connection to the digital input could be established.Initialization has failed.

Recommended actionsCheck that the specified input exists in the system.


DescriptionThe tool, arg, is not included in the BullsEye data collection.Task: arg

ConsequencesBullsEye will not be able to evaluate this tool.


111518, BullsEye IO Error

DescriptionBullsEye attempted to reconnect a previously connected IOsignal.Input Name: argTool: argTask: arg

Recommended actionsIf problem persists, run the BESetupToolJ instruction toreinitialize the tool.

111519, BullsEye RangeCheck Failed

DescriptionJoint Limit Check failed for a Twist of arg and a Tilt of argTask: arg


Recommended actionsTry a different start position or relocate the BullsEye device. Ifno acceptable position can be found, try reducing the requestedTilt and Twist in the be_scan data. However, be aware thatreducing these values may reduce the accuracy.


DescriptionSingularity Check failed for a Twist of arg and a Tilt of argTask: arg


Recommended actionsTry a different start position or relocate the BullsEye device.


DescriptionNo solution could be found within acceptable Joint Limits andSingularity checks.A Twist of arg and a Tilt of arg was specified.Task: arg




DescriptionNo solution could be found within acceptable Joint Limits andSingularity checks with adequate face-plate clearance.A Twist of arg and a Tilt of arg was specified.Task: arg



111523, BullsEye BaseFrame Read Error

DescriptionBullsEye was unable to read the BaseFrame definition for therobot.Task: arg


Recommended actionsThe Motion Configuration Database (MOC) may have excessiveprotections implemented. Please ensure that the baseframedefinition is accessible.




111524, BullsEye TCP Extended

DescriptionThe instruction, BETcpExtend, was used to shift the TCP ofarg.Task: argNew Extension: argChange: arg

111525, BullsEye Setup Complete

DescriptionSetup complete for:Tool: argTask: argNew work object: argNew TCP: argMax, Mean Deviation: arg

111526, BullsEye Setup Failed

DescriptionThe setup for Tool, arg, failed.Task: arg


Recommended actions1. Check error log for additional messages.2. Check setup parameters, sensor device, and start positionsbefore attempting the setup again.


DescriptionThe start position for Tool, arg, is not defined.Task: arg


Recommended actionsExecute the BESetupToolJ setup instruction to define theposition.

111528, BullsEye Beam Moved

DescriptionBeam has moved or calibration changed.Tool: argTask: arg


Recommended actionsExecute the BESetupToolJ setup instruction to define the beamposition.

111529, BullsEye Updated TCP

DescriptionThe TCP for Tool, arg, has been updated by BEUpdateTool.Task: argNew TCP: argChange: argElapsed Time: arg


DescriptionBeam location could not be determined.Tool: argTask: arg


Recommended actions1. Check that the sensor device is working properly.2. Execute the BESetupToolJ setup instruction to define thebeam position.


DescriptionThe start position was changed.Tool: argTask: arg


Recommended actionsExecute the BESetupToolJ setup instruction to redefine thenew start position.


DescriptionThe tool, arg, is not set up.Task: arg





Continued



DescriptionA full TCP measurement failed.Tool: argTask: arg


Recommended actionsIf problem persists, execute the BESetupToolJ setup instructionto add and initialize the tool.

111534, BullsEye Day1 TCP Updated

DescriptionThe Day1 TCP has been updated due to a change in the beamlocation.Tool: argTask: arg

ConsequencesNew TCP: argChange: arg

111535, BullsEye Day1 TCP Updated

DescriptionThe operator has permitted the Day1 TCP to be updated.Tool: argTask: arg

ConsequencesNew TCP: argChange: arg

111536, BullsEye New TCP Rejected

DescriptionThe operator rejected the TCP measurement.Tool: argTask: arg

ConsequencesTCP will remain unchanged.Original TCP: argMeasured TCP: arg

111537, BullsEye Updated TCP

DescriptionThe TCP for Tool, arg, has been updated by BECheckTcp.Task: argNew TCP: argChange: argElapsed Time: arg

111538, BullsEye Debug On

DescriptionDebug mode has been turned on.Task: arg

111539, BullsEye Debug Off

DescriptionDebug mode has been turned off.Task: arg


DescriptionAn error has occurred. The cause has not been identified.Task: arg

Recommended actionsIf problems persists, try:1. Execute the BESetupToolJ setup instruction to reinitializethe tool.2. Please contact your ABB support representative if problemcannot be corrected.

111541, BullsEye TCP OK

DescriptionThe TCP for Tool, arg, has not been updated by BECheckTcp,because it is within tolerance.Task: argMeasured TCP: argCurrent TCP: argElapsed Time: arg

111551, SmarTac Configuration Error

DescriptionSignal names supplied in PROC cannot be found in EIO.

Recommended actionsPlease check the PROC config and EIO config.





DescriptionAn error occurred while attempting to establish connections toI/O.

Recommended actionsPlease check the PROC config and EIO config.


DescriptionSmarTac was unable to find:argin PROC configuration.

Probable causesA PROC configuration file was loaded with errors.


DescriptionSmarTac tried to access an illegal type:argin PROC configuration.



DescriptionSmarTac experienced an unknown error trying to access:argin PROC configuration.


111556, SmarTac Result

DescriptionSearch Result: argSearch Type: Search 1DSearch Name: arg

111557, SmarTac Search Override

DescriptionOptional limit exceeded on Search_1D!Search Name: argThe magnitude of the offset = argThe preset limit = arg


DescriptionDefault search result selected after failed search.Manual override selected.Search Type: Search 1DSearch Name: arg


DescriptionPart detected.Search Type: Part Search


DescriptionDefault search result selected.No part found during part search.Manual override 'TRUE' selected.Search Type: Part Search


DescriptionDefault search result selected.No part found during part search.Manual override 'FALSE' selected.Search Type: Part Search


DescriptionLocation Result: argWidth Result: argSearch Type: GrooveSearch Name: arg


DescriptionDefault search result was selected after a failed Groove Search.Manual override selected.Search Type: GrooveSearch Name: arg

111564, SmarTac Text Error

DescriptionSmarTac could not access text.Index given: arg




Continued

Text Table: arg

ConsequencesSmarTac will not be able to display messages correctly.

Recommended actionsReport to ABB.

111601, DB Table Creation Failed

DescriptionFailed to create WebWare table: tblBullsEye

ConsequencesProduction Monitor will be unable to log data to the database.

Recommended actionsCheck the WebWare server.

111602, DB Table Created

DescriptionThe table, tblBullsEye, was successfully added to the WebWaredatabase.

111603, Production Monitor Error

DescriptionConfiguration Error.Production Monitor was unable to find:argin the PROC configuration.

Recommended actionsCheck the PROC configuration file for errors.


DescriptionConfiguration Error.Production Monitor tried to access an illegal type:argin the PROC configuration.



DescriptionConfiguration Error.Production Monitor experienced an unknown error trying toaccess:arg

in the PROC configuration.



DescriptionText Resource Error.Production Monitor could not access text.Index: argFile: arg


111607, Production Monitor DB

DescriptionCreating the tblCycRes table in the WebWare database...


DescriptionFailed to create WebWare table: tblCycRes




DescriptionThe table, tblCycRes, was successfully added to the WebWaredatabase.


DescriptionCreating the tblSeamRes table in the WebWare database...


DescriptionFailed to create WebWare table: tblSeamRes







DescriptionThe table, tblSeamRes, was successfully added to the WebWaredatabase.


DescriptionCreating the tblSeamEv table in the WebWare database...


DescriptionFailed to create WebWare table: tblSeamEv




DescriptionThe table, tblSeamEv, was successfully added to the WebWaredatabase.


DescriptionFailed to create WebWare table: tblCycleEv




DescriptionThe table, tblCycleEv, was successfully added to the WebWaredatabase.


DescriptionFailed to create WebWare table: tblGapEv




DescriptionThe table, tblGapEv, was successfully added to the WebWaredatabase.

111620, Production Monitor Mismatch

DescriptionThe part information for, arg, has changed in task, arg.

ConsequencesThe reference data stored for this part can no longer be linkedto the part program.

Recommended actionsPlease delete the reference file to store new data.


DescriptionThe reference data module for part, arg, is already loaded.An attempt will be made to unload the module and then reload.Task Name: arg


DescriptionThe reference data module for part, arg, is already loaded. Anattempt to unload the module failed.Task Name: arg

ConsequencesThis is an abnormal condition that will prevent ProductionMonitor from working properly until the problem is resolved.

Recommended actionsDelete the reference module from this task and restart programexecution from the main.


DescriptionThe reference data module for part, arg, could not be unloaded.Task Name: arg

Recommended actionsRestart the program execution from the main.


DescriptionThe reference data for part, arg, could not be read from thestored data file.




Continued

Task Name: arg

Probable causesThe data file may contain syntax errors.

Recommended actionsPlease delete the reference data file to allow new data to bestored.

111625, Monitor Data Saved

DescriptionNominal data was saved successfully for, arg.Task Name: arg


DescriptionAn error occured while saving reference data file for part, arg.Task Name: arg

ConsequencesProduction Monitor will not be able to perform monitoringactivities.


111627, Production Monitor Timer Reset

DescriptionThe cycle timer has been reset to prevent a possible overflow.Task Name: arg

111628, Production Monitor Timer Reset

DescriptionThe arc timer has been reset to prevent a possible overflow.Task Name: arg


DescriptionFailed to create WebWare table: tblSmtc1D




DescriptionThe table, tblSmtc1D, was successfully added to the WebWaredatabase.


DescriptionFailed to create WebWare table: tblSmtcPart




DescriptionThe table, tblSmtcPart, was successfully added to the WebWaredatabase.


DescriptionFailed to create WebWare table: tblSmtcGroove




DescriptionThe table, tblSmtcGroove, was successfully added to theWebWare database.


DescriptionFailed to create WebWare table: tblTchClean







DescriptionThe table, tblTchClean, was successfully added to the WebWaredatabase.


DescriptionFailed to create WebWare table: tblNavigSrchSp.




DescriptionThe table, tblNavigSrchSp, was successfully added to theWebWare database.


DescriptionFailed to create WebWare table: tblNavigMeas1D.




DescriptionThe table, tblNavigMeas1D, was successfully added to theWebWare database.


DescriptionWebWare database tables must be created in Automatic Mode.


Recommended actionsSwitch to Automatic Mode and try again.

111701, Torch Services Error

DescriptionTorch services MechClean configuration error. IO arg NOTfound.


DescriptionTorch services MechClean configuration error. Check PROCcfg domain.


DescriptionTorch services MechClean configuration error. Torch Serviceswas unable to find: arg/arg in PROC configuration.


DescriptionTorch services MechClean configuration error. Torch Servicestried to access an illegal type: arg/arg in PROC configuration.


DescriptionTorch services MechClean configuration error. Torch Servicesexperienced an unknown error trying to access: arg/arg in PROCconfiguration.


DescriptionTorch services Wirecut configuration error. Torch Services wasunable to find: arg/arg in PROC configuration.


DescriptionTorch services Wirecut configuration error. Torch Services triedto access an illegal type: arg/arg in PROC configuration.


DescriptionTorch services Wirecut configuration error. Torch Servicesexperienced an unknown error trying to access: arg/arg in PROCconfiguration.




Continued


DescriptionTorch services Wirecut configuration error. IO arg NOT found.


DescriptionTorch services MechClean configuration error. Check PROCcfg domain.


DescriptionTorch services Spray configuration error. Check PROC cfgdomain.


DescriptionTorch services Spray configuration error. Torch Services wasunable to find: arg/arg in PROC configuration.


DescriptionTorch services Spray configuration error. Torch Services triedto access an illegal type: arg/arg in PROC configuration.


DescriptionTorch services Spray configuration error. Torch Servicesexperienced an unknown error trying to access: arg/arg in PROCconfiguration.

111715, Torch Services Warning

DescriptionTorch services Spray has unconfigured IO.


DescriptionTorch services Wirecut has unconfigured IO.


DescriptionTorch services MechClean has unconfigured IO.


DescriptionTorch services MechClean Spray Liquid empty

Recommended actionsRefill Spray or check sensor

111751, Navigator Configuration Error

DescriptionNavigator configuration error. IO arg NOT found.


DescriptionNavigator configuration error. Navigator was unable to find:arg/arg in PROC configuration.


DescriptionNavigator configuration error. Navigator tried to access an illegaltype: arg/arg in PROC configuration.


DescriptionNavigator configuration error. Navigator experienced anunknown error trying to access: arg/arg in PROC configuration.

111755, Navigator error

DescriptionSphere with name arg could not be localized.

Probable causesNominal point doesn't have sufficient accuracy.Search radius is too small.

111756, Navigator Configuration Warning

DescriptionNavigator has unconfigured IO.


DescriptionTarget buffer full for Work Area arg.Target number: arg.Scene number arg.




111901, Push without any strobe

DescriptionPush received without any corresponding strobe signal isreceived for Work Area arg.Push scene number argLatest received strobe arg

Recommended actionsCheck hardware connections

111902, Push received too late

DescriptionPush of items was received too late to Work Area arg.Corresponding Work Object already overwritten.Push scene number arg.Latest received strobe arg.

Recommended actionsCheck the position generation frequency.


DescriptionError in Work Area argConveyor argThe limits are incorrect specified.

Recommended actionsRequired: Enter < Exitor: Enter < Start < Stop < ExitGiven: arg


DescriptionTrig distance is too long for conveyor arg.Trig distance is set to maximum.Max: arg.Given: arg.


DescriptionTrig distance is too short for conveyor arg.Trig distance is set to minimum.Min: argGiven: arg.

111913, Prepared for PickMaster option notinstalled.

DescriptionThe Prepared for PickMaster option has not been correctlyinstalled in the system.

Recommended actionsReinstall the system using a proper key containing the Preparedfor PickMaster option.


DescriptionThe system failed to send an uplink message.Status: arg

Recommended actionsCheck network connection.Check state of remote system.

111915, Failed to open Work Object

DescriptionAn error occurred when opening Work Object: arg for WorkArea: arg.Status arg.


Probable causesNo Work Object arg exist in loaded RAPID modules.

Recommended actionsCheck that the Work Object data name exists.

111916, Tool name is missing for target

DescriptionThere was no tool for target in Work Area: arg.Status arg.

Recommended actionsCheck the tool name for target.

111917, Action list name missing

DescriptionThere was no action list name for target in Work Area: arg.Status arg.

Recommended actionsCheck the tool name for target.




Continued

111918, Work Object name is missing for WorkArea

DescriptionThere was no Work Object for Work Area: arg.Status arg.

Recommended actionsCheck the Work Object name for Work Area.

111920, Missing tooldata for generated operationset

DescriptionTooldata not found for generated operation set on work areaarg.

ConsequencesThe project can not be run.

Probable causesTooldata not properly configured for the robot in the PickMasterline configuration.

Recommended actionsCheck used tooldatas in the PickMaster line configuration.

111921, Target reset after move of ProgramPointer

DescriptionThe current target in work area "arg" with arg products are resetto its origin and will be executed again.

ConsequencesThe current target and operation arg from layer arg will beexecuted once again.

Probable causesThe PP was moved without any target was finished.Since the program context cannot be secured, the wholeoperation will be executed from beginning.

Recommended actionsMake sure the tool is empty and cleared, since the whole cyclewill be executed from beginning.Restart in reduced speed to avoid unexpected behavior.

111922, Targets lost after move of ProgramPointer

Descriptionarg targets with arg products in work area "arg" are lost becausethe operation was interrupted.

ConsequencesThe current target and operation arg from layer arg will be lost.

Probable causesThe PP was moved after at least one target in the operationwas finished.Since the program context cannot be secured, next operationwill be executed.

Recommended actionsMake sure the tool is empty and cleared, since the whole cyclewill be executed from beginning. An unfinished operation maybe finished manually.Restart in reduced speed to avoid unexpected behavior.

111923, Targets lost after LOST acknowledge

Descriptionarg targets with arg products in Work Area "arg" are lostbecause the operation was interrupted.

ConsequencesThe current target and operation arg from layer arg will be lost.

Probable causesThe last target acknowledge was set to LOST after at least onetarget in the operation was finished.Since the operation cannot be finished, next operation will beexecuted.

Recommended actionsMake sure the tool is empty and cleared, since the whole cyclewill be executed from beginning. An unfinished operation maybe finished manually.Restart in reduced speed to avoid unexpected behavior.

111924, Operation handler not in use

DescriptionTask: argFunction arg failed. The current targets in this operation arelost.Program Ref. arg

ConsequencesIt is not possible to finish this operation. The execution will stopif no action is taken in an ERROR handler.

Probable causesThis might be caused by a pulse on the Robot Execution signalafter the operation descriptor has been fetched. It is more likelyto occur if the operation is a multidrop.




Recommended actions1. Move PP to main and restart the execution.2. Use an ERROR handler and run i.e. ExitCycle.Recovery: arg

111925, Failed to open PM work area signal

DescriptionAn error occurred when opening signal arg configured inPickMaster for work area: arg. (Internal status arg.)

ConsequencesThe current PickMaster project will not execute.

Probable causesThe work area signal is missing in the I/O configuration of therobot controller.The I/O unit is not running.

Recommended actions1. Check the signal name in the Work Area configuration ofPickMaster.2. Check the signal name in the I/O configuration of the robotcontroller.3. Check if the I/O unit is running.

111926, Triggering too frequently

DescriptionA new pulse on signal arg is to be requested before the previouspulse has finished. The signal is still high. The configured pulselength is arg ms.

ConsequencesThe operation fails to complete its task.

Probable causesThe pulse length is too long or the pick and place operation isvery short.

Recommended actionsDecrease the configured pulse length.

111927, PM group signal too short for work area

DescriptionPickMaster group signal arg configured for work area arg hastoo few bits. Required number of bits is arg.

ConsequencesThe current project can not execute.

Probable causesThe signal has to few bits defined in the I/O configuration ofthe controller.

Recommended actionsCheck the controller I/O configuration of the signal.

111928, Restart job failed

DescriptionA job failed to restart on work area arg.

ConsequencesThe work area has entered a response error state.

Probable causesStart layer count = arg and start product count = arg is morethan the total number of layers for the job (= arg).

Recommended actionsCorrect the start layer count and start product count. Restartthe job.




Probable causesStart product count arg is more than the number of productsfor the top layer (= arg).

Recommended actionsCorrect the start product count and restart the job.




Probable causesStart product count = arg, does not match a full operation forthe incomplete top layer. Start layer count is specified as = arg.

Recommended actionsCorrect the start product count or start layer count. Restart thejob.

111931, An unfinished job was stopped

DescriptionAn unfinished job was stopped on work area arg. Number offull layers in stack = arg. Number of products in top layer = arg.




Continued

111950, No PickMaster Flow to Retrieve

DescriptionTask: argInstruction arg failed.Program Ref. arg

Probable causesThere is no flow ready when executing instruction.No arg or a low value is used on arg in this instruction.

Recommended actionsUse an error handler and do a RETRY on instruction. If a argis used, andthis error occur often, increase the arg.Recovery: arg

111951, Value Error

DescriptionTask: argIllegal value in argument arg.Program Ref. arg



Recommended actionsCheck the value.arg must be a positive integer.


DescriptionTask: argThe task is not allowed to execute the instruction arg.Program Ref. arg

Probable causesThe task is not configured to control mechanical units

Recommended actionsChange the configuration or remove the instruction.

111953, Can not retrieve operation


Probable causesThere is no operation to retrieve when executing instruction.

No arg or a low value is used on arg in this instruction.

Recommended actionsUse an error handler and do a RETRY on instruction. If a argis used, an this error occur often, increase the arg.Recovery: arg

111954, Can not retrieve targets


Probable causesThere is no target ready when executing instruction.No arg or a low value is used on arg in this instruction.

Recommended actionsUse an error handler and do a RETRY on instruction. If a argis used, an this error occur often, increase the arg.Recovery: arg

111956, Wrong value on in parameter arg

DescriptionTask: argParameter arg has value arg. The only values that can be usedfor arg are the predefined values for:argProgram Ref: arg


Probable causesWrong value on in parameter arg.

Recommended actionsChange value on in parameter arg.

111957, No active project

DescriptionTask: argInstruction/function arg has detected that the project has beenstopped.The RAPID can not continue its execution without an activeproject.Program Ref:arg





Probable causes1) Project has been stopped.2) A power fail has occurred, and the RAPID program has beenstarted without starting the project again.3) A restart has been done, and the RAPID program has beenstarted without starting the project again.

Recommended actionsStart a project.In some cases PP must be moved to main.

111958, No active project



Probable causesThere is no project running when executing instruction.No arg or a low value is used on arg in this instruction.

Recommended actionsUse an error handler and do a RETRY on instruction.Recovery: arg

111959, Not valid work object data

DescriptionTask: argInstruction arg failed.No Work Area has reference to work object data named arg.Program Ref. arg


Recommended actionsUse an error handler and do a RETRY on instruction withanother work object data as parameter.Recovery: arg

111960, Invalid descriptor used

DescriptionTask: argInstruction arg failed.The Work Area descriptor that is used refers to an object thatdoes not exist.Program Ref.arg


Probable causesAn instruction/function is executed without a valid descriptor.The Work Area descriptor has not been fetched correctly, or itis a restart after power fail.

Recommended actionsCheck manual about how to get valid descriptors for WorkAreas.

111962, Invalid target handle

DescriptionTask: argInstruction arg failed.The target handle that is used refer to an object that does notexist or is not initialized.Program Ref. arg


Probable causesAn instruction/function is executed without a valid descriptor.The target handle has not been fetched correctly, or it is arestart after power fail.

Recommended actionsRestart the project or rewrite the RAPID program.

111963, Invalid action handle

DescriptionTask: argInstruction arg failed.The action handle that is used refer to an object that does notexist or is not initialized.Program Ref. arg


Probable causesAn instruction/function is executed without a valid handle.The action handle has not been fetched correctly, or it is arestart after power fail.

Recommended actionsRestart the project or rewrite the RAPID program.




Continued

111964, Error event trigged

DescriptionTask: argInstruction arg failed.The Work Area arg is set in error state after an error event.Program Ref. arg

ConsequencesIt is not possible to execute the program until the error is solved.

Probable causes1. The error source signal has set the Work Area in error state.2. Stop immediately has been used.

Recommended actionsSolve the cause of the error situation and use one of the restartoptions.


DescriptionAn error occurred when opening signal arg for arg.The signal should be of type arg.Status arg.

ConsequencesThe execution is stopped immediately.

Probable causesWrong signal type or signal name.

Recommended actionsCheck the signal name and type.

112001, PickMaster Flow Error

DescriptionThe flow with name arg is in an internal error state.

ConsequencesThe flow is stopped and will not be used until the project isstopped and restarted again.

Probable causesAn internal error has occurred.

Recommended actionsSave the system diagnostics under Control Panel - Diagnosticsand send to Robotics Product Support.

112002, Failed to Retrieve PickMaster Format

DescriptionThe flow arg failed to request a format with index arg.The reply came from Work Area arg.

ConsequencesThe flow is stopped immediately.

Probable causesThe setup file is corrupted or incomplete.Wrong response from IO signals.

Recommended actionsVerify the project setup using PickMaster PC application.Look for internal errors.


DescriptionThe system failed to send an uplink message.Status: arg

Recommended actionsCheck network connection.Check state of remote system.

112050, Project arg starting

DescriptionProject arg is starting.

112051, Project arg started

DescriptionProject arg is now started.

112052, Project arg stopped

DescriptionProject arg stopped

112053, Failed to start project arg

DescriptionFailed to start project arg.Check event logs for more information why the project couldnot be started.Check for internal errors too.

ConsequencesThe project is not started, it is set in stop state.

Probable causesThe XML file is corrupted, or some internal error occurred.

Recommended actionsCheck XML file, and check event logs for more information whythe project could not be started.




112054, Project arg already started

DescriptionProject arg is already started.Stop the project, and start it again if the project has beenchanged.

ConsequencesThe execution will continue.

Probable causesMultiple use of RAPID instruction PmStartProj with the sameproject name arg.

Recommended actionsStop project if the setup has been changed, and start it again.

112055, A project is already started

DescriptionA project arg is already started. Another projectcan not be started until the already started project is stopped.

ConsequencesThe project arg is not started.The program execution is immediately halted if the startorder was from RAPID.

Probable causesMultiple start orders using different project names.

Recommended actionsCheck the projects that are started. Remove one of the starts.

112056, Data List Full

DescriptionInternal data list was full when trying to store the variable arg.

ConsequencesTargets depending on this variable will not be executed.

Probable causesThe project is probably too large.

Recommended actionsReconfigure the project.

112057, Project name is an empty string

DescriptionThe name of the project to start is not valid.

ConsequencesProject not started. The program execution isimmediately halted

Probable causesThe project name has not been initiated.

Recommended actionsCheck the project name used when starting project.

112058, Stop of project ordered during start

DescriptionA stop order has been received during startup of project arg.

ConsequencesProject arg is not started.

Probable causesStop during start of project. The stop can be from another clientoranother RAPID task.

Recommended actionsDo not stop project until it has been started correctly.

112059, Ongoing start of project

DescriptionA start of the project arg is executed right now.

ConsequencesIf the start order comes from RAPID, the RAPID execution isimmediately stopped.

Probable causesStart orders from multiple clients or RAPID tasks at the sametime

Recommended actionsStart project only one time.

112060, Stop of project ordered during start

DescriptionRAPID execution stopped during start of project.The project arg is not started.

ConsequencesRAPID execution is immediately stopped. Project arg is notstarted.

Probable causesA project stop order from PickMaster, FlexPendant, I/O orRAPID when astart of a project is executed.

Recommended actionsTry to start project again.




Continued

112100, PickMaster project file is too old

DescriptionThe arg file is not supported by this RobotWare.

ConsequencesThe required project file is too old and the project is thereforestopped.

Probable causesThe PickMaster version used to configure this project is too oldfor this RobotWare.Required version by RobotWare: argPickMaster version used to create file: arg

Recommended actionsUpdate the project using at least version arg of PickMaster.

112101, Required PickMaster file could not beopened

DescriptionThe file below could not be opened.argStatus: arg

ConsequencesThe project can not be loaded or can not continue execution.

Probable causesThe file is missing or has been tampered.

Recommended actionsRe-transfer the project from the PickMaster PC.

112102, Missing attribute in node

DescriptionThe node is missing attribute "arg".

ConsequencesThe requested information could not be found. The executionof the project is stopped.

Probable causesThe PickMaster project file has been tampered.

Recommended actionsRe-transfer the project from the PickMaster PC.

112150, Failed to request new target set

DescriptionThe target pump process "arg" failed to request new target setfrom project.

ConsequencesLast trigged operation set can not be pushed into the WorkArea queue.

Probable causesThe trigged operation set (arg) is not configured in the project.The trigged combination of product I/O value (arg) and formatI/O value (arg) is not configured in the project.Status: arg

Recommended actionsReview the project setup.Check the product and format selection groups signal values.

112151, Incorrect target set

DescriptionThe target set sent to the pump process "arg" is not therequested one.

ConsequencesLast trigged operation set can not be pushed into the WorkArea queue.

Probable causesThe trigged operation set is not correct (arg) or the trigged I/Ovalues are not correct (arg)Status: arg

Recommended actionsReview the project setup.Check the selection group signal values.

112152, Response error for work area

DescriptionResponse error occured for slave work area arg.Targets generated (product = arg, format = arg) does not matchpositions requested (product = arg, format = arg).

ConsequencesThe work area has entered a reponse error state.The robot will not access the work area until the correct targetsare generated.Any flow using the work area may become blocked fromexecution.

Probable causesThe product selection I/O values for position request and targetgeneration is not the same.The format selection I/O values for position request and targetgeneration is not the same.




Recommended actionsVerify sequence logic and I/O values of external equipmentsetting the product and/or format I/O signals (i.e. a PLC).To recover from the response error:1) Verify that the requested targets are available on the workarea.2) Trigger a new target generation with correct I/O selectionvalues.

112200, Failed to Open Signal

DescriptionAn error occurred when opening the Trigger Event Signal.Signal name: arg

ConsequencesIt will not be possible to use any PickMaster error recoveryfunctionalities that can be generated from IO signals.

Probable causesThe signal name is not configured in the IO configuration.

Recommended actionsVerify the Trigger Event Signal name using the PickMaster PCapplication.


DescriptionAn error occurred when opening the Error Source Signal.Signal name: arg

ConsequencesIt will not be possible to set any PickMaster source in an errorstate.


Recommended actionsVerify the Error Source name using the PickMaster PCapplication.


DescriptionAn error occurred when opening the Event Message Signal.Signal name: arg

ConsequencesIt will not be possible to use the PickMaster messagefunctionality.


Recommended actionsVerify the Event Message name using the PickMaster PCapplication.

112203, Wrong PickMaster Error Source Value

DescriptionThe value that was read, arg, after an event was trigged doesnot match one or several configured bits in the IO signal arg.

ConsequencesThe system goes to SYS STOP state.

Recommended actionsVerify the configuration using the PickMaster PC application.Verify external equipment generating the signal value.

112204, Wrong PickMaster Message value

DescriptionThe value that was read, arg, after an event was trigged doesnot match any configured values in the IO signal arg.

Recommended actionsVerify the configuration using the PickMaster PC application.Verify external equipment generating signal value.

112250, PickMaster project size limitation

DescriptionNot enough memory for PickMaster project.

ConsequencesNot possible to run the selected PickMaster project.

Probable causesThe selected project contains too much data to be handled bythe robot controller.

Recommended actionsReduce number of objects in the PickMaster project, e.g. reducenumber of work areas, operation sets, flows, formats andproducts. Reduce object complexity in the PickMaster project,e.g. reduce number of layers in used pallet patterns.

112350, Target configuration outside reach

DescriptionTask: argA valid robot configuration within reach was not found for target.Program Ref: arg

ConsequencesThe robot is not able to move to the target position.




Continued

Probable causesThe target position is outside reach.A robot configuration was not found within reach for the target.

Recommended actionsMove the target position within the reach of the robot.Check if the target position is possible to reach without robotconfiguration control (ConfJ\Off, ConfL\Off). Use an errorhandler and do a RETRY on instruction. ERRNO for recovery= arg .

112351, Failed to calculate axis limit

DescriptionTask: argCalculating the axis limit failed.Program Ref: arg

ConsequencesThe axis angle can not be calculated due to the angellimitations.

Probable causesToo narrow angel limits.

Recommended actionsReview the limits for the instructions.Use an error handler and do a RETRY on instruction.Recovery: arg

112352, Wrong limitation value

DescriptionTask: argThe coordinate limits are not valid.Program Ref: arg

ConsequencesThe coordinate is not possible to calculate.

Probable causesWrong limit values.

Recommended actionsReview the limits for the instructions.Use an error handler and do a RETRY on instruction.Recovery: arg

112353, Wrong intermediate part value

DescriptionTask: argThe intermediate part value is not valid. The InterMidPartargument must be between 0 and 1.

Program Ref: arg

ConsequencesThe intermediate position is not possible to calculate.

Probable causesWrong InterMidPart value.

Recommended actionsReview the InterMidPart for the instruction.

112354, Unknown event signal name

DescriptionTask: argThe event signal name arg is unknown.Program Ref: arg

ConsequencesThe event can not be defined.

Probable causesWrong signal name in the PickMaster project or lineconfiguration.

Recommended actionsReview the signal name in the PickMaster project or lineconfiguration.

112355, Too many events

DescriptionTask: argThere are too many trig events defined for one move. Maximum8 are allowed but in this case there are arg defined.Program Ref: arg

ConsequencesAll events can't be set.

Probable causesError in the PickMaster configuration.

Recommended actionsReview the PickMaster configuration.

112356, Unknown event type

DescriptionTask: argThe event type arg is unknown.Program Ref: arg

ConsequencesThe event can't be set.




Probable causesError in the RAPID code.Error in the PickMaster configuration.

Recommended actionsCheck if the event type number is defined among the built-invariables of type pm_eventtype.Review the PickMaster configuration.

112357, Unknown target action type

DescriptionTask: argThe target action type arg is unknown.Program Ref: arg

ConsequencesThe action can't be performed.


Recommended actionsCheck if the action type number is defined among the built-invariables of type pm_actiontype.Review the PickMaster configuration.

112358, Unknown move type

DescriptionTask: argThe move type arg is unknown.Program Ref: arg

ConsequencesThe move can't be performed.


Recommended actionsCheck if the move type number is defined among the built-invariables of type pm_movetype.Review the PickMaster configuration.

112359, Stack search detected empty stack

DescriptionStack search detected empty stack.Task: argInstruction arg failed.Program Ref. arg

ConsequencesNot possible to finish current operation unless an error handleris implemented.

Probable causes1) Stack is empty or:2) Tool center point for Search Tool data, Tool configuration,is not correctly defined.3) The expected location of the stack is not correct.4) The search stop signal was not triggered correctly.

Recommended actionsIf the stack not is empty:Check definition of tool center point for Search Tool data.Check definition of work object, tune frame, work area frameand displacement frame.Check that the search stop signal is triggered correctly.If the stack is empty:This error can be recovered using the error handlers of theOperate() and OperateSequence() routines.Recovery: arg.1) Set the Redo Search signal after adjusting the stack.2) Use RETRY to rerun Operate.

112360, Stack search adjusted stack layers

DescriptionStack search adjusted the number of available layers in stack.Task: argInstruction: arg.Program Ref. arg

Probable causesActual stack height was lower than configured in PickMaster.

Recommended actionsNo actions are required.The default error handlers of the Operate() andOperateSequenc() routines willrecover the error.Recovery: arg

112361, Unknown search type

DescriptionTask: argSearch type arg is unknown.Program Ref: arg

ConsequencesStack search can not be completed.




Continued

Probable causesErrors in rapid code.

112362, Unknown search stop type

DescriptionTask: argSearch stop type arg is unknown.Program Ref: arg



112363, Stack search stop height mismatch

DescriptionTask: argThe configured stop height = argmm, was reached during stacksearch movement without detecting the stack height. Thebottom layer of the stack is expected at least one layer belowthe reached stop height.Program Ref: arg

ConsequencesThe stack height could not be properly adjusted after stacksearch.

Probable causesThe configured stop height is set too high.The configured displacement frame offset for the operation setis set too low.

Recommended actionsCheck the configured stop height.Check the configured displacement frame offset for theoperation set.

112364, PickMaster Tool Event Timeout

DescriptionTask: argA timeout has occurred while waiting for signal arg to get itscorrect value(arg).Program Ref: arg

ConsequencesThe robot movement is halted until the signal condition is met.A new wait period is requested and the timeout is set to arg s.

112365, Not Valid Signal

DescriptionTask: argThe signal arg is not correct used for current instruction.Program Ref: arg

ConsequencesThe RAPID execution will stop immediately and it is not possibleto recover from this error until the faulty signal is corrected.

Probable causes1. The signal is unknown in the system. If the signal is definedin the RAPID program, it must be connected to the configuredsignal with instruction AliasIO.2. Signal argument is outside allowed limits.3. There is no contact with the IO unit. The unit may have beendisabled (IODisable "UNIT1", 1;). No power to the unit.

Recommended actionsAll signals (except AliasIO signals) must be defined in thesystem parameters and can not be defined in the RAPIDprogram.Used group digital signal can not set required value accordingto configuration in system parameters.

112367, The Requested Project Could Not BeFound

DescriptionTask: argThe requested project arg could not be found in the PickMasterproject folder. The project can be identified both with its nameand its selection value.Program Ref: arg

ConsequencesIt is not possible to get any information about the project.

Probable causes1. The requested project is not transferred from PickMaster PC.2. The mapping between project and signal is wrong or missing.

Recommended actionsRecovery: arg

112368, TheRequested FlowCouldNot Be Found

DescriptionTask: argThe requested flow arg could not be found in the loaded project.The flow can be identified both with its name and its selectionvalue.




Program Ref: arg

ConsequencesIt is not possible to get any information about the flow.

Probable causes1. The requested flow is not configured in the project.2. The mapping between flow and signal is wrong or missing.


112369, TheRequested FlowCouldNot Be Found

DescriptionTask: argThe requested flow arg could not be found in the loaded project.Program Ref: arg

ConsequencesThe RAPID program will immediately be halted.

Probable causesThe requested flow is not configured in the project.

Recommended actionsCheck that the flow name is a member of the project.

112370, Not a Valid Stop Option

DescriptionTask: argThe supplied stop options value is arg. The supported valuemust be in the range arg.Program Ref: arg

ConsequencesIt is not possible to stop the flow arg.

Recommended actionsRecovery: PM_ERR_INVALID_FLOW_STOP_OPTION

112371, No Running Project

DescriptionTask: argThere is no running project and the flow arg can for that reasonnot be accessed.Program Ref: arg

Probable causesThe project has been stopped or is not yet started.


112372, Missing PickMaster signals

DescriptionTask: argOne or more of the IO signals that is used for managing projectsand flows are missing.Program Ref: arg

ConsequencesIt is not possible to start or stop flows from the IO interface.Project status signal might also be incorrect.

Probable causesThe signals are not and/or wrong configured in the IOconfiguration. One reason can be that an old backup is used.

Recommended actionsThis message can be ignored if the IO interface is not used.

112373, The RequestedWork Area Could Not BeFound

DescriptionTask: argThe requested Work Area with selection number or variablename arg could not be found in the loaded project. The WorkArea can be identified both with its descriptor and its selectionvalue.Program Ref: arg

ConsequencesIt is not possible to get any information about the Work Area.

Probable causes1. The requested Work Area is a RAPID variable that is notinitialized.2. The mapping between Work Area and signal value is wrongor missing.

Recommended actionsRecover: arg

112374, Intermediate position outside reach

DescriptionAn intermediate position cannot be reached when moving fromwork area arg to work area arg. Part of intermediate movement= arg %.Program reference: arg

ConsequencesThe robot cannot perform the movement.

Probable causesWork space restrictions of the intermediate position.




Continued

Recommended actionsReduce work space restrictions for RAPID instructionPmCalcIntermid, e.g. decrease MinZ. Recovery: arg.

112375, Intermediate axis position outside reach

DescriptionAn intermediate axis position cannot be reached when movingfrom work area arg to work area arg. Part of intermediatemovement = arg %.Program reference: arg

ConsequencesThe robot cannot perform the movement.

Probable causesRestrictions on axis angles of the intermediate position.

Recommended actionsReduce restrictions on axes angles for RAPID instructionPmCalcIntermid, e.g. increase MaxAngle. Recovery: arg.

112376, Required WorkArea is not valid

DescriptionTask: argPmSetRecoverAction with selected recover action requires avalid WokArea descriptor.Program Ref: arg

Probable causes1. Recover action PM_RECOVER_REDO_LAYER andPM_RECOVER_NEXT_PALLET requires the optional argumentWorkArea to be set.2. The WorkArea descriptor is not initialized.3. The WorkArea is not a part of the flow arg.


112377, Faulty Recover Action

DescriptionTask: argarg is not one of the supported recover actions.Program Ref: arg

ConsequencesIt will not be possible to start the Flow arg if it is set in errorstate.

Probable causesThe recover action is not one ofPM_RECOVER_CONTINUE_OPERATION,

PM_RECOVER_REDO_LAYER, PM_RECOVER_NEXT_PALLETor PM_RECOVER_REDO_LAST_PICK.


112378, Flow is already starting up

DescriptionTask: argThe flow arg is already starting up. Only one call to PmFlowStartis allowed at each time.Program Ref: arg

ConsequencesThe RAPID program is immediately halted.

Recommended actionsCheck the RAPID program for multiple use of PmFlowStart tosame flow.

112379, Wrong flow state

DescriptionTask: argIt is not possible to start flow arg in current state.Program Ref: arg


Probable causesThe flow is probably set in a sever error state that can not berecover from.


112380, Failed to recover from an error state

DescriptionTask: argThe start of flow arg from an error state failed.Program Ref: arg


112381, Redo last pick is not allowed in currentposition





The flow arg can not recover from the error situation withrecover action PM_RECOVER_REDO_LAST_PICK.Program Ref: arg

ConsequencesThe flow can not be started until a valid recover action has beenset.

Probable causesThe flow can only recover from an error withPM_RECOVER_REDO_LAST_PICK if the first item is pickedand no items are placed.


112382, Project info contains no valid data forcurrent task

DescriptionTask: argFailed to read project info data.Program Ref: arg

ConsequencesIt is not possible to get any information about project settings,i.e. the names on modules that should be loaded.

Probable causesThe project is already started when a start order from the IOinterface is received.

Recommended actionsStop project and start it again via the IO interface.

112383, No Running Project

DescriptionTask: argThere is no running project and the work area with selectionnumber or variable name arg can for that reason not beaccessed.Program Ref: arg

Probable causesThe project has been stopped or is not yet started.


112384, Invalid default height


The I/O value of signal arg does not correspond to a validdefault height.Program Ref: arg

ConsequencesIt was not possible to set the default height.

Probable causesThe I/O value of arg does not correspond to a valid defaultheight selection.

Recommended actionsMake sure that arg is set to a proper value before arg is pulsed.

112385, Too many events defined for targetaction

DescriptionTask: argUnexpected failure.More than arg events are configured for a single target actionof type argat work area arg.Program Ref: arg


Probable causesToo many events has been attached to the same target action.

Recommended actionsModify the project configuration, download and restart theproject.Contact ABB.

112386, Unknown I/O Trigg type

DescriptionTask: argI/O Trigg type arg is unknown.Program Ref: arg



112393, Flow recover with redo last pick

DescriptionThe Flow arg will redo last unfinished operation at next flowstart.




Continued

Recommended actionsVerify that:- The tool is empty- Products from last operation are restored on arg- The reason for the stop is solved.

112394, Flow recover with continue pick-place

DescriptionThe Flow arg will restart from where it was stopped at next flowstart. Verify that the fault causing the stop has been handled.

Recommended actionsVerify expected number of products:Tool: argWorkArea name/Number of products/Layer numberargargarg

112395, Flow recover with restart layer

DescriptionThe Flow arg will restart from beginning of layer arg onWorkArea arg at next flow start.

Recommended actionsVerify that:- The reason for the stop is solved- The tool is empty- Following WorkAreas are empty:argarg

112396, Flow recover with next pallet

DescriptionThe Flow arg will restart from beginning of next pallet onWorkArea arg at next flow start.

Recommended actionsVerify that:- The reason for the stop is solved.- The tool is empty- Following WorkAreas are empty:argargarg

112397, Flow recover with redo last pick

DescriptionThe Flow arg will redo last unfinished operation at next flowstart.

Recommended actionsVerify that:- The tool is empty- New products can be supplied on arg- The reason for the stop is solved.

112398, arg

Descriptionarg

112399, PickMaster Flow Stopped Immediately

DescriptionThe Flow arg is stopped immediately.

ConsequencesThe RAPID program is stopped if the flow is active in anypalletizing operation.

Recommended actionsRestart of the flow has to be performed from one of the errorrestart options.

112400, Invalid tuning parameter

DescriptionTask:argContext: argarg is not a valid tuning parameter.

112401, Schedule number out of range

DescriptionTask:argContext: argarg is not a valid schedule number.Valid schedules numbers are in the range: arg to arg.

112402, SID file is not compatible

DescriptionTask:argContext: argThe SID file version is not compatible.




ConsequencesThe SID file has not been loaded into power source memory.

Probable causesThe SID file was saved from a different power source type orthe SID file has become corrupted.

Recommended actionsIf the file has been transfered with FTP program. Are you surethat the FTP program uses binary transfer mode for this SIDfile?If possible, try to recreate the SID file from the origin.

112403, Default I/O unit not defined

DescriptionTask: argThe default I/O unit is not defined in configuration.InstancePath: /PROC/ARISTOMIG_INT_USER_PROP/argAttribute: use_default_io

112404, Configuration data not found

DescriptionTask:argInstancePath: argAttribute: arg

112405, SID file corrupt

DescriptionTask:argContext: argThe SID file is not in the correct format or the file size isincorrect.

ConsequencesAll the data was not recovered from the file.

Recommended actionsVerify the schedules in the power source. All data might not berecovered.

112406, Invalid tuning parameter

DescriptionTask:argContext: argarg is not a valid tuning parameter in instance arg.

112407, Schedule does not exist

DescriptionThe schedule arg does not exist in the power source arg, inarg.

ConsequencesThe welding results will not be as expected.

Recommended actionsMake sure that the schedule has been created before using itin a weld instruction.

112410, Program memory error (EPROM)

DescriptionThe program memory is damaged in unit arg.Fault code: argInternal unit: arg

Recommended actionsRestart the machine. If the fault persists, send for a servicetechnician.

112411, Microprocessor RAM error

DescriptionThe microprocessor is unable to print/read to the internalmemory in unit arg.Fault code: argInternal unit: arg


112412, External RAM error

DescriptionThe microprocessor is unable to print/read to the externalmemory in unit arg.Fault code: argInternal unit: arg


112413, 5V power supply low

DescriptionThe power supply voltage is too low in unit arg.Fault code: arg




Continued

Internal unit: arg

ConsequencesThe current welding process is stopped and starting isprevented.

Recommended actionsTurn off the mains power supply to reset the unit. If the faultpersists, send for a service technician.

112414, Intermediate DC voltage outside limits

DescriptionThe voltage is too high or too low in unit arg.Fault code: argInternal unit: arg

ConsequencesThe power unit is stopped and cannot be started.

Probable causesToo high a voltage can be due to severe transients on the mainspower supply or to a weak power supply (high inductance ofthe supply or a phase missing).


112415, High temperature

DescriptionThe thermal overload-cut has tripped in unit arg.Fault code: argInternal unit: arg

ConsequencesThe current welding process is stopped and cannot be restarteduntil the cut-out has reset.

Recommended actionsCheck that the cooling air inlets or outlets are not blocked orclogged with dirt. Check the duty cycle being used, to makesure that the equipment is not being overloaded.

112416, High primary current

DescriptionThe power unit arg takes too much current from the DC voltagethat supplies it.Fault code: argInternal unit: arg

ConsequencesThe power unit is stopped and cannot be started.


112417, Low battery voltage or power supply

DescriptionUnit: argSee description corresponding to the internal unit: argWDU: Low battery voltage +3 VBattery voltage too low in unit arg. If the battery is not replaced,all stored data will be lost.PS: +15 V power supplyThe power supply is too high or too low in unit arg.Fault code: arg

Recommended actionsSend for a service technician.

112418, -15 V power supply

DescriptionThe power supply is too high or too low in unit arg.Fault code: argInternal unit: arg


112419, +24 V power supply

DescriptionThe power supply is too high or too low in unit arg.Fault code: argInternal unit: arg


112420, Current-servo / wire speed-servo error

DescriptionI/O unit: argError code: argInternal unit: arg

112421, Communication error (warning)

DescriptionThe load on the system's CAN-bus is temporarily too high inunit arg.Fault code: arg




Internal unit: arg

ConsequencesThe power unit/wire feed unit has lost contact with the weldingdata unit.

Recommended actionsCheck that all the equipment is correctly connected. If the faultpersists, send for a service technician.

112423, Communication error

DescriptionThe system's CAN-bus has temporarily stopped working dueto the load being too high.Fault code: argInternal unit: arg

ConsequencesThe current welding process stops.

Recommended actionsCheck that all the equipment is correctly connected. Turn offthe mains power supply to reset the unit. If the fault persists,send for a service technician.

112424, Messages lost

DescriptionThe microprocessor is unable to process incoming messagessufficiently quickly and information has been lost in unit arg.Fault code: argInternal unit: arg


112426, Lost contact with MEK

DescriptionUnit: argFault code: argInternal unit: arg

112427, Lost contact

DescriptionThe welding data unit(WDU) has lost contact with the powerunit(PS) in unit arg.Fault code: argInternal unit: arg

ConsequencesThe current welding process stops.

Recommended actionsCheck the cables. If the fault persists, send for a servicetechnician.

112428, Memory error in battery-supplied datamemory RAM

DescriptionThe battery has lost voltage in unit arg.Fault code: argInternal unit: arg

Recommended actionsTurn off the mains power supply to reset the unit. The weldingdata unit is reset.

112429, Non-permitted set values stored in RAM

DescriptionNon-permitted values have been discovered at start-up in unitarg.Fault code: argInternal unit: arg

Recommended actionsDelete all data contained in the welding data unit.Turn off the mains power supply to reset the unit. The weldingunit is reset.

112430, Incompatible set values stored in RAM

DescriptionNon-permitted welding data combinations have been specifiedin unit arg.Fault code: argInternal unit: arg


112431, Transmit buffer overflow

DescriptionThe welding data unit does not manage to transmit informationto the other units sufficiently quickly in unit arg.Fault code: argInternal unit: arg




Continued

Recommended actionsTurn off the mains power supply to reset the unit.

112432, Receiver buffer overflow

DescriptionThe welding data unit does not manage to process informationfrom the other units sufficiently quickly.Fault code: argInternal unit: arg

Recommended actionsTurn off the mains power supply to reset the unit.

112434, Incompatible weld data format


112435, Program error

DescriptionSomething has prevented the processor from performing itsnormal duties in the program in unit arg.Fault code: argInternal unit: arg

ConsequencesThe program restarts automatically. The current welding processwill be stopped.

Recommended actionsReview the handling of welding programs during welding. If thefault is repeated, send for a service technician.

112436, No wire

DescriptionI/O unit: argError code: argInternal unit:arg

112437, Lost program data

DescriptionProgram execution does not work in unit arg.Fault code: argInternal unit: arg


112438, No water flow


112439, Lost contact with TIG card


112441, No gas flow

DescriptionI/O unit: argError code: argInternal unit:arg

112500, Weld Data Monitor

DescriptionThe configuration is complete for arg

112501, WDM Configuration Error

DescriptionThe configuration failed for arg

ConsequencesWeld Data Monitor will be inoperable.

Recommended actionsPlease review PROC settings to correct.

112502, WDM Alias IO Error

DescriptionThe signals defined in the PROC are invalid.Task: arg






112503, WDM Failed to Read WDM_SETTINGS

DescriptionThe 'chart' setting in the WDM_SETTINGS sectionof the PROC could not be read.Task: arg

ConsequencesWeld Data Monitor not save charting files.


112504, WDM Failed to Read WDM_SETTINGS

DescriptionThe IO signal setting in the WDM_SETTINGS sectionof the PROC could not be read.Task: arg



112505, WDM Failed to Read WDM_STABILITY

DescriptionThe WDM_STABILITY section of the PROC could not be found.Default values have been applied.Task: arg

112506, WDM Failed to Read WDM_STABILITY

DescriptionThe WDM_STABILITY section of the PROC could not be read.Task: arg

ConsequencesWeld Data Monitor may be inoperable.


112507, WDM Failed to Read WDM_SIGNATURE

DescriptionThe WDM_SIGNATURE or WDM_SIGNATURE_DATA sectionof the PROC could not be found.Default values have been applied.Task: arg

112508, WDM Failed to Read WDM_SIGNATURE

DescriptionThe WDM_SIGNATURE or WDM_SIGNATURE_DATA sectionof the PROC could not be read.Task: arg



112509,WDMFailed to ReadWDM_TOLERANCE

DescriptionThe WDM_TOLERANCE section of the PROC could not be read.Task: arg



112510, WDM Learning Results Stored

DescriptionA learning cycle has finished for arg in task argarg of arg learning cycles completed.Sample size: arg

112511, WDM Learning Complete

DescriptionLearning is complete for arg in task argarg of arg learning cycles completed.Sample size: arg

ConsequencesMonitoring will be active the next time this seam is welded.

112512, WDM Signature File Inaccessible

DescriptionThe stored signature could not be read.Seam Name: argTask: argThe file may have been left open by another application.

ConsequencesWeld Data Monitor is unable to evaluate this weld seam.




Continued

Recommended actionsRestarting the controller and starting from the main may resolvethe problem for the next learning cycle.

112513, WDM Signature File Inaccessible

DescriptionThe stored signature could not be written to.Seam Name: argTask: argThe file may have been left open by another application.



112514, WDM Results File Inaccessible

DescriptionThe measured results could not be read.Seam Name: argTask: argThe file may have been left open by another application.



112515, WDM Data Reading Timeout

DescriptionData could not be read from the binary file within a reasonabletime.Seam Name: argTask: argTimeout: arg seconds


Recommended actionsDelete the stored WDM files and relearn.

112516, WDM Data Checksum Error

DescriptionData read from the binary file did not match the expected size.Seam Name: arg

Task: arg


Recommended actionsDelete the stored WDM files and relearn.

112517, WDM Unknown Error

DescriptionAn unexpected error occurred in WriteSigData.Seam Name: argTask: arg


Recommended actionsPlease report to your ABB representative.

112518, WDM Unknown Error

DescriptionAn unexpected error occurred in EvalSigData.Seam Name: argTask: arg


Recommended actionsPlease report to your ABB representative.

112519, WDM Signature File Too Short

DescriptionThe end of the signature file was reached before weldingstopped.Seam Name: argTask: argCurrent number of samples: arg


112520, WDM File Access Error

DescriptionCould not open the binary data file described below.File: argTask: argThe file may have been left open by another application.





Recommended actionsRestarting the controller and starting from the main may resolvethe problem for the next learning cycle. Deleting the file mayalso resolve the problem.


DescriptionCould not close a binary data file.Task: arg




DescriptionCould not seal the binary data file described below.File: argTask: arg



112523, WDM Sample Size Error

DescriptionThe number of points stored in the last weld seam does notmatch the number stored in the existing signature file.Seam Name: argTask: argMeasured samples: argSignature samples: arg

ConsequencesWeld Data Monitor will be unable to evaluate the data from thisseam.

112524, WDM Weld End Error

DescriptionAn unspecified error occurred at the end of the seam.Task: arg


Recommended actionsPlease contact your ABB representative.

112525, WDM Weld Start Error

DescriptionAn unspecified error occurred at the start of the seam.Task: arg



112526, WDM Learning Started

DescriptionNo previously stored signature exists for arg in task arg.Learning will begin now.Learning cycles required: arg

112527, WDM Text Resource Error

DescriptionText Resource Error.Weld Data Monitor could not access text.Index: argFile: argTask: arg


112528, WDM Minor Infraction

DescriptionA minor arg infraction has occurred in seam arg.Measured value: argMaximum limit: argMinimum limit: arg




Continued

112529, WDM Major Infraction

DescriptionA major arg infraction has occurred in seam arg.Measured value: argMaximum limit: argMinimum limit: arg

112530, WDM Error

DescriptionAn unspecified error has occurred in the Weld Data Monitor fortask arg


112531, WDM Trigger Ready

DescriptionWeld Data Monitor is ready to sample data for task arg

112532, WDM Trigger Subscriptions Failed

DescriptionWeld Data Monitor trigger subscriptions failed for task arg


112533, WDM Trigger IO Setup Failed

DescriptionWeld Data Monitor trigger IO connections failed for task arg


112534, WDM Weave Frequency Error

DescriptionWeave frequency is too fast for arg in task arg.

ConsequencesWDM will reduce sampling rate to a fraction of the weavefrequency.

112535, WDM Weave Frequency Error

DescriptionWeave frequency is too fast for arg in task arg.

ConsequencesNo monitoring will occur.

Recommended actionsPlease reduce weave frequency to enable Weld Data Monitoring.

112536, WDM Weave Change Error

DescriptionThe weave parameters have changed since learning of seamarg in task arg.


Recommended actionsPlease remove the stored signature and relearn with newparameters. Or, reinstate old parameters.

112537, WDM Speed Change Error

DescriptionThe weld travel speed has changed since learning of seam argin task arg.



112538, WDM Seam Length Changed

DescriptionThe weld seam length has changed since learning of seam argin task arg.


Recommended actionsIf the targets defining the seam were intentionally modified,please remove the stored signature and relearn with the newtargets.

112539, WDM Sample Frequency Error

DescriptionSampling frequency is too fast for arg in task arg.

ConsequencesWDM will reduce sampling rate to a fraction of the requestedfrequency.




112540, WDM Sample Frequency Error

DescriptionSampling frequency is too fast for arg in task arg.


Recommended actionsPlease reduce sampling frequency to enable Weld DataMonitoring.

112541, WDM welddata Change Error

DescriptionThe weld parameters have changed since learning of seam argin task arg.



112542, WDM Synchronizing Samples

DescriptionThe segment number of the stored data is lagging the actualsample. This is normal behavior associated with executionstops.Seamname: argTask: arg

ConsequencesSome samples may have been ignored during the transitionbetween segments.

112543, WDM Synchronizing Samples

DescriptionThe segment number of the actual sample is lagging the storeddata. This is normal behavior associated with execution stops.Seamname: argTask: arg

ConsequencesSome samples may have been ignored during the transitionbetween segments.

112544, WDM Sample Distance Changed

DescriptionThe weave parameters, or no-weave sample distance, havechanged since learning was finished for seam arg in task arg.



112600, Init of communication interface failed

DescriptionTask argCommunication interface could not be initialized.Program Ref. arg

Recommended actionsCheck communication settings and parameters and restartapplication.Recovery: arg

112601, Incorrect data received.

DescriptionThe data received from remote system is incorrect. It is eithera data error of the remote system, or a wrong message wasreceived.

Recommended actionsCheck data and program logic.

112602, Communication interface error.

DescriptionThere is an error detected in the communication with theexternal system.

Recommended actionsCheck remote system and connection. Restart communication.

112603, Failed to access the config files

DescriptionThe configuration and settings files for the communicationinterface is not found in the HOME/GSI folder.

Recommended actionsCheck that the HOME/GSI folder exists and that theconfiguration and settings files can be found there. Restartcommunciation.




Continued

112700, Integrated Vision not installed

DescriptionThe option Integrated Vision is not installed on this system.

ConsequencesNo communication with the camera is possible.

Probable causesAn attempt may have been made to use the Integrated Visionfunctionality without installing the option correctly.

Recommended actions1) If the Integrated Vision option is required: configure a newsystem with this option, and install the system.2) If the Integrated Vision option is not required: remove theuse of Integrated Vision functionality, i.e. RAPID or configurationdata.

112701, Communication failure with camera

DescriptionThe robot controller failed to communicate with camera arg.

ConsequencesCamera commands and results may be lost.

Probable causesThe reasons for this error can be:1) The camera is not connected to the controller.2) There is no power to the camera.3) The camera's IP address is not valid.4) The camera is not connected to the proper network interface.Normally only the service port is supported.

Recommended actionsRecommended Actions1) Check cabling between robot controller and camera.2) Check that the LED power and link indicators on the cameraare active.3) Use RobotStudio to check that the IP address has beenconfigured correctly.

112702, Camera job is not valid

DescriptionThe camera arg is in running mode, but the loaded job is not avalid ABB job.

ConsequencesAll camera results will be lost.

Probable causesAn attempt may have been made to load a job that does notconform with the ABB definition of a job.

Recommended actions1. Set the camera in program mode.2. Load a valid ABB job into the camera or use Robot Studio tocreate a new job.

114800, arg

Descriptionargargargarg

Recommended actions

114801, arg


Recommended actions

114802, arg


Recommended actions

114803, arg


Recommended actions

114804, arg





Recommended actions

114805, arg


Recommended actions

114806, arg


Recommended actions

114807, arg


Recommended actions

114808, arg


Recommended actions

114809, arg


Recommended actions

114810, arg


Recommended actions

114811, arg


Recommended actions

114812, arg


Recommended actions

114813, arg


Recommended actions

114814, arg


Recommended actions




Continued

5.11 12 xxxx

120001, Out of memory in cfg

DescriptionThere is not enough memory in the cfg database for thisoperation.

ConsequencesThe configuration file will not be installed.

Recommended actionsTry to use the option: delete existing parameters before loadingwhen loading the configuration file. This will delete all previousconfiguration settings for the domain. Increase the size of theconfiguration database.

120002, Instance cannot be saved

DescriptionNot allowed to overwrite instance in line arg of file arg.

ConsequencesThe instance may be write protected and the configuration infile will not be installed.

Probable causes

Recommended actionsYou are not allowed to change the instance.

120003, Wrong cfg domain version

DescriptionThe cfg domain version is wrong in file arg. This version ofRobotWare is made for reading domain arg with version arg.

ConsequencesThe configuration in file might not be installed correctly.

Probable causes

Recommended actionsMigrate or edit the configuration file and update the version inthe header of the file.

120004, Line too long

DescriptionLine arg in file arg contains arg characters, which is more thanthe allowed arg.

ConsequencesThe configuration in file will not be installed.

Probable causes

Recommended actionsRe-edit the configuration file and reduce the number ofcharacters, e.g. by splitting the instance into several lines. Endeach line, except the last one, with a trailing backslash "\" toachieve this.

120005, Attribute value out of allowed range

DescriptionAttribute 'arg' on line arg in file arg is out of the allowed range.The allowed range is < arg> - < arg>.


Probable causes

Recommended actionsRe-edit the configuration file and change the value on theattribute to fit inside the allowed range.

120006, Instance name occupied

DescriptionInstance in line arg in file arg is already occupied.


Probable causes

Recommended actionsRe-edit the configuration file and change the instance name toadd it to the file OR Use the "Replace" mode to overwrite theinstance previously using the name. This may be selected whenloading the configuration file using RobotStudio, and theprocedure is detailed in the RobotStudio Manual.

120007, Unknown input in cfg file

DescriptionThe name or the value of attribute 'arg' in line arg in file arg isnot recognized.


Probable causesThe configuration file contains invalid input.

Recommended actionsRe-edit the configuration file.




120008, Mandatory attribute is missing in cfg file

DescriptionMissing mandatory attribute arg on line arg in file arg.


Probable causesMissing/mistyped mandatory attribute.


120009, Missing instance name in cfg file

DescriptionMissing instance name on line arg in file arg.


Probable causes


120010, Configuration attribute value out of theallowed range

DescriptionConfiguration attribute arg on line arg in file arg is out of theallowed range. The max. allowed length is arg characters.


Probable causes

Recommended actionsRe-edit the configuration file and change the value on theattribute to fit inside the allowed range.

120011, Illegal version string

DescriptionThe version string in configuration file arg has illegal format.


Probable causesThe configuration file is made for a different systemversion/revision.The version string in the configuration file is mistyped/missing.The configuration file is corrupted.

Recommended actionsRe-edit the configuration file and change the version stringaccording to this layout:"domain":CFG_1.0:"version":"revision"::.

120012, Illegal domain name

DescriptionThe domain name arg in configuration file arg is illegal.


Probable causesThe domain name may be mistyped or the domain is notinstalled in the system.

Recommended actionsRe-edit the configuration file and change the domain name.

120013, Illegal type name

DescriptionThe type name 'arg' in configuration file arg cannot be foundin domain arg.

ConsequencesThe configuration in file will not be installed correctly.

Probable causesThe type name may be mistyped or the type is not installed inthe system.

Recommended actionsRe-edit the configuration file and reload the cfg file.

120014, Configuration file error

DescriptionErrors occurred during loading of configuration data.All configuration errors are placed in the cfg Event Log.


Recommended actionsMake sure that the syntax of the CFG file is correct. Make surethat the options are installed that matches types in the CFGfile. Check for additional errors in the CFG event log.

120015, Invalid arg

DescriptionThe arg 'arg' is invalid.Parameter 'arg' is invalid here.




Continued

File: arg. Line: arg.


Probable causesThe parameter is not valid.


120016, Invalid arg

DescriptionParameter 'arg' has an invalid value: 'arg'Valid values: argarg


Probable causesThe value might be mistyped.


120017, Invalid Rapid Identifier

DescriptionThe value 'arg' of parameter 'arg' for configuration instance 'arg'is invalid.


Probable causesThe value might be mistyped.

Recommended actionsCorrect the value of the parameter so that it complies with thefollowing rules:Rules of RAPID identifiers: The length must not exceed 16characters. The first character must be a letter (a-z or A-Z).Subsequent characters must be letters (a-z or A-Z), digits (0-9)or underscores (_).




5.12 13 xxxx

130002, Equipment error

DescriptionPaint process stopped.

Recommended actionsCheck the paint equipment.

130008, Trig plane error

DescriptionIn 'SetBrush n': One trig plane,arg, is defined outsidethe programmed path.

Recommended actionsChange eventdata or reprogram path.

131000, Argument error.

DescriptionThe argument is not an integer.

Recommended actionsChange the argument to an integer.

131006, Argument value error

DescriptionNegative value for argument no. arg

Recommended actionsChange argument value toa positive number.

131007, Signal 'arg' does not exist

DescriptionSignal: argTask: argContext: arg

Recommended actionsCheck signal definitions.Define signal or find an existing signal.

131013, Non-existing signal

DescriptionThe following signal did not exist:'arg'

Recommended actionsCheck signal definitions.Define signal or find an existing signal

131015, Too many trig events

DescriptionThe maximum number of trig events (10) between two PaintLinstructions is exceeded.Task: argInstruction: argContext: arg

Recommended actionsReduce the number of trig events.

131016, Illegal value for signal arg

DescriptionAn attempt was made to set an illegal value arg for signal arg.

ConsequencesSignal will not be set.

Recommended actionsCheck that signal is within defined limits.

131017, SetBrushFac: Illegal applicator numberarg

DescriptionDevice AargBrush not found.

ConsequencesBrush factor is not set.

Recommended actionsCheck IPS config that device exists for this applicator number.

131018, SetBrushFac: Illegal factor or channelnumber

DescriptionChannel arg is invalid orfactor arg outside limit. (Range: 1-200%)

ConsequencesBrush factor is not set.

Recommended actionsCheck channel number and factor.




131019, Unexpected IPS return value

DescriptionCommand arg sent from RAPID returned value arg

ConsequencesIPS parameter not set

Recommended actionsCheck IPS and RobotWare compatibility or contact ABB support

131020, Unknown IPS command sent fromRAPID

DescriptionThe IPS command arg is unknown

ConsequencesIPS parameter not set

Recommended actionsCheck IPS and RobotWare compatibility or contact ABB support

131030, Failed to set IPS parameter.

DescriptionDevice: arg, Parameter: arg, Task: arg, Context: arg

Recommended actionsCheck if device and parameter exists.

131031, Failed to get IPS parameter.

DescriptionDevice: arg, Parameter: arg, Task: arg, Context: arg

Recommended actionsCheck if device and parameter exists.

131050, Failed to get index file data.

DescriptionUnable to open file: arg, Task: arg, Context: arg

Recommended actionsCheck if index file exists.


DescriptionCannot find row number: arg, File: arg, Task: arg, Context: arg

Recommended actionsCheck if row number exists in index file.


DescriptionCannot find column number: arg, Row: arg, File: arg, Task: arg,Context: arg

Recommended actionsCheck if column number exists at row in index file.

131400, Invalid program mapping index.

DescriptionLine arg in file arg is invalid.

ConsequencesThe index will be ignored.

Recommended actionsCheck line in file for errors.

131401, Program mapping missing comma.

DescriptionLine arg in file arg does not contain a comma.

ConsequencesThe index will be ignored.

Recommended actionsCheck line in file for errors.

131500, Command toggle was sent beforeprevious command was finished.

DescriptionCommand toggle for command number arg was sent beforecommand number arg was finished.

ConsequencesThe command is ignored.

Recommended actionsCheck PLC timing.

131501, Command toggle was lowered beforecommand was finished.

DescriptionCommand toggle for command number argwas lowered beforeit was finished.

ConsequencesCommand result will not be available.

Recommended actionsCheck PLC timing.




131540, Command is not allowed in manualmode.

DescriptionCommand number arg was sent in manual mode from arg.

ConsequencesThe command is rejected.

Recommended actionsSwitch to automatic mode.

131550, Command timed out.

DescriptionWait for command number arg timed out.

ConsequencesThe actual command result will NOT be received.

Recommended actionsCheck if command uses too much time to execute.

131551, Command buffer full.

DescriptionUnable to append command number arg because the buffer isfull.

ConsequencesThe command will be rejected.

Recommended actionsMake sure previous command has finished before sending anew one.

131600, Proceed of material change failed.

DescriptionThe system was unable to send proceed command to materialchange engine.

ConsequencesMaterial change becomes unsynchronized.

Recommended actionsCheck communcation between main computer and IPS.

131601, Material change error.

Descriptionarg

131602, Material change warning.

Descriptionarg

131650, No contact with material change engine.

DescriptionThe system was unable to communicate with external materialchange engine on PIB.

ConsequencesMaterial change information will not be updated.

Recommended actionsCheck that material change has been installed correctly on PIB.Check communcation between main computer and PIB.

131700, Maximum negative lag of conveyorreached.

DescriptionThe conveyor is running too fast compared to configurednominal speed.

Recommended actionsCheck nominal speed setting or reduce conveyor speed.

131850, Bell speed rotation sensor calibrationstarted.

DescriptionThe system has started calibration of the rotation sensor.

131851, Bell speed rotation sensor calibrationfinished.

DescriptionCalibration of rotation sensor finished without errors.

131852, Bell speed rotation sensor calibrationfailed.

DescriptionCalibration of rotation sensor finished with errors.

Recommended actionsCheck for other process related error messages.

132500, Unable to open symbol.

DescriptionOutput for symbol arg not found.NOTE: No paint-related outputs available




Continued

due to this error.

Recommended actions1. Output for symbol not defined.2. Output for symbol has wrong name.3. Internal problem (memory etc..)Try a restart.

132601, PIB contact lost

DescriptionController has lost connection with the Process Interface Board(PIB).

ConsequencesThe system goes to status SYS_FAIL.

Probable causes1. Broken ethernet cable between PIB and MC2. High network load.

Recommended actionsCheck main computerPIB Ethernet cable.Restart the controller

132602, Invalid signal path for signal arg

DescriptionThe path arg is invalid for signal arg

ConsequencesThis signal will be disabled

Recommended actionsCheck that the named device exist in IPS and there are noconflicts. For numeric unit mapping on digital signals, pleasenote that IPS uses 1-indexing while EIO uses 0-indexing.

132603, Watchdog fault between PIB and MC

DescriptionController has discovered watchdog fault towards ProcessInterface Board (PIB)

ConsequencesThe system goes to status SYS_FAIL.

Probable causes1. Broken cable2. High network load.

Recommended actionsIf problem persists:Check main computer

Check ethernet cable between PIB and main computer.Restart the controller

132604, Regained contact with PIB

DescriptionController has regained contact with the Process InterfaceBoard (PIB) after watchdog fault.

132999, Process error context

Descriptionarg, arg, arg, arg, arg

Probable causesThis message is associated with an IPS error and is used tomap the problem to TCP position for visualization purposes.

133000, IPS Cfg Error

DescriptionCfg Error: argError accessing IPS config file arg. This config file is stored onone of the installed IPS nodes.

Recommended actions1. Check IPS config file for errors.2. Check if config file is stored on the correct IPS node.


DescriptionCfg Error: arg.Error in IPS config file arg in line arg. This IPS config file islocated on one of the IPS nodes.

Recommended actions1. Check in IPS config file for error in given line.


DescriptionSyntax Error: arg.Faulty argument: arg, in IPS config file arg in line arg. This IPSconfig file is located on one of the IPS nodes.



DescriptionAssertion error: arg.




Error in IPS config file arg in line arg. This IPS config file islocated on one of the IPS nodes.


133004, IPS Cfg Token Error

DescriptionCfg Token Error: arg.Error in token arg, in IPS config file arg in line arg and characterposition arg. This IPS config file is located on one of the IPSnodes.


133005, IPS License Error

DescriptionLicense server is not found.Could not obtain option: argReference: arg

Recommended actions1. Check that the system has a license server.2. Check status on license server.3. Check communication towards license server.


DescriptionID chip is not found.Could not obtain option: argReference: arg

Recommended actions1. Check that ID chip is mounted on PIB.


DescriptionWrong serial number.Could not obtain option: argReference: arg

Recommended actions1. Check serial number in license file.2. Check that correct ID chip is mounted.


DescriptionLicense file is not found. File name must be 'option.lic'.

Could not obtain option: argReference: arg

Recommended actions1. Check that license file exist on license server.


DescriptionLicense code in license file is not correct.Could not obtain option: argReference: arg

Recommended actions1. Check that the license file on license server is identical tothe original license file.


DescriptionSyntax error in license file.Could not obtain option: argReference: arg

Recommended actions1. Make sure the original license file is used.2. Order new license file.


DescriptionOption does not exist in license file.Could not obtain option: argReference: arg

Recommended actions1. Check if option exist in license file.2. Check if correct license file loaded.3. Check in IPS config file for errors.4. Order new license file.


DescriptionCounting option has no free licenses.Could not obtain option: argReference: arg

Recommended actions1. Check number of uses vs. license file.2. Check if correct license file loaded.3. Check in IPS config file for errors.




Continued


DescriptionProtocol error in communication towards license server.Could not obtain option: argReference: arg

Recommended actions1. Contact customer support.


DescriptionCommunication fault. License server has been found, butcommunication is lost.Could not obtain option: argReference: arg

Recommended actions1. Check communication towards license server.

133200, arg:Trig error

DescriptionIPS has discovered animpossible trig time error.This situation may occur if trig-eventsare programmed too close each other ine.g. a cleaning sequence.

Recommended actions1. Check if events for named deviceare programmed too close each other.2. Check compensation delays fornamed device.

133201, arg:Locked

DescriptionThe named device is locked by IPS.Can't set a value to thisdevice when locked, and there is nodirect access to it.

Recommended actions1. Check if system tries to run nameddevice, when it is already locked(connected) to another device.

133202, arg:Disabled

DescriptionImpossible to set a command value to

named device when it is disabled.When a device is disabled, it is notpossible to operate it.

Recommended actions1. Enable named device and set a newcommand to it.2. Check if IPS config is set up todisable the named device.

133203, arg:Disconn.

DescriptionThe resource(s) for named device isdisconnected and named device is notoperational. The connect signal forthe device is set to 0.

Recommended actions1. Set the connect signal for thenamed device to 1.2. Check if the system sets the connectsignal to 0 in some special cases.

133204, arg:Not ready

DescriptionCan't set value: Named device is notready and is halted by some supervisionfunctions or it have a general problem.

Recommended actions1. Check if IPS is setup with anysupervision functions for named device.2. Check if named device have anyproblem, fix the problem and retry.

133205, arg:Sprv. alarm

DescriptionCan't set value:An alarm that issupervising named device is active.One of the installed alarms prevents thenamed device from being operational.

Recommended actions1. Check for supervision alarms thatsets named device in a not ready state.2. Fix the actual alarm state.




133206, Lock arg failed

DescriptionLocking of a resource for named devicefailed. The same resource may have beenallocated by another device.

Recommended actions1. Check in IPS config if severalIPS devices are using the same resource.

133207, arg:Val hi

DescriptionValue for named sensor or device hasexceeded maximum limit.IPS has discovered an alarmstate for named sensor or device.

Recommended actions1. Check if value for named sensor ordevice is too high.2. Check for IPS configured LIMIT-alarms and verify that limits are OK.

133208, arg:Val lo

DescriptionValue for named sensor or device hasexceeded minimum limit.IPS has discovered an alarmstate for named sensor or device.

Recommended actions1. Check if value for named sensor ordevice is too low.2. Check for IPS configured LIMIT-alarms and verify that limits are OK.

133209, arg:Act.val hi

DescriptionActual value for named device hasexceeded maximum limit. IPS hasdiscovered too high actual valuecompared to the setpoint value.

Recommended actions1. Check for IPS configured DEVIATION-alarms and verify that parameter limitsare OK.2. Check if the sensor, used by named

device, is noisy.

133210, arg:Act.val lo

DescriptionActual value for named device hasexceeded minimum limit. IPS hasdiscovered too low actual valuecompared to the setpoint value.

Recommended actions1. Check for IPS configured DEVIATION-alarms and verify that parameter limitsare OK.2. Check if the sensor, used by nameddevice, is noisy or sending values.

133211, arg:Comp. hi

DescriptionRegulator for named device hascompensated too much compared to thecalibrated curve and its compensationsparameter limits.

Recommended actions1. Check in IPS config if compensationlimits for named device are too tight.2. Check supply pressures, hoses, sensorand transducer used by named device.

133212, arg:Comp. lo

DescriptionRegulator for named device hascompensated too much compared to thecalibrated curve and its compensationsparameter limits.

Recommended actions1. Check in IPS config if compensationlimits for named device are too tight.2. Check supply pressures, hoses, sensorand transducer used by named device.

133213, arg:Potlife

DescriptionThe potlife time for named device hasexpired and the fluid will start tocure! Paint equipment may be destroyed!Start to flush system at once!




Continued

Recommended actions1. Check if flushing of system isperformed.2. Check if potlife time is correct.

133214, arg:Setp. hi

DescriptionSetpoint value for named device is toohigh. The setpoint value is set tothe maximum configured value for nameddevice.

Recommended actions1. Check if setpoint to named deviceis set too high.2. Change the maximum value in theIPS config file if needed.

133215, arg:Setp. lo

DescriptionSetpoint value for named device is toolow. The setpoint value is set tothe minimum configured value for nameddevice.

Recommended actions1. Check if setpoint to named deviceis set too low.2. Change the minimum value in theIPS config file if needed.

133216, arg:Seq. error

DescriptionIPS has discovered a trig sequenceerror. The Dynamic Delay Compensationfunction for named device measured an'on'- transition while expecting an'off'- transition. (Or opposite)

Recommended actions1. Check if the sensor signalhas the correct level.2. Check if the sensor signalis noisy.

133217, arg:Unexp. trans.

DescriptionIPS has discovered an unexpected

transition. The Dynamic DelayCompensation function for named devicemeasured a transition at a time whennone was expected.

Recommended actions1. Check relay and electricalconnections for the sensor.2. Check if the sensor signalis noisy.

133218, arg:Timeout On

DescriptionIPS has discovered a trig timeoutfor an 'on'- transition. The DynamicDelay Compensation function has timedout for an 'on'- transition.

Recommended actions1. Check sensor for named device.2. Check wiring or relay for sensor.

133219, arg:Timeout Off

DescriptionIPS has discovered a trig timeoutfor an 'off'- transition. The DynamicDelay Compensation function has timedout for an 'off'- transition.

Recommended actions1. Check sensor for named device.2. Check wiring or relay for sensor.

133220, arg:No signal

DescriptionIPS is reading a zero value from thesensor used by the named device. Wiringor supply to this sensor can bethe reason.

Recommended actions1. Check if used sensor is broken.2. Check wiring of used sensor.3. Check process supply for used sensor.

133221, arg:Max output

DescriptionThe closed loop regulator for named




device has reached the maximum output.

Recommended actions1. Check if the commanded value to theregulator is higher than possible forthe application equipment.2. Reduce setpoint to operate regulatorwithin controllable range.

133222, arg:Min output

DescriptionThe closed loop regulator for nameddevice has reached the minimum output.

Recommended actions1. Check if the commanded value to theregulator is lower than possible forthe application equipment.2. Increase setpoint to operateregulator within controllable range.

133223, arg:Interlock

DescriptionIPS has discovered an interlockconflict error. An attempt was made tooperate more than one valve or devicein an interlocked group.

Recommended actions1. Set active valve or device to zerobefore activating a new one.

133224, Acknowledge needed

Descriptionarg is currently halted byan alarm supervision and an acknowledgeof named device is needed.

Recommended actions1. Check the alarms that is haltingthe named device.2. Recover the alarm situation.3. Acknowledge the alarm for nameddevice and retry.

133225, DMC error

DescriptionFollowing Digital Motor Controller (DMC) error message wassent to IPS:arg.IPS has lost communication or discovered an error sent fromthe named DMC driver.

Recommended actions1. Check cables to the DMC.2. Check power supply to the DMC.3. For more info, see the Unit Description, Paint manual.

133226, arg.

DescriptionSetpoint error.IPS has discovered an errorto set a signal on the named device.

Recommended actions1. Check if signal is available fornamed device.

133250, arg:Comm. err

DescriptionIPS has discovered an internalCAN-communication error. Communicationon CAN-bus between IPS nodes is lost.System will try to reconnect ifpossible.

Recommended actions1. Check CAN-bus cables for IPS nodes.2. Check IPS nodes for correct MacID.3. Check CAN-bus termination resistors.

133251, arg:New curve

DescriptionIPS has created a new dynamic orcalibrated curve, number arg, fornamed device.

Recommended actions

133252, arg:Calc. curve

DescriptionIPS has recalculated a dynamic orcalibrated curve, number arg, for named




Continued

device. The range of curve is modifieddue to modified range of regulator.

Recommended actions

133253, arg:Resizing

DescriptionIPS has resized a dynamic orcalibrated curve, number arg, for nameddevice. Due to change in curvesizeparameter, the existing curves aretransformed to the new curvepoint size.

Recommended actions

133254, arg:DMC error

DescriptionIPS has lost communication ordiscovered an error sent from namedDMC-driver.DMC error code is: arg.

Recommended actions1. Check DMC-driver status LEDs.2. Check power supply on the DMC-driver.3. Turn off and on the DMC-driver power.

133255, Apmb error

DescriptionIPS has discovered an Apmb-driver(Berger-Lahr driver) error.Apmb-driver, number: arg, has issued anerror.

Recommended actions1. Check the fault LEDs codes on theBerger-Lahr Drive unit.2. Check stepper motor.3. Check wiring for Berger-Lahr driver.

133256, arg:Curve err

DescriptionIPS has discovered a numberformat on named dynamic/calibratedcurve that is not correct.

Recommended actions1. Check if an already saved curve onthe IPS node has an incompatible number

format than expected.2. Delete the saved curve on theIPS board.

133257, SDI error

DescriptionSDI board have issued followingerror:arg,with error code:arg.

Recommended actions1. Check SDI board for errors.

133258, VCD error,MacID:arg

DescriptionIPS has discovered an erroron a VCD board with followingdetails:arg.

Recommended actions1. Check VCD board for the error reasongiven.2. Replace the VCD board.


DescriptionIPS has discovered a File AccessError on following file: arg.

Recommended actions1. Check if named file exists.2. Check if file is currently in use.

133260, File Defaulted

DescriptionIPS has created a default fileof type: 'arg' withfollowing file name: arg.

Recommended actions

133261, File Parse Error

DescriptionIPS failed to load the following file arg in line arg.Detailed error text: arg.

Recommended actions1. Check that named file has the correct format for its use.




133262, New index entry in file

DescriptionIPS has created in file: arga new index entry with value: arg

Recommended actions

133263, PPRU CAN Error

DescriptionPPRU unit: arg,register 'arg' = arg

133264, PPRU Error

DescriptionPPRU unit: arg,message = 'arg'

133265, SPI down: arg

DescriptionIPS on node arg has discovered an SPI-communication error.argSystem will try to reconnect.

Recommended actions1. Check serial cable to SPI board.2. Check power cable to SPI board.3. Check/replace SPI board.

133266, SPI up: arg

DescriptionSPI reconnected on node arg.

133267, Missing index entry in file

DescriptionIPS has tried to use a none existing index entry in file arg withvalue arg.

Recommended actionsIf this index entry is valid, it must be manually added to namedindex file.

133268, arg: Failed to load brush table.

DescriptionIPS has tried to load brush table arg on the named device.

Recommended actions1. Check other error messages for detailed explanation.

133269, arg: Failed to set brush.

DescriptionIPS has tried to set brush number arg in brush table arg on thenamed device.

Recommended actions1. Check if brush table (or material) is selected.2. Check if selected brush number exists in loaded brush table.3. Check global brush table if brush number larger than 900.

133270, Failed to update IPS parameters

DescriptionIPS failed to update IPS parameter values after reconnect ofIPS agent connections. The update was initiated after the IPSagents have been lost for any reason, typically caused by apurge fault.The system must be restarted to ensure all parameters are setwith correct values.

ConsequencesIPS parameters may not have been updated with correct values.

Probable causesIPS device or parameter may not exist or command is givenwith an invalid value.

Recommended actions1. Check if all IPS nodes are up and running.2. Check IPS parameter files.3. Restart system.

133271, IPS parameters updated

DescriptionIPS has updated parameter values after reconnect of IPS agentconnections, typically caused by a purge fault.

133280, Servo create error

DescriptionSDI board has discovered an error whileloading configuration.

Recommended actions1. Check SDI configuration.2. Check/replace SDI board.3. Contact customer support.

133281, Servo meas. system error

DescriptionSDI board has discovered an error on the




Continued

serial line for the measurement system.

Recommended actions1. Check cables and connectors.2. Check measurement board.3. Contact customer support.

133282, Servo drive system error

DescriptionSDI board has discovered an error on theserial line for the drive system.

Recommended actions1. Check cables and connectors.2. Check serial line, maybe a loop-linkis required.3. Check drive units.4. Contact customer support.

133283, Servo calibration done

DescriptionSDI board has performed calibration.

Recommended actions

133284, Servo calibration error

DescriptionSDI board has discovered an error whiledoing calibration.

Recommended actions1. Retry calibration.2. Contact customer support.

133285, Servo calibration timeout

DescriptionSDI board has discovered that thecalibration job has timed out.

Recommended actions1. Retry calibration.2. Contact customer support.

133286, Servo config. timeout

DescriptionSDI board has discovered an error whileloading configuration.

Recommended actions1. Check SDI configuration.2. Check/replace SDI board.3. Contact customer support.

133287, Servo coeff. set error

DescriptionSDI board has discovered a problem toassign a specified set of coeffisients.

Recommended actions1. Check FILTERASSIGN section inSDI configuration file for errors.2. Check/replace SDI board.3. Contact customer support.

133288, Servo illegal hardware

DescriptionSDI board has discovered an error while loading configuration.

Recommended actions1. Check SDI hardware version.2. Check/replace SDI board.3. Contact customer support.

133300, Drive units power up

DescriptionAfter power up or reset of Drive unitsthe 'POWER_UP'-error bit is set. This isto indicate that the Drive units needsto be initialized by downloadedparameters.

Recommended actions1. This is info only, the software onthe SDI board should automaticallydownload parameters to the drives.

133301, SDI Servo WatchDog

DescriptionSDI board has discovered a watchdogreset from the Drive unit usedby: arg.

Recommended actions1. Restart robot controller.2. Replace Drive unit.




133302, SDI logic +/-15V error

DescriptionThe SDI supply voltage for +/-15V isout of range, received from the Driveunit used by: arg.

Recommended actions1. Check cabling on SDI board.2. Check supply voltage of +/-15V fromSDI board.3. Replace Drive unit.

133303, SDI Comm. error

DescriptionSDI board has discovered too manyconsecutive communication errorsreported by the Drive unitused by: arg.

Recommended actions1. Check cabling.2. Replace Drive unit.3. Replace SDI board.

133304, Int. Drive unit error

DescriptionSDI board has discovered an internalerror in the Drive unit usedby: arg.

Recommended actions1. Ignore if any other Drive uniterrors are present.2. Replace Drive unit.

133305, Drive glitch warning

DescriptionSDI board has discovered a glitch inthe short circuit detector for the Driveunit used by: arg.

Recommended actions1. Check for short circuit in cabling.2. Check for short circuit in servomotor.2. Replace Drive unit.

133306, Servo short circuit

DescriptionSDI board has discovered an shortcircuit in the Drive unit usedby: arg

Recommended actions1. Check for short circuit in cabling.2. Check for short circuit in servomotor.3. Replace Drive unit.

133307, Servo temp. warning

DescriptionSDI board has discovered a hightemperature warning in the Drive unitused by: arg.ALLOW SYSTEM TO COOL DOWN!

Recommended actions1. Check cooling fans and filters forthe Drive unit.2. Too high ambient temperature.3. Check power consumption of the Drive.4. Replace Drive unit.

133308, Servo Temp. alarm

DescriptionSDI board has discovered a hightemperature alarm in the Drive unitused by: arg.ALLOW SYSTEM TO COOL DOWN!


133309, Servo over temperature

DescriptionSDI board has discovered an overtemperature error in the Drive unitused by: arg.ALLOW SYSTEM TO COOL DOWN!




Continued


133310, Servo Drive overload

DescriptionSDI board has discovered hightemperature in transistors on the Driveunit used by: arg.This problem is caused by overload forthe actual Drive.

Recommended actions1. Too much torque for the Drive unit.Check system for overload in torque.2. Check if robot or pump is jammed.3. Replace Drive unit.

133311, Servo high voltage

DescriptionSDI board has discovered a DC-busvoltage higher than allowed.This is detected in the Drive unitused by: arg.

Recommended actions1. Check incoming mains.2. Check/replace bleeder resistorsand cabling.3. Check/replace DC-link.4. Replace Drive Unit.

133312, Servo over voltage

DescriptionSDI board has discovered a criticalover voltage on DC-bus detected in theDrive unit used by: arg.

Recommended actions1. Check incoming mains.2. Check/replace bleeder resistors.3. Check/replace DC-link.

133313, Servo DC low voltage

DescriptionSDI board has discovered a low voltageon DC-bus detected in the Drive unitused by: arg.

Recommended actions1. Check incoming mains.2. Check/replace bleeder resistorsand cabling.3. Check/replace DC-link.4. Replace Drive Unit.

133314, Servo torque command err.

DescriptionSDI board has discovered a servo torquecommand error with too big differencein 3 consecutive torque references.This error is received from the Driveunit used by: arg.

Recommended actions1. Check resolver cabling and externalnoise in resolver cabling.2. Check resolver ground connections.3. Check SDI configuration if gainis too high.

133315, Servo resolver pos. err.

DescriptionSDI board has discovered a resolverpostion error with too big differencein 3 consecutive rotor positions.This error is received from the Driveunit used by: arg.

Recommended actions1. Check resolver cabling and externalnoise in resolver cabling.2. Check resolver ground connections.

133316, Saturated current contr.

DescriptionSDI board has discovered that the Driveunit is unable to supply ordered currentdue to low DC-voltage or broken motorconnections, received from the Driveunit used by: arg.




Recommended actions1. Check DC-bus voltage.2. Check servomotor/cables.3. Check SDI configuration.4. Replace Drive Unit.

133317, Servo cable error

DescriptionSDI board has discovered a servocable error between Drive unit andservomotor. This error is received fromthe Drive unit used by: arg.

Recommended actions1. Check servomotor/cables.2. Replace Drive unit.3. Replace SDI board.

133318, Servo under current error

DescriptionSDI board has discovered a torquethat is producing a current lower thanordered, received from the Drive unitused by: arg.

Recommended actions1. Check SDI configuration.2. Check DC-bus voltage.3. Check servomotor/cables.

133319, Servo over current error

DescriptionSDI board has discovered a torquethat is producing a current higher thanordered, received from the Drive unitused by: arg.


133320, Drive unit regulator err.

DescriptionSDI board has discovered an error inthe Drive unit regulator (d-part)used by: arg.

Recommended actions1. Check SDI configuration.2. Check servomotor/cables.3. Check resolver and resolver cabling.4. Replace SDI board.

133321, Servo max. current error

DescriptionSDI board has discovered a maximumcurrent error, received from the Driveunit used by: arg.


133322, Servo unknown error code

DescriptionSDI board has discovered an unknownextended servo error code. This is aninternal error, received from Drive unitused by: arg

Recommended actions1. Check/replace Drive unit.2. Check/replace SDI board.3. Contact customer support.

133323, Servo overrun error

DescriptionSDI board has discovered a receiveroverrun. This is an internal error,received from Drive unitused by: arg

Recommended actions1. Check SDI configuration.2. Check/replace Drive unit.3. Check/replace SDI board.4. Contact customer support.

133324, Servo illegal node

DescriptionSDI board has discovered a servoillegal node address error. This is aninternal error, received from Drive unitused by: arg




Continued


133325, Servo illegal key

DescriptionSDI board has discovered a servo illegalkey value when connecting to an Driveunit. This is an internal error,received from the Drive unitused by: arg


133326, Servo no parameter

DescriptionSDI board has discovered that noparameter is used. This is an internalerror, received from the Drive unitused by: arg


133327, Servo read only par.

DescriptionSDI board has discovered an attempt towrite parameter values to read onlyparameters on a Drive unit. This is aninternal error, received from the Driveunit used by: arg


133328, Servo locked parameter

DescriptionSDI board has discovered an attempt towrite parameter values to lockedparameters on a Drive unit. This is aninternal error, received from the Driveunit used by: arg


133329, Servo diagnosis no par.

DescriptionSDI board has asked for a non existingparameter from the Drive unitused by: arg


133330, Servo current meas. error

DescriptionSDI board has discovered a servo currentmeasurement error, caused by an error inthe current measurement bridge.This is an internal error, received fromthe Drive unit used by: arg

Recommended actions1. Check/replace Drive unit.2. Check/replace SDI board.3. Contact customer support.

133331, Servo syncslot occupied

DescriptionSDI board has discovered a syncslotoccupy error received from the Driveunit used by: arg.

Recommended actions1. Check SDI configuration.2. Check/replace Drive unit.




3. Check/replace SDI board.4. Contact customer support.

133332, Servo sync insert error

DescriptionSDI board has discovered a sync inserterror received from the Drive unitused by: arg.

Recommended actions1. Check how motor and resolver areconfigured on the SDI board.2. Check/replace Drive unit.3. Check/replace SDI board.4. Contact customer support.

133333, Servo sync no load par.

DescriptionSDI board has discovered a sync with noparameters, received from the Drive unitused by: arg.


133334, Servo position reg. error

DescriptionSDI board has discovered a servoposition regulator error,for: arg. This error istypical if the resolver feedbackis noisy.

Recommended actions1. Check resolver cabling.2. Contact customer support.

133335, Servo speed reg. overflow

DescriptionSDI board has discovered a servo speedregulator overflow error,for: arg. This error istypical if the resolver feedbackis noisy.

Recommended actions1. Check resolver cabling.2. Contact customer support.

133336, Servo speed flt overflow

DescriptionSDI board has discovered a servo speedfilter overflow error,for: arg.

Recommended actions1. Change SDI board.2. Contact customer support.

133337, Servo res. angle overflow

DescriptionSDI board has discovered a resolverangle calculation overflow error,for: arg.

Recommended actions1. Check resolver and resolver cabling.2. Contact customer support.

133338, Servo resolver error

DescriptionSDI board has discovered a failure inresolver angle square root calculation,for: arg. The squaredresult for x- and y-signal on resolverexceeded a limit.

Recommended actions1. Check resolver and resolver cabling.2. Replace serial measurement boards.

133339, Servo torque limit error

DescriptionSDI board has discovered a servo torquelimit error, for: arg.

Recommended actions1. Check motorcables or servomotor.2. Check torque limits inconfiguration.3. Check if servomotor/gearbox is stuck.4. Check if configuration is correctfor used setup.




Continued

133340, Drive unit comm. lost

DescriptionSDI board has lost communication withthe Drive unit used by: arg.

Recommended actions1. Check cable between SDI board andDrive unit.2. Replace SDI board.3. Replace Drive unit.

133341, Sms board comm. lost

DescriptionSDI board has lost contact with theserial measurement board,used by: arg.

Recommended actions1. Check cable between SDI board andmeasurement board.2. Replace SDI board.3. Replace serial measurement board.







133344, Position step error

DescriptionSDI board has discovered an orderedposition step length larger than themaximum specified step length,configured for: arg.

Recommended actions1. Check the 'MaxStepSize' parameter inthe configuration for named servo.2. Check acc./speed for superiorinterpolator.3. Check resolver and resolver cabling.

133345, Speed error

DescriptionSDI board has discovered a speed errorfor: arg.

Recommended actions1. Check acc./speed for superiorinterpolator.2. Check gain parameters for namedservo.3. Check resolver and resolver cabling.

133430, Servo DC-link overtemp.

DescriptionSDI board has discovered an over-temperature in DC-link: arg.

Recommended actions1. Check cooling fans and filters forthe DC-link.2. Too high ambient temperature.3. Check main supply for DC-link.4. Replace DC-link unit.

133431, Servo bleeder overload

DescriptionSDI board has discovered a bleederoverload for DC-link: arg.

Recommended actions1. Check bleeder connections.2. Too much deceleration.3. Check AC voltage to DC-link.4. Replace DC-link unit.




133433, Servo mains error

DescriptionSDI board has discovered an error onthe main supply for theDC-link unit: arg.

Recommended actions1. Check power supply to the DC-link.2. Replace DC-link unit.

133434, Low DC voltage

DescriptionSDI board has discovered low DC voltageon the DC-link unit: arg.

Recommended actions1. Check power supply to the DC-link.2. Replace DC-link unit.

133435, DC-link +/-15V error

DescriptionThe DC-link supply voltage for+/-15 volt is out of range, detected bythe DC-link unit: arg.

Recommended actions1. Check cabling.2. Check +/-15V from power supply.3. Replace DC-link unit.


DescriptionThe bleeder resistor connected to the rectifier is an open circuit,detected by: arg.

Recommended actions1. Make sure the bleeder resistor cable is correctly connectedto the rectifier unit.2. Make sure the cable and resistor is working correctly bymeasuring their resistance respectively. Disconnect beforemeasuring.3. Replace any faulty component.


DescriptionThe bleeder resistor connected to the rectifier is a short circuit,detected by: arg.

Recommended actions1. Make sure the bleeder resistor cable is correctly connectedto the rectifier unit.2. Perform a shutdown and then restart the system.3. If the problem persists, isolate the faulty rectifier unit andreplace it.

133501, Handler is not calibrated

DescriptionCould not enable the handler, because the handler was notcalibrated.

Recommended actionsCalibrate the handler.

133502, Belt on the handler is not calibrated

DescriptionCould not enable the handler, because the belt on the handleris not calibrated.

Recommended actions1. Be sure to calibrate the handler in two postions.2. Update SDI-configuration to one point calibration.

133503, Belt calibration error

DescriptionThe result of the belt-calibration was too inaccurate.

Recommended actions1. Check SDI-configuration for position of calibration points.2. Make sure that you calibrate in the the correct order and thatthe handler is positioned accurately.

133504, Move not allowed

DescriptionA new move command was given to theinterpolator on the SDI board when itwas already interpolating two paths.

Recommended actions1. Check in program if several moves isperformed, without waiting for theinterpolator to be ready for next move.

133505, No servo response on SDI

DescriptionSDI board has discovered that a servodid not request for a new step from the




Continued

interpolator.

Recommended actions1. Check in error log for the servoerrors given.2. Fix the actual servo problem andretry the system.

133507, Invalid interpolator step

DescriptionSDI board has discovered an invalidinterpolator step in the system. Theinterpolator on the SDI board has triedto set an illegal step length, or toohigh speed is set in the move program.

Recommended actions1. Check program for too high speed.2. Check for configuration error(gear ratio, etc.).3. Interpolator error.4. Contact customer support.

133508, Servo read error

DescriptionSDI board has discovered a servo readerror. The interpolator on the SDI boardhas failed to read from a servo.

Recommended actions1. Check in error log for the servoerrors given.2. Replace SDI board.

133509, Handler not in position

DescriptionSDI board has discovered that thehandler has not reached the correctposition, after a specified time.

Recommended actions1. Check for servo errors.2. Check for interpolator errors.3. Replace SDI board.

133512, Command toggle error.

DescriptionA command toggle was sent to the

SDI board while the acknowledgesignal was high.

Recommended actions1. Assure that the command toggle signalis low before toggling a new command.

133550, Joint speed error

DescriptionThe speed of joint arg deviates too muchrelative to the ordered speed.

Recommended actions1. Check the parameters.2. Check for external forces.3. Reduce programmed speed andacceleration.

133551, Move not allowed

DescriptionThe handler is ordered to move to anillegal position: arg= arg

Recommended actions1. Check position limits.2. Check position data.3. Check signal CPYLimOverride.

134001, Fatal queue error

DescriptionIt was not possible to pop the job queue, due to an unexpectederror.

134002, Queue overflow

DescriptionThe last job in the queue was removed because the queue isfull.

ConsequencesThe last job will not be executed.

Recommended actionsWait for queue size to decrease before inserting more jobs.

134003, Invalid token

DescriptionToken arg is out of bounds.




Recommended actionsCheck client parameters.

134004, Invalid client

DescriptionClient arg is out of bounds.

Recommended actionsCheck client parameters.

134005, arg can only get master in Auto mode

DescriptionIt is only allowed to get master in Auto mode.

Recommended actionsSwitch the controller to Auto mode and execute the commandagain.

134006, arg failed to get master

Descriptionarg could not get master, because master is already taken byarg.

134007, arg failed to release master

Descriptionarg could not release master, because arg has master.

134008, Too many subscribers

DescriptionThe routine arg could not be subscribed to the arg event dueto too many subscribers.

134009, Subscriber file error

DescriptionThe system failed to create the file arg.

134010, Subscriber reference error

Descriptionarg did not contain the procedure arg.

134011, Subscriber unknown error

DescriptionUnknown error during init. of subscribers.

134017, Buffer full

DescriptionBuffer1: argBuffer2: arg

134018, Log semaphore timeout

DescriptionLog: argMessage: arg

134019, Master required

Descriptionarg must be master to execute the command (arg).

134020, File not found

Descriptionarg could not be found.

Recommended actionsMake sure that the file exists.

134021, Syntax Error

DescriptionThe file "arg" contains syntax errors or reference errors.

ConsequencesThe file was not loaded.

Recommended actionsCheck error and rapid logs for the cause and fix the file.

134022, Duplicate attempt to load program

DescriptionDuplicate attempt to load program index: arg.

Recommended actionsWait for the current directly loaded program to finish executing.

134023, Duplicate attempt to load program

DescriptionDuplicate attempt to load module name: arg.

Recommended actionsWait for the current directly loaded program to finish executing.




Continued

134025, Material Change Suspended

DescriptionMaterial change was suspended because of an error or stop.

Recommended actionsFix the problem, reset error and restart.

134026, Material Change Cancelled

DescriptionMaterial change was cancelled.

134027, Illegal Material Change Event

DescriptionStart of material change was issued while material change wasalready running.

134028, Illegal Material Change Event

DescriptionProceed of material change was issued unexpectedly.

134029, Material Change Resumed

DescriptionMaterial change has resumed, after being in suspended state.

134030, Material Change Skipped

DescriptionMaterial supply is turned off.

ConsequencesMaterial change will be skipped for this job.

134032, Protocol Error

DescriptionA material change command was sent to the robot before theprevious was done.

134033, Enable Material Supply Error

DescriptionCould not enable the material supply.

134034, Material Change Time Out

DescriptionMaterial change decision timed out. Could be due to a materialchange cancel.

ConsequencesMaterial change decision may not be reliable.

Recommended actionsProcedures subscribed to the decide event should be checkedfor delays.

134035, Invalid material index

DescriptionMaterial index arg is not mapped to any system.

ConsequencesMaterial change cannot be performed.

Recommended actionsCorrectly assign the material index in the index files.

134036, Material Change Error

DescriptionTimeout while waiting for selector to be set.

ConsequencesMaterial change may not complete successfully.

Recommended actionsCheck if selector signal is set up correctly.

134039, Toggle lowered before command wasfinished

DescriptionThe command toggle was lowered before the command wasfinished.

ConsequencesThe external controls system will not receive command result.

Probable causesExternal controls system not compliant to protocol

134040, Previous command not finished

DescriptionA command (arg) was sent before the previous (arg) was done.


134041, Missing Signal Definition

DescriptionThe signal arg could not be found.




134042, Volume not recorded

DescriptionTotal consumed volume for the job is outside acceptedtolerance. Volume: arg

ConsequencesAccuvol table will not be updated.

134050, Applicator Timeout

DescriptionA timeout occured while waiting for the applicator to get ready.

Recommended actionsCheck other process messages for additional information.

134051, External Start when no program

DescriptionAn External Start command (arg) was received when noprogram was loaded


134052, Overpush

DescriptionThe system has pushed to much material

ConsequencesThe current paint job might be contaminated

Recommended actionsDisable paint push and then check push parameters

134053, Applicator configuration mismatch

DescriptionThere is a mismatch between the number of applicator enablesignals and the number of brush signals.

ConsequencesRobotware paint will not work properly

Recommended actionsCheck the process configuration

134054, Command failed in e-stop state

DescriptionCommand arg not allowed when the controller is in e-stop state.

Recommended actionsRemove emergency stop conditions and reset emergency stopstate.


DescriptionCould not add arg.xml into the configuration settings. Thereare too many configuration files.

ConsequencesThe option "arg" will be set to zero.

Recommended actionsMerge the configuration into another file, or increase the buffersize.


DescriptionCould not find the file: arg.xml


Recommended actionsMake sure the file exists.


DescriptionCould not parse the file: arg.xml


Recommended actionsFix the markup in the XML file.


DescriptionDid not find the option in the file: arg.xml


Recommended actionsAdd the option into the XML file.

134059, XML-parser error

DescriptionFirst dimension passed to XML-parser was to big.




Continued

Recommended actionsContact customer service.


DescriptionThird dimension passed to XML-parser was not big enough.

Recommended actionsContact customer service.

134061, XML-parser overflow

DescriptionThere were too many options in the file: arg

ConsequencesOnly arg options were parsed.

Recommended actionsRemove some options or increase the buffer size.


DescriptionCould not open the file: arg for reading.

Recommended actionsMake sure the file exists, and is accessible.


DescriptionDid not find a specified set of symbols.

Recommended actionsFix the markup in the XML file.

134064, CSV-parser error

DescriptionRow out of range in the file: arg

ConsequencesThe rows out of range in the file will be skipped.

Recommended actionsRemove the offending rows, or increase the buffer size.


DescriptionEncountered a row number that was not a positive integer inthe file: arg

ConsequencesThe row/line in the file will be skipped.

Recommended actionsChange the row number to a positive integer.


DescriptionThere were too many columns on a row in the file: arg

ConsequencesThe remaining columns on the row/line in the file will be skipped.

Recommended actionsReduce the amount of columns, or increase the buffer size.


DescriptionCould not open the file: arg for reading.

Recommended actionsMake sure the file exists, and is accessible.


DescriptionA semaphore timeout occured when parsing the file: arg.xml


Recommended actionsP-Start the controller to force a re-read of all configuration files.

134100, CBS servo not enabled.

DescriptionCBS servo was not enabled when deciding to do materialchange.

ConsequencesThe material change or maintenance operation will be skipped.

Recommended actionsEnable the CBS servo.

134101, CBS restarted while performingoperations.

DescriptionCBS was restarted in state: arg

ConsequencesThe CBS is in an unreliable state.




Recommended actionsThe integrity of the system must be restored manually bymoving cartridges back to their home stations.

134102, Unrecoverable CBS error.

DescriptionAn unrecoverable error has occured.

ConsequencesThe CBS is in an unreliable state.


134103, No solution for material index.

DescriptionNo cartridge and IFS combination found for selected materialindex.

ConsequencesThe material change will be skipped.

Recommended actionsReconfigure the system by adding the material index.

134104, No station for material index.

DescriptionNo IFS station can supply the selected material index.

134105, No cartridge for material index.

DescriptionNo cartridge is available for the selected station and materialindex.

134106, Not able to empty auxiliary station.

DescriptionNot able to empty auxiliary station due to a unrecoverable CBSerror.


134107, Storage station is not an IFS.

DescriptionThe returned cartridge was not stored in an IFS.

ConsequencesThe post processing of the cartridge will be skipped.

134108, Possible CBS collision.

DescriptionRobot execution has been stopped in order to avoid a collisionwith the CBS handler.arg

Recommended actionsManually move CBS handler away from robot and resumeexecution.

134110, Safe Move to address failed.

DescriptionNot allowed to move to address: arg, with gripper: arg

Recommended actionsReconfigure gripper access.


DescriptionCBS servo is not enabled.



DescriptionArm could not be moved up.


DescriptionCBS servo could not be controlled.

134114, Move to address failed.

DescriptionInvalid angle configured for address: arg


DescriptionInvalid distance configured for address: arg


DescriptionTimeout while waiting for servo controller to complete previouscommand.




Continued

Recommended actionsCheck that servo controller and communication interface is ok.


DescriptionTimeout while waiting for acknowledge from servo controller.


134118, Servo on failed.

DescriptionTimeout while waiting for servo controller feedback.


134119, Servo off failed.

DescriptionTimeout while waiting for servo controller feedback.


134120, Calibrate servo failed.






134122, Set servo acceleration failed.

DescriptionSpecified setting is out of range.







134125, Set servo speed failed.

DescriptionSpecified setting is out of range.

134126, Move arm up failed.




DescriptionTimeout while waiting for servo feedback.

Recommended actionsCheck that servo is enabled and calibrated correctly.

134128, Move arm down failed.




DescriptionTimeout while waiting for servo feedback.

Recommended actionsCheck that servo is enabled and calibrated correctly.


DescriptionTimeout while waiting for sensor feedback.

Recommended actionsCheck that arm sensors are working.






Recommended actionsCheck that arm sensors are working.

134132, Gripper open failed.

DescriptionOpening gripper attempted while arm was not down.

Recommended actionsMake sure handler arm is down.


DescriptionUnknown gripper specified: arg



Recommended actionsCheck that gripper sensors are working.

134135, Gripper close failed.


134136, Gripper close failed.


Recommended actionsCheck that gripper sensors are working.

134137, Unexpected cartridge presence.

DescriptionAn unknown cartridge is blocking gripper: arg

Recommended actionsRemove the offending cartridge and verify the integrity of thesystem.

134138, No cartridge present.

DescriptionExpected a cartridge in gripper: arg

Recommended actionsLocate missing cartridge and verify the integrity of the system.

134139, Gripper sense failed.


134140, Gripper access check failed.


134145, Vacuum check error.


134146, DCU check error.

DescriptionTimeout while waiting for DCU to become ready.

Recommended actionsCheck if DCU refilling has failed or stopped.

134150, Unlock station failed.

DescriptionUnable to unlock station at address: arg

Recommended actionsVerify that locking signal for station is ok.

134151, Lock station failed.

DescriptionUnable to lock station at address: arg

Recommended actionsVerify that locking signal for station is ok.

134152, Set primary IFS selector failed.

DescriptionUnable to set primary IFS selector to address: arg

Recommended actionsVerify that primary IFS selector signal is ok.

134153, Set primary CC selector failed.

DescriptionUnable to set primary CC selector to address: arg




Continued

Recommended actionsVerify that primary CC selector signal is ok.

134154, Set secondary IFS selector failed.

DescriptionUnable to set secondary IFS selector to address: arg

Recommended actionsVerify that secondary IFS selector signal is ok.

134155, Set secondary CC selector failed.

DescriptionUnable to set secondary CC selector to address: arg

Recommended actionsVerify that secondary CC selector signal is ok.

134160, Arm sensors bypassed.

DescriptionArm sensors bypassed.

ConsequencesSpeed of CBS handler may be reduced.

134161, Right gripper sensor bypassed.

DescriptionRight gripper sensor bypassed.

ConsequencesSome integrity failures will not be detected, and cannot avoiddamage to the system.

134162, Left gripper sensor bypassed.

DescriptionLeft gripper sensor bypassed.


134163, Right cartridge sensor bypassed.

DescriptionRight cartridge sensor bypassed.


134164, Left cartridge sensor bypassed.

DescriptionLeft cartridge sensor bypassed.


134165, Release sensor bypassed.

DescriptionRelease sensor bypassed.

134166, Vacuum sensor bypassed.

DescriptionVacuum sensor bypassed.

ConsequencesFailure to produce vacuum will not be detected, and may causecartridges to drop from applicator.

134167, Servo position feedback bypassed.

DescriptionServo position feedback bypassed.

ConsequencesSpeed optimalization features will not be used.

134168, Servo command acknowledge bypassed.

DescriptionServo command acknowledge bypassed.

ConsequencesServo may not behave correctly.

134170, CBS configuration error.

DescriptionDelivery address is not specified.

ConsequencesSystem will not work correctly.


DescriptionHome address is not specified.






DescriptionHome gripper is not specified.



DescriptionDefault cartridge volume is not specified.



DescriptionNo cartridges has been defined.



DescriptionNo materials has been defined.



DescriptionNo addresses has been defined.



DescriptionNo home station specified for cartridge: arg

ConsequencesCartridge will be skipped.


DescriptionToo many IFS stations have been defined.

ConsequencesSome IFS stations will be skipped.

134180, Could not set baseplate data.

DescriptionAddress: arg Content: arg

134181, Could not get baseplate data.

DescriptionContent: arg


DescriptionType: arg


DescriptionAccess: arg


DescriptionAngle: arg


DescriptionDistance: arg

134186, Could not get cartridge access data.

DescriptionCartridge: arg Address: arg

134187, Could not set cartridge data.

DescriptionCartridge: arg Data: arg

134188, Could not get cartridge data.

DescriptionCartridge: arg Data: arg

134189, Could not set IFS data.

DescriptionIndex: arg Data: arg




Continued

134190, Could not get IFS data.

DescriptionIndex: arg Data: arg

134191, IFS index from address resolution failed.

DescriptionAddress: arg

134192, IFS address from index resolution failed.

DescriptionIndex: arg

134193, Could not get station valve or materialdata.

DescriptionStation: arg Material: arg

134194, Could not get home address forcartridge.

DescriptionCartridge: arg

134195, No auxiliray station found.

DescriptionNo auxiliary station found after trying different options.

Recommended actionsCancel the handler and reconfigure the system.

134196, No storage station found.

DescriptionNo storage station found after trying different options.

Recommended actionsCancel the handler and reconfigure the system.

134200, Move cartridge failed.

DescriptionMove cartridge failed in state: arg

Recommended actionsFix the problem causing the failure and resume the operation.

134201, Cancel move cartridge failed.

DescriptionCancel move cartridge failed in state: arg


134202, Exchange cartridge step one failed.

DescriptionExchange cartridge failed in state: arg


134203, Exchange cartridge step two failed.



134204, Exchange cartridge step three failed.



134210, Move cartridge error.

DescriptionThere is already a cartridge at the 'To' address: arg

ConsequencesCannot continue with the operation.


DescriptionThere is already a cartridge at the 'From' address: arg



DescriptionAn impossible to reach 'From' address was specified: arg

ConsequencesCannot continue the operation.




Recommended actionsReconfigure baseplate access.


DescriptionAn impossible to reach 'To' address was specified: arg




DescriptionThe cartridge at 'From' address is not allowed at the 'To'address. Cartridge: arg Address: arg


Recommended actionsReconfigure cartridge access.

134215, Exchange cartridge error.

DescriptionThere is no cartridge to get at delivery address.



DescriptionCannot find suitable station to put returned cartridge in.



DescriptionThere is no cartridge at the 'From' address: arg



DescriptionAn impossible to reach 'From' address was specified: arg



134219, Unexpected cartridge in applicator.

DescriptionAn unexpected cartridge was found while probing applicator.

Recommended actionsRemove the offending cartridge and resume the operation.

134220, Unexpected cartridge presence.

DescriptionAn unexpected cartridge was found during start check.

Recommended actionsRemove the offending cartridge and verify the integrity of thesystem.

134221, No cartridge found while probing.

DescriptionExpected to find a cartridge in the station to process.

ConsequencesProcess operations on cartridge have been prevented.

Recommended actionsManually verify the integrity of the system.

134222, Cartridge must be delivered with rightgripper.

DescriptionIn order to prevent collisions, the cartridge must be moved outto the delivery area with the right gripper.

Recommended actionsMake sure that all stations are accessible with both grippers.


DescriptionCannot calibrate while a servo is enabled.

Recommended actionsDisable the CBS servos.




Continued

134224, Update servo position failed.

DescriptionCannot update servo position while a servo is enabled.

Recommended actionsDisable the CBS servos and run a manual re-calibration.

134225, Vertical axis position is invalid.

DescriptionThe internal and external resolvers report different positions.

Recommended actionsRun a re-calibration.

134226, Angle axis position is invalid.

DescriptionThe internal and external resolvers report different positions.

Recommended actionsRun a re-calibration.

134230, Integrity check error.

DescriptionAn unexpected cartridge was found during integrity check ataddress: arg


134231, Integrity check error.

DescriptionDid not find expected cartridge during integrity check ataddress: arg


134240, Maintenance operation error.

DescriptionUnknown maintenance operation specified: arg


DescriptionUnknown cartridge process operation specified: arg


DescriptionNot possible to move a cartridge from or to a hole.


DescriptionUnknown cartridge specified: arg


DescriptionNo IFS solution for the cartridge specified: arg

134245, Maintenance operation failure.

DescriptionIntegrity check failed.


134246, Maintenance operation failure.

DescriptionUnable to move all cartridges home.

Recommended actionsOperation must be completed manually.

134250, Cartridge PotLife timeout.

DescriptionSystem detected potlife timeout in cartridge: arg

ConsequencesThe cartridge will be cleaned.

134251, Cartridge reached continous use limit.

DescriptionSystem detected a maximum continous use of cartridge: arg

ConsequencesThe cartridge will be cleaned.

134260, Halt exchange timeout.

DescriptionA timeout occured while waiting for another task to resume theexchange process.




134270, DCL pressure release timeout.

DescriptionA timeout occured while waiting pressure to drop in DCU.Current pressure: arg

134300, VB Statemachine Suspended

DescriptionVB Statemachine was suspended because of an error.

Recommended actionsFix the problem, reset error and resume.

134301, VB Statemachine Resumed

DescriptionVB Statemachine has resumed, after being in suspended state.

134305, VB statemachine aborted.

DescriptionVB statemachine was aborted.

134310, DSF cartridge 1 sensor bypassed.

DescriptionDSF cartridge 1 sensor bypassed.

ConsequencesSystem will run slower, and integrity failures will not bedetected.

134311, DSF cartridge 2 sensor bypassed.

DescriptionDSF cartridge 2 sensor bypassed.


134312, Cartridge 1 home sensor bypassed.

DescriptionCartridge 1 home sensor bypassed.


134313, Cartridge 2 home sensor bypassed.

DescriptionCartridge 2 home sensor bypassed.


134314, Cartridge 1 DSD sensor bypassed.

DescriptionCartridge 1 DSD sensor bypassed.


134315, Cartridge 2 DSD sensor bypassed.

DescriptionCartridge 2 DSD sensor bypassed.


134316, Cartridge 1 DSF sensor bypassed.

DescriptionCartridge 1 DSF sensor bypassed.


134317, Cartridge 2 DSF sensor bypassed.

DescriptionCartridge 2 DSF sensor bypassed.


134320, Move DSF failed.

DescriptionUnknown position specified: arg

134321, Move DSF failed.





Continued

Recommended actionsCheck that DSF sensors are working.

134325, Move Cartridge failed.

DescriptionUnknown cartridge position specified: arg




DescriptionTimeout while waiting for sensor feedback. Cartridge: argPosition: arg

Recommended actionsCheck that cartridge sensors are working.

134329, Get cartridge position failed.


134330, Restore cartridge positions failed.

DescriptionFailed to move cartridges to previously known positions.

Recommended actionsMove cartridges manually back to suitable locations.

134340, VB configuration error.

DescriptionMaximum catridge volume not specified.

ConsequencesSystem will not behave correctly. Cartridges may not be filled.

Recommended actionsAdd the missing value into the VB configuration file.


DescriptionSwap cartridge volume not specified.

ConsequencesSystem will not behave optimally. Cartridges will run completelyempty before swapping occurs.



DescriptionEnough catridge volume not specified.

ConsequencesSystem will not behave optimally. Filling will always occur, evenif cartridges have enough volume.



DescriptionSplit volume not specified.

ConsequencesSystem will not behave optimally. Last cartridge may delaymaterial change.


134350, Move cartridge to home failed.

DescriptionOperation failed in state: arg

134351, Move cartridge to DSD failed.


134352, Move cartridge to DSF failed.


134353, Move DSF to cartridge failed.


134360, VB maintenance operation error.

DescriptionUnknown maintenance operation specified: arg




134400, Out of paint.

DescriptionCartridge arg ran out of paint before cartridge arg was ready.

ConsequencesThe robot has been stopped to prevent additional fluidconsumption.

Recommended actionsStart the robot once the new cartridge is ready. Reduce thefluid brush and speed and check other process messages.

134401, Applicator fill problem.

DescriptionPaint line and applicator was not filled properly. arg > arg.

Recommended actionsRefill applicator or paint line and check other process messages.

134402, Cartridge fill problem.

DescriptionCartridge arg was not filled properly. arg > arg.

Recommended actionsRefill cartridge and check other process messages.

134405, Illegal VB state.

DescriptionA statemachine entered an unknown state.

134406, DCL not ready.

DescriptionThe status of DCL system arg is not in ready state.

Recommended actionsRun the maintenance operation to refill DCL for this system.

134410, Unknown sensor specified.

DescriptionUnknown sensor ID: arg.

Recommended actionsCheck that paint command paramters are correct.

134411, Unknown cartridge specified.

DescriptionUnknown cartridge ID: arg.


134412, Unknown position specified.

DescriptionUnknown position ID: arg.


134420, Bypass cartridge error.

DescriptionNot allowed to run system with two or more sensors disabledfor cartridge arg.

Recommended actionsEnable more sensors.

134421, Bypass DSF error.

DescriptionNot allowed to run system with both DSF sensors disabled.

Recommended actionsEnable one of the sensors.

134425, Unknown DSF position.

DescriptionThe DSF is not in a known position.

Recommended actionsPut it in a known position or verify its sensors.

134426, Unknown cartridge position.

DescriptionCartridge arg is not in a known position.

Recommended actionsPut it in a known position or verify its sensors.

134430, DSF move error.

DescriptionCould not move DSF to cartridge arg.

134431, Cartridge move error.

DescriptionCould not move cartridge arg to home position.




Continued


DescriptionCould not move cartridge arg to DSF position.


DescriptionCould not move cartridge arg to DSD position.

134501, Parking unit move error.

DescriptionUnable to move parking unit to applicator arg. Timeout whilewaiting for semaphore.


DescriptionUnable to move parking unit to applicator arg. Manipulator isstill in material change position.


DescriptionUnable to move parking unit to applicator arg. Cleaning unit isnot in lower position.


DescriptionUnable to move parking unit to applicator arg. CBS arm is notin upper position.


DescriptionUnable to move parking unit to applicator arg. Timeout whilewaiting for sensor feedback.

134511, Cleaning unit move error.

DescriptionUnable to move cleaning unit up. Timeout while waiting forsemaphore.


DescriptionUnable to move cleaning unit up. Parking unit is not in a validposition.


DescriptionUnable to move cleaning unit up. Timeout while waiting forsensor feedback.


DescriptionUnable to move cleaning unit down. Timeout while waiting forsemaphore.


DescriptionUnable to move cleaning unit down. Timeout while waiting forsensor feedback.

134521, Applicator chucking failed.

DescriptionTimeout while waiting for semaphore.


DescriptionNo air supply to chuck valve.


DescriptionManipulator is not in material change position.



134526, Applicator un-chucking failed.

DescriptionTimeout while waiting for semaphore.


DescriptionNo air supply to chuck valve.


DescriptionManipulator is not in material change position.




134531, Parking unit in unknown position.

DescriptionCheck sensors or air supply.

134532, Cleaning unit in unknown position.

DescriptionCheck sensors or air supply.

134533, Applicator integrity error.

DescriptionNo applicator mounted, but arg is triggered.

134534, Applicator integrity corrected.

DescriptionNo applicator is mounted.

134535, Applicator integrity corrected.

DescriptionApplicator arg is mounted.


DescriptionExpected a mounted applicator.


DescriptionNo applicators were found in parking stations.

134601, RCC docking error.

DescriptionTimeout while waiting for sensor: arg.

Recommended actionsCheck dock and undock sensors.

134602, RCC undocking error.

DescriptionTimeout while waiting for sensor: arg.

Recommended actionsCheck dock and undock sensors.

134610, RCC movement error.

DescriptionUnable to rotate color changer while it is docked.

Recommended actionsUndock color changer.


DescriptionTimeout while waiting for motor feedback.

Recommended actionsCheck motor configuration.


DescriptionUnable to enable motor.



DescriptionUnable to disable motor.


134620, RCC cleaning error.

DescriptionNot able to run cleaning due to missing cartridge.

Recommended actionsMake sure a cartridge is standing in IFS at address: arg.

134650, RCC calibration error.

DescriptionUnable to reach calibration position.

Recommended actionsCheck calibration sensor and motor configuration.

134651, RCC calibration error.

DescriptionInternal error in calibration routine.

Recommended actionsCheck process configuration.




Continued

135001, Material change suspended.

DescriptionMaterial change was suspended due to an internal or externalerror.

Recommended actionsFix the problem and recover material change.

135002, Material change cancelled.

DescriptionMaterial change was ordered to cancel.

135003, Material change resumed.

DescriptionMaterial change was recovered after being in suspended state.

135010, Material change initialization error.

DescriptionUnable to subscribe to interface signals.

Recommended actionsCheck that there is valid configuration loaded for the interfacesignals in IPS.


DescriptionUnable to open material change configuration file: arg

Recommended actionsCheck that the file exists.


DescriptionThe file 'arg' is missing the 'arg' tag.

Recommended actionsFix the problem in the file.


DescriptionThe file 'arg' contains an invalid system type: arg


135021, Material change index file error.

DescriptionUnable to open index file: arg


135022, Material change index file error.

DescriptionThe file 'arg' contains an invalid index: arg


135031, Material change system index error.

DescriptionMaterial index arg is missing an action specifier.

Recommended actionsFix the problem in the file: arg

135041, Material change cavity index error.

DescriptionMaterial index arg on cavity 'arg' does not have a cleaningsequence.


135042, Material change cavity index error.

DescriptionMaterial index arg on cavity 'arg' does not have a fillingsequence.


135051, Material change sequence error.

DescriptionUnable to open sequence file: arg



DescriptionThe file 'arg' contains invalid data on line: arg






DescriptionFailed to execute python file 'arg'. Got Python exception: arg



DescriptionThe file 'arg' contains an invalid signal name: arg



DescriptionFailed to execute python call 'arg' from 'arg'. Got Pythonexception: arg

Recommended actionsFix the problem in the python source file.

135061, Material change signal error.

DescriptionCommuncation against IPS is down.


DescriptionCommuncation against IPS has been re-established.


DescriptionFailed to read signal number arg on device: arg

Recommended actionsCheck IPS configuration or signals used in material changesequences.


DescriptionFailed to write signal number arg on device: arg

Recommended actionsCheck IPS configuration or signals used in material changesequences.

135071, Material change alarm monitor error.

DescriptionInvalid signal name in configuration file: arg

Recommended actionsCheck IPS or alarm configuration.


DescriptionFailed to subscribe to signal number arg on device: arg



DescriptionFailed to subscribe to device: arg


135100, Material change user error.

Descriptionarg




Continued

5.13 15 xxxx

150330, RAPID error in module

DescriptionTask:arg

Module (line/column): argThere is an error with symbol: arg




5.14 17 xxxx

170001, Connected Services Agent started

DescriptionAgent for Connected Services has been started.

170002, Connected Services registered

DescriptionRobot controller has successfully registered at ABB ConnectedServices Center.

170003, Connected to ABB Connected ServicesCenter

DescriptionRobot controller is successfully connected to ABB ConnectedServices Center.

170004, Connected Services reset by server

Descriptionarg order received via ABB Connected Services Center.Connected Services Agent will perform a reset. User will needto re-register by repeating the registration process.

170005, Connected Services Agent reset mode

DescriptionConnected Services Agent has been started in reset mode.

170006, Connected Services reset by user

DescriptionUser has requested a reset of Connected Services state on thecontroller. The reset shall be applied after a restart. If thiscontroller has previously been registered in the ABB ConnectedServices Center, the registration process will need to berepeated.

170007, Data Collector Script loaded

DescriptionData Collector version arg has been loaded.

170030, Connected Services authentication error

DescriptionConnection to the ABB Connected Services Center server hasfailed.

ConsequencesNo communication to the ABB Connected Services center shallbe possible.

Probable causesValidation of the server certificate was unsuccessfull.

Recommended actions1. Check if this controller date and time is accurate.2. Contact ABB support for assistance.

170032, Connected Services no serverconnection

DescriptionThis controller is unable to to reach ABB Connected Servicescenter.

ConsequencesConnected Services functionality is unavailable for this robotsystem.

Probable causesDetails : arg

Recommended actions1. Check above details for possible causes.2. Check HTTP connectivity between this robot system and theInternet.

170033, Data Collector Script start failed

DescriptionAn error has occurred when Connected Services Agent triedto initialize Data Collector Script.

Probable causesData Collector Script is incompatible with Connected ServicesAgent or it has a fault.

Recommended actionsContact ABB support for assistance.

170034, Connected Services registration error

DescriptionConnected Services Agent has failed to register at ABBConnected Services Center.

Probable causesPossible connectivity problem with the server.




Recommended actions1. Try to repeat the registration process.2.Contact ABB support for assistance.

170035, Connected Services start failed

DescriptionConnected Services Agent has failed to start.

Probable causesConfiguration error or internal error.


170036, Connected Services internal registrationerror

DescriptionConnected Services Agent has failed to register at ABBConnected Services Center.

Probable causesFailed to create CSR request.


170037, Connected Services credentials renewalerror

DescriptionConnected Services Agent has failed to automatically renewlogin credentials at ABB Connected Services Center.

Probable causesPossible connectivity problem with the server.

Recommended actions1. Verify connectivity.2. Repeat manually the registration process.3. Contact ABB support for assistance.

170038, Connected Services credentials renewed

DescriptionConnected Services Agent has automatically renewed logincredentials at ABB Connected Services Center.




6 Circuit diagrams6.1 Circuit diagrams

OverviewThe circuit diagrams are not included in this manual, but are available for registeredusers on myABB Business Portal, www.myportal.abb.com.See the article numbers in the tables below.

Controllers

Article numbers for circuit diagramsProduct

3HAC024480-011Circuit diagram - IRC5

3HAC049406-003Circuit diagram - IRC5 Compact

3HAC026871-020Circuit diagram - IRC5 Panel Mounted Con-troller

3HAC024120-004Circuit diagram - Euromap

3HAC057185-001Circuit diagram - Spot welding cabinet

Robots


3HAC031408-003Circuit diagram - IRB 120

3HAC6816-3Circuit diagram - IRB 140 type C








3HAC021351-003Circuit diagram - IRB 1600/1660




3HAC9821-1Circuit diagram - IRB 4400/4450S


3HAC8935-1Circuit diagram - IRB 6400RF

3HAC13347-1Circuit diagram - IRB 6600 type A3HAC025744-001

3HAC13347-1Circuit diagram - IRB 6600 type B3HAC025744-001




http://www.myportal.abb.com



3HAC025090-001Circuit diagram - IRB 6620 / IRB 6620LX


3HAC13347-1Circuit diagram - IRB 6650S3HAC025744-001

3HAC025744-001Circuit diagram - IRB 66603HAC029940-001


3HAC13347-1Circuit diagram - IRB 76003HAC025744-001

3HAC050778-003Circuit diagram - Product.ProductName

3HAC056159-002Circuit diagram - IRB 910SC

Track motions


3HEA803013-001Circuit diagram - IRBT IRB 6600/7600 i

3HEA803014-001Circuit diagram - IRBT IRB 4400/4400F i

3HAC033657-001Circuit diagram - IRBT IRB 4600 i

3HAC043574-001Circuit diagram - IRBT 4004/6004/7004 ii

i Not valid for motor Type A.ii Valid for motor Type A.

Positioners


3HAC035753-001Circuit diagram - Service diagram IRBP C

3HAC035753-002Circuit diagram - Service diagram IRBP L

3HAC035753-003Circuit diagram - Service diagram IRBP K/R

3HAC035753-004Circuit diagram - Service diagram IRBP A

3HAC035753-005Circuit diagram - Service diagram IRBP B/D

3HAC035754-001Circuit diagram - Service diagram IRBP IF C

3HAC035754-002Circuit diagram - Service diagram IRBP IF L

3HAC035754-003Circuit diagram - Service diagram IRBP IFK/R

3HAC035754-004Circuit diagram - Service diagram IRBP IF A

3HAC035754-005Circuit diagram - Service diagram IRBP IFB/D

3HEA800730-001Circuit diagram - Service diagram SafetyOptions A/L/S

3HEA802301-001Circuit diagram - Service diagram Safety In-terface A/L/S



6 Circuit diagrams6.1 Circuit diagramsContinued

DressPack/SpotPack


3HAC022327-002Circuit diagram - DressPack 6650S/7600

3HAC053524-002Circuit diagram - DressPack 8700

3HAC026209-001Circuit diagram - DressPack 6650S/7600


3HAC026209-001Circuit diagram - DressPack IRB 6640, IRB6650S, IRB 7600



3HAC026208-001Circuit diagram - SpotPack SWC IRC5M2004

3HAC044736-001Circuit diagram - SpotPack SWC IRC5Design2014 PROFINET

Use the correct circuit diagram (IRB 6600, IRB 6650 and IRB 6650S)The cable harness of the robot is available in two different designs. Either thecabling is divided between the upper and lower arm, or not. Accordingly there arealso two different versions of the circuit diagram. Decide which circuit diagram isvalid for the robot by checking the article number for the cable harness.




Continued


IndexAAdditional Drive Unit, 73Axis computer, LEDs, 75

BBrake, release, 59Brake contactor, K44, 59Brake power supply, faulty, 58–59

Cchange of state, 44Circuit breaker, F6, 46Circuit breaker F5, 48computer unit, 68Computer unit, LEDs, 69Contactor, K41, 46Contactor interface board, 86

DSQC 611, 86Contactor interface board, LEDs, 86controller

symbols, 19customer I/O power supply, 88

LED, 89Customer Power Supply Module, 89

DCOK indicator, 89

Ddamaged bearings, 55–56Damaged cable, 50, 52Damaged connector, 50damaged parallel bar, 55danger levels, 11

EEarth fault protection, 48Earth fault protection, tripped, 41Erratic event messages, 52, 61Error report, 38

Ffaulty brake, 58faulty calibration, 55faulty connections, 52faulty TCP definition, 55Filing an error report, 38FlexPendant

restarting, 65FlexPendant, not responding, 50

Hholding brakes, 27hot gearbox oil, 56

IIncompatibility, hardware/software, 54Interference, 61

Llabels

controller, 19

robot, 13LED Board, LEDs, 64LEDs , indication, 46Live voltage, Drive Module, 28

MMain Drive Unit, 73

Additional Drive Unit, 73Main transformer, 46Manual, how to use, 31

Nnoise, 55–56

PPanel Board, LEDs, 71panel board unit, 70

DSQC 643, 70path accuracy, 55power distribution board

LED, 82test equipment, 82troubleshooting flowchart, 85

Power supply, faulty, 50product standards, 24program loops, 44

Rreset, 65restart

FlexPendant, 65robot

labels, 13symbols, 13

Ssafety

signals, 11signals in manual, 11symbols, 11symbols on controller, 19symbols on robot, 13

safety riskhot parts, 30

safety signalsin manual, 11

safety standards, 24signals

safety, 11standards, 24

ANSI, 25CAN, 25EN, 24EN IEC, 24EN ISO, 24

strained cables, 52symbols

safety, 11system power supply

test equipment, 77troubleshooting, flowchart, 80

system power supply, LEDs, 77



Index

ABB AB, RoboticsRobotics and MotionS-721 68 VÄSTERÅS, SwedenTelephone +46 (0) 21 344 400

ABB AS, RoboticsRobotics and MotionNordlysvegen 7, N-4340 BRYNE, NorwayBox 265, N-4349 BRYNE, NorwayTelephone: +47 22 87 2000

ABB Engineering (Shanghai) Ltd.Robotics and MotionNo. 4528 Kangxin HighwayPuDong DistrictSHANGHAI 201319, ChinaTelephone: +86 21 6105 6666

ABB Inc.Robotics and Motion1250 Brown RoadAuburn Hills, MI 48326USATelephone: +1 248 391 9000

abb.com/robotics

3HAC020738-001,Rev

AA,en


Documents

ROBOTICS Operatingmanual TroubleshootingIRC5...Overviewofthismanual Aboutthismanual Thismanualcontainsinformation,proceduresanddescriptions,fortroubleshooting IRC5basedrobotsystems