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• Gigi Cotora

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Messages with Cause & Remedy for C3G Software Version 5.5x

514

0-INFO

Request canceled

Cause: An I/O request was canceled, usually due to a reset issued by one of the programs. Remedy: None. 516

0-INFO

Channel table full

Cause: There are too many devices and/or files being accessed at once. Remedy: Decrease the number of simultaneous device and file open requests. 519

0-INFO

Device id error

Cause: The referenced device cannot be found. Remedy: Reference the correct devices. 520

0-INFO

I/O request timeout

Cause: An I/O operation did not complete in the allowable time. Remedy: Determine the cause of the device failure and retry it. 521

0-INFO

EOF detected

Cause: The referenced file is at its end. Remedy: Close the file and reopen it.

522

0-INFO

EOM detected

Cause: The RAM disk is full. can be written to it.

No more files can be created, no more data

Remedy: Delete some unused or obsolete files to make room for more. 527

0-INFO

Not enough buffers

Cause: There are no more available buffers in the system. This error can occur if too many files are opened in the system. Remedy: Reduce the number of files opened in the system. 531

0-INFO

Not enough direct channels

Cause: There are no more available channels in the system. This error can occur if too many files are opened in the system. Remedy: Reduce the number of files opened in the system. 534

0-INFO

No read access

Cause: A read was attempted on a device or LUN that is for writing only. Remedy: Correct the program. 535

0-INFO

No write access

Cause: A write was attempted on a device or LUN that is for reading only. Remedy: Correct the program.

576

0-INFO

File already exists

Cause: A new file cannot be created because a file by the same name already exists. Remedy: Change the new file name or delete the existing file. 577

0-INFO

File does not exist

Cause: No file by the specified name exists. Remedy: Specify only existing files for read, update, delete, rename, etc. 578

0-INFO

No space for file

Cause: There is no room on the disk to create the new file. Remedy: Delete some old or obsolete files to make room for new ones. 579

0-INFO

Invalid file name

Cause: The file name is too long or contains invalid characters. Remedy: Specify a correct file name. 581

0-INFO

File already open

Cause: The referenced file is already opened by this program. Remedy: Correct the program. 582

0-INFO Cause:

Cannot delete file

The file cannot be deleted, probably because it is a read-only, hidden or system file. Remedy: Change the file's attributes if it really should be deleted. 583

0-INFO

File opened exclusively

Cause: The file cannot be opened because another program has opened it for exclusive access. Remedy: Wait until the file has been closed by the other program. 768

0-INFO

Root directory full

Cause: The RAM disk can only contain a fixed number of entries, and it is currently full. Remedy: Delete some unused files from the RAM disk. 769

0-INFO

No available UFCB's

Cause: Too many files are open; no new ones can be accessed. Remedy: Reference fewer files at a time in your programs. 770

0-INFO

No available FCB's

Cause: Too many files are open; no new ones can be accessed. Remedy: Reference fewer files at a time in your programs. 772

0-INFO Cause:

Open files on device

The disk cannot be dismounted because one or more files are currently open on it. Remedy: Close all open files before dismounting. 782

0-INFO

Volume not mounted

Cause: The disk being referenced is not mounted. Remedy: Mount the disk before using other commands on it. 783

0-INFO

Invalid medium format

Cause: The disk cannot be mounted because it is not in the correct format. It has either not been formatted or has been corrupted in some way. Remedy: Format the disk before trying to mount it. 785

0-INFO

Not enough directory buffers

Cause: A directory cannot be referenced because too many other directories are open. Remedy: This error should not occur in this version of the system. 788

0-INFO

File not directory

Cause: An attempt was made to reference a non-directory file as though it were a directory. Remedy: Make the correct reference to the file. 65281

0-INFO Cause:

Invalid opcode

Severe internal system software error. Remedy: Contact Comau. 65282

0-INFO

No free memory

Cause: Severe internal system software error. Remedy: Contact Comau. 65283

0-INFO

Uninit work area

Cause: Severe internal system software error. Remedy: Contact Comau. 65284

0-INFO

Must be zero field

Cause: Severe internal system software error. Remedy: Contact Comau. 65285

0-INFO

Invalid parameter

Cause: Severe internal system software error. Remedy: Contact Comau. 65286

0-INFO

Invalid CPU

Cause: Severe internal system software error. Remedy:

Contact Comau. 65287

0-INFO

No control blocks

Cause: Severe internal system software error. Remedy: Contact Comau. 65288

0-INFO

ID error

Cause: Severe internal system software error. Remedy: Contact Comau. 65289

0-INFO

Timeout

Cause: Severe internal system software error. Remedy: Contact Comau. 8193

0-INFO

Invalid S-record received

Cause: An invalid record was read during a download from the floppy disk, PC or host computer. Remedy: Make sure to download correct program absolute record files. 8194

0-INFO

Timeout

Cause: Communications with the floppy disk or PC timed out. A mismatched baud rate, bad connection, or improper PC setup may cause this. Remedy: Check for a bad connection, improper software or improper setup on the PC.

8195

0-INFO

Bus error during load

Cause: A software load file attempted to load into an invalid region of the controller's memory. Remedy: Make sure to load the proper software on the controller. 8196

0-INFO

No target CPU currently set

Cause: Various commands cannot be executed until a target CPU is specified. Remedy: Use the TARGET command to specify a CPU to access. 8197

0-INFO

Target not found on system

Cause: The specified CPU is not configured on the controller. Remedy: Enter the TARGET command with a correct CPU name. display the current configuration. 8198

0-INFO

Use SHOW BUS to

Checksum verification failure

Cause: The loaded software failed to pass a validity check. This is a serious situation, as the software cannot be certified to work correctly. Remedy: Reload the software on the affected CPUs. 8199

0-INFO

Diagnostic failure

Cause: One or more of the startup diagnostics failed. Remedy:

Correct the problem and restart the controller. 8200

0-INFO

No response from target CPU

Cause: The target CPU is configured on the controller but is not responding to commands from the main CPU. Remedy: Try restarting the controller. CPU board may be defective. 8201

0-INFO

If the problem persists, the target

Software not loaded

Cause: There is no software loaded on the CPU. Remedy: Load the system software. 8202

0-INFO

Invalid target memory address

Cause: A memory address was specified that does not exist for the target CPU. Remedy: Enter a valid memory address. 8203

0-INFO

Invalid target command

Cause: The target cannot execute the specified command. Remedy: Enter a valid command. 8204

0-INFO

Exception on target CPU

Cause: A serious error occurred on the target CPU while executing the previous operation. Remedy:

Repair the target CPU board. 8205

0-INFO

Invalid response code

Cause: The target CPU did not respond correctly to a command. Remedy: Restart the controller and try again. there may be a hardware problem. 8206

0-INFO

If the problem persists

Command not applicable to current target

Cause: The command is not valid for the target that is currently selected. Remedy: Enter a valid command or select a new target. 8207

0-INFO

Not valid from command procedure

Cause: The command is not valid within a command procedure (.BCF file). Remedy: Remove the command from the file before running it again. 8208

0-INFO

System not powerfail recoverable

Cause: The system is not in the proper state for doing a complete powerfail recovery. Remedy: There is no remedy; a cold start will be performed instead. 8209

0-INFO

Not valid from teach pendant

Cause: The teach pendant download command cannot be issued from the teach pendant. Remedy: Bring up BootMON on another device and issue the command.

8210

0-INFO

TP software download failed

Cause: The teach pendant download has failed; there is no valid software loaded on the teach pendant. The teach pendant cannot be used on the controller. Remedy: Retry the download operation by issuing the TPLOAD command again. 8211

0-INFO

TP did not respond after download

Cause: The teach pendant download has failed; there is no valid software loaded on the teach pendant. The teach pendant cannot be used on the controller. Remedy: Retry the download operation by issuing the TPLOAD command again. 9217

0-INFO

No free memory

Cause: The system has run out of memory. Remedy: Unload programs and data to free up some memory. 9218

0-INFO

Not enough heap memory

Cause: The system has run out of memory. Remedy: Unload programs and data to free up some memory. 9224

0-INFO

Pool corrupted

Cause: Severe internal system software error. Remedy: Contact Comau.

9225

0-INFO

Bad pointer in call to FREE

Cause: Severe internal system software error. Remedy: Contact Comau. 9226

0-INFO

Bad pointer in call to SYS_FREE

Cause: Severe internal system software error. Remedy: Contact Comau. 9227

0-INFO

Bad pointer in call to SHR_FREE

Cause: Severe internal system software error. Remedy: Contact Comau. 9228

0-INFO

Bad pointer in call to MEM_FREE

Cause: Severe internal system software error. Remedy: Contact Comau. 9229

0-INFO

Zero length allocation request

Cause: Severe internal system software error. Remedy: Contact Comau. 10245

0-INFO

Too many parameters

Cause: The command was entered with too many parameters. Remedy: Enter the correct parameters for the command. 10246

0-INFO

Ambiguous verb or qualifier

Cause: Two or more commands or options start with the same characters. Remedy: Enter enough characters to make the command or options unique. 10247

0-INFO

Item not found

Cause: An invalid option was entered. Remedy: Enter correct options. 10248

0-INFO

Invalid verb

Cause: An invalid command was entered. Remedy: Enter a valid command. 10249

0-INFO

Required parameter not present

Cause: A parameter required by the command was omitted. Remedy: Enter the command with the correct parameters. 10250

0-INFO

Previous command not parsed

Cause: An invalid command was entered.

Remedy: Enter the command correctly. 11272

0-INFO

Task active

Cause: Internal system software error. Remedy: Contact Comau. 11273

0-INFO

No memory available

Cause: Internal system software error. Remedy: Contact Comau. 11274

0-INFO

No default device

Cause: Internal system software error. Remedy: Contact Comau. 11275

0-INFO

Device not mounted

Cause: Internal system software error. Remedy: Contact Comau. 11276

0-INFO

Task not active

Cause: Internal system software error. Remedy: Contact Comau.

11277

0-INFO

Invalid device

Cause: Internal system software error. Remedy: Contact Comau. 11278

0-INFO

Device is mounted

Cause: Internal system software error. Remedy: Contact Comau. 11279

0-INFO

Device not a disk

11281

0-INFO

Bad parameter format

Cause: Internal system software error. Remedy: Contact Comau. 11284

0-INFO

File protected

Cause: Attempt to delete or write over a file that was set to read-only. Remedy: Correct the reference to the file, or change its attribute if you really want to delete or update it. 11286

0-INFO

Device not a port

Cause: Attempt to do a serial port operation on a non-port device. Remedy: Make the correct device reference.

11290

0-INFO

Kermit request failed

Cause: Kermit request did not complete. Usually another error message will be shown with more specific information. Remedy: Take action according to the additional message. 11291

0-INFO

Software checksum invalid

Cause: The software failed to pass a validity check. system software is in doubt.

The integrity of the

Remedy: Reload the system software. 11294

0-INFO

Power failure

Cause: The request failed due to a power failure. This message usually appears after the controller has restarted when power returns. Remedy: None. 11296

0-INFO

Request aborted

Cause: The requested operation was aborted due to some other error. Remedy: Determine the actual cause of the failure. 11297

0-INFO

No response from CPU

Cause: The diagnostic that checks for correct communication among the multiple CPUs has detected a failure. This may halt the system. Remedy: Restart the controller and check the startup diagnostics for more information.

11300

0-INFO

No memory for decompression work area

Cause: There is not enough free memory to allocate the space that is required to process the file that is to be extracted from the compressed archive file. Remedy: Unload some programs and data from memory and retry the operation. 11301

0-INFO

Wrong file archive version

Cause: The archive file was created by an incompatible version from the software on the controller. Remedy: Archive the files using the correct version of the utilities. 11302

0-INFO

File not in archive

Cause: The requested file does not exist in the specified archive file. Remedy: Specify a valid, existing file name to be extracted. 11303

0-INFO

Invalid or corrupted archive file

Cause: The specified file is not a valid archive file or has been corrupted in some way. Remedy: Make sure that the archive file was created by a supported archiving utility program and that it was transferred correctly to the controller. 11304

0-INFO

Error creating or writing extracted file

Cause: An error occurred while creating or writing to the file that was being extracted from an archive file.

Remedy: Make sure there is sufficient room on the RAM disk to hold the file that is being extracted. 11305

0-INFO

Checksum error in extracted file

Cause: The checksum of the file that was extracted from the archive file does not match the checksum of the original file. The archive file may be incorrect or damaged. The extracted file should not be used. Remedy: Make sure that the archive file was created by a supported archiving utility program and that it was transferred correctly to the controller. 11306

0-INFO

No pipe resources

Cause: If writing to a pipe, this indicates that the pipe already contains messages that have not yet been delivered and there is no room to write any more messages. If reading, this means there is already one or more programs waiting to read messages from the pipe and this request cannot be carried out. Remedy: Make sure that the program that is on the other end of the pipe is active and is reading or writing data correctly. The I/O operation can also be retried after a time delay period. It is not recommended to repeatedly retry this operation, since this could cause the program to go into an indefinite loop. 11307

0-INFO

Device already mounted

Cause: In the system there can be just one device of this kind mounted at a time. Remedy: Check where the device is mounted. 11308

0-INFO

Not all files transferred

Cause: During a transfer of multiple files to the controller, one or more of the files could not be read because the file already exists on

the controller and is a read-only or system file. Remedy: Check the other messages that were displayed during the transfer to see which files were not transferred. If it is necessary to retransfer it, change its attributes first. 11309

0-INFO

PC file transfer request failed

Cause: A file transfer between the controller and the attached PC failed to complete successfully. Remedy: Check the other messages that were displayed during the transfer to see if any specific error was detected. Retry the operation. 11310

0-INFO

PC file transfer record sequence error

Cause: A file transfer between the controller and the attached PC failed to complete successfully. Remedy: Check the other messages that were displayed during the transfer to see if any specific error was detected. Retry the operation. 11311

0-INFO

PC file transfer protocol error

Cause: A file transfer between the controller and the attached PC failed to complete successfully. Remedy: Check the other messages that were displayed during the transfer to see if any specific error was detected. Retry the operation. 11312

0-INFO

File not found on PC

Cause: A file transfer between the controller and the attached PC failed because the requested file was not found on the PC. Remedy: Move the file to the correct directory on the PC and make sure that it is available.

11313

0-INFO

File can not be created on PC

Cause: The file cannot be transferred from the controller to the PC because it cannot be created on the PC. Remedy: Make sure that the default directory is valid on the PC. If a file of the same name exists on the PC, make sure that it is not set to read-only. 11314

0-INFO

File can not be deleted on PC

Cause: A file delete request from the controller to the PC cannot be completed. Remedy: Make sure that the requested file on the PC is not set to read-only. 11315

0-INFO

File can not be renamed on PC

Cause: A file rename request from the controller to the PC cannot be completed. Remedy: Make sure that the requested file on the PC is not set to read-only. 11316

0-INFO

Error reading or writing file on PC

Cause: A fatal error was encountered on the PC while reading or writing the requested file. Remedy: Check to see if the requested file on the PC is valid, and that the disk does not have any errors. 11317

0-INFO Cause:

PC disk is full

A file cannot be transferred from the controller to the PC because the PC's disk is full. Remedy: Delete some files on the PC to make room for the new files. 11318

0-INFO

PC file transfer communications error

Cause: A file tranfer failed due to a communications error between the C3G and the PC. Remedy: Check the connections and try the operation again. If it continues to fail, try using a lower baud rate. 11319

0-INFO

Diskette not inserted on PC

Cause: A file transfer failed because there was no diskette inserted in the drive on the PC. Remedy: Insert a diskette. 11320

0-INFO

Not all files deleted

Cause: During a deletion of multiple files, one or more of the files could not be deleted because the file already is a read-only or protected file. Remedy: Check the other messages that were displayed during the transfer to see which files were not deleted. If it is necessary to delete it, change its attributes first. 11321

0-INFO

Serial port readahead buffer overflow

Cause: The internal buffer that is used to store incoming characters from the serial port has filled up. Some received characters were probably lost. This is due to characters being received faster than the application program is reading them. Remedy:

If the program can notbe changed to read characters more often or to read more at a time, then a larger readahead buffer is required. 12289

0-INFO

Bus error

Cause: An invalid memory or hardware address was referenced. This usually indicates a software error or possible hardware failure. Remedy: Contact technical support. 12290

0-INFO

Address error

Cause: Internal system software failure. Remedy: Contact technical support. 12291

0-INFO

Illegal instruction

Cause: Internal system software failure. Remedy: Contact technical support. 12292

0-INFO

Divide by zero

Cause: Internal system software failure. Remedy: Contact technical support. 12293

0-INFO

CHK instruction

Cause: Internal system software failure. Remedy: Contact technical support.

12294

0-INFO

TRAPV instruction

Cause: Internal system software failure. Remedy: Contact technical support. 12295

0-INFO

Privilege violation

Cause: Internal system software failure. Remedy: Contact technical support. 12296

0-INFO

Line emulator

Cause: Internal system software failure. Remedy: Contact technical support. 12297

0-INFO

68881 protocol violation

Cause: Internal system software failure. Remedy: Contact technical support. 12298

0-INFO

Spurious interrupt

Cause: Possible hardware failure. Remedy: Contact technical support. 12299

0-INFO Cause:

FPCP branch cond

Internal system software failure. Remedy: Contact technical support. 12300

0-INFO

FPCP inexact result

Cause: Internal system software failure. Remedy: Contact technical support. 12301

0-INFO

FPCP divide by zero

Cause: Internal system software failure. Remedy: Contact technical support. 12302

0-INFO

FPCP underflow

Cause: Internal system software failure. Remedy: Contact technical support. 12303

0-INFO

FPCP operand error

Cause: Internal system software failure. Remedy: Contact technical support. 12304

0-INFO

FPCP overflow

Cause: Internal system software failure. Remedy:

Contact technical support. 12305

0-INFO

FPCP signal NAN

Cause: Internal system software failure. Remedy: Contact technical support. 12306

0-INFO

Trace exception

Cause: Internal system software failure. Remedy: Contact technical support. 12307

0-INFO

Uninitialized vector

Cause: Internal system software failure. Remedy: Contact technical support. 13313

0-INFO

CP protocol violation

Cause: Faulty communication with the control panel hardware. Remedy: Contact Comau. 13314

0-INFO

CP buffers busy

Cause: Faulty communication with the control panel hardware. Remedy: Contact Comau.

13315

0-INFO

CP msg too long

Cause: Faulty communication with the control panel hardware. Remedy: Contact Comau. 13316

0-INFO

CP parity error

Cause: Faulty communication with the control panel hardware. Remedy: Contact Comau. 13317

0-INFO

CP char framing error

Cause: Faulty communication with the control panel hardware. Remedy: Contact Comau. 13318

0-INFO

CP UART overrun

Cause: Faulty communication with the control panel hardware. Remedy: Contact Comau. 13319

0-INFO

CP checksum error

Cause: Faulty communication with the control panel hardware. Remedy: Contact Comau. 13320

0-INFO Cause:

CP receive timeout

Faulty communication with the control panel hardware. Remedy: Contact Comau. 13321

0-INFO

CP response timeout

Cause: Faulty communication with the control panel hardware. Remedy: Contact Comau. 13322

0-INFO

CP failure

Cause: Faulty communication with the control panel hardware. Remedy: Contact Comau. 13323

0-INFO

CP communications OK

13329

2-WARNING

TP protocol violation

Cause: Faulty communication with the teach pendant. Remedy: Contact Comau. 13330

2-WARNING

TP buffers busy

Cause: Faulty communication with the teach pendant. Remedy: Contact Comau. 13331

2-WARNING

TP msg too long

Cause: Faulty communication with the teach pendant.

Remedy: Contact Comau. 13332

2-WARNING

TP parity error

Cause: Faulty communication with the teach pendant. Remedy: Contact Comau. 13333

2-WARNING

TP char framing error

Cause: Faulty communication with the teach pendant. Remedy: Contact Comau. 13334

2-WARNING

TP UART overrun

Cause: Faulty communication with the teach pendant. Remedy: Contact Comau. 13335

2-WARNING

TP checksum error

Cause: Faulty communication with the teach pendant. Remedy: Contact Comau. 13336

2-WARNING

TP receive timeout

Cause: Faulty communication with the teach pendant. Remedy: Contact Comau.

13337

2-WARNING

TP response timeout

Cause: Faulty communication with the teach pendant, or the teach pendant was improperly disconnected. Remedy: Make sure teach pendant is connected correctly. 13338

2-WARNING

TP char check error

Cause: Faulty communication with the teach pendant, or the teach pendant was improperly disconnected. Remedy: Make sure teach pendant is connected correctly. 13339

4-PAUSE

TP failure

Cause: Teach pendant appears to be connected but is not communicating properly. Remedy: Check connections, contact Comau. 13340

2-WARNING

TP communications OK

13353

2-WARNING

CRT_emu protocol violation

Cause: Faulty communication with the CRT_emu utility. Remedy: Contact Comau. 13354

2-WARNING

CRT_emu buffers busy

Cause: Faulty communication with the CRT_emu utility. Remedy:

Contact Comau. 13355

2-WARNING

CRT_emu msg too long

Cause: Faulty communication with the CRT_emu utility. Remedy: Contact Comau. 13356

2-WARNING

CRT_emu parity error

Cause: Faulty communication with the CRT_emu utility. Remedy: Contact Comau. 13357

2-WARNING

CRT_emu char framing error

Cause: Faulty communication with the CRT_emu utility. Remedy: Contact Comau. 13358

2-WARNING

CRT_emu UART overrun

Cause: Faulty communication with the CRT_emu utility. Remedy: Contact Comau. 13359

2-WARNING

CRT_emu checksum error

Cause: Faulty communication with the CRT_emu utility. Remedy: Contact Comau.

13360

2-WARNING

CRT_emu receive timeout

Cause: Faulty communication with the CRT_emu utility. Remedy: Contact Comau. 13361

2-WARNING

CRT_emu response timeout

Cause: Faulty communication with the CRT_emu utility. Remedy: Contact Comau. 13362

4-PAUSE

CRT_emu failure

Cause: Faulty communication with the CRT_emu utility. Remedy: Contact Comau. 13363

2-WARNING

14338

0-INFO

CRT_emu communications OK

Device not a window

Cause: A window-specific operation was attempted on a device that is not a window. Remedy: Correct the reference in the program. 14341

0-INFO

Window not active

Cause: The specified window is not currently active. Remedy: Activate the window and retry.

14342

0-INFO

Window already active

Cause: An attempt was made to activate a window that was already active. Remedy: Correct the program. 14343

0-INFO

Screen not defined

Cause: A screen that does not exist was referenced. Remedy: Correct the reference or create the screen first. 14344

0-INFO

Window not defined

Cause: A window that does not exist was referenced. Remedy: Correct the reference or create the window first. 14346

0-INFO

Pop-up window already displayed

Cause: A pop-up window was requested that is already displayed on the screen. Remedy: Correct the reference. 14347

0-INFO

No memory for pop-up window

Cause: The pop-up window cannot be created due to a lack of available memory. Remedy: Delete unused pop-ups to make room for new ones. 14348

0-INFO

No memory for fixed window

Cause: A window cannot be created due to a lack of available memory. Remedy: Delete unused windows to make room for new ones. 14349

0-INFO

Fixed window not found

Cause: A referenced window does not exist. Remedy: Correct the reference or create the window first. 14350

0-INFO

Pop-up window not found

Cause: A referenced pop-up window does not exist. Remedy: Correct the reference or create the pop-up window first. 14351

0-INFO

Window already used on screen

Cause: A window was requested for display that is already active on the specified screen. Remedy: Correct the window reference. 14353

0-INFO

Window already defined

Cause: A window definition was requested with the same name as that of an existing window. Remedy: Correct the window name to make it unique. 14355

0-INFO Cause:

No memory for window

A window cannot be created due to a lack of available memory. Remedy: Delete unused windows to make room for new ones. 14356

0-INFO

No space for pop-up on fixed win

Cause: There is no room to display the pop-up on the fixed window. Remedy: Remove one or more other pop-ups to make room for this one. 14357

0-INFO

Cannot overlay fixed window

Cause: An attempt was made to define a fixed window that overlaps another fixed window. Remedy: Define fixed windows so that they do not overlap on the screen. 14358

0-INFO

Bad row size

Cause: The specified number of rows is not valid. large.

It is probably too

Remedy: Correct the number of rows. 14359

0-INFO

Bad column size

Cause: The specified number of columns is not valid. large.

It is probably too

Remedy: Correct the number of columns. 14363

0-INFO

Window not on screen

Cause: The specified window is not currently on the screen.

Remedy: Put the window on the screen first. 14364

0-INFO

Input not allowed on window

Cause: Input was requested in a window that was defined without input support. Remedy: Correct the reference or the window definition. 14365

0-INFO

Window not defined for device

Cause: The specified window was not defined for the current device. Remedy: Correct the reference or window definition. 14366

0-INFO

Press any key to continue

Cause: This is the normal message that appears when a full window of text has been displayed in windows that support this feature. The system waits for a key to be pressed so that information is not scrolled out of the window before it can be read. Remedy: Press a key to allow more lines to be displayed. 14367

0-INFO

Command has been aborted

Cause: The current command has been aborted because of a key that was pressed. Remedy: This is a normal message as a result of aborting a command that was in progress. 14369

0-INFO Cause:

TP has been disconnected

A teach pendant operation cannot be done because the teach pendant has been disconnected. Remedy: Reconnect the teach pendant. 14373

0-INFO

No space for fixed window

Cause: The specified window will not fit on the screen. Remedy: Change the window size or the reference to it. 14374

0-INFO

Window covered by pop-up

Cause: The contents of a window on the screen cannot be saved because there is a pop-up window in front of the fixed window. Remedy: Remove all pop-up windows before deactivating the current screen. 14375

0-INFO

Invalid character set

Cause: The specified character set is not valid. Remedy: Specify a valid character set. 14376

0-INFO

Alternate character set not available

Cause: There is not an alternate character set available on this device. Remedy: Correct the reference. 14377

0-INFO

Screen active

Cause: An attempt was made to delete a defined screen while it is the

currently active screen. Remedy: Deactivate the screen before deleting it. 14378

0-INFO

Screen attached to toggle screen key

Cause: An attempt was made to delete a defined screen while it is still attached to the list of screens that are activated by the screen toggle button. Remedy: Remove the screen from the screen toggle list before deleting it. 14379

0-INFO

CRT_Emu has been disconnected

Cause: A CRT operation cannot be done because the CRT_Emu link has been disconnected and there is no built-in CRT. Remedy: Reconnect the CRT_Emu link. 15361

0-INFO

DDCMP protocol mounted

Cause: The DDCMP protocol handler has been mounted on one of the serial ports and is attempting to communicate with the handler on the other end of the serial communications link. Remedy: This is an informational message 15362

0-INFO

DDCMP protocol started

Cause: The DDCMP protocol has been initialized with the protocol handler on the other end of the serial communications link. Remedy: This is an informational message. 15363

0-INFO

No resources

Cause: The communications software cannot be started due to lack of internal system resources, usually available memory. Remedy: Unload unused programs and data to free up memory. 15364

0-INFO

DDCMP protocol dismounted

Cause: The DDCMP protocol handler is no longer operating on its serial port. Remedy: This is an informational message in response to a user command. 15365

0-INFO

DDCMP protocol halted

Cause: The DDCMP protocol has been halted on the serial line. Remedy: This is an informational message in response to a command. 15366

0-INFO

Maint mode received

Cause: The DDCMP handler is operating in normal mode but received a maintenance mode message from the handler on the other end of the serial line. Remedy: Put both ends of the link into the same mode of operation. 15367

0-INFO

DDCMP protocol restarting

Cause: The protocol handler is restarting the protocol due to an unrecoverable error. Remedy: Determine the reason for the error and correct it. DDCMP statistics may be helpful for this.

Looking at the

15368

0-INFO

Data truncated

Cause: Received data was truncated because the program's buffer is shorter than the size of the message. Remedy: Specify a larger receive buffer size. 15369

0-INFO

Data too long

Cause: The size of the data request for a write operation on a SINEC association is too long for the defined SINEC buffer size. Or, on a connect request, the application relation name or server reference name is longer than the maximum allowable size. Remedy: If the data request is too large, either shorten the length of the data or reconfigure the connection to use a larger buffer. If making a connection request, specify valid names. 15370

0-INFO

Wrong state

Cause: The communications handler cannot process the request at this time because it is in the wrong state of operation. Remedy: Correct the request to the handler. 15371

0-INFO

Invalid operation

Cause: The specified operation is invalid for the communications handler. Remedy: Correct the operation request. 15372

0-INFO

Not loaded

Cause: The required communications support software is not loaded on the controller. Remedy:

Load the correct software. 15373

0-INFO

BCC/CRC error

Cause: A fatal block check error has occurred. Remedy: Fix the communications path and retry. 15374

0-INFO

Read error

Cause: An error has occurred while the communications handler was reading a message. Remedy: Determine the cause of the error and correct it. 15375

0-INFO

Sinec H1 mounted

Cause: The Sinec H1 network support has been mounted on the controller and is starting operation. Remedy: This is an informational message. 15376

0-INFO

Sinec H1 dismounted

Cause: The Sinec H1 network support has been dismounted and is no longer in operation. Remedy: This is an informational message. 15377

0-INFO

Board returned error

Cause: A communications fault has occurred due to an error reported by the installed communications support board. Remedy:

Contact Comau. 15378

0-INFO

No board resources

Cause: A communications error occurred due to lack of dynamic resources on the installed communications support board. Remedy: Contact Comau. 15379

0-INFO

TCP/IP mounted

Cause: The TCP/IP communications protocol handler is mounted on the controller and is ready for communication. Remedy: This is an informational message. 15380

0-INFO

TCP/IP dismounted

Cause: The TCP/IP communications handler has been dismounted and is no longer active. Remedy: This is an information message. 15381

0-INFO

Connection refused

Cause: The program cannot connect to the specified application or socket. Remedy: Make sure to specify a correct destination in the connection request. Also make sure that the destination program is working correctly. 15382

0-INFO

Link disconnected

Cause: The logical link, circuit, or association was disconnected during communication. This may be due to a communications failure or on

request of the remote application. Remedy: Determine the exact cause and make corrections if necessary. 15383

0-INFO

Remote receiver stopped

Cause: For ACS communications only, this indicates that the application to whom a message was sent has stopped receiving messages on its CAP. Remedy: Retry the transmission later or take other corrective action. 15384

0-INFO

ACS error

Cause: For ACS communications only, this indicates an error within the ACS support software. Remedy: Contact technical support. 15385

0-INFO

Server started

Cause: A communications server has been started on the controller. Remedy: This is an informational message. 15386

0-INFO

Server stopped

Cause: A communications server has been stopped. Remedy: This is an informational message. 15387

0-INFO

Message decoding error

Cause: The remote application has sent an erroneous message to the local server or other program.

Remedy: Fix the problem with the remote application. 15388

0-INFO

Unsupported request

Cause: The protocol handler does not support the requested operation. Remedy: Correct the request and retry. 15389

0-INFO

Protocol error

Cause: An error in the type or sequence of messages has occurred while communicating with the remote application. Remedy: Restart the applications. 15390

0-INFO

Transaction in progress

Cause: A new transaction was requested, but one was already in progress. Remedy: Correct the remote application and restart it. 15391

0-INFO

Cannot encode response

Cause: This is an internal software error. Remedy: Contact Comau. 15392

0-INFO

Version mismatch

Cause: The remote application is using a different version of the application protocol than the controller is using. Remedy:

Make sure that all programs are at the same revision level. 15393

0-INFO

Invalid server request

Cause: The server cannot carry out the requested operation. Remedy: Correct the request and retry. 15394

0-INFO

AP monitor started

Cause: The AP monitor process for the Sinec network support has successfully started. Remedy: This is a normal informational message. 15395

0-INFO

Sinec start-sync received

Cause: The start-sync message has been received from the Sinec interface board. Connections can now be made on the Sinec network. Remedy: This is an information message. 15396

0-INFO

Sinec end-sync received

Cause: An end-sync message has been received from the Sinec interface board. All current connections must be terminated. No connections on the network are possible until a start-sync message is received. This condition is usually caused when the switch on the Sinec board is moved out of the "RUN" position for network database management operations. Remedy: Move the switch back to the "RUN" position. 15397

0-INFO Cause:

No application relation

The requested application relation name for a Sinec connection does not exist. Application relation names must be predefined in the Sinec database that resides on the option board. Remedy: Use a defined application relation name or change the database using NML. 15398

0-INFO

No server reference

Cause: The server reference name for a Sinec connection does not exist. Server reference names must be predefined in the Sinec database that resides on the option board. Remedy: Use a defined server reference name or change the database using NML. 15399

0-INFO

Sinec communications error

Cause: An error was returned from the Sinec communications option board. Remedy: Obtain the exact error codes then look them up in the Sinec documentation. 15400

0-INFO

AP communications stopped

Cause: The AP protocol on the Sinec option board has been stopped either due to the switch on the board being moved from "RUN" to "STOP" or due to the NML database being updated by an external system connection. Remedy: The protocol will restart when the database update is completed and/or when the switch is moved back to the "RUN" position. 15401

0-INFO

Object already defined

Cause: The object that the user is trying to define is already defined in the system database. Remedy:

Define the object using a different name. 15402

0-INFO

Object not found

Cause: There are references to an object that have not been defined in the object's database. Remedy: Define the object in the database or verify that the name specified for the object is correct. 15404

0-INFO

DDCMP restart: no remote buffers

Cause: The remote system cannot accept the data being sent because it does not have any memory in which to store the message. This may also occur because there is no program active on the remote system to read the messages. Remedy: Investigate the problem at the remote system or correct the application programs. 15405

0-INFO

DDCMP restart: too many NAKs received

Cause: The remote system sent too many consecutive negative acknowledgements when the local system was trying to send data messages. This usually indicates a bad connection. A cable too long with no modem or line driver can also cause this. Remedy: Check the physical communication line connections. 15406

0-INFO

DDCMP restart: too many REPs received

Cause: The remote system has sent a message but is unable to read the response from the local system. This is usually caused by a bad communications line connection. Remedy: Check the physical communication line connections.

15407

0-INFO

DDCMP restart: STRT message received

Cause: The remote system restarted the protocol due to errors that it detected. Remedy: Check the messages on the remote system for more information. 15408

0-INFO

DDCMP restart: no receive buffers

Cause: The remote system is sending a message, but there is no place on the local system to store the data. This is usually caused by not having an application program that is reading from the DDCMP port. Remedy: Correct the application programs. Stay in synchronization with the remote system application. 15409

0-INFO

DDCMP restart: sent too many NAKs

Cause: Messages from the remote system were received with errors detected several consecutive times. This usually indicates a communications line problem such as noise on the line or using too long a cable. Remedy: Check the physical communication line connections. 15410

0-INFO

DDCMP restart: sent too many REPs

Cause: Messages were sent to the remote, but the acknowledgement was not received. This is usually due to a communications line problem. Remedy: Check the physical communication line connections. 15411

0-INFO

Client request failed

Cause: A client request to a server on the network has failed to complete successfully. Remedy:

Check the request to make sure that it is supported by the server and that other parameters are correct. 15412

10-DRIVE OFF

Server fatal error

Cause: A server has exited due to the detection of a fatal error, such as a communications adapter failure or incorrect startup parameters. Remedy: Determine the cause of the fatal error and correct it. 15413

10-DRIVE OFF Sinec board failed: cls cod

Cause: The Sinec communications option board has detected a fatal error condition. This may be due to a total communications transceiver or line failure, or some internal error on the board. Remedy: Correct the fault condition if it can be determined. Then restart the controller by powering it down and then up.

15414

0-INFO

3964R protocol mounted

Cause: The 3964R protocol has been mounted on a serial port and is trying to communicate with the handler of the opposite side of the link. Remedy: This is an informational message. 15415

0-INFO

3964R protocol dismounted

Cause: The 3964R protocol is no more active on the serial port. Remedy: This is an informational message. 15416

2-WARNING Cause:

3964R protocol timeout

Critical communication with the 3964R protocol. Remedy: Verify that the serial link is not interrupted. Verify that all devices are configured with the same speed and/or the same communication parameters (parity, stop bits, etc..). 15417

2-WARNING

Data section too long

Cause: The request of data related to a write operation seems to be too long respect to the dimension allowed by the protocol. Remedy: Use shorter data packets. 15418

2-WARNING

Time out on wait

Cause: A requested operation between the C3G-EIM and RBC timed-out Remedy: Re-attempt your request and if it fails again, restart (warm or cold) the controller. 15419

2-WARNING

No free server

Cause: The limit of number of servers allowed at once has been reached. Remedy: Check who is connected and if necessary terminate a session. 15420

2-WARNING

Insufficient access right

Cause: The user does not have the access rights for the operation. Remedy: Either change the access rights or ask someone with the appropriate rights to perform the operation. 15421

2-WARNING Cause:

Buffer in use

A client command was issued and the user then aborted the command. Time is needed for the actual network to respond to the abort. Remedy: Wait until the command has completed. The time is dependant on the network. 15422

2-WARNING

C3G-EIM error: ,

Cause: The C3G-EIM operating error occured. Remedy: Report to Comau 15423

2-WARNING

Invalid $NET_L initialisation setting

Cause: One of the $NET_L_ system variables was incorrectly set. Remedy: Check that all three have been set correctly. 15424

2-WARNING

Invalid $NET_B setting

Cause: One of the $NET_B_ system variables was incorrectly set. Remedy: Check that all values have been correctly set. 15425

2-WARNING

Login failed

Cause: Unable to login to the remote server Remedy: Check that access is possible to remote server. 15426

2-WARNING

Boot configuration failed

Cause: The boot configuration failed because either the system variables

have not been correctly set or because the remote server did not contain the files. Remedy: Check the $NET_B parameters and that the remote server is correctly setup. 15427

2-WARNING

FTP error: ,

Cause: A FTP error has occured. Remedy: Check FTP manual/section. 15428

10-DRIVE OFF

C3G-EIM fatal error:

Cause: One of the tasks on the C3G-EIM board has failed. Remedy: Report this problem to Comau with the last commands executed. 15429

10-DRIVE OFF

New NET: settings. Controller Reset required

Cause: The $NET_L settings are different from C3G-EIM's values and in order to have effect the controller needs to be reset. Remedy: Reset the controller at a appropriate moment. 15430

2-WARNING

No Host, User or Password specified for connection

Cause: One of the $NET_C.... parameters has not been set. Remedy: Check all have been set. 15431

2-WARNING

Connection fail

Cause: An attempt to connect to a remote server has failed.

Remedy: Check that the remote server is operating and that access is available. 15432

2-WARNING

Invalid IP address

Cause: The IP address is invalid. It should be in aaa.bbb.ccc.ddd format. Remedy: Check the system variables. 15433

2-WARNING

Client command interrupted

Cause: The user has request an abort. Remedy: No action necessary. 15434

2-WARNING

FTP not mounted

Cause: The FTP network support has been dismounted or never mounted. Remedy: This is an informational message. 15435

10-DRIVE OFF

C3G-EIM FTP version mismatch

Cause: The system software loaded on the C3G-EIM does not match with the C3G system software version. Remedy: Make sure that all versions are at the same revision level. 15436

10-DRIVE OFF

FTP server fatal error

Cause: The FTP server has exited due to the detection of a fatal error, such as a communications adapter failure or incorrect startup parameters.

Remedy: Determine the cause of the fatal error and correct it. 15437

2-WARNING

FTP mounted

Cause: The File Transfer Protocol (FTP) server is mounted on the controller and is ready for communication. Remedy: This is an informational message. 15438

10-DRIVE OFF

FTP Watch Dog

Cause: The File Transfer Protocol (FTP) server is no more active. Remedy: Report this problem to Comau with the last commands executed. 15439

2-WARNING

C3G-EIM/EDN powerfail detected

Cause: The File Transfer Protocol (FTP) server has detected a power failure on the C3G-EIM or C3G-EDN board. The server is going to restart. Remedy: This is an informational message. 15440

2-WARNING

C3G newer than EIM/EDN

Cause: The software loaded on the EIM or EDN board cannot support some new features that have been added in the software of the RBC2 board. Remedy: If new features are required, it is needed to update the software of the EIM or EDN board. 16384

0-INFO Cause:

No memory for var access

The memory resources currently available on the system are not sufficient for handling the required operation. Remedy: Check the configuration of the memory and/or remove something from memory. 16385

0-INFO

Not yet implemented

Cause: The required feature is not yet available in the system. 16386

0-INFO

Data type conflict between var and request

Cause: This error occurs when the data type specified by the user in a WRITE request is not the same as the one of the variable loaded in memory. Remedy: Check which is the correct data type of the variable required. 16387

0-INFO

Operation not allowed on this kind of var

Cause: The required operation cannot be applied to the requested variable. Remedy: Check which are the limitations imposed by the system for a particular operation also in relation to a particular class of variable. 16388

0-INFO

Variable limits overcome

Cause: This error occurs when the value to be assigned to a certain variable do not belong to the variable range. Remedy: Check the valid range for the values of the required variable. 16389

0-INFO

Variable field not existing

Cause: This error occurs when the field specified is not present in the

RECORD declaration of the specified variable. Remedy: Check which are the fields for the data type to which the variable belongs. 16390

4-PAUSE

DV_CNTRL timed out

Cause: The requested asynchronous DV_CNTRL has timed out and therefore has not been completed. The system variable $DV_TOUT is used to set the timeout value with one such variable per system. 16391

4-PAUSE

DV_CNTRL bad LUN

Cause: The requested DV_CNTRL operation could not be undertaken as the supplied LUN is not suitable for the type of operation. For example, to issue DV_CNTRL on the network the LUN must have been opened on the device NET0:. Remedy: Review the DV_CNTRL operation and if necessary OPEN FILE on the specific network channel and pass the LUN to the DV_CNTRL. 16392

4-PAUSE

Bad server index

Cause: The server index number supplied in the DV_CNTRL is not correct. Server numbers are from 1 to 16 and are returned in the DV_CNTRL when starting a server. Remedy: Check the value supplied to the DV_CNTRL for starting, stopping or accessing the server. 16393

0-INFO

Nested records not handled yet

Cause: This error occurs when referencing fields of records that are assumed to be record as well. This kind of variables are not handled yet. Remedy: Wait until nested records are implemented.

16394

0-INFO

Variable with read-only access

Cause: This error occurs because the variable can only be read. Remedy: Check that the variable is not "read-only" before doing an operation different from READ. 16395

0-INFO

Missing parameter specification

Cause: This error occurs when a required parameter has not been specified. Remedy: Check which parameters are required for the desired operation before re-issuing the command. 16396

0-INFO

Uninit variable referenced

Cause: A variable not initialized has been referenced. Remedy: Check which is the uninit variable and assign an initial value to it before referencing it. 16397

10-DRIVE OFF

NIO feature not yet configured

Cause: Some of the system variables parameters are not configured, or are improperly configured and the NIO service cannot be activated. Remedy: Check that both the 'Par_sysv' and the 'Nio' parameters are properly set. Remember that the 'Par_sysv' parameters are not saved in the C3G.SYS while the 'Nio' are saved there. Use the SN_INST utility in order to properly configure the NIO feature system variables parameters. 16398

10-DRIVE OFF

Bad NIO sysvar value(s)

Cause: Some of the system variables are initialized with bad values. Remedy:

Use the SN_INST utility to configure the NIO feature system variables with the proper values. 16399

2-WARNING

Bad server operation

Cause: The attempted operation on the server cannot be undertaken. Remedy: Check that the type of server can accept the type of operation. 17408

0-INFO

Unimplemented feature

Cause: A feature used on the statement being translated is not yet implemented. Remedy: Make sure proper software is loaded on the system. It may be necessary to rework the program to avoid using the unimplemented feature. 17413

0-INFO

Ran out of local memory

Cause: The translation process ran out of free heap memory. Remedy: There is a fixed amount of heap memory and it can't be changed by the user. 17414

0-INFO

Invalid data type used in an expression

Cause: An operand is an invalid data type. For example, the NOT operator can only be applied on INTEGER and BOOLEAN operands. An operand of any other data type will cause this error. Remedy: Fix the operand(s) used in the expression. 17415

0-INFO Cause:

String value too long

A STRING literal exceeds the maximum length of 254. Remedy: Use multiple shorter strings instead of one long string in the program. 17416

0-INFO

Invalid ASCII specification in a string value

Cause: An invalid ASCII specification has been detected in a STRING literal. This means a non-digit character is used in the nn

notation or the number specified is not a valid ASCII character code. For example, 'test 12a error' will cause this error since "12a" is not a valid 3 digit number. Remedy:

Use a proper 3 digit number in the nn notation of a STRING literal. 17417

0-INFO

BOOLEAN expression expected

Cause: The expression must result in a BOOLEAN value. For example, "IF 5 THEN" will cause this error since the expression for an IF statement must result in a BOOLEAN value. Remedy: Fix the expression so it results in a BOOLEAN value. 17418

0-INFO

INTEGER expression expected

Cause: The expression must result in an INTEGER value. For example "DELAY 5.6" will cause this error since the expression for a DELAY statement must result in an INTEGER value. Remedy: Fix the expression so it results in an INTEGER value. 17419

0-INFO

REAL expression expected

Cause: The expression must result in a REAL value. If the expression results in an INTEGER value, it will be converted to a REAL automatically. However, if the expression results in any other

data type, this error will be detected. For example, "MOVE AWAY TRUE" will cause this error since the value of the expression is not INTEGER or REAL. Remedy: Fix the expression so it results in a REAL value. 17420

0-INFO

VECTOR expression expected

Cause: The expression must result in a VECTOR value. For example, "MOVE RELATIVE 5 IN BASE" will cause this error since 5 is not a valid VECTOR value. Remedy: Fix the expression so it results in a VECTOR value. 17421

0-INFO

Positional typed expression expected

Cause: The expression must result in a POSITION, JOINTPOS, or XTNDPOS value. For example, "MOVE TO 6" will cause this error since the destination expression does not result in a POSITION, JOINTPOS, or XTNDPOS value. Remedy: Fix the expression so it results in a POSITION, JOINTPOS, or XTNDPOS value. 17422

0-INFO

Invalid INTEGER operator

Cause: The operator cannot be used with INTEGER operands. the "@" operator cannot have INTEGER operands.

For example,

Remedy: Make sure the proper operands and operators are specified in the expression. 17423

0-INFO

Invalid REAL operator

Cause: The operator cannot be used with REAL operands. "@" operator cannot have REAL operands. Remedy:

For example, the

Make sure the proper operands and operators are specified in the expression. 17424

0-INFO

Invalid BOOLEAN operator

Cause: The operator cannot be used with BOOLEAN operands. the "+" operator cannot have BOOLEAN operands.

For example,

Remedy: Make sure the proper operands and operators are specified in the expression. 17425

0-INFO

Invalid STRING operator

Cause: The operator cannot be used with STRING operands. "+" operator cannot have STRING operands.

For example, the

Remedy: Make sure the proper operands and operators are specified in the expression. 17426

0-INFO

Invalid VECTOR operator

Cause: The operator cannot be used with VECTOR operands. "DIV" operator cannot have VECTOR operands.

For example, the

Remedy: Make sure the proper operands and operators are specified in the expression. 17427

0-INFO

Illegal statement context

Cause: A statement is used in the program in an invalid statement context. For example, all variable declarations must be in a VAR section and cannot appear between the BEGIN and END of the program. If a VAR declaration is between the BEGIN and END this error will be detected. Remedy: Move the statement to the proper context. 17428

0-INFO

Fields cannot be user-defined data types

Cause: A field of a record or node definition cannot be a record or node type. Remedy: Rework the program to get around the requirement of having a field be a record or node type. 17429

0-INFO

Input file not found

Cause: The file being translated does not exist. Remedy: Make sure the file name was properly entered. 17430

0-INFO

Error reading the input file

Cause: The FILER TRANSLATE command detected an error while reading the file being translated. Remedy: No remedy. 17431

0-INFO

Error closing the input file

Cause: The FILER TRANSLATE command detected an error while closing the file being translated. Remedy: No remedy. 17432

0-INFO

Incomplete program

Cause: The FILER TRANSLATE command processed the entire input file but did not receive an entire valid program. For example, if the "END" statement for the program is missing, this error will be detected. Remedy: The translation process will attempt to complete the program. If it is successful, a proper .COD file will be generated. Otherwise,

the .COD file will not be generated. For example, if the "END" statement for the program is missing, the translation process will attempt to add the "END" statement automatically. 17433

0-INFO

Identifier undefined

Cause: An identifier is used in the statement which has not yet been declared. All identifiers used in a PDL2 program must be declared before any references to the identifiers are declared. Remedy: Check spelling of the identifier to be sure it is the proper identifier to be used. If so, add a proper declaration for the identifier. 17434

0-INFO

Id must be an INTEGER constant

Cause: This error is detected when an identifier is used as the size of a STRING, ARRAY dimension, arm number, etc. and the identifier is not an INTEGER user-defined constant. Only INTEGER user-defined constant identifiers can be used. The following example would cause this error since "myvar" is a variable and not a user-defined constant. - VAR �myvar� : INTEGER �s� : STRING[�myvar�] -- Error since myvar is a variable Remedy: Change the reference to a valid INTEGER user-defined constant or an INTEGER literal. 17435

0-INFO

Invalid STRING size

Cause: An invalid size was specified in a STRING declaration. The size must be greater than 0 and less than the maximum size for a STRING which is 254. For example, "VAR s : STRING[356]" would cause this error since 356 is too large. Remedy: Change the size of the STRING to be in the range 1..254. 17436

0-INFO Cause:

Program name too long

The length of the specified program name is greater than 8. Remedy: Shorten the length of the program name. 17437

0-INFO

Program identifier expected

Cause: A program identifier is expected but the translation process detected some other kind of identifier or literal. For example, if "myvar" is declared as a variable, the "PAUSE myvar" statement would cause this error since "myvar" is not a program identifier. Remedy: Fix the identifier referenced to be a program identifier. 17438

0-INFO

Identifier previously declared

Cause: A user-defined identifier name can only be used once within the same scope. For example, if the main program declares "myvar" as a variable, the name "myvar" cannot be used as the name of a routine, user-defined constant, user-defined type, or another variable declared in the main program. Remedy: Choose a different name. 17439

0-INFO

Identifier not a record structure

Cause: A user-defined record type identifier is expected but the translation process detected some other kind of identifier. The following example would cause this error since "myvar" is not a user-defined RECORD type identifier. - VAR �myvar� : INTEGER �recvar� : �myvar� -- Error since myvar is a variable Remedy: Fix the identifier referenced to be a user-defined record type identifier. 17440

0-INFO Cause:

Invalid target in an assignment stmt

This error occurs due to an invalid left operand of the assignment statement. The left operand must be a valid variable, parameter, or local variable reference. For example, "5 := a" will cause this error since "5" is not a valid variable identifier reference. Remedy: Fix the left operand of the assignment statement to be a valid variable, parameter, or local variable reference. 17441

0-INFO

Data type mismatch in assignment stmt

Cause: The data type of the right operand of an assignment statement is not compatible with the left operand variable reference. The left and right operands must be of the exact same data type with the exception that the right operand can be INTEGER if the left is REAL. The following example will cause this error to occur since 6.7 is REAL and incompatible with an INTEGER variable. - VAR �myvar� : INTEGER �yourvar� : REAL - . . . - BEGIN -- Valid statement (can assign INTEGER to REAL) �yourvar� := �myvar� -- Invalid statement (can't assign REAL to INTEGER) �myvar� := 6.7 Remedy: Fix the assignment statement so the operands are compatible data types. 17442

0-INFO

Asgn not permitted on var of this type

Cause: Not all variables can be assigned a value using the assignment statement. This error is the result of trying to perform an assignment to a variable whose data type is not permitted. For example, if "myvar" is declared as a SEMAPHORE variable, it cannot be used as the left operand in the assignment statement ("myvar := ..."). 17443

0-INFO

Ran out of shared memory

Cause: The translation process ran out of free memory. Remedy:

Erase all unnecessary programs and variables from memory and retranslate. If the error was detected while editing a program, suspend from the editor to perform the erasing so previous changes to the program are not lost. 17444

0-INFO

Implicitly declaring variable

Cause: In some cases, the data type information of an undeclared identifier can be determined by the context of its usage. In these cases, the translation process will automatically insert a variable declaration for the identifier in the program. This warning is given each time an identifier is implicitly declared in the program. For example, if "myvar" is not declared in the program, the "myvar := 0" statement will produce this warning and a declaration for "myvar" will be added which declares "myvar" to be an INTEGER variable. Remedy: This is just a warning but if a typing mistake was made and the translation process declared a new variable, the typing mistake should be fixed and then the added declaration should be deleted. 17445

0-INFO

Invalid ARRAY size

Cause: An invalid size was specified in an ARRAY declaration. The size must be greater than 0 and less than the maximum size for an ARRAY dimension which is 65535. The following example would cause this error since 66666 is too large. - VAR �ari� : ARRAY[66666] OF INTEGER Remedy: Change the size of the ARRAY dimension to be in the range 1..65535. 17446

0-INFO

Wrong id after END - replacing with

Cause: This is detected when the identifier following the END does not match the name of the routine or program being ended. This is just a warning and the translation process will automatically replace the improper identifier with the proper routine or program identifier. Remedy: No remedy since it is automatically fixed. 17447

0-INFO

Inserting missing CONST keyword

Cause: Each new user-defined constant section must begin with the CONST keyword. This warning is given if the translation process has to automatically add the keyword. Remedy: No remedy since it is automatically fixed. 17448

0-INFO

Inserting missing VAR keyword

Cause: Each new variable declaration section must begin with the VAR keyword. This warning is given if the translation process has to automatically add the keyword. Remedy: No remedy since it is automatically fixed. 17449

0-INFO

Arrays do not have the same dimensions

Cause: This error is detected when an assignment is performed between two ARRAYs and the ARRAYs do not have the same number of dimensions. The assignment statement in the following example would cause this error since "ar1" is only one dimensional but "ar2" is two dimensional. - VAR �ar1� : ARRAY[10] OF INTEGER �ar2� : ARRAY[10, 20] OF INTEGER - . . . - BEGIN �ar1� := �ar2� -- Error due to dimension mismatch Remedy: Make sure both ARRAYs have the same number of dimensions. 17451

0-INFO

Invalid identifier class

Cause: This error is context. For TYPE section, is a TYPE and

detected when an identifier is used in the wrong example, if "mytype" is declared as a RECORD in the "SQRT(mytype)" would cause this error because mytype not a variable.

Remedy: Make sure the identifier being used is of the proper classification

for the context. 17452

0-INFO

Identifier cannot be indexed or fielded

Cause: Only ARRAY, JOINTPOS, and a PATH node table can be indexed. Only records and PATH nodes can be fielded. This error is detected when an identifier other than one of these types is indexed or fielded. For example, if "myvar" is declared as an INTEGER variable, "myvar[4]" would generate this error. Likewise, "myvar.fld" would also generate this error. Remedy: Make sure the identifier being indexed is an ARRAY, JOINTPOS, or PATH node table before using the [] notation. Make sure the identifier is a record or PATH node before using the field (.) notation. 17453

0-INFO

Invalid indexing of an identifier

Cause: If a variable is a one-dimensional ARRAY, it can only be indexed using one index value. However, if the variable is a two-dimensional ARRAY, it can only be indexed using two index values. This error is detected when only one index value is specified for a two-dimensional ARRAY or two index values are specified for a one-dimensional ARRAY. - VAR �ar1� : ARRAY[10] OF INTEGER �ar2� : ARRAY[10, 20] OF INTEGER - . . . - BEGIN �ar1�[2, 4] := 56 -- Error since ar1 is one-dimensional �ar2�[5] := 23 -- Error since ar2 is two-dimensional Remedy: Use the proper number of index values when indexing an ARRAY variable. 17455

0-INFO

Invalid indexing of a JOINTPOS

Cause: A JOINTPOS variable can be indexed using one index value only. This error is detected when two index values are specified. For example, if "myvar" is declared as a JOINTPOS variable, the "myvar[5, 7]" reference will cause this error. Remedy: Use only one index value for indexing a JOINTPOS variable.

17456

0-INFO

Default arm attribute already specified

Cause: This error is detected when multiple default arm attributes are specified on the PROGRAM statement. Remedy: Choose the proper default arm attribute and delete the other(s). 17457

0-INFO

Invalid value specified for arm attr

Cause: An invalid arm number is specified in the default arm attribute of the PROGRAM statement. The arm number must be greater than 0 and less than 33. Remedy: Choose a valid arm number. 17458

0-INFO

Program type attribute already specified

Cause: Multiple program type attributes are specified on the PROGRAM statement. There can be only one of the HOLD, NOHOLD, or PLC attributes specified on the PROGRAM statement. Remedy: Choose the proper program type attribute and delete the other(s). 17459

0-INFO

Priority attribute already specified

Cause: The priority attribute can only be specified once on the PROGRAM statement. Remedy: Choose the proper priority and delete the other(s). 17460

0-INFO

Invalid value spec for priority attribute

Cause: An invalid priority is specified in the priority attribute of the PROGRAM statement. The priority must be greater than 0 and less than 4.

Remedy: Choose a valid priority value. 17461

0-INFO

Stack size attribute already specified

Cause: The stack size attribute can only be specified once on the PROGRAM statement. Remedy: Choose the proper stack size attribute and delete the other(s). 17462

0-INFO

Invalid value spec for stack size attribute

Cause: An invalid stack size is specified in the stack size attribute of the PROGRAM statement. The stack size must be greater than -1 and less than 65535. Remedy: Choose a valid stack size. 17463

0-INFO

Invalid or missing program header

Cause: The PROGRAM statement is invalid or not contained in the file being translated. The translation process will stop since a program is not valid without a PROGRAM statement. Remedy: Edit the file being translated and fix/add the PROGRAM statement. 17464

0-INFO

Error opening output file

Cause: The .COD file cannot be opened. RAM disk.

This is generally due to a full

Remedy: Erase all unnecessary files and issue the FILER TRANSLATE command again. If this error is detected while editing, suspend the editor and erase the unnecessary files. Then return to the editor and issue the SAVE command so that the modifications to the program are not lost.

17465

0-INFO

Not enough disk space for output file

Cause: The .COD file could not be closed properly. This error is usually caused by not having enough disk space for the file. Remedy: Erase all unnecessary files and issue the FILER TRANSLATE command again. If this error is detected while editing, suspend the editor and erase the unnecessary files. Then return to the editor and issue the SAVE command so that the modifications to the program are not lost. 17466

0-INFO

Label is undefined

Cause: A label is used in a GOTO statement but is not actually used to label a line of code. This error is detected when the program is saved and loaded as well as when the editor checks for errors. Remedy: Make sure the labels used in the GOTO statements are properly typed. If so, add the label to the appropriate line so that it gets defined. 17467

0-INFO

INTEGER LUN expected

Cause: An INTEGER LUN identifier is expected in a FILE statement. The translation process detected some other type of identifier. The following example would cause this error since "myvar" is not a valid INTEGER LUN. - VAR �myvar� : VECTOR - . . . - BEGIN -- Error since myvar is not an INTEGER variable CLOSE FILE �myvar� Remedy: Change the LUN to a valid INTEGER variable reference. 17468

0-INFO

Invalid assignment action

Cause: An invalid assignment action is detected. This is due to an expression being used for the right operand instead of a single variable reference, literal, or constant identifier reference. The

following example will cause this error since the right operand of the assignment action is an expression. - VAR �a�, �i� : INTEGER - . . . - BEGIN CONDITION[3]: WHEN $DIN[4]+ DO -- Error since expression is used in the action �a� := 4 * �i� . . . ENDCONDITION Remedy: Fix the right operand so that it is a single variable reference, a literal, or a constant identifier reference. 17469

0-INFO

Invalid arm number

Cause: An invalid arm number has been specified. Arm numbers must be greater than 0 and less than 33. This error is detected for arm specifications in the declaration section of a program. Remedy: Use a valid arm number in the range 1..32. 17470

0-INFO

Routine identifier expected

Cause: Only a routine identifier can be used in a routine call. This error is detected when an identifier is used in a routine call that is not declared as a routine. The following example would cause this error since "myvar" is not a routine. - VAR �myvar� : INTEGER - . . . - BEGIN -- Error since myvar is not a ROUTINE �myvar�(4, �i�, 8.6) Remedy: Make sure the proper identifier is used in the routine call. undefined, add a declaration for the routine. 17471

0-INFO

If

Too many arguments

Cause: Too many arguments are specified in a routine call. The following example would cause this error since 3 arguments are specified in

the routine call but the routine is declared as having only 2 parameters. - ROUTINE �myrout�(�i�, �j� : INTEGER) EXPORTED FROM �utils� - . . . - BEGIN �myrout�(2, 4, 6) -- Error since too many arguments Remedy: Remove the incorrect arguments from the routine call. routine call against the routine declaration. 17472

0-INFO

Verify the

Not enough arguments

Cause: Not enough arguments are specified in a routine call. The following example would cause this error since 1 argument is specified in the routine call but the routine is declared as having 2 parameters. - ROUTINE �myrout�(�i�, �j� : INTEGER) EXPORTED FROM �utils� - . . . - BEGIN �myrout�(26) -- Error since not enough arguments Remedy: Add missing arguments to the routine call. against the routine declaration. 17473

0-INFO

Verify the routine call

Argument data type doesn't match the parameter

Cause: The data type of an argument doesn't match the declaration of the corresponding parameter. The data types of the argument and its corresponding parameter must be compatible. This means they must be exactly the same type with the exception that an INTEGER argument can be passed by value to a REAL parameter. The following example would cause this error since the data type of the argument is BOOLEAN and is not compatible with the INTEGER parameter declaration. - ROUTINE �myrout�(�i� : INTEGER) EXPORTED FROM �utils� - . . . - BEGIN -- Error since the parameter is INTEGER -but the argument is BOOLEAN �myrout�(TRUE) Remedy: Fix the routine call to be sure corresponding arguments and parameters are compatible. Verify the routine call against the routine declaration.

17474

0-INFO

Mismatch in ARRAY dim of argument

Cause: The number of dimensions of an ARRAY argument must be equal to the number of dimensions of the corresponding ARRAY parameter. The following example will cause this error since we cannot pass a 1 dimensional ARRAY argument to a 2 dimensional ARRAY parameter. - VAR �myvar� : ARRAY[5] OF INTEGER - . . . - ROUTINE �myrout�(�ai� : ARRAY[*, *] OF INTEGER) - BEGIN - . . . - END �myrout� - . . . - BEGIN -- Error since param is 2 dim and argument is 1 dim �myrout�(�myvar�) Remedy: Fix the routine call to be sure corresponding ARRAY arguments and parameters have the same number of dimensions. Verify the routine call against the routine declaration. 17475

0-INFO

Address argument expected

Cause: The built-in routine being called expects an argument to be passed by reference. This means the argument must be a valid variable, parameter, or local variable reference. For example, the VAR_UNINIT function expects the argument to be a variable reference which means the "VAR_UNINIT(3)" routine call will cause this error since 3 is not a valid variable reference. Remedy: Fix the argument so it is passed by reference. 17476

0-INFO

Routine is not a function

Cause: Only a function routine can be invoked in an expression. A procedure routine must be called as a single statement. The following example will cause this error since "myrout" is a procedure routine. - VAR �myvar� : INTEGER - . . . - ROUTINE �myrout�(�i� : INTEGER) EXPORTED FROM �utils� - . . . - BEGIN

-

-- Error since myrout is not a function �myvar� := �myrout�(5)

Remedy: Make sure the proper routine is being called. If it is a procedure, then put the call in the appropriate statement form. 17477

0-INFO

Routine is not a procedure

Cause: Only a procedure routine can be invoked as a single statement. A function routine must be called in an expression. The following example will cause this error since "myrout" is a function routine. -

ROUTINE �myrt�(�i� : INTEGER) : REAL EXPORTED FROM �utils� . . . BEGIN �myrt�(5) -- Error since myrout is not a procedure

Remedy: Make sure the proper routine is being called. If it is a function, then put the call in the appropriate expression form. 17478

0-INFO

PLC programs can only use PLC built-in

routines

Cause: Only the PLC built-in routines can be called from a program having the PLC program type attribute. All other built-in routines are disallowed. Remedy: If the program is not a PLC type program, remove the PLC attribute from the PROGRAM statement. If it is to be a PLC type program, then eliminate the call to a non-PLC built-in routine. 17479

0-INFO

List of programs expected

Cause: A list of program identifiers is expected. Instead, the line contained an empty list or the ALL specification. For example, the "ACTIVATE ALL" statement will cause this error since ALL is not a valid option for the ACTIVATE statement. Remedy: Replace the empty list or ALL specification with the appropriate list of program identifiers.

17480

0-INFO

List of programs or ALL expected

Cause: A list of program identifiers or the ALL specification is expected. Instead, the line contained an empty list. For example, the "UNPAUSE" statement will cause this error since an empty list is not a valid option for the UNPAUSE statement. Remedy: Replace the empty list with the ALL specification or the appropriate list of program identifiers. 17481

0-INFO

Statement not permitted in a PLC program

Cause: The statement is not permitted in a program having the PLC program attribute. There is a limited set of statements permitted in PLC programs. Remedy: Remove the invalid statement or remove the PLC attribute. 17482

0-INFO

Invalid port variable

Cause: An invalid port was specified in the statement. For example, the PULSE statement can pulse $DOUT and $BIT only. Therefore, the "PULSE $SDIN[2] FOR 200" statement will produce this error. Remedy: Use a valid port specification in the statement. 17483

0-INFO

PLC prog cannot include user-defined variables

Cause: Programs having the PLC program type attribute cannot contain user-defined variables. The only variables accessible from a PLC type program is the predefined ports mentioned in the documentation. Remedy: Delete the variable declarations and their usages or remove the PLC attribute. 17484

0-INFO Cause:

Cannot implicitly declare vars in routine

The automatic declaration of undefined variables is only permitted in the program. All undefined identifiers in a routine cause this error. Remedy: Check the spelling of the identifier name. declaration of the identifier. 17485

0-INFO

If correct, add a local

Cannot import routine variables

Cause: The EXPORTED FROM clause is not permitted on local variable declarations. If specified, this error will be detected. Remedy: Remove the EXPORTED FROM clause from the local variable declaration. 17486

0-INFO

Id must be an INTEGER variable

Cause: Several statements in the language require an INTEGER variable reference. If an identifier of any other type or kind is specified, this error is detected. The following program segment shows two example statements that will cause this error. - CONST �myconst� = 8 - VAR �myvar� : REAL - . . . - BEGIN -- Error since myvar is not an INTEGER FOR �myvar� := 1 TO 10 DO . . . -- Error since myconst is not a variable FOR �myconst� := 1 TO 10 DO Remedy: Replace the identifier with a valid INTEGER variable reference. 17487

0-INFO

Unknown system variable

Cause: A system variable is referenced that is not known to the system. Remedy: Check the spelling of the system variable name and use the proper spelling.

17488

0-INFO

No direct access to system var

Cause: Direct access to the system variable is not permitted. Instead, the SYS_VAR_SET and SYS_VAR_GET routines must be used to access this system variable. Remedy: Use the appropriate built-in routine for accessing the system variable. 17489

0-INFO

Invalid use of identifier

Cause: This error indicates an invalid indexing or fielding of an identifier that is not a variable. Remedy: Use the proper variable identifier in the statement. 17490

0-INFO

System var only has READ access

Cause: The system variable cannot be given a new value by a PDL2 program. This means it cannot be used as the left operand in an assignment statement and it cannot be used in the READ statement. Remedy: No remedy. 17491

0-INFO

Port variables must be indexed

Cause: A port variable cannot be accessed as an entire ARRAY. It must be indexed. Therefore, the "avar := $DIN" statement is invalid since $DIN is not indexed. Remedy: Index the port using the proper indexing value. 17492

0-INFO

GOTO in a PLC program must jump forward

Cause: The GOTO statement in a PLC program must jump to a label that is defined after the GOTO statement. This error is detected if the

GOTO statement jumps to a label that is defined prior to the GOTO statement. - PROGRAM �myprog� PLC - . . . - BEGIN . . . - �mylabel�:: . . . -- Error since label precedes the GOTO Statement GOTO �mylabel� Remedy: Fix the logic in the program so that the GOTO does not jump backwards. 17493

0-INFO

PLC prog cannot access system var

Cause: The statement being translated contains a reference to a system variable that cannot be accessed by a program having the PLC program type attribute. Remedy: Remove the reference to the system variable or remove the PLC attribute. 17494

0-INFO

Operator not permitted in a PLC program

Cause: The statement being translated contains a reference to an operator that cannot be used by a program having the PLC program type attribute. Remedy: Remove the use of the operator or remove the PLC attribute. 17495

0-INFO

PLC programs cannot contain REAL values

Cause: The statement being translated contains a REAL literal which cannot be used in a program having the PLC program type attribute. Remedy: Remove the use of the REAL literal or remove the PLC attribute. 17496

0-INFO

Adding ADVANCE to PULSE as required in PLC prog

Cause: All PULSE statements are automatically advanced when executed by the software or hardware PLC. The PULSE statement being translated does not include the ADVANCE option so the translation process will automatically add it. This warning is given to indicate the automatic insertion of the ADVANCE option. Remedy: No remedy since it is automatically fixed. 17497

0-INFO

RETURN statement only permitted in routines

Cause: The RETURN statement is only permitted in the executable section of a routine. If specified in the executable section of the program, this error is detected. Remedy: Delete the RETURN statements from the executable section of the program. 17498

0-INFO

RETURN from a function need a value

Cause: The RETURN statement requires a function return value when contained in the executable section of a function routine. This error is detected if the function return value is omitted from the RETURN statement. Remedy: Add the function return value to the RETURN statement. 17499

0-INFO

RETURN from a proc cannot specify a value

Cause: The RETURN statement is not permitted to have a function return value when contained in the executable section of a procedure routine. This error is detected if the function return value is included on the RETURN statement of a procedure. Remedy: Remove the function return value from the RETURN statement. 17500

0-INFO Cause:

Id must be a SEMAPHORE variable

Several statements in the language require a SEMAPHORE variable reference. If an identifier of any other type or kind is specified, this error is detected. The following program segment shows two example statements that will cause this error. - CONST �myconst� = 8 - VAR �myvar� : REAL - . . . - BEGIN -- Error since myvar is not a SEMAPHORE SIGNAL �myvar� . . . -- Error since myconst is not a variable SIGNAL �myconst� Remedy: Replace the identifier with a valid SEMAPHORE variable reference. 17501

0-INFO

Code follows the END of the program

Cause: Statements other than comments follow the END of the program. Remedy: Either delete them or move them above the END statement. 17502

0-INFO

Invalid variable in a READ statement

Cause: Items in the list of a READ statement must be valid variable references. If an identifier that is not a variable is specified in the READ statement, this error is detected. Remedy: Fix the identifier reference so that it is a valid variable reference. 17503

0-INFO

Cannot READ variables of this data type

Cause: A variable specified in the READ statement cannot be read because of its data type. For example, if "myvar" is declared as a PATH, the "READ(myvar)" statement would cause this error since it cannot read variables of type PATH. Remedy: The individual components will have to be READ.

17504

0-INFO

Cannot AND conditions in a TIL

Cause: The AND operator cannot be used to combine conditions in a TIL clause. Remedy: Use multiple TIL clauses to check multiple conditions. 17505

0-INFO

Invalid context for a label

Cause: A label cannot be used to label a middle line of a CONDITION..ENDCONDITION statement, a MOVE..ENDMOVE statement, or OPEN FILE..ENDOPEN statement. Only the first line of such statements can be labeled. - BEGIN -- Valid since on first line of stmt - �mylabel1�:: CONDITION[3]: . . . -- Error since in middle line of stmt - �mylabel2�:: ENDCONDITION Remedy: Move the label before or after the multi-lined statement. 17506

0-INFO

Invalid variable in a DECODE statement

Cause: Items in the list of a DECODE statement must be valid variable references. If an identifier that is not a variable is specified in the DECODE statement, this error is detected. Remedy: Fix the identifier reference so that it is a valid variable reference. 17507

0-INFO

Cannot DECODE variables of this data type

Cause: A variable specified in the DECODE statement cannot be used because of its data type. For example, if "myvar" is declared as a PATH, the "DECODE(myvar)" statement would cause this error since we cannot decode variables of type PATH. Remedy:

The individual components will have to be used in the DECODE statement. 17508

0-INFO

Identifier must be a STRING variable

Cause: Several statements in the language require a STRING variable reference. If an identifier of any other type or kind is specified, this error is detected. The following program segment shows two example statements that will cause this error. - CONST �myconst� = 'Junk string' - VAR �myvar� : REAL - . . . - BEGIN -- Error since myvar is not a STRING ENCODE(�myvar�, 8) . . . -- Error since myconst is not a var ENCODE(�myconst�, 8) Remedy: Replace the identifier with a valid STRING variable reference. 17509

0-INFO

STRING expression expected

Cause: The expression must result in a STRING value. For example, the expression for the file name in an OPEN FILE statement must result in a STRING value. Therefore, the following example will cause this error. - VAR �myvar� : INTEGER - . . . - BEGIN -- Error since 5.6 is not a STRING exp OPEN FILE �myvar� (5.6, 'ro') Remedy: Fix the expression so it results in a STRING value. 17510

0-INFO

Cannot ENCODE variables of this data type

Cause: A variable specified in the ENCODE statement cannot be read because of its data type. For example, if "myvar" is declared as a PATH, the "ENCODE(s, myvar)" statement would cause this error since it cannot encode variables of type PATH. Remedy:

The individual components will have to be ENCODED. 17513

0-INFO

Statement not permitted in a NOHOLD program

Cause: The statement is not permitted in a program having the NOHOLD program attribute. All statements related to motion of an arm are disallowed in a NOHOLD program. Remedy: Remove the statements that are disallowed or remove the NOHOLD attribute. 17514

0-INFO

Routine declaration conflicts with the previous

Cause: When a function routine is exported, the routine header containing the EXPORTED FROM clause and the actual routine header must be identical. If the function return type does not match, this error is detected. The following example will cause this error since one ROUTINE declaration indicates an INTEGER return value and the other indicates a REAL return value. - PROGRAM �myprog� - . . . - ROUTINE �myrt�(�i� : INTEGER) : REAL EXPORTED FROM �myprog� - . . . - -- Error since return type doesn't match - ROUTINE �myrt�(�i� : INTEGER) : INTEGER - BEGIN . . . - END �myrt� Remedy: Fix the declarations so that they match. 17515

0-INFO

Parameter list decl conflicts with the previous

Cause: When a routine is exported, the routine header containing the EXPORTED FROM clause and the actual routine header must be identical. If the number of parameters or the data type of corresponding parameters does not match, this error is detected. The following example will cause this error since one ROUTINE declaration indicates "myrout" has 2 parameters and the other indicates only 1 parameter. - PROGRAM �myprog� - . . . - ROUTINE �myrout�(�i�, �j� : INTEGER) EXPORTED FROM �myprog� - . . .

-

-- Error since number or param mismatch ROUTINE �myrout�(�i� : INTEGER) BEGIN . . . END �myrout�

Remedy: Fix the declarations so that they match. 17516

0-INFO

Adding CYCLE to BEGIN as required for a PLC program

Cause: The BEGIN statement being translated does not include the CYCLE option so the translation process will automatically add it. A PLC program is automatically cycled when executed by the software or hardware PLC. Therefore, the CYCLE option on the BEGIN statement is required. This warning is given to indicate the automatic insertion of the CYCLE option. Remedy: No remedy since it is automatically fixed. 17517

0-INFO

Ignoring CYCLE as not permitted on a routine BEGIN

Cause: The routine BEGIN statement being translated includes the CYCLE option so the translation process will automatically ignore it. routine cannot be cycled. Therefore, the CYCLE option on the routine BEGIN statement is removed. This warning is given to indicate the automatic removal of the CYCLE option.

A

Remedy: No remedy since it is automatically fixed. 17518

0-INFO

Parameters not allowed in rout of PLC program

Cause: User-defined routines owned by PLC programs cannot have parameters. Remedy: Remove the parameters from the routine or remove the PLC attribute from the PROGRAM statement. 17519

0-INFO

PLC program cannot contain function routines

Cause: User-defined routines owned by PLC programs cannot be functions.

Remedy: Make the routine a procedure or remove the PLC attribute from the PROGRAM statement. 17520

0-INFO

PLC prog cannot contain imported/exported routines

Cause: A PLC program cannot import or export user-defined routines. Remedy: Remove the import/export declaration or remove the PLC attribute from the PROGRAM statement. 17521

0-INFO

EXIT CYCLE in PLC prog cannot have a prog list

Cause: The EXIT CYCLE statement cannot specify other programs if contained within a PLC program. This means a PLC program can only effect its own execution cycle. Remedy: Remove the program list from the EXIT CYCLE statement or remove the PLC attribute from the PROGRAM statement. 17522

0-INFO

Must be a predefined constant identifier

Cause: The identifier used must be a predefined constant. This error is detected when an identifier not a predefined constant is used as the value for a user-defined constant. Remedy: Replace the reference with a literal value or a predefined constant identifier. 17523

0-INFO

Built-in routines cannot be actions

Cause: Built-In routines cannot be called as interrupt service routines. This means they cannot be listed as an action in a condition handler. Remedy: Remove the built-in routine from the action list. If the built-in needs to be called, put the call in a user-defined routine and add

that user-defined routine in the action list. 17524

0-INFO

Arg of this type must be passed by ref to ISR

Cause: Arguments to an interrupt service routine can only be passed by value if they are INTEGER, REAL, or BOOLEAN. All other types must be passed by reference to an interrupt service routine. Remedy: Pass the argument by reference. 17525

0-INFO

Inserting END

Cause: The translation process did not get an END for a BEGIN statement. This warning indicates the appropriate END is automatically being added. Remedy: No remedy since it is automatically fixed. 17526

0-INFO

Inserting ENDFOR

Cause: The translation process did not get an ENDFOR to terminate a FOR statement. This warning indicates the appropriate ENDFOR is automatically being added. Remedy: No remedy since it is automatically fixed. 17527

0-INFO

Inserting ENDWHILE

Cause: The translation process did not get an ENDWHILE to terminate a WHILE statement. This warning indicates the appropriate ENDWHILE is automatically being added. Remedy: No remedy since it is automatically fixed. 17528

0-INFO Cause:

Inserting ENDIF

The translation process did not get an ENDIF to terminate a IF statement. This warning indicates the appropriate ENDIF is automatically being added. Remedy: No remedy since it is automatically fixed. 17529

0-INFO

Missing WHEN clause

Cause: A CONDITION..ENDCONDITION statement does not have any WHEN clauses. This is an empty condition handler definition. Remedy: Add the appropriate WHEN clause and action list or delete the CONDITION..ENDCONDITION statement. 17530

0-INFO

Inserting ENDCONDITION

Cause: The translation process did not get an ENDCONDITION to terminate a CONDITION statement. This warning indicates the appropriate ENDCONDITION is automatically being added. Remedy: No remedy since it is automatically fixed. 17531

0-INFO

Local variables not permitted in conditions

Cause: Local variables and parameters are not permitted in the definition of a condition handler. Only program variables can be used. - . . . - ROUTINE �myrout�(�myparam� : INTEGER) - BEGIN CONDITION[1]: -- Error since myparam is not a program variable WHEN �myparam� = 5 DO . . . ENDCONDITION . . . - END �myrout� Remedy: Remove all local variable and parameters from the conditions. 17532

0-INFO

Invalid data type used in relational condition

Cause: Relational conditions in a WHEN, TIL, or WAIT FOR can only compare INTEGER, REAL, or BOOLEAN values. This error is detected when other data types are used. Remedy: Change the statement to compare either INTEGER, REAL, or BOOLEAN operands. 17533

0-INFO

Relational condition must contain a variable

Cause: One of the operands of a relational condition in a WHEN, TIL, or WAIT FOR must be a program variable. For example, the "WHEN 5 = 9 DO" statement will cause this error. Remedy: Replace one of the relational operands with a program variable reference. 17535

0-INFO

BOOLEAN variable or port expected

Cause: A BOOLEAN program variable or a BOOLEAN port reference must be used in this type of condition. For example, if "myvar" is an INTEGER program variable, the "WHEN myvar DO" statement will cause this error since myvar is not BOOLEAN. Remedy: Change the reference to be a BOOLEAN program variable or a BOOLEAN port reference. If the reference is an INTEGER or REAL program variable, a relational condition can be used. 17536

0-INFO

Cannot AND event conditions

Cause: The AND operator cannot be used to combine multiple event conditions in a WHEN, TIL, or WAIT FOR. It can be used if one of the operands is a state condition. The following example will cause this error since both START and POWERUP are event conditions. -

. . . CONDITION[2]: -- Error since both are event conditions WHEN START AND POWERUP DO . . . ENDCONDITION

Remedy: Make sure at least one of the operands of the AND is a state condition or replace the AND with an OR (whichever is correct for the logic of the program.) 17537

0-INFO

Invalid data type for local variable

Cause: Local variables (those declared in a routine) cannot be of type SEMAPHORE or PATH. This error is detected when such a declaration is translated. Remedy: Remove the declaration and use a parameter or global variable. 17538

0-INFO

Value used twice in same SELECT statement

Cause: A value can only appear once in the CASE clauses of a SELECT statement. This error is detected when multiple instances of the same value are detected in the same CASE or the same value appears in multiple CASE clauses of the same SELECT. The following program segment contains two example statements what will cause this error. -

CONST �myconst� = 5 VAR �myvar� : INTEGER . . . BEGIN SELECT �myvar� OF CASE(5): . . . -- Error since 5 is already used in a CASE CASE(�myconst�): . . . -- Error since 6 appears more than once CASE(6, 7, 6): . . . ENDSELECT

Remedy: Make sure each value appears only once in the same SELECT statement. 17539

0-INFO

Cannot compare these types in a condition

Cause: The operands used in a relational condition are of incompatible types. This means one is BOOLEAN and the other is either REAL or

INTEGER. Remedy: Use the appropriate operands in the relational condition. 17540

0-INFO

Invalid BOOLEAN condition operator

Cause: Only the equality (=) and inequality () operators can be used with BOOLEAN operands. This error is detected when the operands are BOOLEAN but a different operator is used in a condition. Remedy: Use the appropriate = or operator or change the operands in the condition. 17541

0-INFO

Should be

Cause: The translation process detected an invalid identifier, operator, or literal. Remedy: Replace the invalid item with the appropriate valid information. 17542

0-INFO

Missing

Cause: The translation process detected a missing identifier, operator, or literal. Remedy: Insert the appropriate missing item. 17543

0-INFO

Inserting ENDSELECT

Cause: The translation process did not get an ENDSELECT to terminate a SELECT statement. This warning indicates the appropriate ENDSELECT is automatically being added. Remedy: No remedy since it is automatically fixed. 17544

0-INFO

Inserting UNTIL TRUE

Cause: The translation process did not get an UNTIL to terminate a REPEAT statement. This warning indicates the "UNTIL TRUE" statement is automatically being added. Remedy: The "UNTIL TRUE" statement should be modified to replace "TRUE" with the proper terminating expression. 17545

0-INFO

Trajectory value is invalid

Cause: The specified value is invalid for a trajectory of a MOVE statement. The only valid values for the trajectory are LINEAR, CIRCULAR, and JOINT. Remedy: Use one of the valid trajectory values. 17546

0-INFO

Adding ADVANCE to PULSE as in an action

Cause: The PULSE action statement being translated does not include the ADVANCE option so the translation process will automatically add it. A PULSE action is automatically advanced. Therefore, the ADVANCE option on the PULSE action statement is required. This warning is given to indicate the automatic insertion of the ADVANCE option. Remedy: No remedy since it is automatically fixed. 17547

0-INFO

Action asgn disallowed on vars of this type

Cause: Assignment action statements are only valid if the left operand is an INTEGER, REAL, or BOOLEAN variable. For example, if "myvar" is declared as a STRING variable, the "myvar := 'invalid'" action statement is invalid since it involves the assignment of a STRING variable. Remedy: Either remove the invalid action statement or put it in a routine and add a routine call to the action list. 17548

0-INFO

Last action must be a routine call

Cause: All routine actions must be at the end of the action list and cannot be intermixed with other types of action statement. This error occurs if the translation process detects an action other than a routine call following the first routine call action. Remedy: Move all routine call actions to the end of the action list. 17549

0-INFO

Invalid POSITION operator

Cause: The operator cannot be used with POSITION operands. the "+" operator cannot have POSITION operands.

For example,

Remedy: Make sure the proper operands and operators are specified in the expression. 17550

0-INFO

Identifier must be a label

Cause: The identifier specified is not a label. This error is detected when a label identifier is expected. For example, if "myvar" is declared as a variable, the "GOTO myvar" statement would result in this error since myvar is not a label. Remedy: Check the spelling of the identifier and make sure it is a label identifier. 17551

0-INFO

Must specify at least one joint value

Cause: The joint list in a MOVE statement must include at least one joint value. The translation process detected the { } without any joint values. Remedy: Add the appropriate joint values. values. 17552

0-INFO Cause:

Use consecutive commas for empty

Inserting the identifier to END statement

Each END statement must include the routine or program identifier name of the routine or program being ended. This warning is given if the translation process has to automatically add the identifier name to the END statement. Remedy: No remedy since it is automatically fixed. 17554

0-INFO

Incomplete statement

Cause: The translation process detected an incomplete statement that it could not determine how to automatically finish. Remedy: Complete the statement with the appropriate information. 17556

0-INFO

Cannot WRITE expression of this data type

Cause: An expression specified in the WRITE statement cannot be written because of its data type. For example, if "myvar" is declared as a PATH, the "WRITE(myvar)" statement would cause this error since it is invalid to write variables of type PATH. Remedy: The individual components of each node will have to be written. 17557

0-INFO

Invalid use of sys var in asgn action

Cause: It is invalid to use an assignment action in a condition handler if the target of the assignment is a system variable that requires locking. In addition, the limited access predefined node fields cannot be used as the target of an assignment action. If the target is a system variable or predefined node field that requires limit checking, it is an error if the value being assigned is NOT a constant or literal. The following example will cause this error since $MOVE_TYPE requires limit checking and the value being assigned is a variable. - CONDITION[1]: WHEN $DIN[1]+ DO $MOVE_TYPE := �myvar� - ENDCONDITION Remedy: Either remove the assignment action or put it in a routine and add the routine call to the action list.

17558

0-INFO

Program and file name must match

Cause: This error is detected during the FILER TRANSLATE process. The identifier name used in the PROGRAM statement must match the name of the file being translated (without the file extension.) This error is the result of a mismatch between those two names. Remedy: Either rename the file or edit the file and change the identifier in the PROGRAM statement. 17559

0-INFO

Data type of expression not matching function definition

Cause: The data type of the expression used in the RETURN statement must be compatible with the function return type definition. This error results if there is a mismatch. The following example will cause this error since a BOOLEAN expression is not compatible with the defined INTEGER return type. - -- Return type is INTEGER - ROUTINE �myrout�(�i� : INTEGER) : INTEGER - . . . - BEGIN . . . RETURN(TRUE) -- Error since value is not INTEGER - END �myrout� Remedy: Either fix the expression being used in the RETURN statement or change the data type of the return value from the function. 17560

0-INFO

Inserting

Cause: The translation process did not get the specified reserved word or symbol while translating a statement. This warning indicates the specified word or symbol is automatically being added in order to continue translation of the statement. Remedy: No remedy since it is automatically fixed. However, if the translation process chose the improper word or symbol, the statement may have to be edited. 17561

0-INFO

Replacing with

Cause: The translation process detected an invalid item and can continue translation if it is replaced with the specified information. This warning is given to indicate the automatic replacement is being made. Remedy: No remedy since it is automatically fixed. 17562

0-INFO

Ignoring

Cause: The translation process detected an invalid item and can continue translation if it is ignored. This warning is given to indicate the automatic deletion of the specified item. Remedy: No remedy since it is automatically fixed. 17563

0-INFO

Invalid token

Cause: The translation process detected an invalid item in the statement being translated. Remedy: Replace the invalid item with the appropriate valid information. 17564

0-INFO

Errors detected during translation

Cause: Errors were detected during the translation process. This means the program cannot be loaded into memory for execution. Remedy: Edit the program and fix all of the errors. 17565

0-INFO

Warnings detected during translation

Cause: The translation process detected some warnings during translation. There were no errors which means the program CAN be loaded into memory for execution. Remedy:

No remedy. 17567

0-INFO

The warnings are informational.

Cannot change the program name

Cause: The identifier name in the PROGRAM statement must match the name of the file. This error results if you try to change the identifier name in the PROGRAM statement. Remedy: Leave the name alone. 17568

0-INFO

Missing CASE clause

Cause: A SELECT..ENDSELECT statement does not have any CASE clauses. is an empty SELECT statement.

This

Remedy: Add the appropriate CASE clauses or delete the SELECT..ENDSELECT statement. 17569

0-INFO

Inserting BEGIN and END of the routine

Cause: The translation process did not get a BEGIN or END statement for a routine. This warning indicates the appropriate BEGIN and END statements are automatically being added. Remedy: No remedy since it is automatically fixed. 17570

0-INFO

System variable field is unknown

Cause: The field used in a structured system variable reference is unknown. For example, the "$ARM_DATA[1].myvar" will produce this error since "myvar" is not a known system variable field. Remedy: Check the spelling of the field name and make sure it is a valid field for the structured system variable being referenced. 17571

0-INFO Cause:

System variable field is invalid

The field used in a structured system variable reference is not a valid field for that system variable. Remedy: Check the spelling of the field name and make sure it is a valid field for the structured system variable being referenced. 17572

0-INFO

Inserting ENDOPEN

Cause: The translation process did not get an ENDOPEN to terminate a multiple lined OPEN statement. This warning indicates the appropriate ENDOPEN is automatically being added. Remedy: No remedy since it is automatically fixed. 17573

0-INFO

Inserting ENDMOVE

Cause: The translation process did not get an ENDMOVE to terminate a multiple lined MOVE statement. This warning indicates the appropriate ENDMOVE is automatically being added. Remedy: No remedy since it is automatically fixed. 17574

0-INFO

System var not permitted in a WITH

Cause: The specified system variable cannot be used in a WITH clause. Remedy: Check the spelling of the system variable name and be sure it can be used in a WITH clause. 17575

0-INFO

Invalid context for WITH clause

Cause: The system variable used in a WITH clause is invalid for the current statement context. For example, $FL_SWAP can be used in a WITH clause but only in an OPEN FILE statement. Therefore, this error will result if it is used in the WITH clause of a MOVE statement. Remedy:

Make sure the appropriate system variables are used in the current statement context. 17576

0-INFO

Invalid sys var in WITH clause

Cause: The specified system variable cannot be used in a WITH clause. Remedy: Check the spelling of the system variable name and be sure it can be used in a WITH clause. 17577

0-INFO

Changing to SYNCMOVE since stmt is not FLY

Cause: The translation process detected a SYNCMOVEFLY clause but the MOVE statement didn't indicate FLY. Therefore, the SYNCMOVEFLY is automatically being replaced with SYNCMOVE to match the MOVE statement. Remedy: No remedy since it is automatically fixed. 17578

0-INFO

Changing to SYNCMOVEFLY since stmt is FLY

Cause: The translation process detected a SYNCMOVE clause but the MOVEFLY statement indicates FLY. Therefore, the SYNCMOVE is automatically being replaced with SYNCMOVEFLY to match the MOVEFLY statement. Remedy: No remedy since it is automatically fixed. 17579

0-INFO

Invalid routine return type

Cause: A function cannot return all data types. For example, the "ROUTINE dog : SEMAPHORE" will cause this error since a function cannot return a SEMAPHORE value. Remedy: Fix the return type specification in the routine header. 17580

0-INFO

Predefined field is invalid

Cause: The field name of a predefined data type is invalid. The following example causes this error since AUX is not a valid predefined field for the POSITION data type. - VAR �myvar� : POSITION - . . . - BEGIN -- Valid since X is valid field of a POSITION �myvar�.X -- Error since AUX is not a valid field of a POSITION �myvar�.AUX Remedy: Use a valid predefined field name. 17581

0-INFO

Error opening trans.err file

Cause: The file containing the translation error and warning messages could not be opened. This could be caused by not having enough disk space for the file. Remedy: Erase all unnecessary files and issue the FILER TRANSLATE command again. 17582

0-INFO

Invalid port used in event condition

Cause: Only certain ports can be used in port event conditions. The translation process detected an invalid port. Remedy: In case of positive or negative transition (for example WHEN $DIN[1]+), it is only allowed to use the following ports: $DIN, $DOUT, $SDIN, $SDOUT, $BIT. In case of BIT_FLIP routine, only analogue ports, except $TIMER, can be passed as first parameter to the routine. 17584

0-INFO

String value is invalid

Cause: The translation process detected an invalid STRING literal. Remedy: Fix the literal so it is a valid STRING.

17585

0-INFO

REAL value is invalid

Cause: The translation process detected an invalid REAL literal value. Remedy: Fix the literal to be a valid REAL value. 17586

0-INFO

Frame value is invalid

Cause: The frame specification in the MOVE statements can be either BASE or TOOL. The translation process detected some other identifier. Remedy: Change the frame reference to be either BASE or TOOL. 17587

0-INFO

Invalid second argument in SYS_VAR routine

Cause: The second argument to the SYS_VAR_GET and SYS_VAR_SET routines must be a user-defined variable reference. The translation process detected either a system variable or a non-variable reference. Remedy: Change the second argument to be a user-defined variable reference. 17588

0-INFO

Only one format spec permitted on SYS_VAR arguments

Cause: Only one format specifier can be used on the arguments for the SYS_VAR_GET and SYS_VAR_SET routines. Remedy: Remove the extra format specifiers. 17589

0-INFO

Invalid sys var argument in SYS_VAR routine

Cause: The system variable reference in the SYS_VAR_GET and SYS_VAR_SET routines must be a system variable reference that is not a port. Remedy: Fix the argument to be a system variable reference that is not a

port. 17590

0-INFO

Also make sure it is passed by reference to the routine. Invalid type for the target in SYS_VAR routine

Cause: The target argument in the SYS_VAR_SET and SYS_VAR_GET routine cannot be a NODE, RECORD, ARRAY OF RECORD, PATH, SEMAPHORE, ARRAY OF STRING, ARRAY OF JOINTPOS, XTNDPOS, or ARRAY OF XTNDPOS. Remedy: Individual components of these types must be used instead of the entire variable at once. 17591

0-INFO

Argument in SYS_VAR rout cannot be a port

Cause: The target of the SYS_VAR_GET and SYS_VAR_SET routines cannot be a port reference. Remedy: Use a non-port variable reference as the target. 17592

0-INFO

Can't have format specifiers for an expression

Cause: Format specifiers are not permitted on expression arguments of the SYS_VAR_GET and SYS_VAR_SET routines. They are only permitted on those arguments that are passed by reference. Remedy: Remove the format specifiers from the expression arguments. 17593

0-INFO

Inserting BEGIN and END of the program

Cause: The translation process did not get a BEGIN or END statement for the program. This warning indicates the appropriate BEGIN and END statements are automatically being added. Remedy: No remedy since it is automatically fixed. 17594

0-INFO Cause:

Prog has references to undefined labels

A label is used in a GOTO statement but is not actually used to label a line of code. This error is detected when the program is saved and loaded as well as when the editor checks for errors. Remedy: Make sure the labels used in the GOTO statements are properly typed. If so, add the label to the appropriate line so that it gets defined. 17595

0-INFO

Missing fields in TYPE definition

Cause: A RECORD..ENDRECORD or NODEDEF..ENDNODEDEF statement does not have any field definitions. This is an empty user-defined type definition. Remedy: Add the appropriate field definitions or delete the type definition statement. 17596

0-INFO

Inserting ENDRECORD

Cause: The translation process did not get an ENDRECORD to terminate a RECORD declaration. This warning indicates the appropriate ENDRECORD is automatically being added. Remedy: No remedy since it is automatically fixed. 17597

0-INFO

Inserting ENDNODEDEF

Cause: The translation process did not get an ENDNODEDEF to terminate a NODE declaration. This warning indicates the appropriate ENDNODEDEF is automatically being added. Remedy: No remedy since it is automatically fixed. 17598

0-INFO

Replacing with ENDRECORD

Cause: An ENDNODEDEF statement was used to terminate a RECORD definition. This warning is issued indicating the ENDNODEDEF is automatically being replaced with ENDRECORD.

Remedy: No remedy since it is automatically fixed. 17599

0-INFO

Replacing with ENDNODEDEF

Cause: An ENDRECORD statement was used to terminate a NODE definition. This warning is issued indicating the ENDRECORD is automatically being replaced with ENDNODEDEF. Remedy: No remedy since it is automatically fixed. 17600

0-INFO

Inserting missing TYPE keyword

Cause: Each new user-defined type section must begin with the TYPE keyword. This warning is given if the translation process has to automatically add the keyword. Remedy: No remedy since it is automatically fixed. 17601

0-INFO

Field already declared in this TYPE

Cause: A field name can only be used once within the same user-defined type declaration. This error is the result of the translation process detecting a field name that has already been used in the same type declaration. - TYPE �mytype� = RECORD �i� : INTEGER . . . -- Error since i is already a declared field �j�, �i� : INTEGER ENDRECORD Remedy: Choose a different name. 17602

0-INFO

Field is invalid for this TYPE

Cause: The specified field name is invalid. The following example will cause this error since "fld2" is not declared as a field for type "mytype".

-

TYPE �mytype� = RECORD �i� : INTEGER �j� : INTEGER ENDRECORD . . . VAR �myvar� : �mytype� . . . BEGIN -- Valid since i is a field of mytype �myvar�.�i� := 98 . . . -- Error since fld2 is not a field of mytype �myvar�.�fld2� := 98

Remedy: Check the spelling of the field name and make sure it is a valid field. If it is a valid name, add the field definition to the TYPE declaration. 17603

0-INFO

Translating :

Cause: This is an informational message. Remedy: No remedy. 17604

0-INFO

Invalid access to system variable

Cause: The specified system variable cannot be accessed in a manner used in the statement being translated. Remedy: Fix the reference to the system variable. 17605

0-INFO

NODISABLE already specified

Cause: This warning is detected when the NODISABLE option is specified more than one time on a CONDITION statement. The extra specifications are ignored. Remedy: No remedy since it is automatically fixed. 17606

0-INFO

ARM already specified

Cause: This error is detected when multiple arm options are specified on the CONDITION statement. Remedy: Choose the proper arm option and delete the other(s). 17607

0-INFO

CYCLE already specified

Cause: If the CYCLE option is program cannot contain CYCLE statement exists BEGIN statement. This

already specified on the BEGIN statement the a CYCLE statement. In addition, if the the CYCLE option cannot be added to the error is detected when both CYCLEs exist.

Remedy: Remove the incorrect CYCLE specification. 17608

0-INFO

CYCLE not permitted in routines

Cause: The CYCLE option is not permitted on the BEGIN statement for a routine. If specified, it will be ignored and this warning will be issued. Remedy: No remedy since it is automatically fixed. 17609

0-INFO

CYCLE statement not permitted in PLC program

Cause: Programs having the PLC program attribute cannot contain the CYCLE statement since the CYCLE option is mandatory for the BEGIN statement. Remedy: Delete the CYCLE statement or remove the PLC attribute. 17610

0-INFO

Fields cannot be SEMAPHORE data type

Cause: The field of a user-defined type cannot be a SEMAPHORE. Remedy:

Delete the SEMAPHORE field. 17611

0-INFO

Condition not permitted for use in a TIL

Cause: Not all conditions are permitted in a TIL clause. The translation process has detected an invalid condition in a TIL clause. Remedy: Remove the invalid condition from the TIL clause. 17612

0-INFO

Missing ADVANCE on FLY motion

Cause: It is advised to use the ADVANCE option on all FLY motion in order to have the full advantages of the FLY. This warning indicates the ADVANCE option is missing on a FLY motion. Remedy: The ADVANCE option should be added to the FLY motion. 17613

0-INFO

Rout must be decl before it is used

Cause: The translation process detected a routine call before the declaration of the routine. All routine declarations must come before any calls to those routines. Remedy: Move the routine declaration above the call. 17614

0-INFO

Identifier expected

Cause: The translation process was expecting an identifier reference but detected some other information. Remedy: Change the statement to use an identifier reference in the appropriate spot. 17615

0-INFO

System variable identifier expected

Cause: The translation process was expecting a system variable reference

but detected some other information. Remedy: Change the statement to use a system variable reference in the appropriate spot. 17616

0-INFO

Operator token expected

Cause: The translation process was expecting an operator but detected some other information. Remedy: Change the statement to use an operator in the appropriate spot. 17617

0-INFO

Punctuation token expected

Cause: The translation process was expecting a punctuation token but detected some other information. Remedy: Change the statement to use the appropriate punctuation in the appropriate spot. 17618

0-INFO

INTEGER literal expected

Cause: The translation process was expecting an INTEGER literal but detected some other information. Remedy: Change the statement to use an INTEGER literal in the appropriate spot. 17619

0-INFO

REAL literal expected

Cause: The translation process was expecting a REAL literal but detected some other information. Remedy: Change the statement to use a REAL literal in the appropriate spot. 17620

0-INFO

Invalid use of NOSAVE

Cause: The NOSAVE option is not permitted in this context. For example, it is not permitted on a field definition in a user-defined type declaration. Remedy: Remove the NOSAVE option. 17621

0-INFO

Adding NOSAVE attr as required for SEMAPHORE

Cause: SEMAPHORE variables cannot be saved in a .VAR file. Therefore, all SEMAPHORE variables are NOSAVE by default. If not explicitly specified, the translation process will automatically add the NOSAVE attribute to the SEMAPHORE variable declaration. Remedy: No remedy since it is automatically fixed. 17622

0-INFO

Identifier is invalid

Cause: The translation process detected an invalid identifier name. All identifiers must begin with a letter and can be followed by any number of letters, digits, or underscores. Remedy: Fix the identifier to be valid. 17623

0-INFO

Maximum indentation level exceeded

Cause: The system has a maximum nesting indentation level of 31. This means you cannot have statements nested within statements more than 31 times. The types of statements involved are loops, selection, condition handler definition, etc. A program cannot be edited using the PDL2 program editor if this maximum is exceeded. Remedy: Modify the program to avoid exceeding the maximum indentation level. 17624

0-INFO Cause:

Invalid context for initialization

The initialization option is not valid for field definitions. Remedy: Remove the initialization specification. 17625

0-INFO

Cannot initialize variables of this type

Cause: Variables of type INTEGER, REAL, BOOLEAN, and STRING can be initialized in the declaration. All other types are disallowed. Remedy: Remove the initialization from variable that are not INTEGER, REAL, BOOLEAN or STRING. 17626

0-INFO

Initialization value not matching var type

Cause: This error is the result of using an initialization value that is different than the data type of the variable. The following example will cause this error since "myvar" is INTEGER and the initialization value is BOOLEAN. - -- Error since var is INTEGER but value is BOOLEAN - VAR �myvar� : INTEGER (TRUE) Remedy: Fix the initialization value or the data type so they are compatible. 17627

0-INFO

Missing NOSAVE on initialized declaration

Cause: Since initialized variables are assigned a new value every time the program begins execution, it is advised to make these NOSAVE variables. The translation process will give this warning if a variable declaration includes the initialization option but does not include the NOSAVE option. Remedy: The recommendation is to add the NOSAVE option. 17628

0-INFO

Cannot initialize imported variables

Cause: The initialization option cannot be included on variables that are imported from a different program.

Remedy: Remove the initialization from imported variables. 17629

0-INFO

Id must be a constant (predefined or user defined)

Cause: The specified identifier must be a predefined or user-defined constant. Remedy: Replace the identifier with a valid predefined or user-defined constant reference. 17630

0-INFO

Length of initial value exceeds variable length

Cause: This error is detected when the initialization clause is included in a STRING variable declaration. It indicates that the length of the initialization value is longer than the maximum length defined for the STRING. The following example will cause this error since the length of 'Initial Value' is greater than the STRING length of "myvar". - -- Error since initialization value is longer than 5 - VAR �myvar� : STRING[5] ('Initial Value') Remedy: Use a shorter initialization value. 17631

0-INFO

Arm state attribute already specified

Cause: This error is detected when multiple default arm state attributes are specified on the PROGRAM statement. Remedy: Choose the proper arm state attribute and delete the other(s). 17632

0-INFO

Port reference expected

Cause: Translation process is expecting a port variable reference. Remedy: Replace the invalid reference with a valid port variable.

17633

0-INFO

Invalid port used as argument to PLC built-in

Cause: An invalid port is used as an argument to a PLC built-in. Refer to the documentation on the PLC built-in being referenced for the list of valid ports. Remedy: Replace the invalid port with a valid port reference. 17634

0-INFO

Invalid INTEGER argument to PLC built-in

Cause: An invalid INTEGER is used as an argument to a PLC built-in. Refer to the documentation on the PLC built-in being referenced for the list of valid arguments. Remedy: Replace the invalid argument with a valid INTEGER reference. 17635

0-INFO

BOOLEAN port reference or 0 expected

Cause: An invalid port or a non-zero INTEGER is used as an argument to a PLC built-in. Refer to the documentation on the PLC built-in being referenced for the list of valid ports. Remedy: Replace the invalid argument with a valid BOOLEAN port reference or 0. 17636

0-INFO

Local var not permitted as arg. of ISR

Cause: Local variables and parameters are not permitted as arguments to interrupt service routines. Remedy: Replace local variable and parameter references with valid program variable references or literals. 17637

0-INFO Cause:

ISR must have less than 17 arguments

An interrupt service routine is limited to having at most 16 arguments. Remedy: Rework the program so the routine does not require more than 16 arguments. 17638

0-INFO

Cannot reference this built-in

Cause: The built-in routine cannot be referenced by a PDL2 program. Remedy: Remove the routine call. 17639

0-INFO

Can't READ/DECODE sys vars with limits or locking

Cause: System variables that require locking or limit checking cannot be used in a READ or DECODE statement. Remedy: Remove the reference to the system variable that requires locking or limit checking. 17640

0-INFO

Identifier not a node structure

Cause: The identifier used in a PATH variable declaration must be a NODE type. The translation process detected an identifier which is not a NODE type. Remedy: Replace the identifier with a valid NODE type. 17641

0-INFO

Standard node fields must come before user-defined fields

Cause: Standard node fields must be declared before the user-defined fields in a NODE definition. Remedy: Move the standard node field definitions above the user-defined fields.

17642

0-INFO

Cannot specify arm on this standard node field

Cause: An arm specification can only be included on JOINTPOS and XTNDPOS type standard node fields. Remedy: Remove the arm specification. 17643

0-INFO

Invalid standard node field

Cause: The system variable name is not a valid standard node field. Remedy: Remove the invalid standard node field definition. 17644

0-INFO

Invalid use of NOTEACH

Cause: The NOTEACH option is not permitted in a RECORD type declaration. It is only permitted on NODEDEF fields. Remedy: Remove the NOTEACH option. 17645

0-INFO

Invalid indexing for a PATH node

Cause: The indexing for a PATH node can include only one index value. translation process detected more than one.

The

Remedy: Remove extra index values. 17646

0-INFO

Missing index on NODE reference

Cause: The referencing of a node field must include an indexed node. indexing of NODE was not detected.

The

Remedy: Include the indexing of the NODE field of a PATH before the field reference.

17647

0-INFO

Id must be a PATH variable

Cause: The specified identifier must be a PATH variable.

It is not.

Remedy: Replace with a valid PATH variable identifier. 17648

0-INFO

Cannot have an ARRAY of NODEs

Cause: An ARRAY of NODE structures is invalid. Remedy: Remove the declaration. 17649

0-INFO

Cannot use MOVE ALONG in multiple arm motions

Cause: The MOVE ALONG clause cannot be used in a multiple arm motion. Remedy: Make the MOVE statement a single arm motion or remove the MOVE ALONG clause. 17650

0-INFO

Identifier not a user-defined data type

Cause: The identifier is not a user-defined data type which is expected by the translation process. Remedy: Replace with a valid user-defined data type identifier. 17651

0-INFO

Local variables not permitted in actions

Cause: Local variables and parameters are not permitted in condition handler actions. Only program variables can be used. Remedy: Remove all local variable and parameters from the action list.

17652

0-INFO Implicitly declaring standard node field

Cause: If a standard node field is used in the executable section of a program and it is not currently defined in the NODEDEF type, the translation process will automatically insert a declaration for the standard node field. This warning is given each time a standard node field is implicitly declared in a NODEDEF type. Remedy: No remedy since it is automatically fixed.

17653

0-INFO

ATTACH already specified

Cause: This warning is detected when the ATTACH option is specified more than one time on a CONDITION statement. The extra specifications are ignored. Remedy: No remedy since it is automatically fixed. 17654

0-INFO

Can only ATTACH/DETACH CONDITIONS, ARMS, devices, and timers

Cause: The ATTACH/DETACH statements can only be used for CONDITIONs, ARMs, devices, and timers. The translation process detected some other kind of reference in an ATTACH/DETACH statement. Remedy: Remove the invalid reference. 17655

0-INFO

Cannot mix items in ATTACH/DETACH statements

Cause: The items in the ATTACH/DETACH statements must all be the same kind. The following example will cause this error since it mixes CONDITIONs and ARMs in the same ATTACH statement. - -- Error since can't mix attach items - ATTACH CONDITION[1], ARM[1] Remedy: Use separate statements. 17656

0-INFO

Invalid condition based on VIA point

Cause: The translation process detected an invalid condition based on the VIA point. Remedy: Remove the invalid condition. 17657

0-INFO

A $MAIN_/$AUX_ field already declared in this node

Cause: Only one $MAIN_ and/or one $AUX_ standard node field can be specified in a NODE type declaration. The following example will cause this error since it tries to include both $MAIN_POS and $MAIN_XTND in the NODEDEF. - TYPE �mytype� = NODEDEF $MAIN_POS $MOVE_TYPE -- Error since $MAIN_POS is already specified $MAIN_XTND �j� : INTEGER ENDNODEDEF Remedy: Choose the proper one and delete the other(s). 17658

0-INFO

Node value not permitted

Cause: The expression in the VIA, MOVE NODE value. This can be caused reference. If the data type is be a node variable reference or

TO, MOVE NEAR, or MOVE FOR is a by putting () around the node a NODE in these situations, it must indexed PATH node reference.

Remedy: Remove the () from the expression. 17659

0-INFO

Too many joint values specified

Cause: Too many joint values are specified in the MOVE statement. maximum number of joints is 8. Remedy: Remove extra joint values from the statement.

The

17660

0-INFO

Inserting or completing an EZ rout dcl

Cause: The translation process is either implicitly declaring an EZ procedure routine or it is completing one that has not been finished. This warning indicates the appropriate ROUTINE, BEGIN, and END statements are automatically being added. In addition, an EXPORTED FROM declaration is created for the routine if it does not yet exist. Remedy: No remedy since it is automatically fixed. 17661

0-INFO

Cannot specify this attribute with EZ

Cause: If the EZ attribute is specified, the ATTACH, DETACH, HOLD, NOHOLD, or PLC attributes cannot be specified. The EZ attribute implies HOLD and ATTACH. Remedy: Choose the proper attributes and delete the other(s). 17662

0-INFO

Inserting a forward rout dcl

Cause: The translation process is automatically inserting a forward routine declaration for an EZ procedure routine. This is done for all EZ procedure routines which do not have any parameters. Remedy: No remedy since it is automatically fixed. 17663

0-INFO

Inserting an actual rout dcl

Cause: The translation process is automatically inserting the appropriate ROUTINE, BEGIN, and END statements of a routine that has been declared in a forward (EXPORTED FROM) declaration. Remedy: No remedy since it is automatically fixed. 17666

0-INFO Cause:

Specify STRING length for local vars & fields

The * notation for the STRING length can only be used in program variable declarations. All routine STRING declarations and STRING fields in user-defined types must include a length specification. Remedy: Change the * to a valid STRING length. 17667

0-INFO

Specify STRING length as for ARRAY sizes

Cause: The * notation for the STRING length cannot be used in an ARRAY declaration if the ARRAY sizes are specified. The following example will cause this error since the ARRAY size is specified and the STRING length is not. - -- Error since array size is specified - VAR �myvar� : ARRAY[5] OF STRING[*] Remedy: Change the * to a valid STRING length. 17668

0-INFO

Can't specify STRING length with no ARRAY dims

Cause: The * notation for the STRING length MUST be used in an ARRAY declaration if the * notation is used for the ARRAY sizes. The following example will cause this error since the ARRAY size is not specified and the STRING length is. - -- Error since array size is not specified - VAR �myvar� : ARRAY[*] OF STRING[5] Remedy: Replace actual STRING length specification with an *. 17669

0-INFO

Built-in not permitted as a cond or action

Cause: Only the built-in routines referenced in the "Condition Handlers" chapter can be used as a condition handler condition or action. All other built-in routines are disallowed. Remedy: Remove the built-in call or use one that is permitted in condition handlers. 17670

0-INFO

BOOLEAN predefined const expected

Cause: One of the predefined BOOLEAN constants must be used. are TRUE, FALSE, ON, and OFF.

These values

Remedy: Replace the expression with one of these values. 17671

0-INFO

INTEGER variable or port expected

Cause: An INTEGER program variable or an INTEGER port reference must be used in this type of condition. The following example will cause this error since "myconst" is not a program variable or INTEGER port reference. - CONST �myconst� = 89 - . . . - BEGIN CONDITION[3]: WHEN BIT_TEST(�myconst�, 5, TRUE) Remedy: Change the reference to be an INTEGER program variable or an INTEGER port reference. 17672

0-INFO

Specify ARRAY dims for local vars & fields

Cause: The * notation for the ARRAY size(s) can only be used in program variable declarations. All routine ARRAY declarations and ARRAY fields in user-defined types must include the ARRAY size(s). Remedy: Change the * to a valid ARRAY size. 17673

0-INFO

Bad context for sys vars with limits/locking

Cause: System variables that require internal locking or limit checking cannot be used as arguments that are passed by reference. This applies to standard node fields as well. Remedy: Remove the reference to the system variable that requires locking or limit checking. 17674

0-INFO

STRING literal expected

Cause: The translation process was expecting a STRING literal but detected some other information. Remedy: Change the statement to use a STRING literal in the appropriate spot. 17675

0-INFO

User id with same name as used built-in

Cause: This error results when a VAR, CONST, or ROUTINE statement is modified or added and it declares a user-defined identifier with the same name as a built-in routine which is used in the program. Remedy: Choose a different name for the user-defined identifier. 17676

0-INFO

User id with same name as used predef const

Cause: This error results when a VAR, CONST, or ROUTINE statement is modified or added and it declares a user-defined identifier with the same name as a predefined constant which is used in the program. Remedy: Choose a different name for the user-defined identifier. 17677

0-INFO

Maximum number of labels exceeded

Cause: A program cannot have more than 250 labels. Statements such as IF, SELECT, WHILE, FOR, REPEAT, etc. should be used to eliminate the GOTO statements and labels. Remedy: Modify the program to avoid exceeding the maximum number of labels. 17678

0-INFO

Maximum number of progs exceeded

Cause: A program cannot reference more than 249 programs. Remedy:

Modify the program to avoid exceeding the maximum number of referenced programs. 17679

0-INFO

Comment too long

Cause: A comment exceeded the maximum length of 255. Remedy: Use multiple shorter comments instead of one long comment in the program. 17680

0-INFO

Sys var cannot be passed by reference

Cause: System variables are always passed by value to routines. This error occurs when a system variable is used as an argument to a built-in routine that expects the argument to be passed by reference. Remedy: Do not use a system variable as an argument to a built-in routine that expects it to be passed by reference. These types of parameters are marked in the manual as [OUT]. 17681

0-INFO

Can only synchronize 2 arms in a MOVE

Cause: The maximum number of arms that can be synchronized in a single MOVE statement is 2. This error indicates > 2 arms has been specified. Remedy: Use multiple MOVE statements. 17682

0-INFO

Argument must be an array

Cause: The argument to the routine must be an array. Remedy: Change the argument to be an array. 17683

0-INFO

ADVANCE not permitted on SYNCMOVE

Cause: The translation process detected an ADVANCE clause in a SYNCMOVE section. ADVANCE is only permitted on the MOVE section. Therefore, the ADVANCE is ignored. Remedy: If ADVANCE is desired, add it to the MOVE section. 17684

0-INFO

Id in incr or decr asgn must be declared

Cause: The automatic declaration of undefined variables is only permitted in regular assignments. Increment or decrement assignments to undefined identifiers cause this error. Remedy: Check the spelling of the identifier name. declaration for the identifier. 17685

0-INFO

If correct, add a

Id in incr/decr asgn must be int prog var

Cause: The left operand of an increment or decrement assignment statement must be an integer program variable. Increment or decrement assignments to system variables or non-integer program variables will cause this error. Remedy: Check the spelling of the identifier name and it's data type. If the correct identifier is used, change the data type to be INTEGER. If it is a system variable identifier, use a program variable instead. 17686

0-INFO

Exp in incr/decr asgn can't be sys var

Cause: The increment or decrement amount of an increment or decrement assignment action cannot be a system variable. For example, i += $MOVE_TYPE will cause this error since the increment amount is specified as a sytem variable. Remedy: Use a program variable or a value instead a system variable for the increment or decrement amount. 17687

0-INFO

Invalid incr or decr assignment action

Cause: An invalid increment or decrement assignment action is detected. This is due to an expression being used for the right operand instead of a single variable reference, literal, or constant identifier reference. The following example will cause this error since the right operand of the assignment action is an expression. -

VAR �a�, �i� : INTEGER . . . BEGIN CONDITION[3]: WHEN $DIN[4]+ DO -- Error since expression is used in the action �a� += 4 * �i� . . . ENDCONDITION

Remedy: Fix the right operand so that it is a single variable reference, a literal, or a constant identifier reference. 17688

0-INFO

SCAN time already specified

Cause: This warning is detected when the SCAN time option is specified more than one time on a CONDITION statement. Remedy: Choose the proper scan time option and delete the other(s). 17689

0-INFO

Invalid data type used in type cast

Cause: The data type specified in the type cast is invalid. Valid data types are INTEGER and REAL. Any other data type will cause this error. Remedy: Fix the data type used in the type cast. 17690

0-INFO

Invalid type cast

Cause: The data type of the operand cannot be casted to the specified type. Valid casting combinations are: * ** 1: (REAL) int_exp ** 2: (REAL) bool_exp ** 3: (INTEGER) real_exp ** 4: (INTEGER) bool_exp * Any other data type combination will cause this error.

Remedy: Fix the casted expression. 17691

0-INFO

Ignoring redundant casting

Cause: This warning is detected when the data type used in the type cast is identical to that of the casted expression. Remedy: No remedy required since it is automatically ignored. 17692

0-INFO

Invalid type cast in a condition

Cause: This error is detected because the data type or the operand used in a type casting operation within a condition is invalid. Valid casting combinations in a condition are: * ** 1: (REAL) int_var ** 2: (REAL) int_exp ** 3: (REAL) int_port[n] ** 4: (INTEGER) real_var ** 5: (INTEGER) real_exp * Any other data type and operand combination will cause this error. Remedy: Fix the casted condition expression. 17693

0-INFO

Invalid type cast of ports in condition

Cause: This error is detected when both operands of a relational condition are type casted ports or when a port is type casted and then compared with a different typed operand. When both operands are ports, only one of them can be type casted. When a port is casted, it must be compared to a variable or value of the type casting data type. For example, the following two WHEN clauses will cause this error: - VAR �i� : INTEGER - . . . - BEGIN CONDITION[3]: -- error since type casting port to real but comparing it to an integer WHEN �i� > (REAL) $AIN[4] DO . . . -- error since type casting 2 port operands WHEN (REAL) $AIN[7] > (REAL) $AIN[4] DO . . . ENDCONDITION Remedy:

Fix the casted condition expression. 17694

0-INFO

Invalid type cast used in action

Cause: This error is detected when type casting is improperly used in an assignment action. Ports and boolean variables cannot be type casted. For example, the following two actions will cause this error: - VAR �i� : INTEGER �b� : BOOLEAN - . . . - BEGIN CONDITION[3]: WHEN �i� > 34 DO -- error since type casting port in an action �i� := (INTEGER) $DIN[2] -- error since type casting boolean variable in an action �i� := (INTEGER) �b� ENDCONDITION Remedy: Fix the casted expression in the assignment action. 17695

0-INFO

Cannot have multi asgn stmt as action

Cause: The multi-targeted assignment statement is not permitted as an action. Remedy: Remove the statement from the condition handler. 17696

0-INFO

Diff typed targets in multi asgn stmt

Cause: This error occurs when the left operands of a multi-targeted assignment statement are not the same data type. It also occurs when the left operands are arrays but they do not have the same number of dimensions. The left operands must all be the exact same type. For example, "�int_var� := �real_var� := 6" will cause this error since "�int_var�" and "�real_var�" are different data types. Remedy: Fix the left operands of the statement to be the same data type or use separate statements for each group of different types.

17697

0-INFO

Invalid target in multi asgn stmt

Cause: It is invalid to use a system variable, port, predefined node field or a node as the target of a multi-targeted assignment statement. The following examples will cause this error. $MOVE_TYPE := �myvar� := LINEAR �myvar� := �mypath�.NODE[3].$COND_MASK := 34 �myvar� := $GOUT[3] := 7 Remedy: Remove the invalid targets from the statement and use separete assignments for each invalid target. 17698

0-INFO

Stmt cannot be in DISABLE INTERRUPT block

Cause: Not all PDL2 statements can be issued while interrupts are disabled. This error occurs when such a statement is included in the DISABLE INTERRUPT block statement. Routine calls are also disallowed. Remedy: Move the statement outside of the DISABLE INTERRUPT block. 17699

0-INFO

Inserting ENABLE INTERRUPT

Cause: The translation process did not get an ENABLE INTERRUPT to terminate a DISABLE INTERRUPT statement block. This warning indicates the appropriate ENABLE INTERRUPT statement is automatically added. Remedy: No remedy since it is automatically fixed. 17700

0-INFO

Cannot use a TIL clause in SYNCMOVE

Cause: The TIL clause cannot be used in a SYNCMOVE. Remedy: Move the TIL clause to the MOVE section or remove the TIL clause. 17701

0-INFO

Invalid or missing data type specification

Cause: The data type for a variable or constant is either missing or invalid. The VAR statements in the following example would cause this error to occur since the data type is missing in the first one and a misspelled type in the second: - VAR MyVar : - VAR TimVar : INTGR Remedy: Indicate a proper data type. 17702

0-INFO

Illegal statement

Cause: The statement is invalid. This error occurs when the statement does not follow proper PDL2 syntax rules. Remedy: Use proper syntax for the statement. 17703

0-INFO

Ran out of memory

Cause: The translation process ran out of free memory. Remedy: This happens if there are too many DOS drivers loaded in main memory. Only the lower 640K of memory is available to a DOS application. You should try using a memory manager (i.e. EMM386) to load some of your DOS drivers into higher memory to make more room for the PDL2 translator. You could also just remove unneeded drivers and TSR programs from the startup files. 18433

0-INFO

Not enough memory

Cause: The editor ran out of free memory. Remedy: Suspend from the editor and erase all unnecessary data from memory. 18434

0-INFO

File cannot be accessed

Cause: The specified file cannot be accessed using the editor.

Remedy: Make sure the file name was properly entered. 18435

0-INFO

File not found

Cause: The specified file does not exist. Remedy: Make sure the file name was properly entered. 18436

0-INFO

Editor command not available

Cause: The editor command is not available. Remedy: Issue a proper valid command. 18437

0-INFO

Application aid prog not ready

Cause: The application program is not ready. This means it is not waiting for the application aid editor command. Remedy: Make sure the application program is activated and that it contains a condition handler or WAIT FOR statement using the EVENT AE_CALL condition. 18440

0-INFO

Length exceeded, line will be truncated

Cause: The editor currently has a maximum line length of 132 characters. When this is exceeded the line is truncated. Another cause of this error is when the Filer Edit command is issued and a line in the file is longer than 65535 characters. Remedy: Break the long line into multiple shorter lines that do not exceed 132 characters. If the error is caused by Filer Edit, do not exceed 65535 characters. 18442

0-INFO

Cannot delete this stmt

Cause: The program editor does not permit statements to be deleted if they cause an error in the program. For example, the ENDIF statement cannot be deleted because it is needed for the matching IF statement. This error will be detected if the user tries to delete the ENDIF statement. Remedy: In order to delete statements like the ENDIF, the entire matching statement must be deleted. For example, the entire IF statement has to be deleted in order to remove the ENDIF. However, some statements can never be deleted. For example, the BEGIN of the main program cannot be deleted because it is absolutely required. 18443

0-INFO

New stmt not compatible with old, not replaced

Cause: The program editor does not permit a statement to be modified into a different type of statement if it causes errors in the program. For example, an ENDIF statement cannot be changed into an ENDFOR statement because the matching IF statement requires an ENDIF. If such a change is detected by the program editor, this error will be detected and the modifications will not be made. Remedy: Verify the desired modifications and make sure they do not create errors in existing statements. 18444

0-INFO

Not enough memory for CUT/DELETE buffer

Cause: The editor does not have enough memory to allocate a new CUT/DELETE buffer large enough to hold the selected section of the file. Remedy: Suspend from the editor and erase all unnecessary data from memory. Another solution is to perform several CUT/PASTE operations using smaller sections of the file. Smaller sections means a smaller CUT/DELETE buffer is needed. 18445

0-INFO

Var used, cannot delete dcl

Cause: This error results when a VAR statement is either being CUT or DELETED and the VAR statement contains variables which are referenced in the program. Remedy:

Each variable used in the program must be declared in a VAR statement. Therefore, those VAR statements cannot be removed from the program. If the unused variables are to be removed from the declarations section, use the UNUSED command. This command will delete the declarations of all unused variables. 18446

0-INFO

Const used, cannot delete dcl

Cause: This error is detected when a constant declaration statement is either being CUT or DELETED and the constant declared in the statement is referenced in the program. The constant might be used in a variable or type declaration or in an executable section of the program. Any such reference will cause this error to be detected. Remedy: Each constant used in the program must be declared in a CONST statement. Therefore, those statements cannot be removed from the program. Either eliminate all references to the constant before deleting the declaration statement or do not delete the declaration statement. 18447

0-INFO

Routine used, cannot delete dcl

Cause: This error occurs when a routine declaration is either being CUT or DELETED and the routine declared in the statement is referenced in the program. Remedy: Each routine used in the program must be declared before its usage. Therefore, those routine declaration statements cannot be removed from the program. Either eliminate all references to the routine before deleting the declaration statement or do not delete the declaration statement. 18448

0-INFO

Record used, cannot delete dcl

Cause: This error occurs when a user-defined type declaration statement is either being CUT or DELETED and the type declared in the statement is referenced in the program. The type might be used in a variable or routine declaration. Any such reference will cause this error to be detected. Remedy: Each user-defined type used in the program must be declared in a TYPE statement. Therefore, those statements cannot be removed from

the program. Either eliminate all references to the type before deleting the declaration statement or do not delete the declaration statement. 18449

0-INFO

Field used, cannot delete dcl

Cause: This error occurs when a field declaration statement of a user-defined type is either being CUT or DELETED and a field declared in the statement is referenced in the program. Remedy: Each user-defined field referenced in the program must be declared in a user-defined type declaration statement. Therefore, those statements cannot be removed from the program. Either eliminate all references to the field before deleting the declaration statement or do not delete the declaration statement. 18450

0-INFO

Var used, data type cannot be changed

Cause: This error occurs when the data type of a variable which is referenced in the program is modified. For example, if the variable "pippo" is referenced and is currently declared as a STRING, the variable declaration of "pippo" cannot be changed to make "pippo" any other data type. However, if "pippo" is not referenced in the program such a modification is permitted. The program editor permits size modifications to a variables data type even if it is referenced in the program. For example, even if "pippo" is reference, the STRING length can be changed since that doesn't change the actual data type of the variable. Remedy: Either remove all references to the variable before changing its data type or don't change the data type. If the data type of a variable needs to be changed, comment out the statements referencing the variable so they are not actually deleted from the program. Then uncomment them after the data type has been changed. 18451

0-INFO

Const used, data type cannot be changed

Cause: This error occurs when the value of a constant which is referenced in the program is modified such that it now has a different data type. For example, if the constant "pippo" is referenced and is currently declared having a value of 3, the constant declaration of "pippo" cannot be changed to make it have any value other than an INTEGER value. However, if "pippo" is not referenced in the program such a modification is permitted. The program editor permits value modifications to a constant even if it is referenced in the program as long as the new constant value has the same data

type as the old constant value. Remedy: Either remove all references to the constant before changing its data type or don't change the data type. If the data type of a constant needs to be changed, comment out the statements referencing the constant so they are not actually deleted from the program. Then uncomment them after the data type has been changed. 18452

0-INFO

Command not allowed in TEXT mode

Cause: Certain editor commands are only available while editing a PDL2 program as opposed to editing a text file. This error results when such a command is issued while editing a text file. Remedy: Don't issue commands not permitted in TEXT mode or switch to using the program editor. 18453

0-INFO

Prog name cannot be changed

Cause: The name of the program must match the name of the file. If the program name is modified to be different this error is detected. Remedy: Do not change the program name. 18454

0-INFO

Id not found in this context

Cause: The identifier name specified in the RENAME command is not declared within the current context. Context is determined by the current cursor position. Remedy: Check the spelling of the identifier name. 18455

0-INFO

Id has already been declared

Cause: The new name for the identifier being RENAMED is already declared in the current context. Remedy:

Check the spelling of the new name or choose a different new name. 18456

0-INFO

Not allowed during MARK command

Cause: Some editor commands are not permitted while MARK is in progress. This error is detected when such a command is issued while MARK is currently active. For example, a line cannot be deleted while MARK is active. If the DELETE LINE command is issued while MARK is active, this error will be detected. Remedy: Finish the CUT/COPY operation or turn MARK off before issuing the command. 18457

0-INFO

CUT buffer is empty

Cause: If the PASTE operation is performed before anything is put in the CUT buffer, this error is detected. A CUT or COPY command must be issued before the PASTE command. Remedy: CUT or COPY the appropriate section of the file into the CUT buffer before issuing the PASTE command. 18458

0-INFO

Must MARK lines before doing CUT/COPY

Cause: A section of the file must be MARKed before issuing the CUT or COPY command. Remedy: Turn MARK on by issuing the MARK command and select the appropriate section of the file before issuing the CUT or COPY command. 18460

0-INFO

Command not allowed in CODE mode

Cause: Some program editor commands are not permitted while in CODE mode. This error is detected when such a command is issued and the program editor is in CODE mode. Remedy: Exit CODE mode before issuing the command.

18461

0-INFO

Cannot enter DATA mode, edit prog active

Cause: The program editor cannot enter DATA mode if the program being edited is currently executing. Remedy: Either don't enter DATA mode or suspend the editor and deactivate the program before entering into DATA mode. 18462

0-INFO

Cannot edit dcl section in DATA/DEBUG mode

Cause: The declaration section of a program or routine cannot be edited while in DATA mode. This is not permitted because the program is linked to the variables and imported routines currently loaded in memory. Editing a program cannot alter those links, therefore, the program editor does not permit the modification of any declaration statement while in DATA mode. Remedy: Exit DATA mode before making the modification. 18463

0-INFO

Command not allowed in DATA mode

Cause: Some program editor commands are not permitted while in DATA mode. This error is detected when such a command is issued and the program editor is in DATA mode. Remedy: Exit DATA mode before issuing the command. 18464

0-INFO

Var not found in this context

Cause: The variable name specified in the DISPLAY command is not declared within the current context. Context is determined by the current cursor position. Remedy: Check the spelling of the variable name and the context of the cursor. 18465

0-INFO Cause:

Context must be in the main prog

When continuing execution of the program from within the editor, the context of the statement to be executed next must be the same as the context of the last statement that was executed. This error is detected when the context of the last executed statement was the main program but the current cursor position is inside a routine. Remedy: Execution must continue with a statement in the main program. Therefore, move the cursor to the main program and reissue the RUN command. 18466

0-INFO

Cannot mark dcl section in DATA mode

Cause: The declaration section of a program or routine cannot be marked while in DATA mode. This is not permitted because the program is linked to the variables and imported routines currently loaded in memory. Editing a program cannot alter those links so the program editor does not permit the modification of any declaration statement while in DATA mode. Therefore, marking of the declaration is also not permitted. Remedy: Exit DATA mode before making the modification. 18467

0-INFO

Cannot mark this stmt

Cause: The program editor does not permit all statements to be marked. For example, the BEGIN and END of the main program or a routine are not permitted to be marked. Other statements cannot be marked depending upon the direction of the mark. For example, the ENDIF statement cannot be marked in a downward direction because it would cause the IF statement to become an error. Likewise, the IF statement cannot be marked in an upward direction because it would cause the ENDIF statement to become an error. Marking in these situations causes this error to be detected. Remedy: Some statements cannot be marked under any circumstances so there is no remedy. However, for statements like IF and ENDIF the entire statement must be marked which means marking must begin either before the IF and head in a downward direction or after the ENDIF and head in an upward direction. 18468

0-INFO

Id used, cannot cut dcl

Cause: This error occurs when a CUT command is performed and a declaration

statement is etc. that is declaring an CUT from the

marked declaring a variable, constant, type, field, currently used in the program. Any statement identifier that is referenced in the program cannot be program.

Remedy: Each identifier used in the program must be declared in an appropriate declaration statement. Therefore, those declaration statements cannot be removed from the program. Either eliminate all references to the identifiers before cutting the declaration statements or do not include the declaration statements in the CUT operation. 18469

0-INFO

Cannot execute stmt in this context

Cause: This error occurs if the cursor is on a non-executable statement when the RUN command is issued. For example, a VAR statement cannot be executed and will cause this error to be detected. Remedy: Move the cursor to a valid executable statement before issuing the RUN command. 18470

0-INFO

Cannot enter DATA, check CP & TP switches

Cause: The program editor cannot enter DATA mode if the program being edited is a holdable program and the system is not in the PROGR state. Remedy: Either don't enter DATA mode or check the PROGR/AUTO switch on the control panel and the AUTO/MANUAL switch on the teach pendant to be sure the system is in the PROGR state before entering into DATA mode. 18471

0-INFO

Context must be in routine

Cause: When continuing execution of the program from within the editor, the context of the next executed statement must be the same as the context of the last statement executed. This error is detected when the context of the last executed statement was the specified routine but the current cursor position is inside a different routine or the main program. Remedy: Execution must continue with a statement in the specified routine.

Therefore, move the cursor to a statement within the specified routine and reissue the RUN command. 18472

0-INFO

Cannot enter DATA mode with a PLC prog

Cause: The program editor cannot enter DATA mode if the program being edited is a PLC program (i.e. the PLC attribute is on the PROGRAM statement). Remedy: Either don't enter DATA mode or remove the PLC attribute before entering into DATA mode. 18473

0-INFO

Cannot use reserved words for id names

Cause: The new name for the identifier being RENAMED is a reserved word. A reserved word cannot be used for any user-defined meaning. Remedy: Check the spelling of the new name or choose a different new name. 18474

0-INFO

WARNING: Not enough free memory

Cause: The editor is running low on memory. This is a warning so memory can be freed up before it is needed for an important command. Remedy: Suspend from the editor and erase all unnecessary data from memory. 18476

0-INFO

Exec must start at line

Cause: Execution cannot be started in the middle of certain multi-lined statements. Instead, execution must begin with the first line of the multi-lined statement and continue until the end of such a statement is reached. This error is detected when the RUN command is issued for a line in the middle of such a multi-lined statement. For example, execution cannot begin at an action of a condition handler statement. Instead, it must begin at the CONDITION statement. Remedy: Move the cursor to the first line of the multi-lined statement and begin execution there.

18477

0-INFO

Global pos vars not found on this stmt

Cause: The MODIFY command can only be applied to a POSITION, JOINTPOS, or XTNDPOS variable reference. This error is detected when the MODIFY key is pressed and the current line (indicated by the cursor) does not contain such a variable. Remedy: Move the cursor to a line containing a reference to the appropriate POSITION, JOINTPOS, or XTNDPOS variable to be modified before hitting the MODIFY key. 18478

0-INFO

Not allowed, line in execution chain

Cause: This error is detected when a command is issued on a line that is currently in the execution chain of the program. For example, if the program is being executed in a routine, the statement containing the call to that routine is in the execution chain. Therefore, that statement cannot be deleted, modified, etc. Remedy: The program must either be deactivated or executed until the statement is no longer in the execution chain before the operation can be performed. 18479

0-INFO

Maximum local var size exceeded

Cause: The maximum amount of memory permitted for local variables of a routine is 65535 bytes. This error is detected when entering DATA mode if the maximum space is exceeded. Remedy: Eliminate unnecessary local variables. 18480

0-INFO

Could not import rout/types/vars from prog

Cause: The IMPORT command was not completed either due to an error or because there was nothing in memory to import. Remedy: Make sure the items to be imported are actually loaded in memory before issuing the IMPORT command. If necessary, suspend the

editor and load the appropriate programs and/or variables. 18481

0-INFO

Var used, cannot delete dcl for

Cause: This error occurs when a VAR statement is modified to exclude the declaration of the specified variable which is referenced in the program. Remedy: Each variable used in the program must be declared in a VAR statement. Therefore, those declaration of referenced variables cannot be removed from the program. If the unused variables are to be removed from the declaration section, use the UNUSED command. This command will delete the declarations of all unused variables. 18482

0-INFO

In external rout, line

Cause: This error indicates that the next line to be executed is in an external routine. Execution must continue at the specified line number. Remedy: The CONTINUE command must be used to continue execution when it stops while in an external routine. 18483

0-INFO

Type mismatch for vars of , not loaded

Cause: This occurs when variables are to be saved because they were modified during the edit session but the .VAR file was not completely loaded due to a type mismatch during the load process. Remedy: You can either keep the old .VAR file or continue to save over it. 18484

0-INFO

PDL2 stmt is too long

Cause: The editor currently has a maximum line length of 132 characters. When this is exceeded while generating a statement using the statement writing aid features of the editor, this error is detected. Remedy: Break the long line into multiple shorter lines that do not exceed

132 characters. 18485

0-INFO

Field is used, data type cannot be changed

Cause: This error occurs when the data type of a field which is referenced in the program is modified. For example, if the field "pippo" is referenced and is currently declared as a STRING, the field declaration of "pippo" cannot be changed to make "pippo" any other data type. However, if "pippo" is not referenced in the program such a modification is permitted. The program editor permits size modifications to the data type of a field even if it is referenced in the program. For example, even if "pippo" is reference, the STRING length can be changed since that doesn't change the actual data type of the field. Remedy: Either remove all references to the field before changing its data type or don't change the data type. If the data type of a field needs to be changed, comment out the statements referencing the field so they are not actually deleted from the program. Then uncomment them after the data type has been changed. 18486

0-INFO

Type used, cannot delete dcl

Cause: This error occurs when a user-defined type declaration statement is either being CUT or DELETED and the type declared in the statement is referenced in the program. The type might be used in a variable or routine declaration. Any such reference will cause this error to be detected. Remedy: Each user-defined type used in the program must be declared in a TYPE statement. Therefore, those statements cannot be removed from the program. Either eliminate all references to the type before deleting the declaration statement or do not delete the declaration statement. 18487

0-INFO

Field used, cannot delete dcl for

Cause: This error occurs when a field declaration is either being CUT or DELETED and a field declared in the statement is referenced in the program. Remedy: Each field referenced with a variable of the owning user-defined type in the program must be declared. Therefore, those field declaration statements cannot be removed from the program. Either

eliminate all references to the field before deleting the declaration statement or do not delete the declaration statement. 18488

0-INFO

Vars modified for prog , vars were not loaded

Cause: This error occurs when the variables are to be saved because they were modified during the edit session but they were never loaded from the .VAR file. Remedy: You can either keep the old .VAR file or continue to save over it. 18489

0-INFO

Not allowed while edit prog active

Cause: Certain editor commands are only available while the program being edited is not executing. This error results when such a command is issued while the program is currently active. Remedy: Deactivate the program before issuing the command. 18490

0-INFO

Command not allowed in DEBUG mode

Cause: Certain editor commands are not available while in the MEMORY DEBUG environment as opposed to the PROGRAM EDIT environment. This error results when such a command is issued while in DEBUG mode. Remedy: Do not issue commands not permitted in DEBUG mode or switch to using the program editor. 18491

0-INFO

Application aid prog has finished

Cause: This is detected when the application aid program terminates. Remedy: Either restart the application aid program or don't issue the application aid command. 18493

0-INFO Cause:

Not allowed, multi-lined stmt in execution chain

This error is detected when a command is issued on a line that is part of a multi-lined statement (like a CONDITION..ENDCONDITION, OPEN..ENDOPEN, or MOVE..ENDMOVE) currently in the execution chain of the program. For example, the next statement to be executed is considered in the execution chain of the program. In addition, if the program is being executed in a routine, the statement containing the call to that routine is in the execution chain. Since these types of statements must be executed from beginning to end without modifications, any line of such a statement cannot be deleted, modified, etc. Remedy: Before the operation can be performed, the program must either be deactivated or executed until the corresponding ENDxxx statement is executed. 18494

0-INFO

Unknown application aid code

Cause: An invalid value has been specified in the application aid request built-in. This involves a call to the APPL_REQ built-in from the application aid program currently being executed. It has nothing to do with the file currently being edited. Remedy: Check the application aid program to be sure all requests use valid codes. 18495

0-INFO

Line number not found

Cause: This error is detected when the line number parameter in an application aid request does not exist in the program. Remedy: Make sure the application aid program uses a valid line number parameter for the APPL_REQ calls. 18496

0-INFO

Error node stmt

Cause: This error is detected when the statement being inserted by the application aid program produces an error line. Remedy: The application aid program should handle this.

18497

0-INFO

Bad import parameter

Cause: This error is detected when the import parameter to the IMPORT application aid request is invalid. Remedy: Make sure the application aid program uses a valid parameter for the IMPORT APPL_REQ call. 18498

0-INFO

DELETE buffer is empty

Cause: If the UNDELETE operation is performed before the DELETE operation, the DELETE buffer will be empty and this error is detected. A DELETE command must be issued before the UNDELETE command. Remedy: DELETE a statement so the DELETE buffer is no longer empty. 18499

0-INFO

Application aid not active

Cause: The application aid program is not active. Remedy: Suspend the editor and activate the appropriate application aid program. 18500

0-INFO

Var prefix cannot be greater than 3 char

Cause: The prefix for the variable name used when the REC button is pressed cannot be greater than 3 characters in length. This error is detected when the REC button is setup. Remedy: Change the prefix to something having at most 3 characters. 18501

0-INFO

Bad trajectory value

Cause: This error is detected when the trajectory parameter to the REC key setup application aid request is invalid. Remedy:

Make sure the application aid program uses a valid trajectory parameter for the REC key setup APPL_REQ call. 18502

0-INFO

Bad pos data type

Cause: This error is detected when the data type parameter to the REC key setup application aid request is invalid. Remedy: Make sure the application aid program uses a valid data type parameter for the REC key setup APPL_REQ call. 18503

0-INFO

Bad line number

Cause: This error is detected when the line number specified in the GOTO line command is invalid. Remedy: Use a valid line number (> 0). 18504

0-INFO

Bad application aid parameter

Cause: This error is detected when a parameter to the application aid request is invalid. Remedy: Make sure the application aid program uses valid parameters for the APPL_REQ call. 18505

0-INFO

Read only file, no write access allowed

Cause: A file may be given a read only attribute which means even if it is modified while being edited, it cannot be saved. Remedy: Do not modify the file or change the file attribute before entering the editor. 18506

0-INFO Cause:

Unrecoverable error, canceling edit session

The editor has detected an unrecoverable error. is automatically canceled.

The edit session

Remedy: No remedy. 18507

0-INFO

Error returning to old program

Cause: If the editor cannot enter the program specified in the NEW command, it tries to return to the program previously active in the MEMORY DEBUG environment before the NEW command was issued. If there is a problem returning to that program, this error is detected. This problem could be due to a system state change or if the program was removed from memory. Remedy: Exit and reenter the MEMORY DEBUG environment. 18508

0-INFO

Not allowed, context in external rout

Cause: Some editor commands are not permitted while execution of the program is currently in the context of an external routine. This error is detected when such a command is issued. Remedy: Let program execution continue until the execution returns to the code contained in the program being edited or do not issue the command. 18509

0-INFO

Vars modified for prog

Cause: This indicates that variables for the specified program have been modified during the edit session. Remedy: The variables should be saved. 18510

0-INFO

Type linked to other programs - can't rename

Cause: The RENAME command will rename the identifier loaded in memory as well as renaming the identifier in the file being edited if issued while the editor is in DATA mode. However, the rename cannot take

place if other programs or variables are linked to the identifier being renamed. This error is detected when the RENAME command is issued for a user-defined type that is currently linked to other loaded programs/data. Remember that the RENAME only effects the file being edited. Remedy: Either suspend from the editor and erase the programs and/or variables linked to the type or enter CODE mode before issuing the RENAME command. 18511

0-INFO

Var linked to other programs - can't rename

Cause: The RENAME command will rename the identifier loaded in memory as well as renaming the identifier in the file being edited if issued while the editor is in DATA mode. However, the rename cannot take place if other programs or variables are linked to the identifier being renamed. This error is detected when the RENAME command is issued for a variable that is currently linked to other loaded programs. Remember that the RENAME only effects the file being edited. Remedy: Either suspend from the editor and erase the programs linked to the variable or enter CODE mode before issuing the RENAME command. 18512

0-INFO

Routine linked to other programs - can't rename

Cause: The RENAME command will rename the identifier loaded in memory as well as renaming the identifier in the file being edited if issued while the editor is in DATA mode. However, the rename cannot take place if other programs or variables are linked to the identifier being renamed. This error is detected when the RENAME command is issued for a routine that is currently linked to other loaded programs. Remember that the RENAME only effects the file being edited. Remedy: Either suspend from the editor and erase the programs linked to the routine or enter CODE mode before issuing the RENAME command. 18513

0-INFO

Prog linked to other programs - can't rename

Cause: The RENAME command will rename the identifier loaded in memory as well as renaming the identifier in the file being edited if issued while the editor is in DATA mode. However, the rename cannot take place if other programs or variables are linked to the identifier

being renamed. This error is detected when the RENAME command is issued for a program that is currently linked to other loaded programs. Remember that the RENAME only effects the file being edited. Remedy: Either suspend from the editor and erase the programs linked to the program or enter CODE mode before issuing the RENAME command. 18514

0-INFO

Var with new name already exists

Cause: The RENAME command will rename the identifier loaded in memory as well as renaming the identifier in the file being edited if issued while the editor is in DATA mode. However, the rename cannot take place if an identifier is already loaded in memory using the new name. This error is detected when the RENAME command is issued and a variable of the new name already exists in memory. Remedy: Double check the spelling of the new name or pick a different new name. 18515

0-INFO

Routine with new name already exists

Cause: The RENAME command will rename the identifier loaded in memory as well as renaming the identifier in the file being edited if issued while the editor is in DATA mode. However, the rename cannot take place if an identifier is already loaded in memory using the new name. This error is detected when the RENAME command is issued and a routine of the new name already exists in memory. Remedy: Double check the spelling of the new name or pick a different new name. 18516

0-INFO

Imported var/rout linked to other prog - can't rename owner

Cause: The RENAME command will rename the identifier loaded in memory as well as renaming the identifier in the file being edited if the command is issued while the editor is in DATA mode. However, the rename cannot take place if it involves the renaming of a program from which variables and/or routines are currently linked to other programs loaded in memory. This error is detected when the RENAME command is issued for such a program. Remedy:

Either suspend from the editor and erase the programs linked to the program or enter CODE mode before issuing the RENAME command. 18517

0-INFO

Standard node field used, cannot delete dcl

Cause: This error is detected when a standard node field declaration statement of a user-defined type is either being CUT or DELETED and a field declared in the statement is referenced in the program. Remedy: Each standard node field referenced in the program must be declared in the user-defined type declaration statement. Therefore, those statements cannot be removed from the program. Either eliminate all references to the standard node field before deleting the declaration statement or do not delete the declaration statement. 18520

0-INFO

Command not allowed in DEBUG mode if prog not fully loaded

Cause: Certain editor commands are not available while in the MEMORY DEBUG environment unless the program is loaded with the /FULL option. This error results when such a command is issued while in DEBUG mode for a regularly loaded program. Remedy: If the command is needed, exit the MEMORY DEBUG environment and reload the program with the /FULL option before entering MEMORY DEBUG. 18521

0-INFO

Cannot issue MOD for a node without a $MAIN_ field

Cause: The MOD key was issued for a node which does not have a $MAIN_ standard node field. The MOD modifies this field so it is an error if one does not exist in the node definition. Remedy: Do not issue MOD for a node without a $MAIN_ field. 18522

0-INFO

Invalid declare APPL_REQ

Cause: The APPL_REQ for inserting a declaration has generated a bad declaration. Error node(s) have been generated. 18523

0-INFO

Hidden file, cannot edit the file

Cause: A file may be given a hidden attribute which means it cannot be edited. Remedy: Do not edit the file or change the file attribute before entering the editor. 18524

0-INFO

Program must be loaded before this appl request

Cause: An application aid request other than stop server or refresh around the PC has been requested before a program has been loaded into the EDIT environment. Remedy: Issue the refresh around the PC request to load a program into the EDIT environment before issuing any other request. 18525

0-INFO

Cannot enter DATA, exit TEACH environment

Cause: The program editor cannot enter DATA mode if the MEMORY TEACH environment is active on the teach pendant. Remedy: Either don't enter DATA mode or exit the MEMORY TEACH environment. In addition, if the program is holdable, check the PROGR/AUTO switch on the control panel and the AUTO/MANUAL switch on the teach pendant to be sure the system is in the PROGR state before entering into DATA mode. 18527

0-INFO

Command not allowed in DEBUG/FULL mode

Cause: Certain editor commands are not available while in the MEMORY DEBUG environment with a program that was loaded with the /FULL option. This error results when such a command is issued while in DEBUG/FULL mode. Remedy: Do not issue commands not permitted in DEBUG/FULL mode or switch to using the program editor. 18528

0-INFO

Vars can not be removed from memory

Cause: Use of the Unused command in CODE mode will not remove the program variables from memory. The variables will remain in memory and saved to the variable file if the program variables are saved. Remedy: If you want the variables removed from memory either switch to DATA mode before starting the Unused command, or use the command line menus to remove the variables from memory (look at the Memory Erase Variables command for more information). 18941

0-INFO

Modify program no longer active

Cause: The program under MEMORY DEBUG or PROGRAM EDIT in which a motion's position is being modified is no longer active. Remedy: Re-activate the program. 18942

0-INFO

No active motions on the arm(s)

Cause: The MOD key was pressed in PROGRAM EDIT or MEMORY DEBUG and no motions are currently active on the arm(s) by this program. Remedy: Check that the program has issued a motion. 18943

0-INFO

Motion no longer active

Cause: The motion being MODified under PROGRAM EDIT or MEMORY DEBUG is no longer active. Remedy: Re-issue the motion. 18944

0-INFO

Arm is in movement

Cause: User tried to modify a position while the arm was moving. Remedy: Release the start or backward button; wait until the arm has

stopped; then change the position. 18945

0-INFO

Current motion does not apply to this program

Cause: The user attempted to modify a position of a segment which does not apply to this program. Remedy: Only motions issued from the PROGRAM EDIT or MEMORY DEBUG program can be modified. Either enter MEMORY DEBUG for the program which issued the motion or do not attempt to modify the motion. 18946

0-INFO

MOD not valid on MOVE clause

Cause: User tried to modify a position which does not have an absolute destination in that the motion clause was neither TO or VIA. Remedy: For this motion clause it is not possible to modify the position. Deactivate the segment, change the position using normal MOD, and re-execute it. 18947

0-INFO

Bad MOVE state for MOD

Cause: User tried to modify a position which has a state that doesn't permit any change. For example the move was interrupted in fly. Remedy: Deactivate the segment, change the position and re-execute it. 18948

0-INFO

Destination not taught position

Cause: User tried to modify a position of a motion for which the specified destination is not a variable. Remedy: Modification of an active motion can only work if the destination position is a program variable. Motion to a positional expression, system variable, or local variable is not permitted. For example, "MOVE TO pnt0001p" is acceptable, but "MOVE TO $HOME" cannot be modified.

18949

0-INFO

Move not started yet

Cause: User tried to modify a position and the move has not started yet. By doing so, the user is building a move without space and this is not logical. Remedy: It is necessary to execute at least a little piece of the move before the modification is accepted. 18951

0-INFO

REC/MOD key enabled in EDIT/DATA mode only

Cause: User tried to issue a REC or MOD while not in DATA mode. These teach pendant keys only have effect while in DATA mode or in the MEMORY DEBUG environment. Remedy: If in the PROGRAM EDIT environment switch to DATA mode by using the MODE key. 18952

0-INFO

References are changed

Cause: The user tried to modify a position with a different $BASE and/or $TOOL and/or $UFRAME. Remedy: It is necessary to reset $BASE and/or $TOOL and/or $UFRAME . 18953

0-INFO

Command not allowed. Check CP&TP switches

Cause: The command is not permitted while the PROGR/AUTO switch is in the current mode. Check the description of the command in the PDL2 Language Manual to determine the proper state of this switch. Remedy: Either change the PROGR/AUTO switch to the appropriate state or don't issue the command. 18954

0-INFO

MOD canceled by switch to AUTO

Cause: User switched from PROG mode to AUTO mode during a MOD or REC

operation. For holdable programs this means an automatic switch from DATA to CODE mode so the MOD/REC was canceled. MOD/REC is not permitted while in DATA mode. Remedy: Don't switch to AUTO during a MOD or REC operation. If the MOD/REC is desired switch back to PROG and put editor in DATA mode then reissue the MOD/REC operation. 18955

0-INFO

Want to save COD file?

18956

0-INFO

Code for prog modified

Cause: The code for the program has been modified during this editor session. Remedy: The code should be saved to the RAM disk if the modifications are important. 18957

0-INFO

Modified VAR/COD files not saved

Cause: A VAR or COD file has been modified in memory and has not been saved to the RAMDisk. Remedy: This is just an informational message. To determine which files have been modified the MEMORY VIEW PROGRAM command can be used. To save the files to the RAM disk, the MEMORY SAVE command can be used. For more information on either of these commands refer to the C3G Operations Manual. 18959

0-INFO

Illegal arm for SYNCMOVE statement

Cause: The arm specified for the SYNCMOVE statement (stored in $TP_SYNC_ARM[2]) is illegal. Remedy: Change the value of the $TP_SYNC_ARM[2] system variable using the SHIFT-ARM key sequence on the teach pendant. 18960

0-INFO Cause:

The file cannot be saved

File access has been denied. PDL2 program or system task.

The file is held open for write by a

Remedy: Make sure that all files have been closed from PDL2 programs. The only system file that this may occur with is the 'error.log' file. 20481

0-INFO

Program not in memory

Cause: The specified program is not currently loaded in memory. Remedy: Issue a MEMORY LOAD (ML) command for the specified program. 20482

0-INFO

Program name too long

Cause: The length of the specified program name is greater than 8. Remedy: Shorten the length of the program name. 20484

0-INFO

Program table is full

Cause: The maximum number of programs (250) are loaded in memory. Remedy: Erase unnecessary programs from memory. 20485

0-INFO

Program already exists

Cause: A program having the specified name already exists in memory. Remedy: Change the program name. 20486

0-INFO

Invalid program name

Cause: The specified program name contains invalid characters or does not

begin with an alphabetical character. Remedy: Make sure the program name begins with an alphabetical character and contains only alphabetical, numeric, or underscore characters. In addition, the maximum length of a program name is 8. 20487

0-INFO

Variable not found

Cause: The specified variable is not loaded in memory. Remedy: Make sure the variable name was specified properly or load the appropriate variable file into memory. 20488

0-INFO

Variable already exists

Cause: A variable having the specified name already exists in memory. Remedy: Change the variable name. 20489

0-INFO

Invalid variable name

Cause: The specified variable name contains invalid characters or does not begin with an alphabetical character. Remedy: Make sure the variable name begins with an alphabetical character and contains only alphabetical, numeric, or underscore characters. There is no maximum length for variable names. 20492

0-INFO

Var linked to loaded prog so can't delete it

Cause: There are programs loaded in memory which reference the specified variable. Therefore, it cannot be erased from memory. Remedy: Erase the programs referencing the specified variable before erasing the variable itself.

20495

0-INFO

Data type mismatch while loading var

Cause: The specified variable is currently loaded in memory and the data type for that variable in memory does not match the data type contained in the .VAR or .COD file being loaded. This is the actual data type not the string size, array size, etc. Remedy: If the error is the result of loading a .COD file, make sure the variable is declared properly in the program. If the value in the .VAR file is important and the file contains the proper data type, erase the variable from memory and issue the MEMORY LOAD (ML) command again. However, if the data type in memory is proper, the .VAR file can be loaded but the value of this particular variable will not be loaded from the file. 20496

0-INFO

Export status mismatch on var

Cause: The specified variable is currently loaded in memory and the export status information for that variable in memory does not match the export status information contained in the .VAR or .COD file being loaded. Remedy: If the error was detected while loading a .VAR file, the /CONVERT option can be applied to the MEMORY LOAD (ML/C) command. This option will cause the value to be loaded and the export status to be ignored. If the error was detected while loading a .COD file and the value is to be maintained, issue a MEMORY SAVE (MS) command to save the value of the variables in a file. Remember that all variables for the specified program will be saved. Issue a MEMORY ERASE (ME) command to erase the variable from memory and then load the .COD file and if needed, the .VAR file (with the /CONVERT option). 20497

0-INFO

Prog code currently in use so can't delete it

Cause: The program cannot be erased from memory because it is currently being used. This means either it is currently being executed or another program is executing one of its routines. Remedy: Either don't erase the program or stop all programs from executing before issuing the MEMORY ERASE (ME) command. 20499

0-INFO

Predefined variable not found

Cause: A predefined variable of the given name does not exist. Remedy: Make sure the predefined variable name is spelled correctly. 20500

0-INFO

Program contains errors so cannot load

Cause: The program contains errors. A program cannot be loaded into memory if it contains errors. Remedy: Edit the program and fix all the errors before issuing the MEMORY LOAD (ML) command. 20501

0-INFO

Can't load prog - possible corruption of .COD file

Cause: The loading of a program detected invalid information in the .COD file. Remedy: Try to restore your backup file. 20503

0-INFO

Routine not in memory

Cause: The routine is not currently loaded in memory. Remedy: Issue a MEMORY LOAD (ML) command for the program owning the routine. 20504

0-INFO

Routine definition mismatch

Cause: The routine is currently loaded in memory and the definition information for that routine in memory does not match the definition information contained in the .COD file being loaded. This is due to a mismatch in the function return type. Remedy: Double check the routine definition in all programs referencing the routine. Fix the definition in the program containing the

incorrect routine definition. 20505

0-INFO

Parameter list declaration mismatch

Cause: The routine is currently loaded in memory and the parameter definition information for that routine in memory does not match the parameter definition information contained in the .COD file being loaded. This is due to a mismatch in the number of parameters or a mismatch in the data type definition of a parameter. Remedy: Double check the routine definition in all programs referencing the routine. Fix the parameter definition(s) in the program containing the incorrect routine definition. 20506

0-INFO

Rout not exported but another prog already imports it

Cause: A routine owned by the program being loaded into memory is declared without an EXPORTED FROM clause. However, another program is currently loaded in memory which imports the routine. Remedy: If the routine is supposed to be exported, edit the program and add the EXPORTED FROM clause. If not, erase the program importing the routine from memory and issue the MEMORY LOAD (ML) command for the owning program again. 20507

0-INFO

NOSAVE mismatch on var

Cause: The specified variable is currently loaded in memory and the NOSAVE attribute information for that variable in memory does not match the NOSAVE attribute information contained in the .COD file being loaded. Remedy: If the value is to be maintained, issue a MEMORY SAVE (MS) command to save the value of the variables in a file. Remember that all variables for the specified program will be saved. If the NOSAVE attribute in the .COD file is incorrect, edit the program (in /CODE mode) and change the attribute. Erase the variable from memory and then load the .COD file and if needed, the .VAR file. 20509

0-INFO Cause:

Var file version stamp mismatch

The .VAR file was generated using newer software than what is currently loaded on the controller. Remedy: Update the controller software. 20510

0-INFO

Error writing to file

Cause: An error occurred while generating the .VAR, .COD, or .SYS file. This is usually caused by not having enough disk space for the new file. Remedy: Delete all unnecessary files from the disk and reissue the MEMORY SAVE (MS) command. 20511

0-INFO

Error reading from file

Cause: An error occurred while loading the .VAR, .COD, or .SYS file. is usually caused by a corrupted file.

This

Remedy: Try to recover a backup file. If the error occured while loading a .COD file, try generating the ASCII version to recover as much of the program as possible. 20512

0-INFO

Error opening var file

Cause: An error occurred opening the .VAR file. Remedy: If this error is the result of loading the .VAR file, make sure the .VAR file exists. However, if this error is the result of saving the variables, there may not be enough disk space for the new file. In this case, delete all unnecessary files from the disk. 20519

0-INFO

Invalid .COD file

Cause: The program file is not a valid .COD file. This can happen by renaming a non-.COD file to a .COD file or it can happen by corrupting a valid .COD file.

Remedy: Locate the proper .COD file and use that file. 20520

0-INFO

Predefined variable type mismatch while loading

Cause: A predefined variable referenced in the .COD file has a different data type specification than the predefined variable defined on the controller. This can occur if the file was corrupted or if the data type of a predefined variable has changed from one system software release to the next. Remedy: There is no remedy if the file is corrupted except to try loading a backup file. If the error results to a system software difference, obtain a .PDL file using the system software that was in place at the time the .COD file was generated. Then translate the .PDL file using the new system software. 20525

0-INFO

File is not a valid .VAR file

Cause: The variable file is not a valid .VAR file. This can happen by renaming a non-.VAR file to a .VAR file or it can happen by corrupting a valid .VAR file. Remedy: Locate the proper .VAR file and load that file. 20527

0-INFO

Var SAVE/LOAD operation aborted

Cause: CTRL C (^C) was detected during the MEMORY SAVE or MEMORY LOAD of a .VAR file. Remedy: No remedy. ^C aborts the operation. be resubmitted. 20528

0-INFO

If desired, the operation can

String length mismatch

Cause: The specified variable is currently loaded in memory and the string length information for that variable in memory does not match the string length information contained in the .VAR or .COD file being loaded.

Remedy: If the error was detected while loading a .VAR file, the /CONVERT option can be applied to the MEMORY LOAD (ML/C) command. This option will cause the appropriate parts of the mismatched variable value to be loaded instead of the entire value. For example, if the mismatch was caused because the variable in memory is a STRING having a maximum length of 10 and the variable in the file is declared as a STRING having a maximum length of 20, only the first 10 characters of the value in the file will be loaded. If the error was detected while loading a .COD file and the value is to be maintained, issue a MEMORY SAVE (MS) command to save the value of the variables in a file. Remember that all variables for the specified program will be saved. Issue a MEMORY ERASE (ME) command to erase the variable from memory and then load the .COD file and if needed, the .VAR file (with the /CONVERT option). 20529

0-INFO

Array size mismatch

Cause: The specified variable is currently loaded in memory and array size information for that variable in memory does not match the array size information contained in the .VAR or .COD file being loaded. Remedy: If the error was detected while loading a .VAR file, the /CONVERT option can be applied to the MEMORY LOAD (ML/C) command. This option will cause the appropriate parts of the mismatched variable value to be loaded instead of the entire value. For example, if the mismatch was caused because the variable in memory is a one dimensional ARRAY having 10 elements and the variable in the file is declared as a one dimensional ARRAY having 20 elements, only the first 10 elements of the value in the file will be loaded. If the error was detected while loading a .COD file and the value is to be maintained, issue a MEMORY SAVE (MS) command to save the value of the variables in a file. Remember that all variables for the specified program will be saved. Issue a MEMORY ERASE (ME) command to erase the variable from memory and then load the .COD file and if needed, the .VAR file (with the /CONVERT option). 20530

0-INFO

Array dimension mismatch

Cause: The specified variable is currently loaded in memory and the number of array dimensions for that variable in memory does not match the number of array dimensions contained in the .VAR or .COD file being loaded. Remedy: The number of array dimensions must match in order to load a .VAR or .COD file. The only way to fix this is to change the appropriate file. If this error resulted from the loading of a .VAR file, the remaining variables will be loaded. Therefore, you

can load the other variables from a .VAR file even if this error is detected. This is an error that cannot be fixed using the /CONVERT option. 20531

0-INFO

Arm number mismatch

Cause: The specified variable is currently loaded in memory and the arm number information for that variable in memory does not match the arm number information contained in the .VAR or .COD file being loaded. Remedy: If the error was detected while loading a .VAR file, the /CONVERT option can be applied to the MEMORY LOAD (ML/C) command. This option will cause the appropriate parts of the mismatched variable value to be loaded instead of the entire value. For example, if the mismatch was caused because the variable in memory is declared for arm 1 having 6 axes and the variable in the file is declared for arm 2 having 6 axes, the 6 axes values in the file will be loaded and arm 1 will be used. If the error was detected while loading a .COD file and the value is to be maintained, issue a MEMORY SAVE (MS) command to save the value of the variables in a file. Remember that all variables for the specified program will be saved. Issue a MEMORY ERASE (ME) command to erase the variable from memory and then load the .COD file and if needed, the .VAR file (using the /CONVERT option). 20532

0-INFO

Number of axes mismatch

Cause: The specified arm related variable (either a JOINTPOS or XTNDPOS) is currently loaded in memory and the number of axes for that variable in memory does not match the number of axes contained in the .VAR file being loaded. Remedy: Since the error was detected while loading a .VAR file, the /CONVERT option can be applied to the MEMORY LOAD (ML/C) command. This option will cause the appropriate parts of the mismatched variable value to be loaded instead of the entire value. For example, if the mismatch was caused because the variable in memory is declared for arm 1 having 6 axes and the variable in the file is declared for arm 1 having 7 axes, the first 6 axes values in the file will be loaded. 20535

0-INFO

Program load has been canceled

Cause: CTRL C (^C) was detected during the MEMORY LOAD (ML) or PROGRAM GO (PG) of a program.

Remedy: No remedy. ^C aborts the operation. be resubmitted. 20536

0-INFO

If desired, the operation can

Can't delete var while teach environment is active

Cause: The system will not permit a variable to be erased from memory if the teach environment is currently active for the owning program. Remedy: Exit the teach environment before erasing the variable. 20537

0-INFO

Can't edit prog because nesting indentation too large

Cause: The system has a maximum nesting indentation level of 31. This means you cannot have statements nested within statements more than 31 times. The types of statements involved are loops, selection, condition handler definition, etc. A program cannot be edited using the PDL2 program editor if this maximum is exceeded. Remedy: Obtain a .PDL file by issuing a FILER TRANSLATE /BACK (FT/B) of the .COD file. Then use the FILER EDIT (FE) command to edit the .PDL file. You will have to issue the FILER TRANSLATE (FT) command to obtain a new .COD file after modifying the .PDL file. 20538

0-INFO

Illegal arm number

Cause: An invalid arm number is used in a variable declaration of a .VAR or .COD file being loaded. For example, if the system only has 1 arm and arm number 2 is used for the declaration of a JOINTPOS variable, this is an invalid arm number. Remedy: If the error was detected while loading a .COD file, edit the program and fix the arm number. Then load the .COD file again. Otherwise, the /CONVERT option can be applied to the MEMORY LOAD (ML/C) command. This option will cause the variable containing the invalid arm reference to be skipped and the rest of the variables in the file will be loaded. If the error occurred while teaching (via the MOD key) a positional variable, it is needed to select (via the ARM key) the arm declared for that variable before pressing again the MOD key.

20540

0-INFO

Out of limit

Cause: The value specified for a predefined variable is outside the valid limits. Remedy: Change the value being assigned to the predefined variable to a value within the valid limits. 20542

0-INFO

Data type/attribute mismatch during load

Cause: The variable is currently loaded in memory and the data type information for that variable in memory does not match the data type information contained in the .VAR or .COD file being loaded. It could be that the actual data types don't match, or it could mean that the string size, array sizes/dimensions, arm number, or number of axes don't match. Remedy: If the error was detected while loading a .VAR file and the error was caused by an export status, string length, array size, arm number, axes, record type, or node type mismatch, the /CONVERT option can be applied to the MEMORY LOAD (ML/C) command. This option will cause the appropriate parts of the mismatched variable value to be loaded instead of the entire value. For example, if the mismatch was caused because the variable in memory is a STRING having a maximum length of 10 and the variable in the file is declared as a STRING having a maximum length of 20, only the first 10 characters of the value in the file will be loaded. If the error was detected while loading a .COD file and the value is to be maintained, issue a MEMORY SAVE (MS) command to save the value of the variables in a file. Remember that all variables for the specified program will be saved. Issue a MEMORY ERASE (ME) command to erase the variable from memory and then load the .COD file and if needed, the .VAR file (with the /CONVERT option). 20543

0-INFO

Can't load a PLC program

Cause: The program being loaded has the PLC attribute. PLC programs cannot be loaded into memory using the MEMORY LOAD (ML) or PROGRAM GO (PG) commands. Instead, the RLL commands are to be used so the program gets loaded into the PLC memory and executed by the software or hardware PLC. Remedy: Use the MEMORY RLL LOAD (MRL) or PROGRAM RLL GO (PRG) commands.

20544

0-INFO

Can't use a reserved word for the program name

Cause: The name specified for a program is a PDL2 reserved word. Reserved words cannot be used for names of user-defined identifiers. Remedy: Choose another name that isn't a PDL2 reserved word. Refer to the PDL2 Language Manual for a list of the reserved words. 20545

0-INFO

Field size too big

Cause: The maximum size of a field of a user-defined TYPE is 65535 bytes. This has been exceeded by a field defined in a .COD file being loaded. Remedy: Change the user-defined TYPE and its usage so that all fields are smaller than 65536 bytes. However, be sure the total overall size is also smaller than 65536 bytes. 20546

0-INFO

User-defined TYPE not in memory

Cause: The user-defined TYPE is not currently loaded in memory. Remedy: Issue a MEMORY LOAD (ML) command for a program or variable file containing a definition of the TYPE. 20547

0-INFO

Total size of record or node TYPE too big

Cause: The maximum size of a user-defined TYPE is 65535 bytes. This has been exceeded by a TYPE defined in a .COD file being loaded. Remedy: Change the user-defined TYPE and its usage so that it is smaller than 65536 bytes. 20548

0-INFO

Record/node TYPE mismatch

Cause: This error relates to a record, ARRAY of record, node, or PATH variable being reference in a .VAR or .COD file. The variable is

currently loaded in memory and the user-defined TYPE for that variable in memory does not match the user-defined TYPE contained in the .VAR or .COD file being loaded. For example, this error occurs if the variable in memory is a record of type "pluto" and it is a record of type "pippo" in the file. Remedy: If the TYPE definition used in the file is proper, erase the variable from memory and reissue the MEMORY LOAD (ML) command. However, if the TYPE in memory is proper, the file must be modified. Therefore, if the error occurred while loading a .COD file, edit the program and change the type name. If the error occurred while loading a .VAR file, the remaining variables will be loaded from the file and the mismatched variable will not. 20549

0-INFO

Mult arms, required arm num for JNTP/XTND fields

Cause: If the system has multiple arms defined, an arm specification is required on all JOINTPOS and XTNDPOS field definitions of user-defined TYPEs. This error can occur if a .COD file is loaded containing such a field without an arm specification. Remedy: Edit the program and add an arm specification to the field definition. 20550

0-INFO

TYPE has no fields

Cause: A .COD file is being loaded which contains a user-defined TYPE having zero fields. All user-defined TYPEs must have at least one field. Remedy: Edit the program and either delete the user-defined TYPE if it is not needed or add the appropriate fields to the definition. 20551

0-INFO

Cannot allocate TYPE structure

Cause: There is not enough memory to create a user-defined TYPE structure while loading a .VAR file. Remedy: Erase all unnecessary data from memory and reissue the MEMORY LOAD (ML) command.

20552

0-INFO

User-defined TYPE description mismatch

Cause: The definition of a user-defined TYPE currently loaded in memory does not match the definition contained in the .VAR or .COD file being loaded. This can occur if the number of fields doesn't match, the definition of corresponding fields doesn't match, one is a record and the other a node, or the offset of a field doesn't match. Remedy: If the error was detected while loading a .VAR file, the /CONVERT option can be applied to the MEMORY LOAD (ML/C) command. This option will cause the appropriate parts of the value to be loaded instead of the entire value. For example, if the user-defined TYPE in memory has an INTEGER field and a REAL field and the user-defined TYPE in the file has an INTEGER field, a BOOLEAN field, and a REAL field, only the INTEGER and REAL fields will be loaded from the file. If the error was detected while loading a .COD file and the value is to be maintained, issue a MEMORY SAVE (MS) command to save the value of the variables in a file. Remember that all variables for the specified program will be saved. Issue a MEMORY ERASE (ME) command to erase the variable from memory and then load the .COD file and if needed, the .VAR file (with the /CONVERT option). 20554

0-INFO

Bad number of aux axes in xtnd

Cause: The number of auxiliary axes for an arm is 0 or greater than the maximum number permitted by the system. This means it is invalid to define an XTNDPOS variable based on the arm. If this error occurs, the program cannot be loaded in memory and the editor cannot enter /DATA mode. Remedy: Make sure the proper arm is used in the XTNDPOS declaration and that the arm is set up with the proper number of auxiliary axes. 20555

0-INFO

Code file protected

Cause: This error occurs while trying to edit a program, print a .COD file, load a program with the /FULL option, deactivate a program, or view a loaded program that has been protected. A program is protected when the company that wrote the program does not want to distribute the source code. Remedy: There is no remedy. The source cannot be displayed and the program cannot be deactivated from the command language.

20556

0-INFO

Bad wildcard, must be *... or ...*

Cause: Several commands permit a wildcard specification as a response to a prompt. This error occurs if an invalid wildcard specification has been given. It could happen if the * character isn't used in the wildcard or if the * character does not start or end the specification. Remedy: Enter a valid wildcard specification. 20557

0-INFO

Wildcard not matched

Cause: Several commands permit a wildcard specification as a response to a prompt. This error occurs if there are no matches to a wildcard specification that has been given. Remedy: No remedy. 20558

0-INFO

File name used as different prog name

Cause: This error is detected during the loading, editing, or printing of a .COD file. It is the direct result of issuing either the FILER RENAME (FR) or FILER COPY (FC) command on a .COD file and using a program name that is already referenced in the .COD file as a program. Remedy: Rename the .COD file to something different and reissue the LOAD, PRINT, or EDIT command. 20559

0-INFO

Can't load prog - missing header

Cause: This error occurs while a .COD file is being loaded into memory, printed, or edited. It indicates that a program header has not been found in the file. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file.

20560

0-INFO

Can't load prog - missing TYPE node

Cause: This error occurs while a .COD file is being loaded into memory or edited. It indicates that a field definition has been loaded without being in the context of a TYPE definition. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file. 20561

0-INFO

Can't load prog - missing IF node

Cause: This error occurs while a .COD file is being loaded into memory, printed, or edited. It indicates that an ELSE or ENDIF statement has been loaded without being in the context of an IF statement. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file. 20562

0-INFO

Can't load prog - missing SELECT node

Cause: This error occurs while a .COD file is being loaded into memory, printed, or edited. It indicates that a CASE, ELSE, or ENDSELECT statement has been loaded without being in the context of a SELECT statement. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file. 20563

0-INFO

Can't load prog - missing REPEAT node

Cause: This error occurs while a .COD file is printed, or edited. It indicates that loaded without being in the context of error only occurs if the .COD file has

being loaded into memory, an UNTIL statement has been a REPEAT statement. This been corrupted.

Remedy: Try to recover a backup file. 20564

0-INFO

Can't load prog - missing WHILE node

Cause: This error occurs while a .COD file is being loaded into memory, printed, or edited. It indicates that an ENDWHILE statement has been loaded without being in the context of a WHILE statement. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file. 20565

0-INFO

Can't load prog - missing FOR node

Cause: This error occurs while printed, or edited. It loaded without being in only occurs if the .COD

a .COD file is being loaded into memory, indicates that an ENDFOR statement has been the context of a FOR statement. This error file has been corrupted.

Remedy: Try to recover a backup file. 20566

0-INFO

Can't load prog - unknown label in GOTO

Cause: This error occurs while a .COD file is being loaded into memory, printed, or edited. It indicates that a GOTO statement has been loaded which references a label that was not found in the file. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file. 20567

0-INFO

Can't load prog - missing label in table

Cause: This error occurs while a .COD file is being loaded into memory, printed, or edited. It indicates that a labeled statement has been loaded but a label for the statement was not found in the file. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file. 20568

0-INFO Cause:

Can't load prog - unknown program index

This error occurs while a .COD file is being loaded into memory, printed, or edited. It indicates that a statement referencing a program has been loaded but the specified program was not found in the file. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file. 20570

0-INFO

Can't load prog - ID already in table

Cause: This error occurs while a .COD file is being loaded into memory, printed, or edited. It indicates that an identifier declaration has been loaded but the system already loaded a declaration for the same identifier. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file. 20571

0-INFO

Can't load prog - missing TYPE ID

Cause: This error occurs while a .COD file is being loaded into memory, printed, or edited. It indicates that a reference to a record, ARRAY of record, node, or PATH variable/routine declaration has been loaded without first loading the declaration of the user-defined TYPE. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file. 20572

0-INFO

Can't load prog - missing const ID

Cause: This error occurs while a .COD file is being loaded into memory, printed, or edited. It indicates that a reference to a user-defined constant has been loaded without first loading the declaration of the user-defined constant. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file. 20573

0-INFO

Can't load prog - missing field ID

Cause: This error occurs while a .COD file is being loaded into memory, printed, or edited. It indicates that a reference to a field has been loaded without first loading the declaration of the field. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file. 20574

0-INFO

Can't load prog - missing rout ID

Cause: This error occurs while a .COD file is being loaded into memory, printed, or edited. It indicates that a reference to a routine has been loaded without first loading the declaration of the routine. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file. 20575

0-INFO

Can't load prog - missing var ID

Cause: This error occurs while a .COD file is being loaded into memory, printed, or edited. It indicates that a reference to a variable has been loaded without first loading the declaration of the variable. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file. 20576

0-INFO

Can't load prog - missing sys var ID

Cause: This error occurs while a .COD file is being loaded into memory, printed, or edited. It indicates that a reference to an unknown predefined variable has been loaded. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file. 20577

0-INFO Cause:

Can't load prog - missing loc var/param ID

This error occurs while a .COD file is being loaded into memory, printed, or edited. It indicates that a reference to a routine local variable or parameter has been loaded without first loading the declaration of the local variable or parameter. This error only occurs if the .COD file has been corrupted. Remedy: Try to recover a backup file. 20578

0-INFO

Can't load prog - checksum mismatch

Cause: A .COD file contains a checksum so that corrupted files can be detected before loading them into memory. This error occurs if the checksum calculated doesn't match the one generated when the .COD file was created. Remedy: No remedy. 20579

0-INFO

Try to recover a backup file.

Prog file version newer than software

Cause: The .COD file was generated using newer software than what is currently loaded on the controller. Remedy: Update the controller software or obtain source of the .COD file and issue a FILER TRANSLATE (FT) to generate a .COD file based on the current system software. 20580

0-INFO

Path length is shorter than specified starting node

Cause: The starting node number specified is larger than the number of nodes in the PATH. Remedy: Use a starting node number that is less than or equal to the number of nodes in the PATH. 20581

0-INFO

Too many nodes specified to be deleted

Cause: Too many nodes have been specified in the delete request. The PATH doesn't have that many nodes at the specified starting node number.

Remedy: Use a smaller number of nodes to be deleted. 20582

0-INFO

Name already used for a node symbol

Cause: The specified name is already used for a different node. node names must be unique.

Symbolic

Remedy: Choose a different name. 20583

0-INFO

Node is not symbolically named

Cause: The PATH node is not symbolically named. Remedy: Make sure the node number was specified correctly. 20584

0-INFO

Node is already symbolically named

Cause: The PATH node is already symbolically named. a node can only have one symbolic name.

It can be changed but

Remedy: Make sure the node number was specified correctly. 20586

0-INFO

Can't load prog - max loc var size exceeded

Cause: The maximum amount of memory permitted for local variables of a routine is 65535 bytes. This error is detected when a program is being loaded and the maximum space is exceeded. Remedy: Eliminate unnecessary local variables. 20587

0-INFO

Can't del prog - allocated from perm memory

Cause: The program code cannot be deleted since it is allocated from permanent memory.

Remedy: Only method of deleting the program is to do a warm or cold restart of the controller. 20588

0-INFO

Can't have FULL and PERM loads together

Cause: The program code cannot be loaded with both the /FULL and /PERM options. Remedy: Use only one of the options. 20589

0-INFO

Rout not exported by owning program

Cause: A routine imported by the program being loaded into memory is not exported by the owning program. Remedy: If the routine is supposed to be exported then edit the owning program and add the EXPORTED FROM clause. If not, then remove the import declaration from the other program(s). 20591

0-INFO

??? Corrupted stmt could not be loaded -

Cause: A corrupted statement was detected while printing a .COD file. The error number (error_num) indicates the type of corruption that was detected. Remedy: The system inserts an error line into the resulting source file. The user must replace the error lines with valid PDL2 statements and then translate the file. 20592

0-INFO

Can't load vars - possible corruption of .VAR file

Cause: The variable file has been corrupted and can not be loaded. Remedy: The only recovery action is to restore backup copies of the variable file.

20593

0-INFO

Variable data corrupted in memory

Cause: The variable data has been corrupted in memory. Remedy: The only recovery action is restoring a backup copy of the variables. Save all other program code and data then restart the controller. 21505

0-INFO

Mantissa missing

Cause: A REAL value has an exponent but no mantissa. was entered instead of "1.5E10".

For example, "E10"

Remedy: All REAL values must have a mantissa. value. 21506

0-INFO

Add the mantissa to the

Exponent missing

Cause: A REAL value has a mantissa and the E for the exponent, but no value after the E. For example, "2.5E" was entered instead of "2.5E10". Remedy: Add the exponent value to the REAL value. 21507

0-INFO

Extra decimal point found

Cause: More than one decimal point was encountered in the REAL value. Remedy: Only one decimal point is allowed in the value. 21508

0-INFO

Exponent exceeds maximum

Cause: The exponent on a REAL value is too large. If the value is in error, then correct it. If the value is correct then it cannot be represented as a REAL value.

Remedy: Change the exponent to have a smaller value. 21509

0-INFO

Bad character in numeric value

Cause: An invalid character was found in the value. The only valid characters are decimal digits(digits 0 through 9), the exponent character('E' or 'e'), and the decimal point('.'). Remedy: Enter the value again, with only valid characters. 21511

0-INFO

Floating-point overflow

Cause: The value is greater than the maximum value that can be represented as a REAL. Remedy: Use values that are within the maximum and minimum range for the REAL data type. 21512

0-INFO

No numeric value present

Cause: An INTEGER value was not found where expected. 21513

0-INFO

Reserved operand

Cause: A REAL contains a reserved IEEE operand. cannot be used. 21514

0-INFO

The value is invalid and

Floating-point conversion range

Cause: A REAL value conversion was attempted, but the input operand has a value that will not fit into the format of the output operand. 21515

0-INFO

Integer underflow

Cause: The value is less than the minimum value that can be represented as

an INTEGER. Remedy: Use an INTEGER value that is larger than the minimum value. 21516

0-INFO

Integer overflow

Cause: The value is greater than the maximum value that can be represented as an INTEGER. Remedy: Use an INTEGER value that is smaller than the maximum value. 22528

0-INFO

The command has been aborted

Cause: CTRL C (^C) key was pressed during command execution. 22529

0-INFO

Missing program name

Cause: This command requires the program name. 22530

0-INFO

Command not enabled

Cause: The maximum number of commands that can be active at the same time was reached. Remedy: This command cannot be handled until an active command is completed. 22531

0-INFO

Command not allowed

Cause: Remote copy is not allowed. That means, it is not possible to use the FILER COPY command when the source and destination files are on remote devices (COM0:, FD:, etc.) Remedy: Use the remote device locally. If it is necessary to copy files between two remote devices, the RAM disk should be used as a temporary device for the files. For example, copy the file from

the source device to the RAM disk (RD:) and then copy the file from the RAM disk to the destination device. 22532

0-INFO

* required in destination file name

Cause: If a source file specification field (file name or extension) contains a wildcard (*), then the same field of the destination file specification must be a wildcard. 22533

0-INFO

File not found

Cause: The specified file was not found on the RD: device (RAM Disk) or FD:. 22534

0-INFO

Wildcard not allowed

Cause: Either the wildcard (*) is not allowed for this command or a wildcard has been used incorrectly in a combination of command/options/parameters. For example, the MEMORY LOAD (ML) command normally accepts a wildcard for the program name but, if the /AS option is used, the program name cannot be a wildcard. 22535

0-INFO

Too many wildcards

Cause: More than one wildcard (*) was used in a file or program specification. Remedy: Remove the extra wildcard(s) from the file or program name specification. 22536

0-INFO

Not all files copied

Cause: One or more files were not copied. Either the file protection did not allow the copy or the user replied "N" to the confirm prompt. 22537

0-INFO

Not all files deleted

Cause: One or more files were not deleted. Either the file protection did not allow the deletion or the user replied "N" to the confirm

prompt. 22538

0-INFO

Not all files renamed

Cause: One or more files were not renamed. Either the file protection did not allow the rename or the user replied "N" to the confirm prompt. 22539

0-INFO

Bad option

Cause: This error occurs when a command is executed with an invalid option or with multiple options that conflict each other. It can also occur when this option, although foreseen by the command, is in conflict with other parameters specified with the command. Remedy: Verify that all of the options are valid and that options and parameters do not conflict each other. 22540

0-INFO

Code not found

Cause: The requested command requires the program code be loaded in memory, but the code was not found in memory. For example this error would occur when the PROGRAM TEST BREAK INSERT (PTBI) command is issued but the program code is not loaded. Remedy: Check to be sure the correct program name was used in the command. If the correct name was used and the code could not be found in memory, use the MEMORY LOAD (ML) command to load the program code. 22541

0-INFO

Bad parameter specification

Cause: An incorrect parameter specification was used. Most commonly, a numeric parameter was expected and an alphabetic one was used or vice versa. For example, the PROGRAM TEST BREAK PURGE (PTBP) command expects a numeric break point number parameter; using 'aaa' for the parameter would return this error. Remedy: Check the manual to determine what kind of parameters are expected for the command. 22542

0-INFO

Device spec not allowed

Cause: The device specification is not allowed in this command. Either the command works only on files present on the RD: device (RAM Disk) or only on program names. Remedy: Remove the device specification from the parameter. 22543

0-INFO

Calibration program too long

Cause: The execution of the calibration program takes too much time. This could happen for several reasons. One could be that the calibration program contains loops (CYCLE, WHILE, FOR) or suspendable statements (READ, DELAY, WAIT,WAIT FOR,etc...). These statements should not be present in this program. Only simple assignement statements to the strictly required system variables should be present in the calibration file. Another reason for this error occurring is that the system is overloaded, too many programs or programs containing continuously scanned conditions. Remedy: Check that the calibration file does not contain suspendable statements. If not, check if other programs that overload the system can either be deactivated or paused before running this command from the system menu or from a SYS_CALL. 22544

0-INFO

Missing file name

Cause: A file name is required for this command. assumed.

A default is not

Remedy: Provide the file name as a parameter. 22546

0-INFO

Command not executed

Cause: The command was not executed because the user replied "N" to the confirm prompt. 22547

0-INFO

Program not found

Cause: The requested command requires the program be loaded in memory, but

the program was not found in memory. For example this error would occur when the PROGRAM ACTIVATE (PA) command is issued but the program is not loaded. Remedy: Check to be sure the correct program name was used in the command. If the correct name was used and the program could not be found in memory, use the MEMORY LOAD (ML) command to load the program. 22548

0-INFO

Variable not found

Cause: The requested command requires a variable be loaded in memory, but the variable was not found in memory. For example this error would occur when the MEMORY VIEW VARIABLE (MVV) command is issued but the variable is not loaded. Remedy: Check to be sure the correct variable name was used in the command. If the correct name was used and the variable could not be found in memory, use the MEMORY LOAD (ML) command to load the variable. 22549

0-INFO

Device and ext not allowed

Cause: The parameter must be a program name; not a file specification. Program names cannot include a device name and extension. 22550

0-INFO

Bad file extension

Cause: The extension used in the file specification is not allowed for this command. Remedy: Check the manual to determine the extensions which are allowed for this command. 22551

0-INFO

Bad variable specification

Cause: The variable specification used as a parameter is not allowed for this command. For example, the MEMORY ERASE VARIABLE (MEV) command does not allow a variable name that has leading or following wildcards (*). Remedy:

Use a correct variable specification as parameter to the command. Correct variable names start with an alphabetic character and use only alphanumeric characters for the remainder of the name. 22552

0-INFO

Bad value for $CAL_FILE

Cause: The predefined variable $CAL_FILE, that contains the name of the calibration file, is wrongly set. The value of this variable can either be changed by the user or by system commands of the CONFIGURE ARM category when this file is created. Remedy: Check that the value of $CAL_FILE is correctly set. 22554

0-INFO

Code not deleted

Cause: Program code was not deleted (removed) from memory because the user replied "N" to the confirm prompt. Remedy: This message is only to inform the user and requires no remedy action. 22555

0-INFO

Variables not deleted

Cause: All of the variables for the specified program were not deleted (removed) from memory because the user replied "N" to the confirm prompt. Remedy: This message is only to inform the user and requires no remedy action. 22556

0-INFO

Variable not deleted

Cause: A single specified variable for a specified program was not deleted (removed) from memory because the user replied "N" to the confirm prompt. Remedy: This message is only to inform the user and requires no remedy action.

22557

0-INFO

Not all variables deleted

Cause: All of the variables for the specified program cannot be deleted (removed) from memory. For example, if some variables are exported and used by another loaded program, those variables cannot be deleted. Remedy: Create a situation in which it is possible to delete all of the variables. In the above example, erase the program using the exported variables from memory (using the MEMORY ERASE command) before trying to delete all of the variables. 22559

0-INFO

Code not deleted for all prog

Cause: The program code cannot be deleted (removed) from memory, as specified by the MEMORY ERASE (ME) command. For example, if a program is active, the code cannot be deleted. Remedy: Create code. not be to the 22561

0-INFO

a situation in which it is possible to delete the program Typically, for deleting the code of a program, there should any active programs referencing exported routines belonging program and the program owning the code must not be active. Vars of not saved because protected

Cause: Some application programs disable the saving of their .VAR file for good functioning reasons. Remedy: This is an informational message and should be ignored. 22562

0-INFO

Program has no variables

Cause: The requested command requires a variable be loaded in memory, but the specified program does not contain any variables. For example, issuing a MEMORY VIEW VARIABLE (MVV) or MEMORY ERASE VARIABLE (MEV) command of the program: - PROGRAM p - BEGIN WRITE ('I am a program without variables', NL) - END p

Remedy: Check that the specified program contains variables before attempting to issue any commands that require variables. 22563

0-INFO

File .COD not found

Cause: The requested command requires a .COD file on the RD: device (RAM Disk), but the file was not found. For example, this error would occur when the PROGRAM GO (PG) command was issued if the program .COD file did not exist on the RD: device. Remedy: Use the FILER VIEW (FV) command to be sure the program .COD file exists before issuing the command. 22564

0-INFO

File .VAR not found

Cause: The requested command requires a .VAR file on the RD: device (RAM Disk), but the file was not found. Remedy: Use the FILER VIEW (FV) command to be sure the program .VAR file exists before issuing the command. 22565

0-INFO

Program not loaded

Cause: The MEMORY LOAD (ML) command was issued, but the loading process failed. The reason for the failure is reported on the scroll window of the TP or CRT (or on $SYS_CALL_OUT in case of SYS_CALL). Remedy: Determine why the loading process failed and take the appropriate remedy action. 22566

0-INFO

Not all programs loaded

Cause: A MEMORY LOAD (ML) command but for one or more of the The reason for the failure scroll window of the TP or SYS_CALL).

acting on multiple programs was issued, programs the loading process failed. is reported, for each program, on the CRT (or on $SYS_CALL_OUT in case of

Remedy: Determine why the loading process failed and take the appropriate remedy action. 22568

0-INFO

File not superseded

Cause: An existing file was not superseded during a MEMORY SAVE (MS) operation because the user replied "N" to a confirm prompt to supersede. Remedy: This message is only to inform the user and requires no remedy action. 22569

0-INFO

Save not done

Cause: The MEMORY SAVE (MS) operation was not performed because the user replied "N" to a confirm prompt to save. Remedy: This message is only to inform the user and requires no remedy action. 22570

0-INFO

Not all var files saved

Cause: A MEMORY SAVE (MS) command acting on multiple programs was issued, but for one or more of the programs the save process failed. The reason for the failure is reported, for each program, on the scroll window of the TP or CRT (or on $SYS_CALL_OUT in case of SYS_CALL). Remedy: Determine why the save process failed and take the appropriate remedy action. 22571

0-INFO

No variables to be saved

Cause: A MEMORY SAVE (MS) command was issued, but there were no variables to be saved. Remedy: Check that variables are loaded before issuing a MEMORY SAVE (MS) command.

22574

0-INFO

Program deactivate canceled

Cause: The program was not deactivated because the user replied "N" to a confirm prompt to deactivate. Remedy: This message is only to inform the user and requires no remedy action. 22575

0-INFO

Not all programs deactivated

Cause: A PROGRAM DEACTIVATE (PD) command acting on multiple programs was issued, but for some reason one or more of the programs could not be deactivated. Remedy: Determine why each program could not be deactivated and take the appropriate 22576

0-INFO

Program(s) not active

Cause: A command was issued that requires an active program, such as PROGRAM STATE PAUSE (PSP) or PROGRAM DEACTIVATE (PD), but there were no active programs or the specified program was not active at the moment the command was issued. Remedy: Use the PROGRAM VIEW (PV) command to obtain a list of currently active programs before issuing commands that require an active program. 22577

0-INFO

Pause canceled

Cause: The program was not paused because the user replied "N" to a confirm prompt to pause. Remedy: This message is only to inform the user and requires no remedy action. 22578

0-INFO

Pause of all programs canceled

Cause: All programs were not paused because the user replied "N" to a confirm prompt to pause all programs. Remedy: This message is only to inform the user and requires no remedy action. 22580

0-INFO

Not all programs paused

Cause: A PROGRAM STATE PAUSE (PSP) command acting on multiple programs was issued, but for some reason one or more of the programs could not be paused. Remedy: Determine why each program could not be paused and take the appropriate remedy action. 22582

0-INFO

Not all programs unpaused

Cause: A PROGRAM STATE UNPAUSE (PSU) command acting on multiple programs was issued, but for some reason one or more of the programs could not be unpaused. Remedy: Determine why each program could not be unpaused and take the appropriate 22583

0-INFO

Program active

Cause: This error can be returned for a variety of reasons. For example, it occurs when trying to delete the code or the variables of an active program with the MEMORY ERASE PROGRAM /ALL /VARIABLEs (MEP/A/V) command. Another example is when issuing a PROGRAM ACTIVATE (PA) command for a program that is already active. Remedy: Use the PROGRAM VIEW (PV) command to see if the program is active before issuing commands that require the program not be active. 22584

0-INFO Cause:

Program deleted

The program used by this command was deleted from memory by another command that was active at the same time. Remedy: Re-execute the command. 22585

0-INFO

Values not saved

Cause: Informational message. The modified values of variables in memory were not saved. Remedy: If desired, use the MEMORY SAVE (MS) command. 22586

0-INFO

Values saved

Cause: Informational message. The save operation was completed successfully. 22587

0-INFO

Missing parameter specification

Cause: A required parameter was not specified in the command. For example, when issuing the EXECUTE (E) command, the parameter containing the statement to be executed must always be specified. Remedy: Re-issue the command specifying all of the required parameters. 22589

0-INFO

Line not found

Cause: The requested command is to be performed at a specified line of a program, but that line cannot be found. For example, this error would occur when issuing a PROGRAM TEST BREAK INSERT (PTBI) command for a line that did not exist. Remedy: Determine the correct line number before issuing the command. 22590

0-INFO Cause:

Bad break specification

The command requires a breakpoint number parameter, but the value is specified incorrectly. The breakpoint number parameter must be a positive number less than 250 (maximum number of breakpoints allowed) consisting of all decimal digits. For example SYS_CALL('PTBP', '-2', 'pippo') would cause this error. Remedy: Check the correctness of the breakpoint specification in the command. 22591

0-INFO

Label not found

Cause: The command requires a label, but the specified label does not exist. For example, this error would occur when issuing a PROGRAM TEST BREAK INSERT /LABEL (PTBI/L) command at a label not present in the code of the specified program. Remedy: Be sure the label exists before performing any operations on it. 22592

0-INFO

Routine not found

Cause: The command requires a routine, but the specified routine does not exist. For example, the error would occur when issuing a PROGRAM TEST BREAK INSERT /ROUTINE (PTBI/R) command at a routine not present in the code of the specified program. Remedy: Be sure the routine exists before performing any operations on it. 22594

0-INFO

Break not found

Cause: The command requires a breakpoint, but the specified breakpoint does not exist. Remedy: Use the PROGRAM TEST BREAK VIEW (PTBV) command to be sure the breakpoint exists before performing any operations on it. 22595

0-INFO

Cannot set break at this line

Cause: An incorrect program line was specified for the PROGRAM TEST BREAK

INSERT (PTBI) command. Remedy: Use the PROGRAM EDIT (PE) or FILER PRINT /LIST (FP/L) command to find the correct line number. Be sure that the line where the breakpoint is meant to be inserted allows breakpoints (e.g., does not belong to the program header, is not a BEGIN statement, does belong to the executable section, etc.). 22596

0-INFO

Step mode and program mismatch

Cause: The specified step mode is incorrect for the specified program. For example, this error would occur when issuing a PROGRAM TEST STEP CYCLE (PTSC) in a program that does not contain a CYCLE (statement or BEGIN attribute) or a PROGRAM TEST STEP MOVE (PTSM) in a non-holdable program. Remedy: Check for compatibility between the program and the step mode. 22597

0-INFO

Step mode not set

Cause: A PROGRAM TEST STEP VIEW (PTSV) command was issued, but no step mode was set. Remedy: This message is only to inform the user and requires no remedy action. 22598

0-INFO

Break already set at this line

Cause: A PROGRAM TEST BREAK INSERT (PTBI) command was issued, but a breakpoint was already set at the specified line. Remedy: This message is only to inform the user and requires no remedy action. 22599

0-INFO

Too many break set

Cause: A PROGRAM TEST BREAK INSERT (PTBI) command was issued, but the total number of breakpoints set exceeds the maximum limit. The specified breakpoint is not set.

Remedy: Delete some breakpoints in the system. Note that the limit is as system-wide and not per-program. The current maximum is 250. 22600

0-INFO

Program counter at this line

Cause: A PROGRAM TEST BREAK PURGE (PTBP) command was issued for a breakpoint, but the execution of the program owning the breakpoint is currently at the statement containing the breakpoint. In this situation the breakpoint cannot be deleted. Remedy: Re-issue the command if the program execution continued since the command was first issued, or take some action to move the program counter from the line where the breakpoint is set. For example, if the program is paused, issue an unpause; enter MEMORY DEBUG and issue the SET_EXEC command. 22601

0-INFO

Parameter must be a number

Cause: Something other than a number was specified for a command requiring a numeric parameter. 22602

0-INFO

Bad arm number

Cause: The specified arm number was incorrect or not present in the current configuration. 22603

0-INFO

Bad ax number

Cause: The specified axis number was incorrect or not present in the current arm configuration. 22604

0-INFO

String too long

Cause: The specified string parameter is longer than the maximum allowed. 22605

0-INFO Cause:

Bad port index

The specified port index was incorrect or not present in the current configuration. 22606

0-INFO

Bad protection level

22607

0-INFO

Bad time format

Cause: An incorrect time was specified. Remedy: The time must be specified using the format HH:MM:SS, where HH means Hours (00-24), MM means Minutes (00-59), and SS means Seconds (00-59). 22608

0-INFO

Bad date format

Cause: An incorrect date was specified. Remedy: The date must be specified using the format DD-MM-YY, where DD means Day (01-31), MM means Month (01-12), and YY means Year (00-99). 22609

0-INFO

Bad year format

Cause: An incorrect year was specified. The year must be specified using a two character format. For example, 1991 must be expressed as 91. 22610

0-INFO

Disabled due to memory prot

Cause: This command cannot be executed because memory protection is on. Remedy: If appropriate, use the SET CONTRLER PROTECTION (SCP) command to disable memory protection before issuing the desired command. 22611

0-INFO

Disabled due to system prot

Cause: This command cannot be executed because system protection is on.

Remedy: If appropriate, use the SET CONTRLER PROTECTION (SCP) command to disable system protection before issuing the desired command. 22612

0-INFO

Disabled due to system state

Cause: This command is not allowed because of the current system state. Remedy: Set the system state as required by the command (see manual). 22613

0-INFO

Disabled due to cmnd conflict

Cause: The command cannot be executed because it is in mutual exclusion with another currently active command. Remedy: Wait until the command in mutual exclusion is completed. 22614

0-INFO

Cannot delete on this device

Cause: The delete operation is disabled on the specified device. Remedy: Issue the command locally on that device. 22615

0-INFO

Restart non executed

Cause: The restart was not executed because the user replied "N" to the confirm prompt. 22616

0-INFO

Kind of copy not allowed

Cause: The copy is not allowed between the source and destination devices specified. 22617

0-INFO

Cannot rename on different device

Cause: The RENAME operation is allowed only on the same device. 22618

0-INFO

Kind of print not allowed

Cause: The PRINT command is not allowed between the source and destination devices specified. 22619

0-INFO

Cannot open output stream

Cause: The operation is not executed either because the device was not found or the limit of possible files opened was already reached. Remedy: Check the device connection, the serial line cable, and the port characteristics. Close an opened file. 22620

0-INFO

Bad port name

Cause: The device specified is not a correct port name. the ':' at the end of the device name. 22621

0-INFO

Check the use of

Port type not allowed

Cause: The specified port is not correct for the required operation. Remedy: Check the port name. $GIN, $GOUT. 22622

0-INFO

Correct ports are $DIN, $DOUT, $AIN, $AOUT,

Ambiguous or bad value

Cause: The index or the forced value of the port is not correct. Remedy: Be sure the index value is within the valid range for the current I/O configuration and a forced value is valid for the specified kind of port.

22623

0-INFO

No memory for this operation

Cause: There is not enough memory for executing the command. Remedy: Remove unused programs and variables from execution memory (use the MEMORY ERASE group of commands). If not sufficient, check the system configuration of memory resources. 22633

0-INFO

Bad window name

Cause: The specified string does not correspond to a window name. 22634

0-INFO

Bad servo control board index

Cause: The specified index board is not present in the system. 22635

0-INFO

Holdable stmt only in PROG

Cause: The EXECUTE (E) command was issued with holdable statements (LOCK, UNLOCK, RESUME, MOVE, CANCEL, etc..), but the state of the system was not PROG. Remedy: Change the OP/TP switches to PROG. 22636

0-INFO

Bad stmt for immediate mode

Cause: The statement specified as parameter in the EXECUTE (E) command is not allowed. For example, DISABLE/ENABLE/PURGE CONDITION would cause this error. 22637

0-INFO

Immediate execution not allowed

Cause: Execution of the EXECUTE (E) command is not compatible with the state of the system. For example, this error would occur when the state of the system is changed from PROG to AUTO when the EXECUTE of a holdable statement is currently active. Remedy:

Check that the state of the system is not changed when executing a holdable statement. 22639

0-INFO

Bad numerical value

Cause: A numeric parameter includes a non-numeric character (e.g., 12c3). Remedy: Check the input parameter 22640

0-INFO

Bad $GEN_OVR value

Cause: The value specified is not in the allowed range (1-100). 22641

0-INFO

Bad $TP_GEN_INCR value

Cause: The value specified is not in the allowed range (1-10). 22642

0-INFO

Varfile name conflict

Cause: The PROGRAM GO (PG) command was issued for a program already loaded in memory, with the variable values loaded from a variable file with a different name than the program. Remedy: Use the PROGRAM ACTIVATE (PA) command to start the current situation, or use the MEMORY ERASE VARIABLE (MEV) command and then PROGRAM GO (PG) to start the new configuration (with the variable file name the same as the program name). 22643

0-INFO

File extension required

Cause: This command requires the extension of the file specification. A default is not assumed. 22644

0-INFO

Bad device operation

Cause: The specified device cannot be used for this kind of operation.

22645

0-INFO

Source ext must be cod/var type

Cause: Only files with .COD, .BKC, .VAR, or .BKV extensions can be used as source files in a FILER PRINT (FP) operation from RD: device (RAM Disk) to RD: device. 22646

0-INFO

Dest ext cannot be cod/var type

Cause: Files with .COD, .BKC, .VAR, and .BKV extensions cannot be used as destination files in a FILER PRINT (FP) operation from RD: device (RAM Disk) to RD: device. 22647

0-INFO

Not allowed operation

Cause: Cannot change file attribute for system files. 22648

0-INFO

Program not activated

Cause: The PROGRAM ACTIVATE (PA) command was issued, but the program cannot be activated. The reason for the failure is reported on the scroll window of the TP or CRT (or on $SYS_CALL_OUT in case of SYS_CALL). 22649

0-INFO

Missing variable name

Cause: The command requires a variable name parameter, but the variable name was not specified. For example, the MEMORY ERASE VARIABLE (MEV) command requires a variable name parameter. Remedy: Re-issue the command specifying the variable name. In most cases, the wildcard (*) is allowed. 22650

0-INFO

Command not done for all programs

Cause: A command acting on multiple programs was issued, but the operation failed for some of the programs. The reason for the failure is reported on the scroll window of the TP or CRT (or on $SYS_CALL_OUT in case of SYS_CALL).

Remedy: Determine the reason for the failure and take the appropriate remedy action. 22651

0-INFO

No application event defined

Cause: The UTILITY APPLICATION (UA) command was issued, but there was no application event (AC_CALL_CRT, AC_CALL_TP) enabled at the time. Refer to the "Condition Handlers" chapter of the PDL2 Language Manual for more detailed information. Remedy: Before issuing the command, create and activate a program that defines and enables conditions, for example: - CONDITION[1]: WHEN EVENT AC_CALL_CRT DO . . . - ENDCONDITION . . . - ENABLE CONDITION[1] 22652

0-INFO

Invalid password

Cause: The password specified for the CONFIGURE CNTRLER PASSWORD (CCP) command is not valid. 22653

0-INFO

Command requiring password set

Cause: The password must be set with the CONFIGURE CONTRLER PASSWORD (CCP) command to allow this command to be executed. 22654

0-INFO

Disabled due to DRIVE ON state

Cause: This command can be executed only when in the DRIVE OFF state. 22655

0-INFO

Disabled due to DRIVE OFF state

Cause: This command can be executed only when in the DRIVE ON state.

22656

0-INFO

Disabled due to HOLD system state

Cause: This command cannot be executed in the HOLD state. 22657

0-INFO

Disabled due to AUTO system state

Cause: This command cannot be executed in the AUTO state. 22658

0-INFO

Disabled due to FATAL system state

Cause: This command cannot be executed in the FATAL state. 22659

0-INFO

Stmt not bypassed in all programs

Cause: The PROGRAM STATE BYPASS (PSB) command was issued for more than one program, but the operation failed for some program. Remedy: Determine the cause of the failure and take the appropriate remedy action. 22660

0-INFO

Not supported option

22661

0-INFO

Cannot increase $GEN_OVR

Cause: It is not possible to increase the value of $GEN_OVR from a program (SYS_CALL) or from a remote process for security reasons. In these cases $GEN_OVR can only be decreased in value. Remedy: If the $GEN_OVR value needs to be incremented, the user can press the TP appropriate keys or can issue the command SET ARM GEN_OVR (SAG) from the keyboard (if the Teach Pendant is disconnected) or from the Teach Pendant command menus. 22662

0-INFO

Too many options

Cause: Too many options were specified in the command. For example, issuing a PROGRAM ACTIVATE /CYCLE /MOVE command (PA/C/M) would

return this error. Remedy: Re-issue the command specifying the correct number of options. 22663

0-INFO

/List requires /Back and .COD

Cause: Returned when issuing a FILER TRANSLATE /LIST (FT/L) without also specifying the /BACK option. The listing can be obtained only when translating from a .COD to a .PDL file, so the FILER TRANSLATE (FT) should be executed with the /BACK option. Otherwise, the effect would be to translate from a .PDL to a .COD and the listing could not be created. The listing is not allowed on a .VAR or .LSV file. Remedy: Re-issue the command with the correct options. 22664

0-INFO

Not all files translated

Cause: The FILER TRANSLATE (FT) command was issued for more than one program but the operation failed for some programs. The reason for the failure is reported on the scroll window of the TP or CRT (or on $SYS_CALL_OUT in case of SYS_CALL). Remedy: Determine the reason for the failure and take the appropriate remedy action. 22665

0-INFO

Arm number required

22666

0-INFO

Disabled due to TP out of cabinet

Cause: This command cannot be executed when the teach pendant (TP) is connected and out of cabinet. This limitation is linked to safety reasons. Remedy: Insert the teach pnedant in the controller cabinet before issuing the command again. 22667

0-INFO Cause:

Not enough space for pop-up window

The pop-up window cannot appear on the screen because there is not enough space. Remedy: Remove some other pop-up windows before re-issuing the command. 22668

0-INFO

Disabled due to remote state

Cause: This command cannot be executed because the controller is in a remote state. Remedy: Change the controller status to execute the command. 22669

0-INFO

Bad baud rate value

Cause: The specified baud rate value is not in the range of allowed values. Remedy: Use one of the allowed values (110, 300, 1200, 2400, 4800, 9600, 19200, 38400). 22670

0-INFO

Field not present in this path

Cause: The specified field has not been declared as belonging to the path node. Remedy: If the field is needed, add it to the NODEDEF declaration for the path. 22671

0-INFO

Not a path type variable

Cause: This error happens when trying to insert a node on a variable type different than path. Remedy: Check for the correctness of the operations. 22672

0-INFO

Bad arm number for this path

Cause: This error happens when trying to insert a node or modifying the $MAIN_POS for a node belonging to a path variable using a different arm than the one declared in the node structure. Remedy: Use the arm declared in the node structure for that path variable. 22673

0-INFO

Cannot insert. Check CP & TP switch

Cause: The REC or the MOD key has been pressed on the TP. The action cannot be executed because the system state is not in the right condition. Teaching is only permitted in PROG state. Remedy: Put the controller in PROG state. Check the current state on the system screen in the upper window (system window.) 22674

0-INFO

Cannot delete. Check CP & TP switch

Cause: The DEL key has been pressed on the TP. The action cannot be executed because the system state is not in the right condition. Teaching is only permitted in PROG state. Remedy: Put the controller in PROG state. Check the current state on the system screen in the upper window (system window.) 22675

0-INFO

Cannot modify. Bad var type

Cause: The MOD key has been pressed on the TP. The action cannot be executed because the current variable data type is not allowed in this operation. You can only modify single data type variable at a time (not arrays or path variable type). 22676

0-INFO

Wrong node index

Cause: You are trying to modify a field of a path node with a bad node index value. Remedy:

Check the node index value and the current number of nodes for that path. 22677

0-INFO

Cannot modify. Check CP & TP switch

22678

0-INFO

Prog must be loaded with /FULL opt

22679

0-INFO

Disabled due to program protect

Cause: This command cannot be executed because the program execution protection is on. Remedy: If appropriate, use the SET CONTRLER PROTECTION (SCP) command to disable program protection before issuing the desired command. 22680

0-INFO

String not found

22681

0-INFO

Disabled due to EZ active

Cause: The command is not enabled because EZ is active. Remedy: Change to EZ screen. 22682

0-INFO

Invalid file type

22683

2-WARNING

Program not modified

22684

2-WARNING

Cannot enable an arm in SIMULATE mode

22685

0-INFO

Data not available

22686

0-INFO

Option disallowed with no RPT

Cause: This error occurs upon Configure Arm Turn_set when option /Current is specified but the RPT device is not present for the SCC related to the specified arm. Remedy:

Issue again the Turn_set command without specifying the /Current option. 24576

2-WARNING

$STARTUP started

Cause: Indicates the startup program, specified in $STARTUP, was started. Remedy: This is an informational message and requires no user remedy. 24577

2-WARNING

$STARTUP not started

Cause: Indicates the startup program was not activated. The error number reported in this message is the cause of the failure of the activation. Remedy: Check the error corresponding to the number reported with this message. For example: "$STARTUP not started 22563" indicates error number 22563 which is "File .cod not found". 24578

2-WARNING

$STARTUP Press START

Cause: Indicates the startup program was activated. Being a holdable program, it also requires the START button be pressed. 24579

4-PAUSE

SYS_CALL bad char in cmnd

Cause: Indicates a non alphanumeric character is specified in the command string of the SYS_CALL. The command string of the SYS_CALL is the first parameter to provide to the SYS_CALL. The following example would cause this error since the "_" is non alphabetic: - SYS_CALL ('_i', 'pippo') Remedy: The command string of the SYS_CALL can only contain alphanumeric characters (A-Z, a-z, 0-9). Check which is the correct string corresponding to the desired command. 24580

4-PAUSE Cause:

SYS_CALL bad cmnd

Indicates a nonexisting command is specified in the command string (first parameter) of the SYS_CALL. The following example would cause this error since the MEMORY VIEW (MV) menu does not include a K command. - SYS_CALL('mvk', 'pippo') Remedy: Check which is the correct string corresponding to the desired command. 24581

4-PAUSE

SYS_CALL too few char in cmnd

Cause: Indicates the command string (first parameter) in the SYS_CALL contains too few characters for the command identification. The following example would cause this error since FILER (F) is not a complete command: - SYS_CALL('f', 'pippo') Remedy: Check and modify the first parameter to the SYS_CALL. 24582

4-PAUSE

SYS_CALL too many char in cmnd

Cause: Indicates the command string (first parameter) in the SYS_CALL contains too many characters for the command identification. The following example would cause this error since the FILER COPY (FC) command does not have any submenus: - SYS_CALL('fcgh', 'pippo') Remedy: Check and modify the first parameter to the SYS_CALL. 24583

4-PAUSE

SYS_CALL cmnd not available

Cause: Indicates a command already present on the command menu but not yet implemented is specified in the command string of the SYS_CALL. Remedy: Do not use unimplemented commands as parameters to SYS_CALL. 24584

4-PAUSE

SYS_CALL cmnd not allowed

Cause: Indicates a command that cannot be executed from SYS_CALL is specified in the command string of SYS_CALL. The following example would cause this error since PROGRAM EDIT (PE) is not permitted from SYS_CALL: - SYS_CALL('PE', 'pippo') Remedy: Check which are the commands not allowed from SYS_CALL and do not use them. 24585

4-PAUSE

SYS_CALL bad number of parameters

Cause: Indicates the number of parameters given to the SYS_CALL is not what is expected for that command. The following example would cause this error as the name of the label on which the breakpoint should be set is not specified: - SYS_CALL('ptbi/l', 'pippo') Remedy: Check which is the correct number of parameters needed for a certain command and specify them as parameters of the SYS_CALL. 24586

4-PAUSE

SYS_CALL bad option specified

Cause: Indicates an unexpected option for a certain command is specified in the SYS_CALL. The following example would cause this error as K is not a valid option for the PROGRAM VIEW (PV) command. - SYS_CALL('PV/K', 'pippo') Remedy: Check which are the expected options for the desired command. An easy way for checking this is to issue the option key (/) for the command on the CRT/TP. When issued, a menu of possible options for the command is displayed. 24587

4-PAUSE

SYS_CALL no options allowed

Cause: Indicates an option is specified in the command string when the command does not expect any. The following example would cause this error as the PROGRAM TEST STEP CYCLE (PTSC) command does not have any options:

-

SYS_CALL('PTSC/F', 'pippo')

Remedy: Remove the option specification from the command string: in the example above the correct statement is: - SYS_CALL('PTSC', 'pippo'). 25600

2-WARNING

Bad $TUNE[1], set cond scan

Cause: A value out of range is assigned to the variable $TUNE[1] containing the Condition Handler scanning time. The correct range is from 10 to 5000 milliseconds. For example, "$TUNE[1] := 6000" would cause this warning to be displayed. Remedy: No remedy is needed as the system automatically changes the value of $TUNE[1] to the default value (20 milliseconds). 25601

2-WARNING

cond has been redefined

Cause: A condition is defined more than once. The following example shows a situation in which this warning would be returned: - PROGRAM a - BEGIN CONDITION[1]: WHEN HOLD DO $FDOUT[5] := ON ENDCONDITION . . . . . . -- Execution of the next statement will -cause the error if the condition[1] was -not previously purged. CONDITION[1]: WHEN START DO $FDOUT[5] := OFF ENDCONDITION . . . - END a In the above example, CONDITION[1] is defined twice. The warning is given when the second definition is executed. Note that only the last definition is considered, so in the example above the event monitored will be the START and not the HOLD. Remedy: No action is necessary. This is only a warning. It is up to the

user to decide if a certain condition is to be redefined at a certain point of the program or if this warning indicates a programming error. 25602

2-WARNING

cond already enabled

Cause: An enabling operation is performed on a condition and the condition is already enabled. The following example could cause such a warning when the condition triggers: - CONDITION[3] NODISABLE: WHEN HOLD DO ENABLE CONDITION[3] - ENDCONDITION In fact, the NODISABLE clause allows the condition to remain enabled when it triggers; so the ENABLE action has no meaning in this context and would cause the warning to be returned. Another case is when the condition contains motion events and the condition is enabled both globally and locally. In this case the condition may trigger at the wrong motion segment. In particular, this can happen when the global condition is also locally enabled for a MOVEFLY .. ADVANCE and the condition expression is AT END. It is recommended that the same condition or type of condition event should not be used globally and locally at the same time. Remedy: No action is necessary, this is only a warning. The user should decide if the situation is correct or if this warning indicates a programming error. 25603

2-WARNING

cond already disabled

Cause: A disabling operation is performed on a condition and the condition is in fact already disabled. Remedy: No action is necessary, this is only a warning. It is up to the user to decide if the situation is correct or if this warning indicates a programming error. 25604

8-HOLD

Cond not found

Cause: A condition that does not exist is referenced in a statement. The following example will cause this error since the condition was purged (deleted) right before it is used in the ENABLE statement: - . . .

-

BEGIN . . . PURGE CONDITION[1] ENABLE CONDITION[1]

Remedy: Check the reason why the condition is not present (e.g., not defined, purged, etc.). 25605

4-PAUSE

Cond used locally

Cause: An attempt was made to purge a condition while the condition was locally used. For example, if CONDITION[2] in the following program segment triggers during the MOVE, this error could occur since CONDITION[1] is locally enabled on the MOVE and the action of CONDITION[2] is to purge it: - VAR p1 : POSITION - . . . - BEGIN . . . CONDITION [1]: . . . ENDCONDITION CONDITION [2]: WHEN $DIN[1]+ DO PURGE CONDITION[1] ENDCONDITION ENABLE CONDITION[2] -- CONDITION[1] is locally enabled in -the following statement MOVE TO p1 WITH CONDITION[1] Remedy: Check the PURGE CONDITION statement use. This statement should be executed when the condition being purged is not locally enabled. 25606

8-HOLD

No memory resources for cond

Cause: The operations to be performed for handling conditions requires the use of memory. This error indicates there is not sufficient memory. Remedy: Check the configuration of the memory and/or remove something from memory. 25607

12-DRIVE OFF Cause:

No CPU resources for cond

This error can occur when bad condition handler programming methods are used. Usually this happens when the actions of one condition handler trigger the execution of another condition handler or when a condition is continuously enabled, by either an ENABLE CONDITION statement or the NODISABLE attribute. The actions that can cause this problem are: the program actions (ACTIVATE, PAUSE, etc..), the routine call action, the RESUME action, and the SIGNAL and CANCEL of semaphore actions. These actions use a lot of CPU time, and therefore should be used in conditions that do not trigger every scan. Remedy: Check if there are programs running with condition handlers written as described above. Change those conditions to use less CPU time. For example, if possible make the state condition an event condition, or remove the NODISABLE attribute and enable the condition only when it is strictly needed. If, on the contrary, there are programming mistakes contact Comau. 26624

14-FATAL

No memory for PLC communication

Cause: The communication is done via shared pool and the free memory is not enough. Remedy: Check the system configuration of memory resources, and if in doubt contact the Comau dealer. 26625

14-FATAL

Board SIM1 failed

Cause: General failure in first SIM board: fuse or cable problems. Remedy: Check the board to determine if some fuses are open or if some cables connected to the board are broken. 26626

14-FATAL

Board SIM2 failed

Cause: General failure in second SIM board: fuse or cable problems. Remedy: Check the board to determine if some fuses are open or if some cables connected to the board are broken.

26627

14-FATAL

Board IOS1 failed

Cause: General failure in first IOS board: fuse or cable problems. Remedy: Check the board to determine if some fuses are open or if some cables connected to the board are broken. 26628

14-FATAL

Board IOS2 failed

Cause: General failure in second IOS board: fuse or cable problems. Remedy: Check the board to determine if some fuses are open or if some cables connected to the board are broken. 26629

14-FATAL

Read back SIM1 failed

Cause: Failure in internal read back output register of SIM board. Remedy: The board must be repaired. 26630

14-FATAL

Read back SIM2 failed

Cause: Failure in internal read back output register of SIM board. Remedy: The board must be repaired. 26631

14-FATAL

Read back IOS1 failed

Cause: Failure in internal read back output register of IOS board. Remedy: The board must be repaired. 26632

14-FATAL

Read back IOS2 failed

Cause: Failure in internal read back output register of IOS board. Remedy: The board must be repaired. 26633

2-WARNING

Failure reading port image

Cause: There are one or more I/O points (ports) in conditions that are not present. Remedy: Check to see if there are some programs running with conditions and if the ports affected by the conditions are present. Probably due to an I/O configuration, these ports are no longer mapped or are mapped with a different index. The failure number can help you--search for this number in the standard error. 26634

14-FATAL

Failure in $TIMER allocation

Cause: There is not enough system memory to allocate all required timers, probably due to a large value for $NUM_TIMERS. Remedy: Reduce the $NUM_TIMERS value to the minimum required in your application. The standard default value is 16. 26635

10-DRIVE OFF tbl

BS: (,) update failed or mismatch in cnfg

Cause: There is a general failure updating the specific I/O board or, via an I/O configuration tool, someone changed the logical table defining boards different than the present boards. Remedy: Check the insertion of the board in the slot. Check via configuration tool if the logical table matches the hardware configuration and, if necessary, correct to be in accordance with the mapping rules stated in the C3G manual. Command eventually an autoconfiguration and if the problem still remains, check the board functionality. 26636

10-DRIVE OFF

BS: (,) I/O module failed

Cause: Failure of an I/O board inside the specified base. Normally this is an internal hardware problem. Remedy: Verify the board connection. Try to remove and reinsert the I/O module. If the problem still remains, the module must be repaired. 26637

10-DRIVE OFF

Base failed

Cause: A base does not answer to the system. Common reasons for this kind of error are: the base is switched off, the High Speed I/O cable is disconnected or broken, or there is a hardware problem in the base. Remedy: Check the power of the base if the cable is connected properly. If it is not damaged, the remote base controller or the remote base power supply probably has some hardware problem. 26638

2-WARNING

Logical mapped to physical table

Cause: The C3G controller did a self mapping of all I/O found in the system. This kind of warning happens the first time the controller is switched on after a reboot (complete software download) and also if, via a configuration tool, all of the bases of the controller are cleared. Remedy: This is only an informational message. The message can be removed by saving the current I/O configuration into the C3G.SYS file. 26639

10-DRIVE OFF

PLC overhead percentage out of range

Cause: The PLC program attempted to use too much of the RBC CPU resource and inserted a wait-state to allow the RBC to function correctly. Remedy: If the wait-state insertion is undesirable, reduce the program size. 26640

10-DRIVE OFF Cause:

PLC RLL scan threshold exceeded, STW194 incremented

The PLC program attempted to use too much of the RBC CPU resource and inserted a wait-state to allow the RBC to function correctly. Remedy: If the wait-state insertion is undesirable, reduce the program size. 26641

10-DRIVE OFF

Board INTEC() failed

Cause: The INTEC board has detected a HARDWARE failure by its own safety circuit. Remedy: Replace the board. 26642

10-DRIVE OFF

Board INTEC() WATCHDOG error

Cause: The INTEC board has detected a HARDWARE failure by the WATCHDOG safety circuit that checks the on-board microprocessor functions. Remedy: Replace the board. 26643

10-DRIVE OFF

Board INTEC() 24V SUPPLY missing

Cause: The INTEC board detects the absence of the necessary 24V supply for digital Input/Output. Remedy: Check the connection on the board and on the cabinet. 26644

10-DRIVE OFF

Board INTEC() FUSE fault

Cause: The fuse on the INTEC board is blown. Remedy: Replace the fuse. 26645

10-DRIVE OFF failure

Board INTEC() ANALOG output SUPPLY

Cause: The INTEC board detects a failure on the analog output supply. The possible causes are: short circuit on the analog output, analog output overload, CONTROL UNIT supply failure. Remedy: Check analog output connection and load, if the error remains, replace the INTEC board. 26646

2-WARNING fast

Event $[] triggers too

Cause: The value of a port changes too frequently. Due to system overhead it is not guaranteed that all the flips are detected. This occurs for example if a $DIN passes from 1 to 0 and to 1 again in a time interval of 30 milliseconds. Remedy: Change the I/O event on that port in a I/O state condition. 27648

14-FATAL

File ERROR.LOG not created

Cause: The system tried to create the ERROR.LOG file because it is not present on the RAM disk (RD:). The operation failed due to some RAM disk problem. The most common problem is the RAM disk is full or too many files are on the RAM disk. Remedy: Remove any unnecessary files (e.g., .BK*). 27649

14-FATAL

File ERROR.LOG not found

Cause: The system did not find the ERROR.LOG file that should be present because it tried to create it. Remedy: Remove any unnecessary files (e.g., .BK*). Also check the system variables $NUM_LOG and $LEN_LOG to see if they contain large values and reduce them according to free space on the RAM disk. 27650

8-HOLD Cause:

Renaming in error

The system found an ERROR.LOG file that does not match the current file specification. The system needs to create a new ERROR.LOG file but gets the reported error trying to save the old log file. Remedy: No user action is required. The system will recover by itself from this error. 27651

8-HOLD

Deleting file error

Cause: The system tried unsuccessfully to delete an old saved version (.BCK) of the ERROR.LOG file. Remedy: Check the specified file attribute and remove any protection. 27652

14-FATAL

Cannot read ERROR.LOG

Cause: The system found the ERROR.LOG file, but the file was corrupted. Remedy: The system will recover by renaming the corrupted file to a .BCK version and creating a new version of the ERROR.LOG file. If not needed, delete the .BCK file. 27653

14-FATAL

Cannot open ERROR.LOG

Cause: The system tried to create the ERROR.LOG file because it was not present on the RAM disk or the system needs to create a new version. The operation failed due to some RAM disk problem. The most common problem is RAM disk full or too many files on the RAM disk. Remedy: Remove any unnecessary files (e.g., .BK*). Also check the system variables $NUM_LOG and $LEN_LOG to see if they contain large values and reduce them according to the free space on the RAM disk. 27654

14-FATAL

Cannot close ERROR.LOG

Cause: The system tried to close the ERROR.LOG file but failed due to some RAM disk problem. The most common problem is RAM disk full or too many files on the RAM disk.

Remedy: Remove any unnecessary files (e.g., .BK*). Also check the system variables $NUM_LOG and $LEN_LOG to see if they contain large values and reduce them according to the free space on the RAM disk. 27655

14-FATAL

Cannot close ERROR.BCK

Cause: The system tried to close the ERROR.BCK file, but failed due to some RAM disk problem. The most common problem is RAM disk full or too many files on the RAM disk. Remedy: Remove any unnecessary files (e.g., .BK*) 27656

8-HOLD

Bad initial value of $NUM_ELOG

Cause: The initialization value of the $NUM_ELOG system variable is outside the allowable range. Remedy: Check the $NUM_ELOG system variable value and range, and set the system variable to a proper number. Choosing a large value can cause a RAM disk error if there is no room on the RAM disk to create the file containing the specified $NUM_ELOG errors. 27657

8-HOLD

Bad initial value of $LEN_ELOG

Cause: The initialization value of the $LEN_ELOG system variable is outside the allowable range. Remedy: Check the $LEN_ELOG system variable value and range, and set the system variable to a proper number. Choosing a large value can cause a RAM disk error if there is no room on the RAM disk to create the file containing the specified $LEN_ELOG errors. 27658

8-HOLD

Bad initial value of $SEV_ELOG

Cause: The initialization value of the $SEV_ELOG system variable is outside the allowable range. Remedy:

Check the $SEV_ELOG system variable value and range, and set the system variable to a proper number. 27659

14-FATAL

RAM disk full for ERROR.LOG

Cause: The system tried to create the ERROR.LOG file, but failed because the RAM disk is full. Remedy: Remove any unnecessary files (e.g., .BK*). Also check the system variables $NUM_LOG and $LEN_LOG to see if they contain large values and reduce them according to free space on the RAM disk. 27660

14-FATAL

Bad ERROR.LOG file size

Cause: The system detected a wrong size of the ERROR.LOG file that is probably corrupted. Remedy: The corrupted ERROR.LOG file must be deleted; restart then the system so that the controller can create a new ERROR.LOG file with the correct format and size. 28672

15-FATAL

RBC diagnostic error:

Cause: The hardware test failed. Remedy: Replace RBC board. 28673

15-FATAL

RBC RAM error add:

Cause: The hardware test detected an error in RAM memory (local or shared). Remedy: Replace RBC board. 28674

15-FATAL Cause:

RBC no response from CPU

The hardware test failed during diagnostic handshake with the board containing the microprocessor. Remedy: Replace the RBC board and/or the other CPU board. 28675

14-FATAL

RBC aborted task

Cause: A task is stopped by the operating system due to an unrecoverable error. Remedy: Restart the system software by powering off the electronics of the controller. If the error happens again, re-load the system software. 28676

15-FATAL

RBC operating system failure

Cause: The operating system stopped itself due to an unrecoverable error. Remedy: Restart the system software by powering off the electronics of the controller. If the error happens again, re-load the system software. 28677

15-FATAL

RBC SYSFAIL error

Cause: One of the microprocessor boards on the rack signaled an error to the other. Remedy: Replace the board with SYSF LED lighted. 28678

15-FATAL

RBC WATCHDOG error

Cause: System software is not working correctly, the security hardware WATCHDOG circuit detected a software malfunction. Remedy: Re-load the system software or replace the RBC board.

28679

15-FATAL

SCC: diagnostic error:

Cause: The hardware test failed. Remedy: Replace SCC board. 28680

15-FATAL

SCC: RAM error add:

Cause: The hardware test detected an error in RAM memory (local or shared). Remedy: Replace SCC board. 28681

15-FATAL

SCC: No response from CPU

Cause: The hardware test failed during diagnostic handshake with the board containing the microprocessor. Remedy: Replace the SCC board and/or the other CPU board. 28682

15-FATAL

SCC: WATCHDOG error

Cause: System software is not working correctly. The security hardware WATCHDOG circuit detected a software malfunction. Remedy: Re-load the system software or replace the RBC board. 28683

15-FATAL

SCC: operating system failure

Cause: The operating system stopped itself due to an unrecoverable error. Remedy: Restart the system software by powering off the electronics of the controller. If the error happens again re-load the system software.

28684

15-FATAL

SCC: SYSFAIL error

Cause: One of the microprocessor boards on the rack signaled an error to the other. Remedy: Replace the board with SYSF LED lighted. 28685

14-FATAL

SCC: aborted task

Cause: A task is stopped by the operating system due to an unrecoverable error. Remedy: Restart the system software by powering off the electronics of the controller. If the error happens again, re-load the system software. 28686

15-FATAL

PLC diagnostic error:

Cause: The hardware test failed. Remedy: Replace the PLC board. 28687

15-FATAL

PLC RAM error add:

Cause: The hardware test detected an error in the RAM memory (local or shared). Remedy: Replace PLC board. 28688

15-FATAL

PLC No response from CPU

Cause: The hardware test failed during diagnostic handshake with the board containing the microprocessor. Remedy:

Replace the PLC board and/or the other CPU board. 28689

15-FATAL

PLC WATCHDOG error

Cause: System software is not working correctly. The security hardware WATCHDOG circuit detected a software malfunction. Remedy: Re-load the system software or replace the PLC board. 28690

15-FATAL

PLC operating system failure

Cause: The operating system stopped itself due to an unrecoverable error. Remedy: Restart the system software by powering off the electronics of the controller. If the error happens again, re-load the system software. 28691

15-FATAL

PLC SYSFAIL error

Cause: One of the microprocessor boards on the rack signaled an error to the other. Remedy: Replace the board with SYSF LED lighted. 28692

14-FATAL

PLC aborted task

Cause: The system software is not working correctly. The security hardware WATCHDOG circuit detected a software malfunction. Remedy: Re-load the system software or replace the RBC board. 28693

11-DRIVE OFF

Lack of power supply 24Vdc for the I/O

Cause: A lack of the power supply 24Vdc for the I/O boards occurred. A specific input of the SIM board detected the lack of current. This can be either be due to a quick blackout or to the burn of a fuse

on the 24V line. In the first case, the CONTROL UNIT was not powered down thanks to the presence of a backup condenser that maintains the power for at least 5 seconds. Remedy: Verify if the 24Vdc is already absent trying to remove the alarm. If the operation completes successfully, this means that a temporary blackout occurred and nothing needs to be repaired. If the alarm occurs again, the short-circuit must be found and removed and the fuse must be replaced. 28694

11-DRIVE OFF

Safety gate or Emergency STOP

Cause: The input n. 4 on the SIM board is low. This means that the safety gate was open or a remote emergency stop was pressed. Remedy: Close the safety gate to allow the DRIVE ON request. 28695

11-DRIVE OFF

SCC: robot alarm

Cause: The input n. 17 for the SCC 1 or n. 25 for the SCC 2 on the SIM board is low during a DRIVE ON request. This means that the alarm cable coming from the robot connected to SCC 1 or 2 is open, normally this input is used by an application device to signal malfunctions to the robot controller. Remedy: Check external device connected to this alarm input; or check the related by-pass link that can be on the controller or the robot connectors. 28696

11-DRIVE OFF

SCC: safety flange open

Cause: The input n. 18 for the SCC 1 or n. 26 for the SCC 2 on the SIM board is low during a DRIVE ON request. This means that the tool on the robot collided with something. Remedy: Check the tool and the robot position. To remove the robot from the unsafe position, press the EXCL (flange alarm exclusion) key on the TP, switch on the drives, and move the robot slowly and carefully. If you do not use the safety flange equipment on the robot, check the related by-pass link that can be on the controller or the robot connectors.

28697

10-DRIVE OFF

SCC: air pressure fault

Cause: The input n. 19 for the SCC 1 or n. 27 for the SCC 2 on the SIM is low during a DRIVE ON request. This means that there is not enough air pressure to balance the robot or for the application device. Remedy: Check the air supply and determine if the robot does not use air. Check close loop on X30 connector. 28698

10-DRIVE OFF

Cabinet cooling failure

Cause: The input n. 6 on the SIM is low. This means that the air filter needs to be cleaned or the conditioner does not work. Remedy: Clean the air filter behind the cabinet or, if present, check the conditioner. 28699

2-WARNING

DRIVE ON lamp broken

Cause: One of the DRIVE ON lamps in the system is broken. Remedy: Check and replace the lamp. 28700

2-WARNING

Cabinet overtemp pre-alarm

Cause: The temperature inside the cabinet is reaching the working limit. Remedy: Check the air cooling circuit components. If components are working properly, the work cycle of the robot is too heavy or the external temperature is too high. 28701

10-DRIVE OFF

Cabinet overtemperature

Cause: The temperature inside the cabinet is too high. Remedy:

Check the air cooling circuit components. If components are working properly, the work cycle of the robot is too heavy or the external temperature is too high. 28702

8-HOLD

Bad CONTROL UNIT battery

Cause: The memory back-up battery on the CONTROL UNIT rack is low. Remedy: Replace the battery or check the charge circuit. 28703

10-DRIVE OFF

Outp 1 relay short circuit

Cause: The output 1 relay on the SIM board is always closed. Remedy: Replace the SIM board. 28704

10-DRIVE OFF

Outp 1 relay fail

Cause: The output 1 relay on the SIM board doesn't work. Remedy: Check the 24V supply. If the 24V supply is OK, then replace the SIM board. 28705

10-DRIVE OFF

Alarms inhibit relay fail

Cause: The relay to inhibit alarms on the SIM board does not work. Remedy: Replace the SIM board. 28706

10-DRIVE OFF

Reduced speed relay fail

Cause: The relay to reduce supply to motor drives does not work. Remedy:

Check reduced speed circuit. 28707

11-DRIVE OFF

Safety chain circuit open

Cause: One or more contacts of the safety chain circuit are open. The relay that powers the motor drives cannot remain closed. Remedy: Some checks must be performed for understanding what caused the problem. Check the Control Panel SAFETY STOP button and also the one on the Teach Pendant (if connected): both buttons must be released. Check the plugs of the connectors of the Teach Pendant and of the Emergency Terminal on the Control Panel: both must be correctly inserted. Check the SFT leds present on RBC, SCC boards or on one of the DRIVES module: if red lighted, this could either be due to a software problem (check if logged on the controller system screen), or to a hardware one (please consult the electrical scheme provided with the controller). Check that the stroke end cable and its switch on the robot are not broken. Check that the plug needed for the unused axes that is located on the multiple axis DRIVES module is not broken. 28708

10-DRIVE OFF

SCC: power relay short circuit

Cause: The relay to supply power to the motor drives is closed (not due to the software command) on the related output of the SIM board. Remedy: Check the SIM output, the connection, and the relay. Replace the bad component(s). 28709

10-DRIVE OFF

Reduced speed short circuit

Cause: The reduced speed relay is always closed. Remedy: Check reduced speed relay. 28710

10-DRIVE OFF

Drives communication fail

Cause: The RBC board did not receive an answer to the command sent to DRIVES modules through the SCC board. Remedy:

Check the SCC board and the serial connection from the SCC to DRIVES modules or reset DRIVES modules. 28711

10-DRIVE OFF

START failure

Cause: The RBC board cannot correctly complete the START procedure because the SCC board did not reply. Remedy: Check the SCC board or reset the system. 28712

10-DRIVE OFF

HOLD failure, STS:

Cause: The RBC cannot complete the HOLD procedure correctly. Remedy: Check the SCC board or reset the system. 28713

10-DRIVE OFF No answer from SCC during command (phase:) Cause: The RBC board did not receive an answer to the command sent to the SCC board during a DRIVE-ON or DRIVE-OFF procedure. The number of the procedure phase is specified. Remedy: Check the SCC board or reset the system.

28714

10-DRIVE OFF CP switch fault, STS: Cause: The PROGR/AUTO switch on the control panel does not work correctly. There is more than one signal at the same time. This means that the switch position is ambiguous. Remedy: Check the PROGR/AUTO switch or connection with the control panel electronic board.

28715

2-WARNING

$TUNE[] value out of range

Cause: One or more elements of $TUNE has an invalid value. Remedy: Check the manual for the valid range or check the C3G.SYS file. 28716

2-WARNING

Arm not calibrated

Cause: Motion was started on an arm that is not calibrated. Remedy: Try to recover the calibration data before running the calibration tool. Check to see if the arm should be calibrated or the calibration data can be loaded from the RPT. 28717

2-WARNING

HOLD from PDL2 statement

Cause: One of the PDL2 programs sent a HOLD command to the system. Remedy: Release the HOLD by pressing the HOLD button on control panel or the teach pendant. 28718

2-WARNING

Release 'Hold-To-Run' on TP

Cause: The TP Hold-To-Run switch was pressed when processing a DRIVE ON request. Remedy: The Hold-To-Run switch must be released before requesting DRIVE ON or release and press it again after the DRIVE ON request is completed. The system must check to see if it works at every DRIVE ON request. 28719

2-WARNING

TP presence switch on

Cause: The TP Hold-To-Run switch was pressed while the TP is on the cabinet. This is also a safety test for revealed TP presence switch malfunction. Remedy:

Remove the TP from the cabinet if you want to use a MANUAL MOTION feature that requires the Hold-To-Run switch or check if the TP presence switch is working correctly. 28720

2-WARNING

DRIVE ON not allowed in ALARM state

Cause: The system received a DRIVE ON request in ALARM state. Remedy: Remove the ALARM before pressing the DRIVE ON button. 28721

2-WARNING

DRIVE ON not allowed in HOLD state

Cause: The system received a DRIVE ON request in HOLD state. Remedy: Remove the HOLD before pressing the DRIVE ON button. 28722

2-WARNING

DRIVE ON allowed from TP only

Cause: The system received a DRIVE ON request with the PROGR/AUTO switch in the PROG position. Remedy: Use the DRIVE ON button on the teach pendant while in PROG mode. 28723

2-WARNING

DRIVE ON allowed from CP only

Cause: The system received a DRIVE ON request with the PROGR/AUTO switch in the AUTO-LOCAL position. Remedy: Use the DRIVE ON button on the control panel while in AUTO-LOCAL mode. 28724

2-WARNING

DRIVE ON allowed from REMOTE only

Cause: The system received a DRIVE ON request with PROGR/AUTO switch in the AUTO-REMOTE position.

Remedy: Use a DRIVE ON request from the remote device while in AUTO-REMOTE mode. 28725

2-WARNING

START not allowed in ALARM state

Cause: The system received a START request in ALARM state. Remedy: Remove the ALARM before issuing the START request. 28726

2-WARNING

START not allowed in HOLD state

Cause: The system received a START request in HOLD state. Remedy: Remove the HOLD before issuing the START request. 28727

2-WARNING

START allowed from TP only

Cause: The system received a START request with the PROGR/AUTO switch in the PROG position. Remedy: Use the START button on the TP. 28728

2-WARNING

START allowed from CP only

Cause: The system received a START request with the PROGR/AUTO switch in the AUTO-LOCAL position. Remedy: Use the START button on the control panel. 28729

2-WARNING

START allowed from REMOTE only

Cause: The system received a START request with the PROGR/AUTO switch in the AUTO-REMOTE position.

Remedy: Issue the START request from the remote device. 28730

2-WARNING

No arm enabled for DRIVE ON

Cause: All arms are disabled, you cannot issue a DRIVE ON request for a disabled arm. Remedy: Enable the arms before pressing the DRIVE ON button. 28731

2-WARNING

Arm already in DRIVE ON

Cause: The system received a DRIVE ON request for an arm that is already in DRIVE ON. 28732

2-WARNING

Arm already in DRIVE OFF

Cause: The system receive a DRIVE OFF request for an arm that is already in DRIVE OFF. 28733

10-DRIVE OFF

SIM inp20 failure

Cause: The feedback input of the power relay does not work correctly. Remedy: Check the power relay and the connection to the SIM board. 28734

10-DRIVE OFF

SIM inp20 noise

Cause: The feedback input of the power relay gets noise (too many fast status changes.) Remedy: Check the power relay and the connection to the SIM board. 28735

2-WARNING Cause:

DRIVE ON disallowed in recovery or restart

The system received a DRIVE ON request during the power failure recovery or restart procedure. Remedy: Please wait until the end of the recovery procedure or restart procedure before pressing the DRIVE ON button. 28736

2-WARNING

START not allowed during recovery

Cause: The system received a START request during the power failure recovery procedure. Remedy: Please wait until the end of recovery procedure before issuing the START request. 28737

2-WARNING

Power failure recovery failed

Cause: The RBC cannot complete the power failure recovery procedure. Remedy: Check the SCC board or the physical condition of the arm. 28738

2-WARNING

DRIVE OFF due to arm changed in PROG

Cause: Arm selection changed while DRIVE ON. Only the arm selected can be in DRIVE ON. In PROG, the system switches the previous arm to DRIVE OFF. 28739

2-WARNING

DRIVE ON not allowed with CP DRIVE OFF

Cause: The system received a DRIVE ON request while the control panel DRIVE OFF button is in the latched position. Remedy: Unlatch the DRIVE OFF button on the control panel. 28740

2-WARNING Cause:

DRIVE ON not allowed with TP DRIVE OFF

The system received a DRIVE ON request while the teach pendant DRIVE OFF button is in the latched position. Remedy: Unlatch the DRIVE OFF button on the teach pendant. 28741

2-WARNING

DRIVE ON not allowed with REMOTE DRIVE OFF

Cause: The system received a DRIVE ON request while the REMOTE DRIVE OFF is active. Remedy: Remove the REMOTE DRIVE OFF. 28742

2-WARNING

DRIVE ON allowed in AUTO state only

Cause: The system received a LOCAL ARM CONTROL PANEL command in PROG state. Remedy: Change the PROGR/AUTO switch to AUTO-LOCAL or AUTO-REMOTE. 28743

2-WARNING

DRIVE ON not allowed with ARM CP DRIVE OFF

Cause: The system received a LOCAL ARM CONTROL PANEL command for an arm that has DRIVE OFF. Remedy: Release the DRIVE OFF before the DRIVE ON request. 28744

2-WARNING

START allowed in AUTO state only

Cause: The system received LOCAL ARM CONTROL PANEL command in PROG state. Remedy: Change the PROGR/AUTO switch to AUTO-LOCAL or AUTO-REMOTE. 28745

2-WARNING Cause:

START not allowed with ARM CP HOLD

The system received a LOCAL ARM CONTROL PANEL command for an arm that is in a HOLD state. Remedy: Release the HOLD before issuing a START request. 28746

2-WARNING

ARM CP command for arm not present

Cause: The system received a LOCAL ARM CONTROL PANEL command for an arm that does not exist. 28747

2-WARNING

DRIVE ON not allowed on disabled arm

Cause: The system received a DRIVE ON request for a disabled arm. Remedy: Enable the arm before issuing the DRIVE ON request. 28748

2-WARNING

START with arm in DRIVE OFF

Cause: The system received a START request with DRIVE OFF status. Remedy: The START is completed only when the robot can move. ON request before the START. 28749

10-DRIVE OFF

Issue a DRIVE

RIO link cable fail

Cause: The RIO board link cable is disconnected. Remedy: Check the connector on RIO board. 28750

10-DRIVE OFF

RIO communication time-out

Cause: The RIO board lost connection with the PLC. Remedy: Check connection between the RIO board and the PLC or check the PLC

status. 28751

2-WARNING

DRIVE ON not allowed with RIO DRIVE OFF

Cause: The system received a DRIVE ON request with DRIVE OFF from the RIO board. Remedy: Remove the DRIVE OFF status from the RIO board. 28752

2-WARNING

Another network command in progress

Cause: The system received a command from a network while it was executing another command. Remedy: The network has to wait for an answer from the previous command before sending another. 28753

2-WARNING

DRIVE ON aborted

Cause: The DRIVE ON request from the network is aborted by a local DRIVE OFF request. Remedy: Send another DRIVE ON request. 28754

2-WARNING

Unknown command from network

Cause: The system received an unknown command from the network. 28755

2-WARNING

Status not in ALARM

Cause: The system received a CANCEL ALARM command from the network when it is not in an ALARM state. 28756

10-DRIVE OFF Cause:

Too many interrupts from RIO line

The system received too many interrupts from the RIO line. Remedy: Check the RIO board. 28757

2-WARNING

DRIVE ON not allowed on simulated arm

Cause: The system received a DRIVE ON request for an arm that is in a simulated state. Remedy: Unsimulate the arm before issuing the DRIVE ON request. 28758

2-WARNING

START not allowed on simulated arm

Cause: The system received a START command in PROG state for an arm that is in a simulated state. Remedy: Unsimulate the arm before issuing the START command in PROG state to confirm execution of MOVE statement. 28759

2-WARNING

BACK not allowed on simulated arm

Cause: The system received a BACK command for an arm that is in a simulated state. Remedy: Unsimulate the arm before issuing the BACK command. 28760

2-WARNING

START from CP allowed in AUTO-L

Cause: The system received a START request while in the PROG state but without an active execution environment (program edit, memory debug, immediate execution). Therefore, the system assumed that the user wants to START a program but forgot to put the PROGR/AUTO switch in the AUTO-LOCAL position. Remedy: Put the PROGR/AUTO switch into the AUTO-LOCAL position if you want to start a program.

28761

2-WARNING

Forward motion not allowed without stroke-end

Cause: Forward motion using the START button is not allowed as the stroke-ends are disabled. Remedy: Issue a HOLD or DRIVE OFF request to reenable the stroke-ends. 28762

2-WARNING

Backwards motion not allowed without stroke-end

Cause: Backwards motion using the BACK button is not allowed as the stroke-ends are disabled. Remedy: Issue a HOLD or DRIVE OFF request to reenable the stroke-ends. 28763

2-WARNING

Press START after Hold-To-Run

Cause: The START button on the TP is already pressed when you press the Hold-To-Run. The controller checks the START button release position every time you press Hold-To-Run to avoid motion due to START button malfunction. Remedy: If you are pressing the START button just release it and press START again after pressing the Hold-To-Run switch, otherwise check the START button functionality. 28764

2-WARNING

Press BACK after Hold-To-Run

Cause: The BACK button on the TP is already pressed when you press the Hold-To-Run switch. The controller checks the BACK button release position every time you press Hold-To-Run to avoid motion due to BACK button malfunction. Remedy: If you are pressing the BACK button just release it and press BACK again after pressing the Hold-To-Run switch, otherwise check BACK button functionality. 28765

2-WARNING

Press jog key after Hold-To-Run

Cause: One or more jog buttons (1+,1-,2+,...) on the TP are pressed when you press the Hold-To-Run. The controller checks the jog button release positions every time you press Hold-To-Run to avoid motion due to jog button malfunction. Remedy: If you are pressing any jog buttons just release them and press them again after pressing the Hold-To-Run switch, otherwise check jog buttons functionality. 28766

2-WARNING

DRIVE ON not allowed during DRIVE OFF

Cause: The system received a DRIVE ON request during a DRIVE OFF procedure. Remedy: Wait until DRIVE OFF procedure completes, then reissue the DRIVE ON request. 28767

2-WARNING

DRIVE ON not allowed without Hold-To-Run

Cause: The system received a DRIVE ON request with Hold-To-Run released. The predefined variable $CNTRL_INIT configures Hold-To-Run as DRIVE OFF when released. With C3G PLUS the Hold-To-Run must pressed before DRIVE ON button in PROG state. Remedy: Use the DRIVE ON button while pressing Hold-To-Run on the TP. 28768

2-WARNING

DRIVE ON not allowed with NIO DRIVE OFF

Cause: The system received a DRIVE ON request with DRIVE OFF from the NIO feature running on the SINEC board. Remedy: Remove the DRIVE OFF signal from the NIO feature issuing a proper host command to the SINEC board. 28769

10-DRIVE OFF

Too many interrupts from NIO feature

Cause: The system received too many interrupts from the NIO feature on the

SINEC board. Remedy: Check the connection to the SINEC board or host commands. 28770

10-DRIVE OFF

SIM/IOS boards signals change too fast

Cause: The system software read signals from the SIM or IOS board that are changing too fast, at least every 10 mSec. The system can't execute commands from remote devices at this speed. Remedy: Check connection to the SIM/IOS board or source of signals (PLC). 28771

10-DRIVE OFF

SINEC communication fail

Cause: The SINEC board does not work correctly. Remedy: Check the SINEC setup parameters or cables connected to the SINEC board. 28772

2-WARNING

Cannot change ARM in a single arm system

Cause: The user pressed the ARM button on the teach pendant but the system only has one arm. Remedy: Do not use ARM button in a single arm system. 28773

2-WARNING

Arm not configured; DRIVE ON not allowed

Cause: The controller received a DRIVE ON request for an arm that is not configured. Remedy: Configure the arm with the PDL2 tool program before issuing the DRIVE ON request. 28774

10-DRIVE OFF

Power failure detected

Cause: The controller detected a power failure. Remedy: This alarm is used to mark the power failure event in the ERROR.LOG file. 28775

0-INFO board

[] received remote command from

Cause: The controller received a command from one of the REMOTE devices. This message is used as a trace of the REMOTE commands received on the robot controller from a PLC or HOST COMPUTER. The possible commands are: DRIVE-ON, DRIVE-OFF, START, and HOLD. For systems with multiple arms, the MOTORON, MOTOROFF, RUN, and STOP commands are also defined. The remote command sources are: * ** SIM: board (system i/o module) that performs remote interfacing * through digital (24V) I/O. These signals are available on the X30 * connector of the controller cabinet. ** IOS: option board, an extension of the SIM's system I/O to allow separate * commands for a multiarm system. This board is based on a standard 24V * digital I/O board (IOM) with a special hardware configuration on its * connector. The * IOS board can control up to 2 servo boards (SCC) through two groups * of MOTORON, MOTOROFF, RUN and STOP commands. * The I/O signals are available on the J21 connector of the controller * cabinet. ** RIO: option board that allows remote connection through one high speed * serial line to an ALLEN BRADLEY PLC. The serial line is * available on a connector on the controller cabinet. ** NIO: software feature that is on SINEC H1 board; this board allow LAN * connection with SIEMENS PLC. * The line is available on releated connector on the front of the board. ** Network: software option that is provided on a MVE147 board. The system * receives commands through a LAN NETWORK based on the TCP/IP * protocol. The commands can be from other * computers (UNIX based) for example a SUN WORK-STATION. * The line is available on a connector on the front of the board. ** IBS SL: INTERBUS-S slave interface that allow C3G to be a device on an * Interbus-s industrial network. The purpose of the Interbus-s is to have * a serial network instead of digital I/O to connect the devices in an * industrial plant. ** DP SL: is the slave interface to the PROFIBUS DP SL. 28776

2-WARNING

Remove to go to AUTO-R

28777

2-WARNING

TP EXCL enabled in PROG only

Cause: The EXCL key present on the TP can only be used when the state of the controller is PROG. Remedy:

Please check the CP/TP switches in order to enter the PROG state. 28778

10-DRIVE OFF

Too many commands from IBS SL or DP SL

Cause: The system received too many commands from the INTERBUS-S or the PROFIBUS DP slave remote interface. The C3G system can't execute commands from remote devices at this rate. Remedy: Check the commands issued from the INTERBUS or PROFIBUS DP master to the C3G or the connection to the C3G-IBS, C3G-EIM, C3G-SL2 or C3G-PFDP board. 28779

10-DRIVE OFF

Test ON on IBS/DP/DVN

Cause: The test mode for INTERBUS-S or PROFIBUS DP or DEVICE NET slave remote interface has been enabled by $RIO_INIT[1] system variable or by a jumper on the test connector placed on the front panel of the C3G-IBS or C3G-SL2 board. During this phase, the IBS or SL2 boards ignore remote commands. Remedy: No remedy as this is just an informative message. 28780

2-WARNING

Test OFF on IBS/DP/DVN board

Cause: The test mode for INTERBUS-S or PROFIBUS DP or DEVICENET slave remote interfaces has been disabled by $RIO_INIT[1] system variable or by a jumper on the test connector placed on the front panel of the C3G-IBS or C3G-SL2 board. The interface to the fieldbus is now enabled to receive remote commands. Remedy: No remedy as this is just an informative message. 28781

2-WARNING

RIO/IBS/DP board changed: reconfigure

Cause: One of serial remote communication boards is changed during power off. Normally the controller has the "power failure recovery" feature enabled, in this case the software driver remains configured for the other board and cannot work with the new board without a new configuration.

Remedy: Run the configuration tool for the RIO/IBS/DP board. 28782

2-WARNING

SHIFT-ARM allowed with DRIVE-OFF only

Cause: The SHIFT-ARM TP key pressure is only enabled when the controller is in DRIVE-OFF state. Remedy: Issue a DRIVE-OFF either from the CP or TP button for enabling the SHIFT-ARM key. 28783

14-FATAL

Board IBS failed

Cause: A failure occured while accessing the IBS board. This can occur when the IBS board has been removed while the controller power was off before restarting the controller in power failure recovery or when the INTERBUS-S network handling processor is not ready after a 200mS time-out. Remedy: After the controller startup, make sure the READY LEDs on the board are lighted. If they are not then check the proper IBS SL annex on its connectors. If you want to remove the IBS board from the controller perform a cold restart of the controller to clear the IBS board configuration. If the board is present but this error still appears then replacement of the board is necessary. 28784

2-WARNING

MMUX: not configured option

Cause: A command from a PDL2 program to the C3G-MMUX was issued but the actual controller is not configured with the MMUX (Motor Multiplexer). Remedy: If the C3G-MMUX is present in the cabinet, check that the controller configuration declares the presence of this option. If the C3G-MMUX is not present, don't issue the AUX_MMUX built-in. 28785

2-WARNING

MMUX: command in progress

Cause: You are requesting a command to the C3G-MMUX while another one is still in progress.

Remedy: Wait for the end of the first command and then issue again the refused one. 28787

2-WARNING

MMUX: DRIVE-ON/OFF in progress

Cause: A C3G-MMUX command was issued while a DRIVE-ON or OFF command was in progress. Remedy: Issue again the C3G-MMUX command when no DRIVE-ON/OFF command is in progress. 28788

2-WARNING

MMUX: Power failure recovery in progress

Cause: The system received a C3G-MMUX command while a power failure recovery operation was in progress. Remedy: Issue again the C3G-MMUX command after the end of the recovery session. 28792

2-WARNING

MMUX: already in requested status

Cause: A C3G-MMUX command (ON or OFF) was received when the MMUX already was in that state. Remedy: Don't issue the command if you already are in the correct state. 28793

2-WARNING

MMUX: command aborted by DRIVE-OFF

Cause: A DRIVE-OFF command occurred during the execution of a C3G-MMUX command; the higher priority of the DRIVE-OFF command aborted the C3G-MMUX one. Remedy: Don't issue a DRIVE-OFF when a C3G-MMUX command is in progress. 28794

10-DRIVE OFF

MMUX: relays failure - Cmd:

Sts: Cause: Something is wrong on the relays of the MMUX, the feedback inputs on the IOM board are not in the expected state. Remedy: Check the C3G-MMUX module and the connection to the first IOM board on the CONTROL UNIT rack. 28795

10-DRIVE OFF MMUX: procedure failure (phase:) Cause: The RBC board cannot correctly complete the execution of AUX_MMUX commands (MMUX_ON, MMUX_OFF, MMUX_SET). Remedy: Check the SCC board and the C3G-MMUX motor multiplexer device or reset the system.

28796

2-WARNING

BACK with arm in DRIVE OFF

Cause: The system received a BACK request with DRIVE OFF status. Remedy: The BACK is allowed only when the robot can move. request before the BACK. 28797

2-WARNING

Issue a DRIVE ON

START/BACK allowed while EDIT or Execute active

Cause: The system received a START or a BACK request, in PROG state, when the EDIT or the Execute command were not active. Remedy: The START or BACK are allowed when an EDIT session or the Execute command are active. These functions are used in PROG state to enable the motion after a move instruction has been issued to the system. 28798

2-WARNING

Arm needs a Turn Set operation

Cause: It is not possible to execute MOVE instructions when the arm needs

the turn-set operation. Remedy: Turn-set the arm before executing MOVE instructions. 28799

2-WARNING

AUX_SET: not configured option

Cause: An AUX_SET built-in was issued on a system not configured for this option. Remedy: The AUX_SET built-in is only allowed on specific configurations of robots having auxiliary axes. Check if the configuration is correct or, if needed, ask for a new configuration file. 28800

2-WARNING

AUX_SET built-in in progress

Cause: You are requesting a command that is not allowed during the execution of the AUX_SET PDL2 built-in. Possible commands that are not allowed contemporarely to the AUX_SET built-in are: DRIVE ON, AUX_MMUX and AUX_SET built-ins. Remedy: Wait for the completion of the first command before issuing again the refused one. If needed, try to syncronize those processes that could cause the contemporaneus issuing of commands. 28801

2-WARNING

AUX_SET not allowed during other commands

Cause: An AUX_SET built-in has been issued from a PDL2 program while another incompatible command on motors was in progress. The AUX_SET built-in cannot be executed while one of the following procedures is in progress: DRIVE ON and DRIVE OFF commands, AUX_MMUX built-in, activation and deactivation of "energy saving" state, power failure recovery. Remedy: Issue again the AUX_SET built-in when no other incompatible command is in progress. Try to synchronize the program that executes the AUX_SET built-in with processes that issue the other commands. 28802

10-DRIVE OFF AUX_SET: procedure failed (phase: err:) Cause:

The RBC board cannot correctly complete the AUX_SET built-in execution. Remedy: Check the situation and contact COMAU. 28803

10-DRIVE OFF

Internal security test failed on

Cause: The test on the internal security circuit detected a failure. The safety relays of the RBC2, SCC2, SAU2 modules are checked at each DRIVE OFF. Remedy: Issue a restart and DRIVE-ON followed by a DRIVE-OFF. If the error still occurs, substitute the module indicated by the error message. Also check the link between modules (cables and connectors). 28804

8-HOLD

Overheating SAU2 softstart circuit

Cause: The execution of many DRIVE-ON commands in a short time interval caused the overheating of the power resistance in the softstart circuit of drives (SAU2). Remedy: Wait some minutes so that the resistance can cool down and avoid, if possible, to execute many closed DRIVE-ON commands. 28805

2-WARNING

DRIVE ON not allowed with IBS/DP/DVN DRIVE OFF

Cause: The system received a DRIVE ON request with DRIVE OFF from the IBS/DP/DVN board. Remedy: Remove the DRIVE OFF status from the IBS/DP/DVN 29696

0-INFO

board.

Not enough window space

Cause: There are too many display command windows active on screen. Remedy: Close one or more windows that you do not need at the same time.

29697

0-INFO

Too many parameter

Cause: More parameters were specified than required in display command. Remedy: Check the command and remove extra parameter(s). 29698

0-INFO

Bad start of range

Cause: The start of range value (eg: 1..5) is not a valid value. Remedy: Check if the start value is bigger than the stop value or an out-of-range number. 29699

0-INFO

Bad end of range

Cause: The stop of range value (eg: 1..5) is an invalid value. Remedy: Check if the stop value is smaller than the start value or an out-of-range number. 29700

0-INFO

Range too large

Cause: The range specified is too large to fit into the display window. Remedy: Split the range into more groups and specify one at a time. 29701

0-INFO

Invalid parameter

Cause: An invalid parameter was specified in a display command. Remedy: Check the manual to determine the proper parameter specification for that command.

29702

0-INFO

CURSOR DOWN sel,ENTER closes,PREV ends

Cause: This is a help message to describe how to use the DISPLAY CLOSE SELECT (DCS) command. Remedy: The down arrow key is used to move the red line though the displays. To close the display, press the ENTER key. To exit from the command, press the PREV key. 29703

0-INFO

Program already displayed

Cause: The program is already displayed in a display window. Remedy: Check the current display windows for the program. 29704

0-INFO

Bad arm number

Cause: Invalid arm number specification in a DISPLAY command requiring an arm number. Remedy: Check to see if the arm exists. 29705

0-INFO

Display already active

Cause: The display required is already active on the screen. Remedy: To change display characteristics, close the current display first. 29706

0-INFO

No display active

Cause: The DISPLAY CLOSE SELECT (DCS) command was issued without any active display windows on the screen or all active displays have just been closed. Remedy:

There is not a problem, the command automatically terminates because there are no active display windows. 29707

0-INFO

Bad $DIN index

Cause: The $DIN index specified does not exist. Remedy: Check the I/O configuration to determine the valid $DIN indices. 29708

0-INFO

Bad $DOUT index

Cause: The $DOUT index specified does not exist. Remedy: Check the I/O configuration to determine the valid $DOUT indices. 29709

0-INFO

Bad sysvar display period

Cause: The predefined variable $TUNE[15] has a value that is out of range. The valid range is from 100 to 60000 milliseconds. If an invalid value is specified, the default time of 1000 ms is used. Remedy: Check that the value of the predefined variable $TUNE[15] is within the valid range. 29710

0-INFO

Bad sysvar CRT display max lines

Cause: The predefined variable $TUNE[16] has a value that is out of range. The valid range is from 0 to 16 lines. If an invalid value is specified, the default of 16 lines is used. Remedy: Check that the value of the predefined variable $TUNE[16] is within the valid range. 29711

0-INFO

Display commands disabled

Cause: One of the DISPLAY group of commands has been issued when the

$TUNE[15] value was set to 0, that means that the commands of this group are disabled. Remedy: Set the value of $TUNE[15] to 1000, for enabling the DISPLAY refresh every second. 29712

0-INFO

Bad sysvar TP display max lines

Cause: The predefined variable $TUNE[17] has a value that is out of range. The valid range is from 0 to 4 lines. If an invalid value is specified, the default of 4 lines is used. Remedy: Check that the value of the predefined variable $TUNE[17] is within the valid range. 29713

0-INFO

Bad separator, use '-' or '..'

Cause: An invalid separator was used in the parameter string. Remedy: Use a valid separator which is '..' for ranges and '-' for single numbers. 29714

0-INFO

Invalid parameter character

Cause: An invalid character was used in the parameter string. Remedy: Check the parameter syntax in the manual. 29715

0-INFO

Two Arm windows already active; close one

Cause: The DISPLAY ARM (DA) command can work only on two windows at the same time. A DISPLAY ARM command was issued on another arm number with two arm windows already active. Remedy: Close one of the arm windows with the DISPLAY CLOSE SELECT (DCS) command or close all the arm windows with the DISPLAY CLOSE ARM (DCA) command before reissuing the DISPLAY ARM command.

29716

0-INFO

FBus Master boards not present

Cause: The DISPLAY FIELDBUS MASTER (DFM) command was issued without any Fieldbus Master boards present. Remedy: There is not a problem, the command automatically terminates. 29717

0-INFO

FBus Slave boards not present

Cause: The DISPLAY FIELDBUS SLAVE (DFS) command was issued without any Fieldbus Master boards present. Remedy: There is not a problem, the command automatically terminates. 30720

2-WARNING

Device cannot be read

Cause: The specified device from which the user should be able to READ could not be found. This error occurs at initialization time when devices are searched for and analyzed. Remedy: Please contact Comau. 30721

2-WARNING

Device cannot be written to

Cause: The specified device to which the user should be able to WRITE could not be found. This error occurs at initialization time when devices are searched for and analyzed. Remedy: Please contact Comau. 30722

4-PAUSE

Device type unknown

Cause: The device specified by the user is known but its type is unknown. Remedy:

Please contact Comau. 30723

2-WARNING

Write device not found

Cause: The specified device could not be found at startup. Remedy: Please contact Comau. 30724

10-DRIVE OFF

No memory for device table

Cause: There are insufficient memory resources for creating the device table. Remedy: Check that the value of $NUM_DEVICES is not too large. 30725

10-DRIVE OFF

No memory for trace buffer

Cause: There are insufficient memory resources for creating the trace table. Remedy: Check that the value of $NUM_TRACES is not too large. 30726

0-INFO

Already tracing

Cause: Tracing is already enabled so the reissue of the enable trace has no effect. Remedy: This is only an informational message. 30727

10-DRIVE OFF

No memory for chain call

Cause: There are insufficient memory resources for creating the call chain information used in PROGRAM VIEW (PV). Remedy:

Remove code and/or data from memory and reissue the command. 30728

2-WARNING

Pulse of non active program

Cause: A PULSE completed after the program was deactivated and at the time of the deactivation the PULSE could not be canceled. Remedy: This is only a warning. No action is needed. 30729

4-PAUSE

Bad HAND state

Cause: The requested HAND operation, due to a T1 or T2 TP key pressure, failed because the HAND is either in the RELAX or the Undefined state. This is due to the fact that T1 and T2 are used to toggle between the opened and the closed states only, while for the undefined and the relaxed state the the opposite state cannot be determined from the outputs. Remedy: To correct this problem, explicitly change the state of the HAND by OPENing or CLOSing it (via a PDL2 statement or the "Hand Configuration Tool"). 30730

4-PAUSE

Bad HAND definition

Cause: The definition of the type of HAND on the arm is invalid. Remedy: Correct the definition of $HAND_TYPE for the specific arm. 30731

10-DRIVE OFF

General mapping failure

Cause: A mismatch has been detected in the I/O mapping tables. Remedy: There is always another more significant error associated to this one. Follow the suggestions described in the remedy section of the associated error. 30732

10-DRIVE OFF

IOpnt BS: (,) (,)

overlapping Cause: Error when a specific input I/O point (e.g., $DIN[n] or $AIN[n]) is included in the first module and also in the second. The error is caused because either the logical table contains two digital input modules mapped into the same position or two analog input modules mapped into the same position. Remedy: Check the logical table at the specific position and correct the error keeping in mind the mapping rules stated in the C3G Operations Manual. 30733

10-DRIVE OFF mismatching

IOpnt BS: (,) (,)

Cause: Two boards have the same category of I/O points (digital or analog) using the same index. It is not possible to have $DIN[33] and $DOUT[33], nor to have $AOUT[45] and $AIN[45]. Remedy: Check the logical table at the specific position and correct the error keeping in mind the mapping rules stated in the C3G Operations Manual. 30734

10-DRIVE OFF table

IOpnt BS: (, ) no space in overlap

Cause: The system can handle a limited number of overlapped I/O points. This error indicates the limit is reached. Remedy: If possible, reduce the number of overlapped I/O points. please contact Comau. 30735

10-DRIVE OFF

If not,

IOpnt in group not mapped

Cause: There is an I/O point defined in a group that does not come from any board. This kind of error happens either when a group table is configured before configuring the logical table or when some changes are made to the logical table without checking the contents of the group table. Remedy:

Check the logical and group tables for the specific I/O position and correct the error keeping in mind the mapping rules stated in the C3G Operations Manual. 30736

10-DRIVE OFF

IOpnt in group already mapped

Cause: The specific I/O point is defined as part of a group when it was already defined in a previous group. An I/O point can only pertain to one group. Remedy: Remove the specific I/O point from one of the groups. 30737

14-FATAL

System error

Cause: A system error occurred. Remedy: Please report this to Comau. 30738

14-FATAL

System error Par

Cause: A system error of the specified number occurred. Remedy: Please report this to Comau. 30739

14-FATAL

System error Par

Cause: A system error of the specified number occurred with the specified parameter. Remedy: Please report this to Comau. 30740

14-FATAL

System error Pars

Cause: A system error of the specified number occurred with the specified parameters.

Remedy: Please report this to Comau. 30741

14-FATAL

System error Pars

Cause: A system error of the specified number occurred with the specified parameters. Remedy: Please report this to Comau. 30742

14-FATAL

System error Pars

Cause: A system error of the specified number occurred with the specified parameters. Remedy: Please report this to Comau. 30743

0-INFO

Error in execution

Cause: The specified error in the program being executed with PROGRAM EDIT (PE) or MEMORY DEBUG (MD) occurred. Remedy: This is an informational message. Press CTRL C (^C) to remove the red pop-up window and display more information about the error. 30744

4-PAUSE

$FDOUT element is read only

Cause: An attempt was made to write to a $FDOUT element which can only be read. Remedy: Check and modify the $FDOUT element being accessed. 30745

0-INFO

Program not active for information

Cause: Information was requested about a program which is currently not

active. Remedy: This is an informational message. 30746

0-INFO

Parameter variable not accessible

Cause: An attempt was made to access a routine parameter variable for a routine which is currently not in the call chain or which cannot be found. Remedy: This is an informational message. 30747

4-PAUSE

Local variable not accessible

Cause: An attempt was made to access a routine local variable for a routine which is currently not in the call chain or which cannot be found. Remedy: This is an informational message. 30748

4-PAUSE

$SDOUT element is read only

Cause: An attempt was made to write to a $SDOUT element which can only be read. Remedy: Check and modify the $SDOUT element being accessed. 30749

4-PAUSE

Profile already disabled

Cause: The profiling is already disabled so the disable command has no effect. Remedy: This is an informational message. 30750

4-PAUSE

Profile already enabled

Cause: The profiling is already enabled so the enable command has no effect. Remedy: This is an informational message. 30751

4-PAUSE

Profile not enabled

Cause: There is no profile information as the profiling has not been enabled. Remedy: Enable the profile before viewing the data. 30752

2-WARNING

Arm already used. Continue ?

Cause: The arm upon which a program is being activated, already contains programs. This message is given when activating a program which contains the DETACH attribute. Remedy: This is a confirmational message. Responding "yes" will cause the program to be activated. 30753

2-WARNING

Arm ATTACHed. Continue ?

Cause: There are outstanding motions already on the arm when a program with the DETACH attribute is being activated. Remedy: This is a confirmational message. Responding "yes" will cause the program to be activated. 30754

10-DRIVE OFF

AIN/AOUT BS: (, ) overlap grp area

Cause: There is a board containing analog point(s) mapped into the logical table in the first 32 reserved locations of the analog area. Remedy: Change the starting point value of the board containing the analog

point(s) keeping in mind the mapping rules stated in the C3G Operations Manual. 30755

2-WARNING

Found output point(s) overlap

Cause: Two or more I/O points are overlapped. This means that a write operation on one of these points has an effect on at least two physical boards. Remedy: Check to see if the overlap was really needed. If not, remove one keeping in mind the mapping rules stated in the C3G Operations Manual. 30756

2-WARNING

Program for /CONTEXT not active

Cause: The /CONTEXT option was used with the EXECUTE (E) command but the specified program is currently not active. /CONTEXT means access the internal data of the specified program. In order for this to work it is necessary for the program to be active. Remedy: Either activate the program or issue the EXECUTE command without the /CONTEXT option. 30757

2-WARNING

Program for /CONTEXT deactivated

Cause: During an EXECUTE (E) command with the /CONTEXT option, the program whose context is being used was deactivated along with the EXECUTE command. Remedy: This is a warning message. 30758

10-DRIVE OFF

BS: (,) exceed max I/O position

Cause: Some points of this board exceed the maximum allowed index number in the current configuration. Remedy: Move the starting point of the board to a different place keeping in mind the mapping rules stated in the C3G Operations Manual. Note that, if the error happened with the software PLC, a way for adding

more I/O points is to insert the hardware PLC. 30759

2-WARNING

Not ALL conds DISABLEd

Cause: The DISABLE CONDITION ALL action did not disable all the conditions belonging to the program. Remedy: Check to see if any of the conditions are currently being used locally in a motion statement. 30760

2-WARNING

Bad port characteristics for MOUNT

Cause: While mounting certain protocols, the communication port characteristics are important. For example, in order to be able to use DDCMP the number of bits must be set to 8. This error occurs when one or more port characteristics are invalid for the protocol being mounted. Remedy: Check that the port characteristics are correct for the specified protocol. 30761

2-WARNING

Profile already reset

Cause: The profiling was already reset so the PROGRAM TEST PROFILE RESET (PTPR) command has no effect. Remedy: This is an informational message. 30762

2-WARNING

Protocol already mounted

Cause: An attempt was made to mount a protocol on a communication port and the port already contains the protocol. Remedy: This is a warning. No action is necessary. 30763

4-PAUSE Cause:

Different protocol mounted

An attempt was made to mount a protocol on a communication port which already contains a different protocol. Remedy: Check that a protocol can be mounted on the specified device and that it does not already contain a protocol. If the communication port already contains a protocol, issue the UTILITY COMMUNICATION DISMOUNT (UCD) command and then reissue the MOUNT command. 30764

2-WARNING

No protocol mounted

Cause: An attempt was made to dismount a protocol and either no protocol is mounted on the device or a protocol cannot be mounted on the device. Remedy: Check the device name and that a protocol can be mounted. Check that no protocol is mounted by issuing the UTILITY COMMUNICATION VIEW (UCV) command on the device. 30765

4-PAUSE

Bad DV_CNTRL code number

Cause: The operation code specified in the DV_CNTRL routine call is invalid. Remedy: Check for the valid codes in the PDL2 Language Manual. 30766

4-PAUSE

Bad DV_CNTRL parameter

Cause: The number of or size of a parameter passed to the DV_CNTRL built-in routine is incorrect. Remedy: Check the DV_CNTRL description in the PDL2 Language Manual for valid parameters for the type of operation code specified. 30767

4-PAUSE

Bad DV_CNTRL data type

Cause: The data type of a parameter passed to the DV_CNTRL built-in routine is incorrect.

Remedy: Check the description of DV_CNTRL in the PDL2 Language Manual for parameter requirements for the type of operation code specified. In particular check that the parameter is passed in the correct reference mode (i.e., by value or by reference). 30768

4-PAUSE

DV_CNTRL code not loaded

Cause: The system software for the requested DV_CNTRL operation is not loaded. Remedy: Check that the operation code is valid for the particular controller configuration. If this seems correct, load the appropriate software. Refer to the PDL2 Language Manual for a description of DV_CNTRL. 30769

4-PAUSE

DV_CNTRL operation not available

Cause: The requested DV_CNTRL operation is currently not available. Remedy: Check that the operation code is valid for the particular controller configuration. Refer to the PDL2 Language Manual for a description of DV_CNTRL. 30770

4-PAUSE

DV_CNTRL no memory resources

Cause: There are insufficient memory resources for undertaking the DV_CNTRL operation. Remedy: Remove some code or data from memory and reissue the DV_CNTRL operation. 30771

10-DRIVE OFF

Bad software load

Cause: There is a mismatch in the loaded software. The three numerical parameters contain internal system information which can be used to determine the exact cause. Remedy:

Check that the software was loaded correctly. Check for problems with the distribution diskettes. If the problem still exists after a reload, contact Comau. 30772

2-WARNING

RIO not yet configured

Cause: It is the first time the user inserted the RIO board into the C3G controller and none of the predefined variable parameters are configured. Remedy: Use the RI_INST utility to configure the RIO predefined variables parameters. 30773

10-DRIVE OFF

Bad RIO sysvar value(s)

Cause: Some of the RIO predefined variables are initialized with bad values. Remedy: Use the RI_INST utility to configure the RIO predefined variables with the proper values. 30774

10-DRIVE OFF

RIO communication fail detected

Cause: The link cable between the Allen-Bradley PLC and the C3G controller is damaged/broken or the C3G remote base is not configured on the Allen-Bradley PLC. Remedy: Check the cable and verify the C3G remote base configuration on the Allen-Bradley PLC. 30775

10-DRIVE OFF

No memory for timer table

Cause: There are insufficient memory resources for creating the timer table. Remedy: Check that the value of $NUM_TIMERS is not too large. 30776

10-DRIVE OFF

DP SL WATCH DOG err on

Cause: The system software is not working correctly and the security software WATCHDOG mechanism detected the error. This error message notifies the user which environment detected the failure. Remedy: Check that the value set with the RI_INST tool is correct. 30777

10-DRIVE OFF

DP SL slave not ready

Cause: The CP5480 system firmware does not enter in the active state when the data exchange process is active. Remedy: Check the configuration setting: there could be a mismatch in some parameters. Another reason could be the cable: check that the cable link is properly connected to the master. 30778

2-WARNING

DP SL not yet configured

Cause: It is the first time the user inserted the C3G-SL2 or the C3G-PFDP board into the C3G controller and none of the predefined variable parameters have been configured yet. Remedy: Use the RI_INST utility to configure the L2/DP SL predefined variables parameters. 30779

10-DRIVE OFF

Bad DP sysvar value(s)

Cause: Some of the PROFIBUS DP Slave predefined variables are initialized with wrong values. Remedy: Use the RI_INST utility to configure the PROFIBUS DP predefined variables with the proper values. 30780

10-DRIVE OFF

DP SL communication fail

Cause: The link cable between the Master partner and the C3G controller is damaged, or the Master partner is no longer active.

Remedy: Check the cable and verify the Master partner functionality. 30781

2-WARNING

DP SL received msg

Cause: The master sent the message reported as parameter. Remedy: Check the reason why it was sent. 30782

2-WARNING

DP SL successfully started

Cause: The C3G controller has successfully initializated the C3G-SL2 board. This is just an informative message sent to the user when the link is established with the master partner. 30784

2-WARNING

DP SL Station restarted

Cause: The slave station has been restarted and does not respond to the commands any more. This is just an informative message sent to the user. Remedy: No remedy for the user, as it is a firmware problem on the CP5480 annex of the C3G-SL2 board. Please contact Comau. 30785

10-DRIVE OFF

IBS SL communication fail

Cause: The link cable between the C3G and the INTERBUS-S master is damaged/broken or the INTERBUS-S master is not supplied. Remedy: Check the cable and verify the INTERBUS-S master status. 30786

2-WARNING

DP SL cnfg error

Cause: The master configuration of I/O does not match with the slave configuration.

Remedy: Check that the values set with the RI_INST tool are correct. 30787

2-WARNING

DP SL parameters error

Cause: The master data link parameters do not match with the slave ones. The link speed or the slave identification number could be wrong. Remedy: Check that the values set with the RI_INST tool are correct. 30788

10-DRIVE OFF

RIO communication fail: data overrun

Cause: The link cable between the Allen-Bradley PLC and the C3G controller is damaged/broken the C3G controller detect a temporary failure on Allen-Bradley PLC connection. Remedy: Check the correct assembling and connection of cable bethwen C3G and Allen-Bradley PLC. 30789

10-DRIVE OFF

IBS-M: mailbox protocol timeout

Cause: The annex on the IBS-M board doesn't answer to communication protocol commands. Remedy: This is an internal firmware error, try a warm or cold restart and please contact COMAU. 30790

2-WARNING

IBS-M: $MASTER_INIT not initialized, default used

Cause: The MANUAL modality for configuring Input, Output, Command and Status words is selected but $MASTER_INIT[2..6] fields are UNINIT and the system works with default values. Remedy: Init $MASTER_INIT[] fields with the desired values or use the AUTO modality of configuration. 30791

2-WARNING

IBS-M: invalid $MASTER_INIT[] value

Cause: The value in the specified $MASTER_INIT[] element is wrong. This error occurs when the selected IBS-M board configuration is MANUAL and $MASTER_INIT[] values are UNINIT or out of the allowed range. Remedy: Please check the values in $MASTER_INIT[]: allowed values for the index of Input, Output, Command and Status words are zero or values included in the range 33-2048. Note that indexes must be choosen accordingly to the lenght of the block of words transferred. You can also use AUTO configuration. 30792

2-WARNING

IBS-M: $MASTER_INIT[] and [] overlap

Cause: There is an overlap between the indicated $MASTER_INIT[] fields. Remedy: Please check that $MASTER_INIT[] values do not overlap each other, paying attention to the lenght occupied by each block of words. You can also use AUTO configuration. 30793

10-DRIVE OFF

IBS-M: timeout waiting for READY

Cause: The IBS-M board does not become READY after its diagnostics test. Remedy: Please check the IBS-M board, try a warm or cold restart and replace this board if restarts do not have effect. 30794

10-DRIVE OFF

IBS-M: connected modules exceeded maximum

Cause: The bus contains more than 32 modules, or the total amount of Input/Output words exceedes 64. Remedy: If the maximum number of modules controlled exceedes 32, use different kind of modules that can contain a greater number of Input and Output words. In case the maximum number of I/O words is exceeded, check if you are using modules dedicated to Input only or to Output only and, if yes, replace them with mixed modules. 30795

10-DRIVE OFF

IBS-M: Host CPU System Failure

Cause: The IBS-M board detects a failure from the RBC board, that is the master of the CONTROL UNIT RACK. Something does not work between the RBC and IBS-M master card. Remedy: Check the status of the system by looking to the SYF led on the RBC board. If the led is lighted, a VME SYSTEM FAILURE occurred on the bus that requires a substitution of the broken board (the IBS-M or another board) present on the rack; the broken board cannot be the RBC when this error is returned. If the led is not lighted, check also the RBC board. 30796

10-DRIVE OFF

IBS-M: remote bus error, segment

Cause: The IBS-M board detects a failure on the REMOTE BUS on the reported segment; this means that the main branch of the bus is interrupted where the module indicated in the error message resides. Remedy: Check the connection between the indicated slave module and the following one. 30797

10-DRIVE OFF

IBS-M: local bus error, segment

Cause: The IBS-M board detects a failure on the LOCAL BUS on the reported segment; this means that the local branch of the bus is interrupted where the module indicated in the error message resides. Remedy: Check the connection between the indicated slave module and the following one. 30798

10-DRIVE OFF

IBS-M: module error, segment

Cause: The indicated slave module informs the IBS-M master board that there is an internal error. Remedy: Check the state of the indicated module. This error can for example happen when the power supply for the output is not present. Consult the manual that describes the slave module. 30799

10-DRIVE OFF

IBS-M: controller error, code

Cause: An error occurred on the annex of the IBS-M controller board. The error code indicates the error. Remedy: Something is wrong in the configuration of the controller board. Check if there is a mismatch between the C3G-driver and the commands issued from the Phoenix PC tool. If not, check the state of the C3G driver (using the IBS-M configuration and diagnostics tool). Verify, at the end, the integrity of the system software (by restarting the controller and looking to the initial diagnostics). 30800

2-WARNING

IBS-M: bus segment disabled

Cause: This message informs that one or more segments of the bus have been disabled. Remedy: This is just an informative indication. 30801

10-DRIVE OFF

IBS-M: mailbox protocol error

Cause: An error occurred in the mailbox protocol. Remedy: This is an internal firmware error, try a warm or cold restart and please contact COMAU. 30802

10-DRIVE OFF

IBS-M: board disabled by $MASTER_INIT[1] bit 1

Cause: The IBS-M board has been disabled by the setting of bit 1 of $MASTER_INIT[1]. Remedy: This error just informs the user that the IBS-M board has been disabled. The IBS-M board remains in the reset state. Bit 24 in the $RBT_CNFG system variable is set to zero. 30803

10-DRIVE OFF

IBS-M: board no more READY

Cause: The board becomes no more READY while C3G driver was running. If a

WARMSTART command has been requested to the IBS-M, it is correct that the board exits the READY state for performing this command. Otherwise there should be an hardware problem. Remedy: If no WARMSTART command was requested, check the IBS-M board connection and, if necessary, replace the board with a new one. 30804

10-DRIVE OFF

IBS-M: automatic configuration failed

Cause: The starting index of Input words doesn't allow an automatic consecutive allocation of $WORD[] for INPUT, OUTPUT, COMMAND and STATUS areas. Remedy: Change the index value for Input words, or set the default value to 33. 30805

2-WARNING

IBS-M: automatic configuration done

Cause: The AUTO configuration successfully completed. Remedy: This is just an informational message. 30806

10-DRIVE OFF

IBS-M: driver firmware error

Cause: Something goes wrong during mailbox handshake; the driver cannot recover this situation without a complete restart. Remedy: Please issue a warm or cold restart and contact COMAU. 30807

10-DRIVE OFF

IBS-M: no field-bus connected

Cause: This error occurs during the driver startup, if the IBS-M board does not recognized any module on the bus. Remedy: Check the starting segment of the field-bus cable that is linked to IBS-M board.

30808

10-DRIVE OFF

IBS-M: board disabled by TEST jumper

Cause: The IBS-M board is disabled by the TEST jumper on the front panel of the board. Remedy: This error just informs the user that the IBS-M board has been disabled. The IBS-M board remains in the reset state. Bit 24 in the $RBT_CNFG system variable is set to zero. 30809

10-DRIVE OFF

IBS SL lack of external 24V power supply

Cause: This alarm occurs after a lack of external 24V power supply towards the C3G-IBS board. Remedy: Verify the presence of the power supply and the physical state of links and cables connected to the C3G-IBS board. 30810

2-WARNING

DP SL mounted, Sts:

Cause: The handler of the PROFIBUS DP protocol has been mounted. When the state information is zero, the connection with the Master is being activated. Remedy: This is an informational message. 30811

2-WARNING

DP SL protocol started

Cause: A connection with the master of the PROFIBUS network has been installed. The data exchange has started. Remedy: This is an informational message. 30812

2-WARNING

DP SL param received,Sts:

Cause: The parameters have been sent by the master to the slave. The slave accepted the data basing on the state:

-

0: 1: 2: 3:

Ok. Conflict on parameters Reserved Disallowed

Remedy: This is an informational message. 30813

2-WARNING

DP SL cnfg received, Sts:

Cause: The configuration has been sent from the master to the slave. The C3G disallows an on-line update of configuration. The slave accepted data basing on the state: - 0: Ok. - 1: Conflict on the configuration data - 2: Reserved - 3: Disallowed Remedy: This is an informational message. 30814

2-WARNING

DP SL slave adr modification

Cause: The master of the PROFIBUS network tried to change on-line the address of the slave. This action is disallowed by the C3G, that ignores such a request. Remedy: This is an informational message. 30815

2-WARNING

DP SL waiting for param

Cause: The slave on the PROFIBUS network is waiting for the parameters from the master. Remedy: This is an informational message. 30816

2-WARNING

DP SL waiting for the cnfg

Cause: The slave on the PROFIBUS network is waiting for the configuration from the master.

Remedy: This is an informational message. 30817

2-WARNING

DP SL Data Exchange

Cause: The slave on the PROFIBUS network is in the state of data exchange with the master. Remedy: This is an informational message. 30818

10-DRIVE OFF

DP SL ERROR state

Cause: The slave on the PROFIBUS network is in the error state. This state should never be reached. Remedy: The user cannot handle the error. It is needed to check the PROFIBUS parameters. 30819

2-WARNING

DP SL Baud set to

Cause: The slave on the PROFIBUS network has detected a baud rate of the PROFIBUS network equal to: - 0: 12 MBaud - 1: 6 MBaud - 2: 3 MBaud - 3: 1500 kBaud - 4: 500 kBaud - 5: 187.5 kBaud - 6: 93.75 kBaud - 7: 45.45 kBaud - 8: 19.2 kBaud - 9: 9.6 kBaud -10: Not detectable Remedy: This is an informational message. 30828

10-DRIVE OFF

DP SL WATCH DOG Error

Cause: The slave on the PROFIBUS network has detected an anomaly in the synchronisation between the PROFIBUS network and the C3G driver.

This message can also be caused by a communication fall. 30829

10-DRIVE OFF

Interbus-S Slave cnfg error

Cause: The configuration parameters of the interface with the Interbus-S Slave fieldbus are wrong. Remedy: Use the RI_INST tool for configuring the parameters requested by the Interbus-S Slave. Check that the configuration of this interface is compatible with the one of another fieldbus, if present. 30830

2-WARNING

IBS SL not yet configured

Cause: The system software detected the presence of a C3G-EIM board in the C3G controller and is waiting the completion of the write configuration phase before activating the INTERBUS-S Slave. Remedy: Before using the INTERBUS-S Slave, use the RI_INST tool for configuring the predefined system variables related to the IBS SL. 30831

10-DRIVE OFF

DVN SL WATCH DOG Error

Cause: The RBC board loses the synchronization with the C3G-EDN board. Remedy: Only if the problem happen continously, it could detect an hardware problem on the C3G-EDN board. 30832

10-DRIVE OFF

DVN SL Bus Off

Cause: Signals if the DeviceNet slave handler is in bus off state. Bus off is the result of many DeviceNet errors. This means the DeviceNet slave handler will not communicate. The master is not able to communicate with the slave over the Devicenet bus. Remedy: Control the physical link of the DeviceNet Bus. 30833

2-WARNING

DVN SL Bus Warning

Cause: Signals if one of the DeviceNet error counters reached it is limit. This indicates problems on the DeviceNet Bus. Remedy: Control the diagnostic on the DeviceNet Scanner. 30834

10-DRIVE OFF

DVN SL Data Lost

Cause: The DeviceNet slave handler lost at least one or more DeviceNet message. Remedy: This problem is directly detect in hardware from the chip that controls the DeviceNet bus, so that the user cannot do anything. Control the physical link of the DeviceNet Bus. Control the state of the leds on the front panel of the C3G-EDN board. 30835

8-HOLD

DVN SL Time Out

Cause: Signals one or more I/O connections are in state timeout. This means the Device Net Master did not send data within the time limit. Similar to the NetState LED. Remedy: Control the physical link of the DeviceNet Bus. Control that the PLC is switched ON and it is working. Control the state of the leds on the front panel of the C3G-EDN board. 30836

2-WARNING

DVN SL Not Connected

Cause: The Slave is NOT allocated from a DeviceNet master. The device is not recognized by the master or the master cannot communicate with the slave. Remedy: Control the configuration of the Slave (adapter) and compare it with the configuration on the Master side (scanner). 30837

2-WARNING Cause:

DVN SL Connected

The Slave is allocated from a DeviceNet master. The general meaning is that everything is OK. The device was recognized by the master and the master communicates with the slave. 30838

10-DRIVE OFF

DVN SL No voltage

Cause: DeviceNet power from the bus is not available Remedy: Verify the voltage of the DeviceNet Bus. Control the diagnostic of the DeviceNet Scanner Control the state of the leds on the front panel of the C3G-EDN board. 30839

10-DRIVE OFF

DVN SL Handler Held

Cause: DeviceNet slave handler is held. Remedy: If the driver enters in this state, it tries automatically and continously to exit. 30840

10-DRIVE OFF

DVN SL No communication

Cause: Slave enters the DeviceNet Communication Fault state. This means no DeviceNet communication is allowed. Remedy: Control the physical link of the DeviceNet bus. Control that the Master (Scanner) is connected and it works properly. Control the state of the leds on the front panel of the C3G-EDN board. 30841

10-DRIVE OFF

DVN SL Initializzation failure

Cause: The DeviceNet cannot be initialized because the DeviceNet Slave handler replies in a negative way to the initialization command. Remedy: Verify the configuration parameters. Using the command CCV, verify that the C3G-EDN is correctly recognized by the system. Control the state of the leds on the front panel of the C3G-EDN board. If this does not correct the problem, contact Comau.

30842

10-DRIVE OFF

DVN SL Error:

Cause: The DeviceNet interface reports this error. Remedy: This cause of this message could be a previously detected error. In this case, please try to solve the original problem first. In any case, you can contact Comau and report the codes of the messages. 30843

2-WARNING

DVN SL not yet configured

Cause: It is the first time the user inserted the C3G-EDN board into the C3G controller and none of the predefined variable parameters have been configured yet. Remedy: Use the RI_INST utility to configure the DeviceNet SL predefined variables parameters. 30844

10-DRIVE OFF

DVN SL Bad sysvar value(s)

Cause: Some of the DeviceNet SL predefined variables ($DEVNET_INIT) are initialized with wrong values. Remedy: Use the RI_INST utility to configure the DeviceNet SL predefined variables with the proper values. 30845

2-WARNING

DVN SL Baud Rate from K to K

Cause: The DeviceNet interface reports that the baud rate on the Devicenet Bus has been changed. The system updates the variable $DEVNET_INIT[2] with the new value of the baud rate. Remedy: In order to save this update, is necessary to do a Configure Save. If the update is not done, upon the next Restart Cold the old value of $DEVNET_INIT[2] is used and the DeviceNet Bus could not work properly. 30846

2-WARNING Cause:

SWIM not yet configured

This error occurs the first time the operator plugs a SWIM board in the C3G controller and no predefined variable has been configured yet. Remedy: The predefined variables for the SWIM board are configured by the installation phase of the spot welding application program. At the next system restart, the message should not occur anymore. 30847

2-WARNING

Bad sysvar value(s) SWIM

Cause: Some elements of the predefined variable $SWIM_INIT have been initialized with wrong values. Remedy: Only the spot welding application should refer such elements. Please contact COMAU if this error occurs. 30848

10-DRIVE OFF

SWIM WATCH DOG error

Cause: An error related to the synchronization with the SWIM board has been detected. Remedy: The user cannot solve this problem. Please contact COMAU. 30849

10-DRIVE OFF

SWIM error

Cause: An error occurred on the SWIM board. This error number is specified with this message. Remedy: Please contact COMAU and report this error. 30850

10-DRIVE OFF

SWIM not mounted

Cause: A fatal error has been detected on the SWIM board. The reason of this undesiderable feature is related by the message that preceedes this one and that concernes the SWIM board. Remedy:

The user cannot solve this problem. Please contact COMAU. 30851

10-DRIVE OFF

SWIM disabled

Cause: The SWIM board has been disabled. Remedy: Reenable the SWIM board by setting the proper predefined variables. 30852

10-DRIVE OFF

SWIM test ON

Cause: The testing modality for the SWIM interface is active. During this phase, input data are ignored. Remedy: This is only an informational message. 30853

2-WARNING

SWIM test OFF

Cause: The testing modality for the SWIM interface has been deactivated. The SWIM interface is now ready to receive input data. Remedy: This is only an informational message. 30854

4-PAUSE

Bed port type for hand

Cause: A HAND has been configured with a wrong port type. Remedy: Use the HAND Configuration Tool for configuring the HAND. 30855

4-PAUSE

EZ not allowed

Cause: EZ cannot be activated if Program Edit, Memory Debug or Memory Teach are already active. Remedy: Exit those environments before activating EZ.

30856

10-DRIVE OFF

SWIM High severity error

Cause: SWIM board detected a high severity error. A current value different than 0 has been detected when the SCR was not driven. Remedy: Check the power circuit associated to the SCR. 31745

2-WARNING

Reset current transaction

Cause: This message should never occur in this version. Remedy: No remedy. 31746

2-WARNING

Address out of range

Cause: The user attempted some action with an address that is out of the range of PLC limits. Remedy: Retry the command with a corrected address. 31747

2-WARNING

Requested data not found

Cause: The data that was being searched for was not located. Remedy: Retry the search with a different address. 31748

2-WARNING

Illegal task code request(not supported)

Cause: The command that was requested is not supported in this PLC. Remedy: Try to perform the action desired in some other manner.

31749

2-WARNING

Request exceeds program memory size(ladder logic)

Cause: A command was attempted with an address that exceeded the ladder memory size. Remedy: Retry the command with a corrected address. 31750

14-FATAL

Diagnostics failure on power up

Cause: This message should never occur in this version. Remedy: No remedy. 31751

14-FATAL

Fatal error detected

Cause: A PLC system fatal error occurred. Remedy: Perform a PLC Cold Start. contact Comau. 31752

2-WARNING

If this does not correct the problem,

Keylock protect error

Cause: This message should never occur in this version. Remedy: No remedy. 31753

2-WARNING

Incorrect amount of data

Cause: A command was attempted with the incorrect amount of data sent with the command. Remedy: Resend the command with the correct data. 31754

2-WARNING

Illegal in current mode

Cause: An operation was attempted that is illegal in the current operational mode (PROGRAM or RUN). Remedy: Change the operational mode and retry the command. 31755

2-WARNING

Network was not deleted

Cause: This message should never occur in this version. Remedy: No remedy. 31756

2-WARNING

Attempted write operation did not verify

Cause: An attempt to modify PLC user memory did not complete. Remedy: Retry the operation and, if the error persists, contact Comau. 31757

2-WARNING

Illegal number of ascii characters received

Cause: This message should never occur in this version. Remedy: No remedy. 31758

2-WARNING

Illegal write to program memory(no volatile)

Cause: This message should never occur in this version. Remedy: No remedy. 31759

2-WARNING Cause:

Data not inserted

This message should never occur in this version. Remedy: No remedy. 31760

2-WARNING

Data not written

Cause: This message should never occur in this version. Remedy: No remedy. 31761

2-WARNING

Invalid data sent with command

Cause: The attempted command contained invalid parameters. Remedy: Retry the command with valid parameters. 31763

2-WARNING

Store and forward buffer busy

Cause: The buffer used to pass task codes from one special function module to another was busy. Remedy: Retry the attempted operation. Comau. 31764

2-WARNING

If the problem persists, contact

No response from the special function module

Cause: The attempted operation to the special function module received no response. Remedy: Try removing and reinserting the special function module. problem persists, replace the module. 31765

4-PAUSE Cause:

Illegal instruction found in program memory

If the

An instruction was found in program memory that was illegal for this PLC. Remedy: Correct the network containing the illegal instruction. 31766

2-WARNING

Attempted write to a protected variable

Cause: A modification was attempted to a protected PLC memory location. Remedy: Protected PLC variables cannot be modified. 31767

2-WARNING

No response from PC (eg. single scan not performed)

Cause: This message should never occur in this version. Remedy: No remedy. 31772

2-WARNING

PLC busy , Operation not performed

Cause: An operation was attempted that was not completed due to the PLC resource being previously allocated. Remedy: Retry the operation. 31773

2-WARNING

If the problem persists, contact Comau.

Port lockout is active

Cause: An operation was attempted that was not completed due to the PLC resource being previously allocated. Remedy: Retry the operation. 31777

2-WARNING

If the problem persists, contact Comau.

I/O configuration error - too many points

Cause: Too many I/O points were attempted to be configured.

Remedy: Remove some of the I/O points from the configuration. 31795

10-DRIVE OFF

No memory resources for PLC

Cause: The PLC system experienced a memory shortage problem. Remedy: Reconfigure the PLC with more memory, or contact Comau. 31796

2-WARNING

RLL save operation failed

Cause: The RLL file was not saved, possibly because of a problem with the RAM disk. Remedy: Check that the RAM disk is mounted and the file name is specified correctly. 31797

2-WARNING

RLL load operation failed

Cause: The RLL file was not loaded. Remedy: Check to be sure that the RLL file exists on the RAM disk. 31798

2-WARNING

RLL file too large for SW PLC

Cause: An RLL program that was saved from a HW PLC was attempted to be loaded on a SW PLC. Remedy: Install a HW PLC into the system. 31799

2-WARNING

Invalid com_port for PLC protocol

Cause: The user attempted to mount the TISOFT protocol on an invalid port.

Remedy: Mount the protocol on the correct port. 31800

2-WARNING

Requested file is not an RLL program

Cause: The user attempted to load a file that did not contain an RLL program. Remedy: Load the correct RLL program file. 31801

2-WARNING

Bad group I/O table definition

Cause: The group I/O table definition contained invalid information. Remedy: Correct the group I/O table definition and reattempt the operation. 31802

2-WARNING

Bad mount request as HW PLC present

Cause: The user attempted to mount the TISOFT protocol with a HW PLC installed in the system. Remedy: Mounting the TISOFT protocol in a system with a HW PLC is illegal. Use the TISOFT protocol on the port for the HW PLC that is permanently mounted. 31803

10-DRIVE OFF

No memory for PLC structure

Cause: PLC initialization experienced a memory shortage. Remedy: Reconfigure for more shared memory. 31804

10-DRIVE OFF

No memory for RLL

Cause: PLC initialization experienced a memory shortage.

Remedy: Reconfigure for more shared memory. 31805

10-DRIVE OFF

No memory for group I/O table

Cause: PLC initialization experienced a memory shortage. Remedy: Reconfigure for more shared memory. 31806

10-DRIVE OFF

No memory for $PLCSTW

Cause: PLC initialization experienced a memory shortage. Remedy: Reconfigure for more shared memory. 31807

10-DRIVE OFF

No memory for PLC status words

Cause: PLC initialization experienced a memory shortage. Remedy: Reconfigure for more shared memory. 31808

10-DRIVE OFF

No memory for PLC physical I/O table

Cause: PLC initialization experienced a memory shortage. Remedy: Reconfigure for more shared memory. 31809

10-DRIVE OFF

No memory for compiled RLL

Cause: PLC initialization experienced a memory shortage. Remedy: Reconfigure for more shared memory.

31810

14-FATAL

HWPLC startup not completed

Cause: Synchronization between the RBC and the PLC failed, causing the HW PLC to not start. Remedy: Restart the system. PLC or the RBC. 31811

2-WARNING

If the problem persists, replace either the

PLC RLL fixed scan overrun

Cause: The PLC program attempted to use too much of the RBC CPU resource and inserted a wait-state to allow the RBC to function correctly. Remedy: If the wait-state insertion is undesirable, reduce the program size. 32768

0-INFO

PLC is in run mode

Cause: An operation was attempted that is not allowed in PLC RUN mode. Remedy: Put the PLC into PROGRAM mode. 32769

0-INFO

Unable to open file

Cause: The file to be translated into RLL could not be found. Remedy: Check to make sure that the proper file name was used. 32770

0-INFO

Source program contains errors

Cause: The file to be translated into RLL contains errors. Remedy: Correct the errors before translating into RLL.

32771

0-INFO

Not a PLC program

Cause: The file to be translated into RLL contains instructions or information not valid for a PLC program. Remedy: Remove the pieces of the program that contain invalid PLC information. 32772

0-INFO

Invalid .COD file

Cause: The file to be translated into RLL contains invalid data. Remedy: Make sure that the PDL2 source is correct. 32773

0-INFO

Invalid statement code

Cause: The .COD file contains statements that could not be translated into RLL. Remedy: Check to make sure that the PDL2 program contains only statements that can be translated into RLL. 32774

0-INFO

Invalid constant type

Cause: The .COD file contains statements that could not be translated into RLL. Remedy: Check to make sure that the PDL2 program contains only statements that can be translated into RLL. 32775

0-INFO

Illegal user-defined routine usage

Cause: The .COD file contains statements that could not be translated into RLL. Remedy:

Check to make sure that the PDL2 program contains only statements that can be translated into RLL. 32776

0-INFO

Translator cannot allocate memory

Cause: The PDL2-RLL translator could not allocate enough memory to perform the translation. Remedy: Reconfigure system memory so that more memory is available or erase unnecessary programs and/or data from memory. 32777

0-INFO

Invalid expression code

Cause: The .COD file contains statements that could not be translated into RLL. Remedy: Check to make sure that the PDL2 program contains only statements that can be translated into RLL. 32778

0-INFO

Invalid data type

Cause: The .COD file contains statements that could not be translated into RLL. Remedy: Check to make sure that the PDL2 program contains only statements that can be translated into RLL. 32779

0-INFO

Undeclared user constant

Cause: The .COD file contains statements that could not be translated into RLL. Remedy: Check to make sure that the PDL2 program contains only statements that can be translated into RLL. 32780

0-INFO

Undeclared user routine

Cause: The .COD file contains statements that could not be translated into RLL. Remedy: Check to make sure that the PDL2 program contains only statements that can be translated into RLL. 32781

0-INFO

Unrecognized PLC variable

Cause: The .COD file contains statements that could not be translated into RLL. Remedy: Check to make sure that the PDL2 program contains only statements that can be translated into RLL. 32782

0-INFO

Invalid assignment destination

Cause: An assignment was attempted that is not allowed by the PLC. Remedy: Correct the statement containing the illegal assignment. 32783

0-INFO

Translator interpreter stack underflow

Cause: An error occurred in the PDL2-RLL translator due to a corrupt .COD file. Remedy: Correct the .COD file or recover the .BKC file before translating to RLL. 32784

0-INFO

Translator interpreter stack overflow

Cause: An error occurred in the PDL2-RLL translator due to a corrupt .COD file. Remedy: Correct the .COD file or recover the .BKC file before translating to RLL.

32785

0-INFO

Label without GOTO

Cause: The user program contains a label without a GOTO that referenced it. Remedy: Remove the unreferenced label. 32786

0-INFO

Illegal GOTO usage

Cause: The user program contains a GOTO that jumped backwards to the label. This is illegal in PLC programs. Remedy: Correct the program. 32787

0-INFO

Invalid pulse output

Cause: The user program contains a PULSE statement whose output was a $DIN. Remedy: $DIN is not allowed as an output. 32788

0-INFO

Correct the program.

Invalid built-in procedure

Cause: The user program contains an invalid PLC built-in call. Remedy: Correct the program. 32789

0-INFO

Invalid parameter type

Cause: A PLC built-in procedure call contains an invalid parameter type. Remedy: Correct the program.

32790

0-INFO

Allocable PLC resource exhausted

Cause: The PDL2 PLC program caused the translator to run out of resources that could be allocated during the translation. Remedy: Reduce the program size. 32791

0-INFO

User/translator address conflict

Cause: The user program attempted to use a translator-allocated resource. Remedy: Change the program to not use translator-allocated resources. 32792

0-INFO

PLC program memory full

Cause: The user program was too large and used all of the available RLL program memory. Remedy: Either reduce the program size or, if the HW PLC is not installed, install it. 32793

0-INFO

PLC variable range error

Cause: An attempt was made to assign a value to a PLC variable that is not within the limits allowed. Remedy: Correct the PLC variable assignment. 32794

0-INFO

Group I/O table not initialized

Cause: An attempt was made to translate a user program without the group I/O table having been initialized. Remedy: This should never occur unless the HSIO task is not working.

32795

0-INFO

Illegal indirect port reference

Cause: Indirect port references are not allowed in a PDL2 PLC program. Remedy: Correct the program. 32796

0-INFO

PLC index out of range

Cause: An index to a PLC variable was used that is not within the limits allowed. Remedy: Correct the PLC variable index. 32797

0-INFO

Group index out of range

Cause: An index to a PLC group I/O variable was used that is not within the limits allowed. Remedy: Correct the PLC group I/O variable index. 32798

0-INFO

PLC built-in parameter out of range

Cause: A parameter to a PLC built-in was used that is not within the limits allowed. Remedy: Correct the PLC built-in parameter. 33792

14-FATAL

No system variables loaded

Cause: The system has started without the correct predefined variables loaded. Remedy: Reload the complete software and make sure that the data file(s)

are correctly loaded and that there is a C3G.SYS file. 33793

2-WARNING

ISR activated while editing

Cause: During an edit session an interrupt service routine (ISR) in a condition was triggered. The ISR was not executed. The user is prompted by the editor upon the next execution as to whether the ISR should be executed. Remedy: It is only necessary to reply to the edit prompt. 33794

12-DRIVE OFF

Arm cannot be contacted

Cause: A motion statement or request was issued to a robot arm which does not exist. Remedy: Check that the motion statement uses the correct arm number and that the number of arms specified in the predefined variable $NUM_ARMS is equal to the actual number of arms available. 33795

2-WARNING

Programs already held

Cause: A HOLD was issued when the programs are already in the HOLD state. Remedy: No action is necessary to clear this alarm. 33796

2-WARNING

Bad cycle time

Cause: The value of the interpreter cycle time was badly set and could not be used. Remedy: The system correctly adjusts the variable to a more meaningful value. The user does not need to take any action. 33797

2-WARNING Cause:

Bad cycle rate

The value of the interpreter cycle rate or frequency, was badly set and could not be used. Remedy: The system correctly adjusts the variable to a more meaningful value. The user does not need to take any action. 33798

0-INFO

Error no known prog

Cause: An error which normally relates to a program occurred, but the corresponding program was not known due to the fact that it has either been deactivated or erased from memory. The parameter contains the program error. Remedy: Review the program error and try to determine for what program this may have occurred. Then, take the appropriate action on that program. 33799

0-INFO

Error no known prog

Cause: An error which normally relates to a program occurred but the corresponding program was not known due to the fact that it has either been deactivated or erased from memory. The first parameter contains the program error and the second contains the parameter which would have applied to the program error. Remedy: Review the program error and try to determine for what program this may have occurred. Then, take the appropriate action on that program. 33800

0-INFO

Error no known prog

Cause: An error which normally relates to a program occurred but the corresponding program was not known due to the fact that it has either been deactivated or erased from memory. The first parameter contains the program error and the remaining parameters are the parameters which would have applied to the program error. Remedy: Review the program error and try to determine for what program this may have occurred. Then, take the appropriate action on that program.

33801

0-INFO

Error no known prog

Cause: An error which normally relates to a program occurred but the corresponding program was not known due to the fact that it has either been deactivated or erased from memory. The first parameter contains the program error and the remaining parameters are the parameters which would have applied to the program error. Remedy: Review the program error and try to determine for what program this may have occurred. Then, take the appropriate action on that program. 33802

2-WARNING

Execute already deactivated

Cause: A second command to deactivate the immediate mode execution program has been issued when the execution program has already been deactivated. This situation can occur when there are simultaneous deactivations of the immediate mode program. Remedy: No action is necessary. This is only a warning. 33803

2-WARNING

Program has been deactivated

Cause: A second command to deactivate the edit session program has been issued when the program has already been deactivated. This situation can occur when there are simultaneous deactivations of the edit session program. Remedy: No action is necessary. This is only a warning. 33804

2-WARNING

Bad state exiting MEMORY DEBUG

Cause: The MEMORY DEBUG environment is being exited and the state of the program or the internal communication is wrong. Remedy: No action is necessary by the user. If this warning continues please report it to Comau. 33805

2-WARNING

All programs deactivated

Cause: The CTRL Y (^Y) has deactivated all activated programs. Remedy: This is an informational message. 33806

2-WARNING

^Y only available in PROG state

Cause: Not all of the programs have been deactivated upon the CTRL Y (^Y). Remedy: This can occur if the state of the system is protected. Unprotect the system before trying to deactivate all programs. 33807

10-DRIVE OFF

No memory for screen table

Cause: There are insufficient memory resources for creating the screen table. Remedy: Check that the value of $NUM_SCRNS is not too large. 33808

4-PAUSE

Bad state for EZ run

Cause: The state of the system is not suitable for EZ execution. Remedy: Check that the state of the system is in PROG. 34817

0-INFO

Error reading SYS file version

Cause: The version stamp maintained in the SYS file could not be read. Remedy: Check that the SYS file being loaded is a file created using CONFIGURE SAVE (CS) command. 34818

0-INFO

Bad SYS file version

Cause: The SYS file being loaded is an incorrect version and can therefore not be loaded. Remedy: If it is necessary to use the SYS file, the data has to be converted. 34819

0-INFO

Error reading SYS file

Cause: The data in the SYS file could not be read properly. Remedy: Check that the SYS file being loaded is a file created using CONFIGURE SAVE (CS) command. 34820

0-INFO

Error opening SYS file

Cause: The SYS file could not be opened. Remedy: Check that the specified SYS file exists. 34821

0-INFO

Error closing SYS file

Cause: The SYS file could not be closed. Remedy: Check that there is space on the RAM disk and that the directory table is not full. 34822

0-INFO

Error reading SYS file identifier

Cause: The identifier maintained in the SYS file could not be read. Remedy: Check that the SYS file being loaded is a file created using CONFIGURE SAVE (CS) command. 34823

0-INFO

Error reading SYS file protection

Cause: The protection information maintained in the SYS file could not be read. Remedy: Check that the SYS file being loaded is a file created using CONFIGURE SAVE (CS) command. 34824

0-INFO

SYS save / load operation aborted

Cause: During the CONFIGURE SAVE (CS) or CONFIGURE LOAD (CL) operation, the command was aborted. Remedy: If necessary, reissue the command. 34825

0-INFO

Backup SYS file re-appeared

Cause: During the CONFIGURE SAVE (CS) operation the .BKS file was recreated. Remedy: Check that multiple CONFIGURE SAVE (CS) commands have not been issued at the same time. Also make sure that the file has not been copied from an external device during the operation. 34826

0-INFO

Error renaming temp SYS file to sys file

Cause: The temporary file used during the CONFIGURE SAVE (CS) operation could not be renamed to C3G.SYS at the end of the operation. Remedy: Check that neither the RAM disk nor the directory table are full. 34827

0-INFO

Temporary SYS file has disappeared

Cause: During the CONFIGURE SAVE (CS) operation the temporary file in which the data was being written has disappeared. Remedy:

Try to reissue the command. 34828

0-INFO

File is not a valid SYS file

Cause: The file being loaded is not of the correct format. Remedy: Check that the SYS file being loaded is a file created using CONFIGURE SAVE (CS) command. 34829

0-INFO

System structure size mismatch

Cause: The size of the data being loaded does not match the size of the data currently in memory. Remedy: Check that the version of the file is correct and was created with the current system software. 34830

0-INFO

Bad version of system variable

Cause: The version number of the SYS file is not compatible with the version of the system software. Remedy: If it is necessary to use the SYS file, the data has to be converted. 34831

0-INFO

SYS file not found

Cause: The specified file or C3G.SYS file could not be found in memory. Remedy: Check that the file does exist. 34832

0-INFO

Can't load sys vars - checksum mismatch

Cause: A system variable file contains a checksum so that a corrupted file can be detected before loading it into memory. This error occurs if the checksum calculated doesn't match the one generated when the

system variable file was created. Remedy: There is no remedy. 36864

4-PAUSE

Try to recover a backup file.

(): ISR cannot unsuspend

Cause: An attempt was made to change the state of a program from within an interrupt service routine (ISR) but the operation failed. This can occur either because of a bad ISR or because the ISR is already in the correct state. Remedy: Check the program/ISR state change operation to determine if the program/ISR is already in the correct state. 36865

4-PAUSE

(): ISR limit exceeded

Cause: There is a limit of 255 interrupt service routines (ISR) per program. An ISR was triggered and the limit exceeded. Remedy: Check that the ISR is not being recursively issued. 36866

4-PAUSE

(): ISR not loaded

Cause: The interrupt service routine (ISR) does not currently reside in memory. The ISR must be loaded at the time of the condition handler definition and must remain in memory until the referencing condition handler is purged. Remedy: Load the program which contains the routine. 36867

4-PAUSE

(): ISR not exec as prog deac

Cause: An interrupt service routine (ISR) was issued after the program has been completed and deactivated. The state of the program is either deactivated or waiting for end of motion before completing. Remedy: Do not cause an ISR to be triggered after the program has

completed. 36868

4-PAUSE

(): ISR prog not active

Cause: The program was no longer activate when an interrupt service routine (ISR) was issued. This can occur when a condition handler is triggered at the same time that the program is deactivated. Remedy: Do not cause an ISR to be triggered at the same time the program is being deactivated. 36869

4-PAUSE

(): ISR thread not active

Cause: An operation on an interrupt service routine (ISR) failed because the thread of the ISR could not be found or because the program has been deactivated. Remedy: Check the operation which was attempted on the ISR to determine if this could occur after the program has been deactivated. 36870

12-DRIVE OFF

(): no memory for mtn built-in

Cause: Motion built-ins such as POS_TO_JNTP require the use of shared memory. The built-in failed because no memory resources could be found. Remedy: Check the configuration of the memory to see if there is sufficient shared memory. 36871

12-DRIVE OFF

(): no memory for SCC com

Cause: Communication between the robot CPU (RBC) and servo CPU (SCC) failed due to a shortage of shared memory. Remedy: Check the configuration of the memory to see if there is sufficient shared memory. 36872

12-DRIVE OFF

(): no memory for cond

Cause: The definition of a condition handler failed due to insufficient memory resources. Remedy: Check the configuration of the memory and/or erase something from memory. 36873

12-DRIVE OFF

(): no memory for cond com

Cause: Communication between the interpreter and the condition handler failed due to insufficient memory resources. Remedy: Check the configuration of the memory and/or erase something from memory. 36874

12-DRIVE OFF

(): no memory for SYS_CALL

Cause: Issuing a SYS_CALL failed due to insufficient memory resources. Remedy: Check the configuration of the memory and/or erase something from memory. 36875

4-PAUSE

(): no memory for DELAY

Cause: Issuing a DELAY failed due to insufficient memory resources. Remedy: Check the configuration of the memory and/or erase something from memory. 36876

4-PAUSE

(): no memory for PULSE

Cause: Issuing a PULSE failed due to insufficient memory resources. Remedy: Check the configuration of the memory and/or erase something from memory.

36877

12-DRIVE OFF

(): no memory for READ

Cause: Issuing a READ failed due to insufficient memory resources. Remedy: Check the configuration of the memory and/or erase something from memory. 36878

4-PAUSE

(): prog out of memory

Cause: Insufficient PDL2 program memory for adding the trappable error. This occurs when calling the ERR_TRAP_ON built-in. Remedy: Review which errors have already been trapped and either remove some of them or increase the size of the PDL2 program stack, because the trappable errors are added to the stack space. 36879

4-PAUSE

(): err(s) deactivating

Cause: During the deactivation of the program, certain errors occurred. Remedy: Review the preceding error messages to determine what errors occurred and take the necessary action based on these errors. 36880

4-PAUSE

(): bad deac of sys_call

Cause: During the deactivation of the program there was a problem in handling the canceling of the outstanding SYS_CALL. Remedy: Please report this error to Comau. 36881

4-PAUSE

(): cond cannot be deac

Cause: During the deactivation of the program there was a problem in handling the canceling of the outstanding condition handlers.

Remedy: Please report this error to Comau. 36882

12-DRIVE OFF

(): many errors in deac

Cause: During the deactivation of the program there were too many problems for the deactivation process to continue. Remedy: Please report this error to Comau. 36883

2-WARNING

(): mtn line canceled

Cause: The motion statement of the specified line was canceled. Remedy: This is an informational message. 36884

4-PAUSE (): mtn line has err

Cause: The motion statement of the specified line contained an error. Remedy: Review the error to determine what action to take.

36885

4-PAUSE (): mtn line canc err

Cause: The motion statement of the specified line contained an error and the motion was canceled. Remedy: Review the error to determine what action to take.

36886

4-PAUSE locked

(): arm mtn not RESUMEd as

Cause: The RESUME operation failed because the arm was locked.

Remedy: Determine which program has locked the arm and either issue a corresponding UNLOCK or deactivate the program. The deactivation process automatically UNLOCKs the arm. 36887

4-PAUSE

(): err mtn not RESUMEd

Cause: The RESUME operation failed due to the specified error. Remedy: Review the error to determine what action to take. 36888

4-PAUSE mismatch

(): arm and data

Cause: The arm specified in a motion built-in does not correspond with the JOINTPOS or XTNDPOS variable's arm number. Remedy: Check that the arm number of the variable is the same as the arm number specified in the built-in. 36889

4-PAUSE

(): no motion buffers resources

Cause: There are insufficient resources for the creation of motion buffers. Each motion statement uses at least one motion buffer. Remedy: Check that the number of motion buffers ($NUM_MB) is not too large and that the system resources are correctly set. 36890

4-PAUSE

(): already interpreting motion

Cause: A program can only interpret one MOVE statement at a time. This error occurs if the program attempts to interpret a second MOVE statement before the first one has completed. This situation can occur if a routine or ISR contains a motion statement and is called during the processing of the MOVE statement. It is important to differentiate between the interpretation of the statement and the interpolation of the motion. Remedy:

Change the MOVE statement to a single line statement or do not issue motions from ISRs. 36891

4-PAUSE

(): no arm

Cause: The arm specified in a statement does not exist. Remedy: Check that the arm specified in the statement does exist. 36892

4-PAUSE

(): no servo board

Cause: The referenced servo control board in the HDIN_SET built-in does not exist. Remedy: Check that the parameter to the HDIN_SET built-in is correct and that there is a corresponding SCC board. 36893

4-PAUSE

(): arm already used

Cause: The arm is already referenced in the multiple arm statement. An SYNCMOVE has been issued on the same arm. For example, - PROGRAM armusd PROG_ARM=1 - . . . MOVE TO $HOME SYNCMOVE ARM[1] TO $CAL_SYS Note that the motion to $HOME uses the default program arm which is arm 1. Therefore, arm 1 has been referenced twice in the same statement. Remedy: Check that the arm numbers specified in the MOVE/SYNCMOVE statements are unique and check the value of the default program arm ($PROG_ARM). 36894

4-PAUSE

(): all motion buffers used

Cause: Insufficient resources for issuing a motion because all motion buffers are currently used. Remedy:

Either increase the number of motion buffers ($NUM_MB) or check that the number of outstanding motions is not too large. 36895

4-PAUSE

(): PROG_ARM does not exist

Cause: The arm specified as the PROG_ARM attribute does not exist. Remedy: Check the controller configuration, the PROG_ARM attribute, and the system default arm ($DFT_ARM) to be sure that there is such an arm. 36896

4-PAUSE

(): issuing prog is not loaded

Cause: The program which issued the ACTIVATE statement or action no longer exists and therefore the program cannot be activated. Remedy: Check that the issuer of the ACTIVATE does exist. 36897

4-PAUSE

(): holdable stmt in nohold prog

Cause: A NOHOLD program cannot interpret HOLDable statements such as MOVE and LOCK. This error occurs when an external routine containing a HOLDable statement has been called from a NOHOLD program. Remedy: Change either the external routine or the attribute of the program. 36898

12-DRIVE OFF

(): stack full

Cause: The PDL2 program stack has become full. This can occur for many reasons. The most common cause is that the level of routine calls is too deep; too many errors are trapped on; or the size of a routine local variable set is too large. Remedy: Determine the cause and either reduce the burden on the stack or increase the stack size specified in the STACK program attribute. 36899

12-DRIVE OFF

(): stack empty

Cause: There is insufficient data on the stack. Remedy: Please report this error to Comau. 36900

4-PAUSE

(): mtn event limit reached

Cause: The maximum number of 8 motion events for a motion segment has been exceeded. Remedy: Reduce the number of motion events on the particular motion segment. 36901

4-PAUSE

(): bad mtn event for $MOVE_TYPE

Cause: The type of motion event does not match the type of motion. Cartesian motions (LINEAR and CIRCULAR) cannot use the PERCENT event and a joint motion (JOINT) cannot use the DISTANCE event. Remedy: Change the type of motion or the motion event. 36902

4-PAUSE

(): bad local cond operation

Cause: The operation, such as the implicit ENABLE at the start of the motion or implicit DISABLE at the end of the motion, failed on a local condition handler. Remedy: Please report this error to Comau. 36903

4-PAUSE

(): local cond limit reached

Cause: A condition handler can only be used locally in 15 different motion segments at one time. Remedy: Check the use of this condition handler and reduce the number of active motion statements which reference it.

36904

4-PAUSE

(): bad TIL cond

Cause: The motion events STOP, RESUME, AT START, and AT END cannot be used in the TIL clause. Remedy: Remove the offending motion events from the TIL clause expression. 36905

4-PAUSE

(): WITH cond limit reached

Cause: The maximum number (8) of local condition handlers in a MOVE statement has been exceeded. Remedy: Reduce the number of local condition handlers and if necessary add condition expressions in a single condition handler. 36906

4-PAUSE

(): bad mtn event parameter

Cause: The value specified in a motion event is invalid. The limits for the PERCENT motion event is 1 to 100. For the TIME and DISTANCE motion events the value must be greater than 0. Remedy: Check and modify the specified value. 36907

4-PAUSE

(): bad IN frame specification

Cause: The type of frame specified in a MOVE RELATIVE or MOVE ABOUT statement is invalid. Remedy: Check the frame specification in the statement. are TOOL and BASE. 36908

4-PAUSE

The valid frames

(): MOVE stmt when interpreting COND

Cause: A motion statement cannot be interpreted at the same time as a condition handler. This error can occur if a routine which contains

a motion statement is called while a condition handler definition is being interpreted. Remedy: Modify the program so that the routine which contains a motion is not called during a condition handler definition. 36909

4-PAUSE

(): VIA needs $MOVE_TYPE of circular

Cause: The VIA clause is only valid for circular motion or the $MOVE_TYPE has been specified as SEG_VIA. Remedy: Modify either the statement such that it does not contain the VIA clause or change the motion type ($MOVE_TYPE) to CIRCULAR. 36910

4-PAUSE

(): bad arm or hand number

Cause: The hand number or arm number specified in the OPEN, CLOSE, or RELAX HAND statement is invalid. There is a limit of two hands per arm. Remedy: Check and modify the specified arm and hand numbers. 36911

4-PAUSE

(): hand type not defined

Cause: The type of HAND has not been specified. There are currently four types of HANDs: Single, Dual, Pulse and Step. Remedy: Check the type of HAND and set it to a valid type by setting the predefined variable $HAND_TYPE or by using the PDL2 program for configuring the HANDs. 36912

4-PAUSE

(): unmatching FOR loop

Cause: The FOR and ENDFOR statements do not match. This error occurs if a FOR .. ENDFOR loop is exited or entered using a GOTO statement. Remedy: Do not jump into and out of FOR loops.

36913

4-PAUSE

(): closing ASIO lun

Cause: The closing of a LUN (CLOSE FILE) operation has failed. Remedy: Please report to Comau. 36914

4-PAUSE

(): bad write type

Cause: A variable of such a data type cannot be written. The valid data types are INTEGER, REAL, BOOLEAN, STRING, VECTOR, POSITION, JOINTPOS and XTNDPOS. Remedy: Check what type of data is being referenced in the WRITE statement and modify the variable reference accordingly. 36915

4-PAUSE

(): write format too long

Cause: The format specified for an item in a WRITE statement is too long. Remedy: Reduce the format size. 36916

4-PAUSE

(): writing value not initialized

Cause: The variable being written has not been initialized. Remedy: Either modify the variable such that it contains a valid value or modify the WRITE statement. The built-in VAR_UNINIT can be used to determine if the value of a variable has been initialized. 36917

4-PAUSE

(): bad 1st READ format

Cause: The first READ format specifier on a variable is invalid. The following example is invalid since 9999 is too large for the first specifier: -

-

READ lun (i::9999)

Remedy: Check and correct the value of the first format specifier. 36918

4-PAUSE

(): bad 2nd READ format

Cause: The second READ format specifier on a variable is invalid. The following example is invalid since a second specifier cannot be specified with REALs. - VAR r : REAL - . . . - READ lun (r::5::1) Remedy: Check and correct the value of the second format specifier. 36919

4-PAUSE

(): READ request used

Cause: A READ has been issued on a LUN which has entered an invalid state. Remedy: Please report to Comau. 36920

2-WARNING

(): bad baud rate specified

Cause: The baud rate specified in the COM_PORT_SET built-in or at the command level is invalid. Remedy: Check and modify the parameter in the built-in or at the command level. 36921

4-PAUSE

(): bad device name

Cause: The device name specified is invalid. Device names can be up to 4 alphanumeric characters in length and must end with a colon ":". For example, COM1: and CRT2: are valid device names. Remedy:

Check and modify the device name specified. 36922

4-PAUSE

(): bad OPEN FILE access mode

Cause: The access mode specified in the OPEN FILE statement is invalid. This could be due to an invalid character (e.g., 'RX'), a character specified twice (e.g., 'RWR') or an invalid operation for the type of device (e.g., "OPEN FILE lun ('CRT2:', 'RA')" because one cannot append to a window device). Remedy: Check and modify the access string and/or the type of device. Refer to the PDL2 Language Manual for a complete description of the OPEN FILE access string. 36923

4-PAUSE

(): bad lun count

Cause: The number of files opened on a device is counted. This error occurs if this counter has gone wrong. Remedy: Please report to Comau. 36924

4-PAUSE

(): bad lun index

Cause: The LUN index specified in a file access statement (a READ, WRITE, or CLOSE FILE) is invalid. Remedy: Check that the LUN is open and can be accessed by this program. 36925

4-PAUSE

(): bad device operation

Cause: The operation attempted on the particular device is invalid. There are 5 types of devices: null, window, file, serial line and serial line with a mounted protocol. The type of operation (e.g., FILER COPY or WIN_DEL) that can be performed is checked by the system. For example, some operations are not allowed on ports having a specific protocol mounted (for example UCV command with DDCMP or TI-Soft protocol mounted). See the PDL2 Language Manual for a cross reference between type of device and legal operations. Remedy:

Check and modify either the device specified or the type of operation. 36926

4-PAUSE

(): bad LUN access

Cause: The access to a LUN is invalid. This can be either because of an invalid LUN number specified in the statement or because the LUN is no longer active and has been closed. Remedy: Check that the LUN is still open and that the integer variable is valid. 36927

4-PAUSE

(): device ATTACHed or used

Cause: An operation was attempted on a device which is attached. Devices are either explicitly attached by using the ATTACH statement or implicitly attached when a protocol is mounted. Remedy: Check who has issued the ATTACH and determine if this is necessary. 36928

4-PAUSE

(): device table full

Cause: There is a finite number of devices which can exist at the same time. This error reports that the limit has been reached. Remedy: Check that unused windows are deleted and if the problem still exists increase the default number of devices ($NUM_DEVICES). 36929

4-PAUSE

(): file name required

Cause: A file has tried to be opened on a device which requires a file name. The following example will cause this error because the RAM disk device (RD:) requires a file name: - OPEN FILE lunidx ('rd:', 'r') Remedy: Check the OPEN FILE statement file name specification.

36930

4-PAUSE

(): file operation err

Cause: A file operation failed with the specified error. Remedy: Review the file operation error to determine a corrective action. 36931

4-PAUSE

(): file not closed as SYS_CALL_OUT lun

Cause: The file could not be closed as it is currently being used in a SYS_CALL. Remedy: Wait until the SYS_CALL has completed before trying to close the file. 36932

4-PAUSE

(): lun table full

Cause: There is a finite number of files which can be open at the same time. This error reports that the limit has been reached. Remedy: Check that unused files are closed. If the problem still exists increase the default number of LUNs ($NUM_LUNS). Increasing the number of LUNs does use extra memory and system resources so it is recommended to close unused files as opposed to just increasing the number of available LUNs. 36933

4-PAUSE

(): no such device

Cause: The specified device does not exist. Remedy: Check that the device name is correct and that the physical device does exist. 36934

4-PAUSE

(): no space for delimiter table

Cause: Opening a file specifying a delimiter (e.g., "OPEN FILE lunidx ("CRT:", "r") WITH $FL_DMT = 65") does use memory. This error

occurs when there is insufficient memory resources for defining the delimiter table. Remedy: Check the system configuration and try to free up some memory resources, for example by erasing unneeded programs and/or data from memory. 36935

4-PAUSE

(): not device owner

Cause: An attempt to DETACH a device failed as the program which issued the DETACH does not currently own the device. Remedy: Only the program which issued the ATTACH can issue the DETACH. Check that the two are the same. 36936

4-PAUSE

(): current data locked

Cause: Access to the current arm data ($CRNT_DATA) is locked. Remedy: Please report to Comau. 36937

4-PAUSE

(): bad arm number

Cause: The arm specified in the built-in ARM_POS, ARM_JNTP or ARM_XTND is invalid. Remedy: Check that the arm specified does exist. 36938

2-WARNING

(): arm not calibrated

Cause: The arm is currently not calibrated and therefore the attempted operation failed. Remedy: Calibrate the arm and reissue the statement or action. 36939

4-PAUSE

(): integer not initialized

Cause: The INTEGER variable accessed has either not been initialized or was initialized and then set uninit again when an operation such as READ failed on the variable. The variable cannot be used until it has been initialized. Remedy: Check that the variable has been initialized and that no error has occurred on the variable. The built-in VAR_UNINIT can be used for checking the state of the variable and the variable can be initialized as part of the declaration (e.g., "VAR i : INTEGER (55)"). 36940

4-PAUSE

(): real not initialized

Cause: The REAL variable accessed has either not been initialized or was initialized and then set uninit when an operation such as READ failed on the variable. The variable cannot be used until it has been initialized. Remedy: Check that the variable has been initialized and that no error has occurred on the variable. The built-in VAR_UNINIT can be used for checking the state of the variable and the variable can be initialized as part of the declaration (e.g., "VAR pi : REAL (3.14159)"). 36941

4-PAUSE

(): boolean not initialized

Cause: The BOOLEAN variable accessed has either not been initialized or was initialized and then set uninit when an operation such as READ failed on the variable. The variable cannot be used until it has been initialized. Remedy: Check that the variable has been initialized and that no error has occurred on the variable. The built-in VAR_UNINIT can be used for checking the state of the variable and the variable can be initialized as part of the declaration (e.g., "VAR i_want_to_go_home : BOOLEAN (TRUE)"). 36942

4-PAUSE

(): string not initialized

Cause: The STRING variable accessed: * ** 1: has an undefined length, ** 2: has not been initialized, or ** 3: was initialized and then set

uninit when an operation such as READ * failed on the variable. * The variable cannot be used until it has been properly initialized. Remedy: Check that the string length has been defined, that the variable has been initialized, and that no error has occurred on the variable. The built-in STR_LEN can be used for checking the string length. The built-in VAR_UNINIT can be used for checking the state of the variable and the variable can be initialized as part of the declaration (e.g., "VAR s : STRING[80] ('I do like to be beside the seaside')). 36943

4-PAUSE

(): vector not initialized

Cause: The VECTOR variable accessed has either not been initialized or was initialized and then set uninit when an operation such as READ failed on the variable. The variable cannot be used until it has been initialized. Remedy: Check that the variable has been initialized and that no error has occurred on the variable. The built-in VAR_UNINIT can be used for checking the state of the variable. 36944

4-PAUSE

(): position not initialized

Cause: The POSITION variable accessed has either not been initialized or was initialized and then set uninit when an operation such as READ failed on the variable. The variable cannot be used until it has been initialized. Remedy: Check that the variable has been initialized and that no error has occurred on the variable. The built-in VAR_UNINIT can be used for checking the state of the variable. 36945

4-PAUSE

(): jointpos not initialized

Cause: The JOINTPOS variable accessed has either not been initialized or was initialized and then set uninit when an operation such as READ failed on the variable. The variable cannot be used until it has been initialized. Remedy: Check that the variable has been initialized and that no error has

occurred on the variable. The built-in VAR_UNINIT can be used for checking the state of the variable. 36946

4-PAUSE

(): xtndpos not initialized

Cause: The XTNDPOS variable accessed has either not been initialized or was initialized and then set uninit when an operation such as READ failed on the variable. The variable cannot be used until it has been initialized. Remedy: Check that the variable has been initialized and that no error has occurred on the variable. The built-in VAR_UNINIT can be used for checking the state of the variable. 36947

4-PAUSE (): err in action. Cond not completed Cause: The actions of the specified condition handler did not complete due to the specified error. For example, the action "ENABLE CONDITION[99]" was specified but condition handler 99 does not exist. Remedy: Check the particular error and modify the condition handler.

36948

4-PAUSE

(): cond being defined in cond

Cause: A condition handler cannot be defined while another condition handler is being defined. For example: - . . . - ROUTINE rout - BEGIN CONDITION[2]: WHEN HOLD DO . . . ENDCONDITION - END rout - BEGIN . . . CONDITION[1]: WHEN HOLD DO $FDOUT[rout] := ON . . . ENDCONDITION -

would fail as condition handler 2 cannot be defined while condition handler 1 is being defined. Remedy: Modify the program such that condition handlers are not defined during the definition of another condition handler. 36949

4-PAUSE PURGE

(): err cond(s) not

Cause: The PURGE action or statement failed due to the error specified. A typical error could be caused by purging a condition handler that is currently locally enabled. For example, the PURGE statement would fail in the following statement since the motion statement is using the condition handler: - MOVEFLY TO p1 WITH CONDITION[1] ADVANCE - PURGE CONDITION[1] Remedy: Do not attempt to PURGE a condition handler until it is no longer referenced. 36950

4-PAUSE (): no cond in cond

Cause: The the -

PURGE action failed in the specified condition handler because condition handler is not defined. For example, . . . BEGIN CONDITION[1]: WHEN HOLD DO PURGE CONDITION[2] -- CH 2 does not exist ENDCONDITION

Remedy: Check to be sure the condition handler number is correct and that the condition handler has not already been purged. 36951

4-PAUSE

(): I/O table full cond not enabled

Cause: The number of I/O events (eg. WHEN $DIN[1]+) is finite. This error occurs when the limit is reached. The current limit is 50. Remedy:

Check that all the I/O events are necessary and are being used. Delete all unnecessary I/O events. 36952

4-PAUSE

(): cond contains mtn events

Cause: The condition handler could not be enabled as it contains certain types of motion events. For example, - . . . CONDITION[1]: WHEN TIME 100 BEFORE END DO HOLD ENDCONDITION -- ENABLE will fail since CH 1 contains motion events. ENABLE CONDITION[1] Remedy: Change the condition handler such that it does not contain any of the TIME, PERCENT, DISTANCE or AT VIA motion events. The motion events AT START, AT END, STOP and RESUME are allowed to be enabled globally. 36953

4-PAUSE

(): no such condition

Cause: The condition handler referenced in the ENABLE, DISABLE, or PURGE statement/action, or in the WITH clause does not exist. Remedy: Check that the condition handler number is correct and if so check that the condition handler has been defined. 36954

4-PAUSE

(): condition too large

Cause: The number of condition expressions has been exceeded. The current limit is 254 expressions. Remedy: Split the condition in two or many smaller conditions. 36955

4-PAUSE

(): bad cond number

Cause: The condition handler number is invalid.

Remedy: Change the condition handler number to a valid number in the range 1 to 255. 36956

4-PAUSE

(): holdable action

Cause: NOHOLD programs cannot use condition handlers which contain HOLDable actions such as LOCK, UNLOCK, CANCEL CURRENT, and CANCEL ALL. Remedy: Change the program to a HOLDable program or change the condition handler definition so that it does not contain HOLDable actions. 36957

4-PAUSE

(): arm and jntp mismatch

Cause: The JOINTPOS data is not valid for the particular arm specified in the MOVE statement. The following example will cause this error since the data is for arm 2 but the motion is for arm 3: - . . . - VAR j1 : JOINTPOS FOR ARM[2] - . . . - BEGIN MOVE ARM[3] TO j1 -- Data for arm 2. Motion on arm 3. Remedy: Change either the variable declaration or the motion statement, reteaching the data if necessary. 36958

4-PAUSE

(): arm and xtnd mismatch

Cause: The XTNDPOS data is not valid for the particular arm specified in the MOVE statement. The following example will cause this error since the motion is for arm 3 and the data is for arm 2: - . . . - VAR x1 : XTNDPOS FOR ARM[2] - . . . - BEGIN MOVE ARM[3] TO x1 -- Data for arm 2. Motion on arm 3. Remedy: Change either the variable declaration or the motion statement, reteaching the data if necessary.

36959

4-PAUSE

(): no joint []

Cause: A reference has been made to a JOINTPOS axis (jntvar[n]) that does not exist. Remedy: Check that the index does reference a valid axis. The predefined variables $NUM_JNT_AXES and $JNT_MASK contain information on the number of axes and the presence of the different axes. 36960

4-PAUSE

(): WITH idx limit

Cause: The first index of a variable in a WITH clause does not exist. For example MOVE TO p1 WITH $JNT_OVR[99]=89 -- No such axis 99. Remedy: Change the program such that a valid index is referenced. 36961

4-PAUSE (): WITH idx limits , Cause: The second index of a variable in a WITH clause does not exist. Remedy: Change the program such that a valid index is referenced.

36962

4-PAUSE

(): 1st idx limit

Cause: The -

first index of a variable is outside the range. For example VAR a : ARRAY[10] OF INTEGER . . . BEGIN . . . a[11] := 99 -- Element 11 does not exist

Remedy: Change the program such that a valid element is referenced.

36963

4-PAUSE

(): 2nd idx limit

Cause: The -

second index of a variable is outside the range. For example . . . VAR b : ARRAY[5, 10] OF INTEGER . . . BEGIN . . . b [4, 11] := 99 -- Element [4, 11] does not exist

Remedy: Change the program such that a valid element is referenced. 36964

4-PAUSE

(): copy array size mismatch

Cause: The assignment between two ARRAY variables failed because the size of the two arrays is not equal. Remedy: Either change the size of the arrays such that they are equal or copy each element one at a time using a FOR loop. 36965

4-PAUSE

(): arm mismatch asgn jntp

Cause: The assignment between two JOINTPOS variables failed because the arm numbers are not the same. Remedy: Either change the arm number of the JOINTPOS variables in the declaration or copy each element one at a time using a FOR loop. 36966

4-PAUSE

(): arm mismatch asgn xtnd

Cause: The assignment between two XTNDPOS variables failed because the arm numbers are not the same. Remedy: Either change the arm number of the XTNDPOS variables in the declaration or copy the position field (POS) and auxiliary axes field (AUX) in separate assignment statements. 36967

4-PAUSE

(): arm mismatch in arrays

Cause: The assignment between two ARRAYs of either XTNDPOS or JOINTPOS variables failed because the arm numbers are not the same. Remedy: Either change the arm number of the variables in the declaration or copy individual elements and fields separately. 36968

4-PAUSE

(): routine not loaded

Cause: The exported routine is not currently loaded in memory. Remedy: Issue a MEMORY LOAD (ML) of the owning program. 36969

4-PAUSE

(): missing RETURN in function

Cause: A function routine has completed without a RETURN statement. The following example will cause this error since the function "rout" does not contain a RETURN statement. - ROUTINE rout : INTEGER - BEGIN -- Should be a RETURN statement between -- the BEGIN and END statements WRITE('Inside the routine', NL) - END rout Remedy: Either change the routine to a procedure with no return result or add a RETURN statement. 36970

4-PAUSE

(): HDIN_SET bad LOCK mode

Cause: The HDIN_SET built-in is called by a NOHOLD program and the built-in contains the action to LOCK the arm when the input is triggered. LOCKing of an arm can only be done by a HOLDable program. Remedy: Either change the program attribute to HOLDable or do not attempt to LOCK the arm using HDIN_SET.

36971

4-PAUSE

(): str for cnfg too short

Cause: The conversion of the POSITION configuration data from a number to a string failed because the STRING was too short. Remedy: Please report to Comau. 36972

4-PAUSE

(): bad cnfg string

Cause: The specified positional configuration string is invalid. Remedy: Review the configuration string, removing invalid parameters. 36973

2-WARNING

(): at breakpoint

Cause: A breakpoint in the program has been reached and the program state is changed to READY. Remedy: To continue execution for a NOHOLD program, press the RUN key. For HOLDable programs, press the START key. The breakpoint can be removed by issuing the PROGRAM TEST BREAK PURGE (PTBP) command. 36974

4-PAUSE

(): bad SYS_VAR data type

Cause: The data type of the variable passed to SYS_VAR_GET or SYS_VAR_SET is invalid. The valid data types are INTEGER, REAL, BOOLEAN, STRING, VECTOR, POSITION, JOINTPOS, and SYSTEM. Remedy: Change the variable passed to these statements. 36975

4-PAUSE

(): system variable locked

Cause: The predefined variable accessed using SYS_VAR_GET or SYS_VAR_SET is currently locked and therefore cannot be accessed. Remedy:

Reissue the statement or try to determine why it is locked. 36976

4-PAUSE

(): $SYS_CALL_OUT not owned by this prog

Cause: The LUN specified in $SYS_CALL_OUT is either not owned by this program or is not a system LUN. Remedy: Check and change what has been assigned to $SYS_CALL_OUT. 36977

4-PAUSE

(): $SYS_CALL_TOUT timer error

Cause: There are a finite number of timer resources. The SYS_CALL with a timeout failed because the limit has been exceeded. Remedy: Either reissue the command or reduce the amount of concurrent statements with timeouts. 36978

4-PAUSE

(): err in pass of READ

Cause: The BYPASS over a READ statement failed due to the specified error. Remedy: Review the specified error to determine what action to take. 36979

4-PAUSE

(): err in pass of WAIT

Cause: The BYPASS over a WAIT statement failed due to the specified error. Remedy: Review the specified error to determine what action to take. 36980

4-PAUSE

(): pass of WAIT FOR failed

Cause: The BYPASS over a WAIT FOR statement failed due to the specified error. Remedy:

Review the specified error to determine what action to take. 36981

4-PAUSE

(): pass of SYS_CALL failed

Cause: The BYPASS over a SYS_CALL statement failed due to the specified error. Remedy: Review the specified error to determine what action to take. 36982

4-PAUSE

(): pass of DELAY failed

Cause: The BYPASS over a DELAY statement failed due to the specified error. Remedy: Review the specified error to determine what action to take. 36983

12-DRIVE OFF phase

(): EXIT CYCLE, problems in deac

Cause: The EXIT CYCLE statement or action failed due to some problems in the deactivation phase. EXIT CYCLE is very similar to an activation and deactivation and therefore the above errors are very similar to those which can occur in the deactivation of a program. Remedy: Please report to Comau. 36984

2-WARNING err ext rout prog line Cause: This message is informational and specifies at what line and in what routine a previous error occurred in the program, when the execution is in an external routine. Remedy: Review the error number to determine what action to take.

36985

4-PAUSE

(): no timer resource for DELAY

Cause: There are a finite number of timer resources. The DELAY statement failed because the limit has been exceeded. Remedy: Either reissue the command or reduce the number of concurrent statements that use timers. 36986

4-PAUSE

(): no timer resource for PULSE

Cause: There are a finite number of timer resources. The PULSE statement failed because the limit has been exceeded. Remedy: Either reissue the command or reduce the number of concurrent statements that use timers. 36987

4-PAUSE

(): no timer resource for HAND

Cause: There are a finite number of timer resources. The HAND statement failed because the limit has been exceeded. Remedy: Either reissue the command or reduce the number of concurrent statements that use timers. 36988

4-PAUSE

(): no timer resources for READ

Cause: There are a finite number of timer resources. The READ statement with a timeout failed because the limit has been exceeded. Remedy: Either reissue the command or reduce the number of concurrent statements that use timers. 36989

4-PAUSE

(): bad WIN_LOAD file

Cause: An attempt was made to WIN_LOAD a file onto a window and the format of the file was not correct. Remedy:

Make sure that the file was created using WIN_SAVE. 36990

4-PAUSE

(): bad screen use

Cause: The screen specified in a window built-in such as WIN_POPUP, WIN_DISPLAY, WIN_REMOVE or WIN_STATE is invalid. Remedy: Check that the parameter to the built-in is correct. 36991

4-PAUSE

(): mtn frame not initialized

Cause: $BASE and $TOOL are set to uninit values. Remedy: Verify that $BASE and $TOOL are correctly initialized in the program. 36992

4-PAUSE

(): jntp not initialized

Cause: The JOINTPOS variable specified in a MOVE statement has not been initialized. Remedy: Initialize the JOINTPOS before issuing the MOVE. 36993

4-PAUSE

(): pos not initialized

Cause: The POSITION variable specified in a MOVE statement has not been initialized. Remedy: Initialize the POSITION before issuing the MOVE. 36994

4-PAUSE

(): pos out of range

Cause: The arm cannot move to a position located out of the robot workspace. Remedy:

Move to a position inside the robot workspace. 36995

4-PAUSE

(): axis 1 at undefined position

Cause: The arm, typically a SMART robot, has the center of the wrist aligned with the 'z' axis of the world frame. This is an arm singularity. Remedy: Avoid entering the center of the wrist in a cylindrical volume coaxial to the z-axis. 36996

4-PAUSE

(): wrist axis at undefined position

Cause: The wrist, typically a SMART wrist, has axis 5 at zero position. For this wrist, it is impossible to independently compute the values of axes 4, 5, and 6. Remedy: Avoid working in Cartesian space with axis 5 at zero position or, if implemented, change the setting of $ORNT_TYPE to WRIST_JNT in order to execute the trajectory in Cartesian, but interpolate the wrist axes in joint. 36997

4-PAUSE

(): function not yet implemented

Cause: The function is not yet implemented. Remedy: Wait for a next software release. 36998

4-PAUSE

(): bad circular trajectory

Cause: The system is trying to execute a CIRCULAR motion where the trajectory is not well defined. This error can occur if two of the START, VIA, or END points are coincident. Remedy: Check the VIA and the END points. 36999

4-PAUSE

(): bad positional cnfg flag

Cause: When executing a Cartesian move, the configuration of the robot at the END point has to be the same as at the START point. If this is not true and if $CNFG_CARE is set to TRUE, this error will HOLD the system. If $CNFG_CARE is set to FALSE the robot will move to the END point with the same configuration as the START point. Remedy: If configuration is not important, set $CNFG_CARE to FALSE. 37000

4-PAUSE

(): VIA point not set

Cause: A circular trajectory applies to the motion statement but the VIA point has not been specified. Remedy: Either specify the VIA point or change the kind of trajectory. 37001

4-PAUSE

(): inverse kinematics not available

Cause: This machine does not have the inverse kinematics. Remedy: Do not try to work in Cartesian. 37002

4-PAUSE

(): stroke end axis 1+

Cause: The robot cannot reach a position where axis 1 is over its positive limit of the available range. Remedy: Change the final position. 37003

4-PAUSE

(): stroke end axis 1-

Cause: The robot cannot reach a position where axis 1 is over its negative limit of the available range. Remedy: Change the final position.

37004

4-PAUSE

(): stroke end axis 2+

Cause: The robot cannot reach a position where axis 2 is over its positive limit of the available range. Remedy: Change the final position. 37005

4-PAUSE

(): stroke end axis 2-

Cause: The robot cannot reach a position where axis 1 is over its negative limit of the available range. Remedy: Change the final position. 37006

4-PAUSE

(): stroke end axis 3+

Cause: The robot cannot reach a position where axis 3 is over its positive limit of the available range. Remedy: Change the final position. 37007

4-PAUSE

(): stroke end axis 3-

Cause: The robot cannot reach a position where axis 3 is over its negative limit of the available range. Remedy: Change the final position. 37008

4-PAUSE

(): stroke end axis 4+

Cause: The robot cannot reach a position where axis 4 is over its positive limit of the available range. Remedy:

Change the final position. 37009

4-PAUSE

(): stroke end axis 4-

Cause: The robot cannot reach a position where axis 4 is over its negative limit of the available range. Remedy: Change the final position. 37010

4-PAUSE

(): stroke end axis 5+

Cause: The robot cannot reach a position where axis 5 is over its positive limit of the available range. Remedy: Change the final position. 37011

4-PAUSE

(): stroke end axis 5-

Cause: The robot cannot reach a position where axis 5 is over its negative limit of the available range. Remedy: Change the final position. 37012

4-PAUSE

(): stroke end axis 6+

Cause: The robot cannot reach a position where axis 6 is over its positive limit of the available range. Remedy: Change the final position. 37013

4-PAUSE

(): stroke end axis 6-

Cause: The robot cannot reach a position where axis 6 is over its negative limit of the available range. Remedy:

Change the final position. 37014

4-PAUSE

(): stroke end axis 7+

Cause: The robot cannot reach a position where axis 7 is over its positive limit of the available range. Remedy: Change the final position. 37015

4-PAUSE

(): stroke end axis 7-

Cause: The robot cannot reach a position where axis 7 is over its negative limit of the available range. Remedy: Change the final position. 37016

4-PAUSE

(): stroke end axis 8+

Cause: The robot cannot reach a position where axis 8 is over its positive limit of the available range. Remedy: Change the final position. 37017

4-PAUSE

(): stroke end axis 8-

Cause: The robot cannot reach a position where axis 8 is over its negative limit of the available range. Remedy: Change the final position. 37018

4-PAUSE

(): axis 2/3 at open stroke end

Cause: The arm is a SMART 120 Kg or an equivalent with the same kinematics for axes 2 and 3. The end position of the issued move has joint 2 and 3 at the maximum open configuration.

Remedy: Change the final position. 37019

4-PAUSE

(): axis 2/3 at closed stroke end

Cause: The arm is a SMART 120 Kg or an equivalent with the same kinematics for axes 2 and 3. The end position of the issued move has joint 2 and 3 at the maximum close configuration. Remedy: Change the final position. 37020

4-PAUSE

(): $DIN index out of range

Cause: The index for $DIN is out of range. Remedy: Check that the index number is valid and that the I/O point does exist. 37021

4-PAUSE

(): $DOUT index out of range

Cause: The index for $DOUT is out of range. Remedy: Check that the index number is valid and that the I/O point does exist. 37022

4-PAUSE

(): $GIN index out of range

Cause: The index for $GIN is out of range. Remedy: Check that the index number is valid and that the I/O point does exist. 37023

4-PAUSE Cause:

(): $GOUT index out of range

The index for $GOUT is out of range. Remedy: Check that the index number is valid and that the I/O point does exist. 37024

4-PAUSE

(): $AIN index out of range

Cause: The index for $AIN is out of range. Remedy: Check that the index number is valid and that the I/O point does exist. 37025

4-PAUSE

(): $AOUT index out of range

Cause: The index for $AOUT is out of range. Remedy: Check that the index number is valid and that the I/O point does exist. 37026

4-PAUSE

(): $BIT index out of range

Cause: The index for $BIT is out of range. Remedy: Check that the index number is valid and that the point does exist. 37027

4-PAUSE

(): $WORD index out of range

Cause: The index for $WORD is out of range. Remedy: Check that the index number is valid and that the point does exist. 37028

4-PAUSE

(): $SDIN index out of range

Cause: The index for $SDIN is out of range.

Remedy: Check that the index number is valid and that the I/O point does exist. Refer to the "System-Defined I/O" appendix for a list of valid $SDIN indices. 37029

4-PAUSE

(): $SDOUT index out of range

Cause: The index for $SDOUT is out of range. Remedy: Check that the index number is valid and that the I/O point does exist. Refer to the "System-Defined I/O" appendix for a list of valid $SDOUT indices. 37030

4-PAUSE

(): $FDIN index out of range

Cause: The index for $FDIN is out of range. Remedy: Check that the index number is valid and that the I/O point does exist. Refer to the "System-Defined I/O" appendix for a list of valid $FDIN indices. 37031

4-PAUSE

(): $FDOUT index out of range

Cause: The index for $FDOUT is out of range. Remedy: Check that the index number is valid and that the I/O point does exist. Refer to the "System-Defined I/O" appendix for a list of valid $FDOUT indices. 37032

4-PAUSE

(): $PLCSTW index out of range

Cause: The index for $PLCSTW is out of range. Remedy: Check that the index number is valid and that the point does exist. 37033

4-PAUSE

(): $HDIN index out of range

Cause: The index for $HDIN is out of range. Remedy: Check that the index number is valid and that the SCC does exist. 37034

4-PAUSE

(): $TIMER index out of range

Cause: The index for $TIMER is out of range. Remedy: Check that the index number is valid and that the timer does exist. $NUM_TIMER defines the number of $TIMER elements. 37035

4-PAUSE

(): $USER_BIT index out of range

Cause: The index for $USER_BIT is out of range. Remedy: Check that the index number is valid and that the element does exist. $USER_LEN[1] defines the number of elements for $USER_BIT. 37036

4-PAUSE

(): $USER_BYTE index out of range

Cause: The index for $USER_BYTE is out of range. Remedy: Check that the index number is valid and that the element does exist. $USER_LEN[2] defines the number of elements for $USER_BYTE. 37037

4-PAUSE

(): $USER_WORD index out of range

Cause: The index for $USER_WORD is out of range. Remedy: Check that the index number is valid and that the element does exist. $USER_LEN[3] defines the number of elements for $USER_WORD. 37038

4-PAUSE

(): $USER_LONG index out of range

Cause: The index for $USER_LONG is out of range. Remedy: Check that the index number is valid and that the element does exist. $USER_LEN[4] defines the number of elements for $USER_LONG. 37039

4-PAUSE

(): user port address uninitilized

Cause: The address of a user variable ($USER_xxx or $PROG_Uxxx) has not been specified. Remedy: $USER_ADDR elements [1] to [4] respectively define the addresses for the user predefined variables $USER_BIT, $USER_BYTE, $USER_WORD, and $USER_LONG. $PROG_UADDR elements [1] to [4] respectively define the addresses for the user predefined variables $PROG_UBIT, $PROG_UBYTE, $PROG_UWORD, and $PROG_ULONG. Check which $USER_xxx or PROG_Uxxx predefined variable is being accessed and that the corresponding address element has been initialized. 37040

4-PAUSE

(): $TIMER overflow

Cause: A $TIMER element has exceeded its value and overflowed. Remedy: Reset the $TIMER to a lower value such that it does not overflow. 37041

4-PAUSE

(): $DIN element not mapped

Cause: A $DIN element referenced in a program is currently not mapped. Remedy: Check the logical to physical I/O configuration and that such an I/O point does physically exist. 37042

4-PAUSE

(): $DIN element is part of a group

Cause: A $DIN element cannot be referenced as it is currently part of a $GIN element.

Remedy: Either reference the I/O point using the appropriate $GIN element or change the Group Input definition. 37043

4-PAUSE

(): $DOUT element not mapped

Cause: A $DOUT element referenced in a program is currently not mapped. Remedy: Check the logical to physical I/O configuration and that such an I/O point does physically exist. 37044

4-PAUSE

(): $DOUT element is part of a group

Cause: A $DOUT element cannot be referenced as it is currently part of a $GOUT element. Remedy: Either reference the I/O point using the appropriate $GOUT element or change the Group Output configuration. 37045

4-PAUSE

(): $GIN element not mapped

Cause: A $GIN element referenced in a program is currently not mapped. Remedy: Check the Group Input configuration table, modifying accordingly. 37046

4-PAUSE

(): $GOUT element not mapped

Cause: A $GOUT element referenced in a program is currently not mapped. Remedy: Check the Group Output configuration table, modifying accordingly. 37047

4-PAUSE

(): $AIN element not mapped

Cause: An $AIN element referenced in a program is currently not mapped.

Remedy: Check the logical to physical I/O configuration and that such an I/O point does physically exist. 37048

4-PAUSE

(): $AOUT element not mapped

Cause: An $AOUT element referenced in a program is currently not mapped. Remedy: Check the logical to physical I/O configuration and that such an I/O point does physically exist. 37049

4-PAUSE

(): $FDOUT element not mapped

Cause: A $FDOUT element referenced in a program is currently not mapped. Remedy: Check and modify the element number in the statement. Refer to the "System-Defined I/O" appendix for a mapping list of $FDOUT elements. 37050

4-PAUSE

(): $USER_BIT bad address

Cause: The address of $USER_BIT is invalid. Remedy: Check the value specified in $USER_ADDR[1]. 37051

4-PAUSE

(): $USER_BYTE bad address

Cause: The address of $USER_BYTE is invalid. Remedy: Check the value specified in $USER_ADDR[2]. 37052

4-PAUSE

(): $USER_WORD bad address

Cause: The address of $USER_WORD is invalid.

Remedy: Check the value specified in $USER_ADDR[3]. 37053

4-PAUSE

(): $USER_LONG bad address

Cause: The address of $USER_LONG is invalid. Remedy: Check the value specified in $USER_ADDR[4]. 37054

4-PAUSE

(): err(s) in last operation

Cause: During the last operation many errors occurred, some of which were not program specific. Remedy: Review the preceding error messages to determine what action should be taken. 37055

4-PAUSE

(): error in prog

Cause: A non-EC_PROG or EC_TRAP class of error occurred in a program. This error message states what the error was and to which program it applies. Remedy: Review the preceding error messages to determine what action should be taken. 37056

12-DRIVE OFF

(): prog error

Cause: A non-EC_PROG or EC_TRAP class of error occurred in a program. This error message states the error, the parameters to the error, and to which program it applies. Remedy: Review the preceding error messages to determine what action should be taken. 37057

12-DRIVE OFF

(): prog error

Cause: A non-EC_PROG or EC_TRAP class of error occurred in a program. This error message states the error, the parameters to the error, and to which program it applies. Remedy: Review the preceding error messages to determine what action should be taken. 37058

12-DRIVE OFF (): prog error Cause: A non-EC_PROG or EC_TRAP class of error occurred in a program. This error message states the error, the parameters to the error, and to which program it applies. Remedy: Review the preceding error messages to determine what action should be taken.

37059

4-PAUSE

(): MOVE FOR distance too short

Cause: The linear distance on the trajectory is too small to compute the new parameters. Remedy: Increase the linear distance on the trajectory or change the move type. 37060

4-PAUSE

(): MOVE FOR distance too long

Cause: The linear distance on the trajectory is greater than the total distance for the move. Remedy: Limit the linear distance on the trajectory to the total distance available for this move. 37061

4-PAUSE

(): mtn canc bad target position

Cause: The interpolator itself and/or the servo control detects an

interpolator error which has caused a generation of targets out of the limits. The error depends on the arm position and the operations which are requested on this position. The current motion has been canceled due to this error. Remedy: Verify that the arm is near a singularity point. If possible, avoid Cartesian moves near singularity points. If the arm is far from the singularity point, please report the error and the generation history to Comau. 37062

4-PAUSE

(): mtn canc previous error

Cause: A previous motion generated a target error; all the pending motions have been canceled. 37063

4-PAUSE

(): device exists

Cause: The WIN_CREATE built-in failed because the device already exists. Remedy: If the device which already exists is a user created window this can be removed and deleted, thereby allowing the new window with the same name to be created. If the device is not a user created window or the user created window cannot be deleted, change the name of the device. 37064

4-PAUSE

(): OPEN FILE bad random access

Cause: The OPEN FILE .. WITH $FL_RANDOM=TRUE failed as random access is not permitted on the particular device. Remedy: Review the device table information to determine what operations can be performed on the different devices. 37065

4-PAUSE

(): OPEN FILE bad delimiter number

Cause: The number assigned to $FL_DLMT in the OPEN FILE statement is invalid. Remedy: The valid range is from -1 to 255.

37066

4-PAUSE

(): OPEN FILE bad number of chars

Cause: The number assigned to $FL_NUM_CHARS in the OPEN FILE statement is invalid. Remedy: The valid range is from 1 to 80. 37067

4-PAUSE

(): bad READ binary specified

Cause: The OPEN FILE .. WITH $FL_BINARY=TRUE failed as binary access is not permitted on the particular device. Remedy: Review the device table information to determine what operations can be performed on the different devices. 37068

4-PAUSE

(): bad CLOSE FILE prog not owner

Cause: A program attempted to close a file LUN (CLOSE FILE) which it does not own. LUNs can only be closed by the program which issued the OPEN FILE. Remedy: Make the owning program close the file. 37069

4-PAUSE

(): bad condition definition

Cause: The condition handler definition is invalid because either * ** 1: no condition expressions or actions have been specified ** 2: the number of actions is too large ** 3: the condition handler is currently attached ** 4: the condition handler is currently locally enabled * Remedy: Check that the condition handler does contain actions and condition expressions and not too many. If so, split into many smaller condition handlers. 37070

4-PAUSE

(): bad EVENT number

Cause: The event number specified in the EVENT condition expression is invalid. Remedy: Check that the EVENT number in the WHEN clause is correct and modify accordingly. Refer to the "Condition Handlers" chapter of the PDL2 Language Manual for a list of valid EVENT numbers. 37071

4-PAUSE

(): axis 5 at undefined position

Cause: The wrist, typically a MAST wrist, has axis 5 at an undefined position. Remedy: Avoid working in Cartesian with axis 5 at this undefined position. If implemented, change the setting of $ORNT_TYPE to WRIST_JNT to execute the trajectory in Cartesian, but interpolate the wrist axes in joint. An alternative is to set the tool with a 5 angle, for example $TOOL := POS(0, 0, 0, 0, 90, 0, '') 37072

2-WARNING stmt

(): program counter in multiple line

Cause: If the program has been loaded in a normal manner, this is a warning message stating that an error has occurred in a multiple line statement and that the program counter has been reset to the beginning of the statement. If the program continues, some of the previous statements will be re-executed. For example: CONDITION[1]: WHEN HOLD DO $FDOUT[rout] := ON WHEN $FDIN[999] DO -- Invalid $FDIN. . . . ENDCONDITION After the error, the program counter is reset to the CONDITION line and unpausing the program will cause the routine "rout" to be called again. If the program has been loaded in a permanent way, then this error is severe and means that the program has to be deactivated. Remedy: If re-execution is a problem, the program should be deactivated and

re-activated. 37073

4-PAUSE

(): bad arm xtndpos data

Cause: Access to the current XTNDPOS failed due to either a bad number of auxiliary axes ($NUM_AUX_AXES) or due to a bad auxiliary mask ($AUX_MASK). Remedy: Check that the robot arm has been configured with auxiliary axes. 37074

4-PAUSE

(): prog state not passable

Cause: The BYPASS operation failed as the program state was not passable. Certain program states such as READY and DEACTIVATE cannot be bypassed. Remedy: Check the state of the program and that such a state can be bypassed. 37075

4-PAUSE

(): 2nd Euler angle less than zero

Cause: For definition the second Euler angle cannot be less than 0 degrees or greater than 180 degrees. Remedy: Set the angle accordingly. 37076

4-PAUSE

(): local variable error

Cause: The routine local variable could not be created. This often occurs if the variable is of type XTNDPOS and the robot arm contains no auxiliary axes. Remedy: Check that the local variables are legal data types. 37077

4-PAUSE Cause:

(): bad use of TP0

Predefined window device TP0: can only be used in specific operations. For example, it cannot be displayed. Remedy: Check to be sure the requested operation is legal and that the device is not already being used. 37078

4-PAUSE

(): mismatch in fly $MOVE_TYPE

Cause: In FLY it is not possible to execute two moves with a mismatch in the $MOVE_TYPE when weaving is enabled. For both moves, $MOVE_TYPE must be the same or weaving has to be disabled. Remedy: Set $MOVE_TYPE to be the same for both moves or disable weaving. 37079

4-PAUSE

(): mismatch in fly $ORNT_TYPE

Cause: It is not possible to FLY two moves with a mismatch in the $ORNT_TYPE. For both moves, $ORNT_TYPE must be the same. Remedy: Set $ORNT_TYPE to be the same for both moves. 37080

4-PAUSE

(): arm already ATTACHed

Cause: An attempt was made to ATTACH an arm which has already been attached by another program or a MOVE was issued on an arm which has been attached by another program. Remedy: Determine which program has attached the arm and take the necessary action. 37081

4-PAUSE

(): motion already ATTACHed arm

Cause: An attempt was made to ATTACH an arm which already contains motions. Remedy: If the ATTACH is necessary, CANCEL ALL motions such that the arm does not contain outstanding motions. Then reissue the ATTACH.

37082

2-WARNING

(): prog already ATTACHed arm

Cause: This program has already attached the arm. Remedy: Remove the second ATTACH statement as this is not necessary. 37083

4-PAUSE

(): arm not ATTACHed

Cause: An attempt was made to DETACH the arm when it is not ATTACHed. This could happen if the ATTACH action or statement was not properly executed. Remedy: Check that the ATTACH action or statement has been successfully executed. 37084

4-PAUSE

(): diff prog ATTACHed arm

Cause: An attempt was made to DETACH an arm that is ATTACHed by a different program. An arm can be DETACHed only by the program that issued the ATTACH. Remedy: Remove the DETACH statement or action as it has no effect unless this program issued the ATTACH either implicitly or explicitly. 37085

4-PAUSE

(): no timer resources for WRITE

Cause: There are a finite number of timer resources. The WRITE statement with a timeout failed because the limit has been exceeded. Remedy: Either reissue the command or reduce the number of concurrent statements that use timers. 37086

4-PAUSE

(): no memory for WRITE

Cause: An asynchronous WRITE failed due to insufficient memory resources.

Remedy: Check the configuration of the memory and/or erase something from memory. 37087

4-PAUSE

(): device not ATTACHable

Cause: An attempt was made to ATTACH a device which cannot be attached. Remedy: Check the type of device and whether this operation can be performed. 37088

4-PAUSE

(): bad turn cnfg flag

Cause: This can happen in the following cases: the initial turn configuration differs from the final one for more than one turn; the user sets a turn flag on a joint that cannot do more than 360 degrees; the joint in the specified movement must do more than 360 degrees or more than 180 degrees if $TURN_CARE is set to TRUE. Remedy: Reteach the same position taking care of the turn configuration. 37089

4-PAUSE

(): aggregate axis not exist

Cause: A MOVE was specified using an aggregate data to an axis which does not exist. For example, this error will occur if the following statement were executed for a SMART robot which does not have axis 7 or 8. MOVE TO {10, 20, 30, 40, 50, 60, 70, 80} Remedy: Check and correct the MOVE statement. 37090

4-PAUSE

(): err in pass of WRITE

Cause: The BYPASS over a WRITE statement failed due to the specified error. Remedy:

Review the specified error to determine what action to take. 37091

4-PAUSE

(): screen table full

Cause: There is a finite number of screens which can be created and accessed at the same time. This error reports that the limit has been reached. Remedy: Check that unused screens have been deleted (SCRN_DEL) and if the problem still exists increase the default number of screens ($NUM_SCRNS). Increasing the number of screens uses extra memory and system resources so it is recommended to delete unused screens as opposed to just increasing the number of available screens. 37092

4-PAUSE

(): bad CNTRL_SET/GET code or value

Cause: The code number or the value specified as the parameter to CNTRL_SET is illegal. Remedy: Check the PDL2 Language Manual to determine the correct code and associated value. 37093

4-PAUSE

(): condition ATTACHed

Cause: The attempted operation on a condition handler (such as DISABLE, PURGE, ENABLE, ATTACH, or redefinition) failed because the condition handler has been ATTACHed. Remedy: Check that the condition handler number specified is correct. If so, this means that a routine in a different program context run from the same program has ATTACHed the condition handler. 37094

4-PAUSE

(): string too short for device

Cause: The STRING variable passed to a built-in is too short for holding the device name or node symbol. Remedy: For a device name, check that the string length is greater than or

equal to 5. For a node symbol, verify what name has been set for the node and set the string length accordingly. 37095

4-PAUSE

(): bad node index or length

Cause: The offset or length specified in a path or node built-in are illegal. Remedy: Check that the length and offset values are within the path range. The error can sometimes be trapped using the ERR_TRAP_ON built-in routine. 37096

4-PAUSE

(): NODE_TBL idx limit

Cause: The NODE_TBL index to a path is out of range. Remedy: Check that the index value specified is correct. 37097

4-PAUSE

(): $TIMER not ATTACHed

Cause: An attempt was made to DETACH a $TIMER element that is not currently ATTACHed. Remedy: Check that the ATTACH action or statement worked properly. 37098

4-PAUSE

(): diff prog ATTACHed $TIMER

Cause: An attempt was made to DETACH a $TIMER element that is currently ATTACHed by a different program. Remedy: Remove the DETACH statement or action since it has no effect unless this program issued the ATTACH. 37099

4-PAUSE

(): condition not ATTACHed

Cause: An attempt was made to DETACH a condition handler that is not

currently ATTACHed. Remedy: Check that the ATTACH action or statement worked properly. 37100

4-PAUSE

(): diff prog ATTACHed condition

Cause: An attempt was made to DETACH a condition handler that is currently ATTACHed by a routine in a different context. Remedy: Remove the DETACH statement or action because it has no effect unless a routine in the same context issued the ATTACH. 37101

12-DRIVE OFF

(): no memory for built-in

Cause: Certain built-in routines (eg. NODE_INS) require the use of system memory. The built-in failed because no memory resources could be found. Remedy: Check the configuration of the memory to see if there is sufficient memory or erase unnecessary user program or data from memory. 37102

2-WARNING

(): device not ATTACHed

Cause: An attempt was made to DETACH a device which is not currently ATTACHed. Remedy: Check if the device has been ATTACHed and if not, do not issue the DETACH statement or action. 37103

2-WARNING

(): device already ATTACHed

Cause: An attempt was made to ATTACH a device which is already ATTACHed by this program. Remedy: Check the program logic and remove the unnecessary ATTACH statement.

37104

4-PAUSE

(): $SDIN element not mapped

Cause: A $SDIN element referenced in a program is currently not mapped. It is probably part of a board that is not currently present in the system or it is not properly configured. Remedy: Check the element index to see if the board is present in the system and if it is properly configured. Refer to the "System-Defined I/O" appendix for a mapping of $SDIN indices. 37105

4-PAUSE

(): $SDOUT element not mapped

Cause: A $SDOUT element referenced in a program is currently not mapped. It is probably part of a board that is not currently present in the system or it is not properly configured. Remedy: Check the element index, whether or not the board is present in the system, and if it is properly configured. Refer to the "System-Defined I/O" appendix for a mapping of $SDOUT indices. 37106

4-PAUSE

(): $IDIN element not mapped

Cause: A $IDIN element referenced in a program is currently not mapped. It is probably part of a board that is not currently present in the system or not properly configured. Remedy: Check the element index, whether or not the board is present in the system, and if it is properly configured. 37107

4-PAUSE

(): $IDOUT element not mapped

Cause: A $IDOUT element referenced in a program is currently not mapped. It is probably part of a board that is not currently present in the system or not properly configured. Remedy: Check the element index, whether or not the board is present in the system, and if it is properly configured.

37108

4-PAUSE

(): $IDOUT element is read only

Cause: An attempt was made to write to a $IDOUT element which can only be read. Remedy: Check and modify the $IDOUT element being accessed. 37109

4-PAUSE

(): $IDIN index out of range

Cause: The index of $IDIN is out of range. Remedy: Check that the index number is valid and that the point does exist. 37110

4-PAUSE

(): $IDOUT index out of range

Cause: The index of $IDOUT is out of range. Remedy: Check that the index number is valid and that the point does exist. 37111

4-PAUSE

(): tool collinear with weave traj

Cause: The user specified a weaving direction that is collinear to the tool orientation. Remedy: Change the weaving plane angle or the tool approach on the starting point. 37112

4-PAUSE

(): SIGNAL overflow

Cause: A SEMAPHORE has overflowed. The maximum number of SIGNALs is 32767. Remedy: Check that for every matching SIGNAL there is a matching WAIT. 37113

4-PAUSE

(): deleted node accessed

Cause: An attempt was made to access a PATH NODE which has already been deleted. Remedy: Do not delete the NODE before accessing it. 37114

4-PAUSE (): arm and node data mismatch Cause: The arm specified in the MOVE ALONG statement is different from the arm specified in the node declaration. Remedy: Either correct the node declaration to match the arm or vice-versa.

37115

4-PAUSE

(): node data contains no destination

Cause: An attempt was made to MOVE ALONG a path which contains no $MAIN_ destination. Remedy: The MOVE ALONG can only work on a path if the node declaration contains either $MAIN_POS, $MAIN_JNTP, or $MAIN_XTND. 37116

12-DRIVE OFF

(): no memory for MOVE ALONG

Cause: The MOVE ALONG statement could not be executed because no memory resources could be found. Remedy: Check the configuration of the memory to see if there is sufficient system memory. Erase any unused program code or data. 37117

4-PAUSE

(): node MAIN not initialized

Cause: The MOVE ALONG statement could not be executed because the node element's main destination has not been initialized. Remedy:

Initialize the node element's data ($MAIN_ field). 37118

4-PAUSE

(): node deleted

Cause: A node explicitly stated in the MOVE ALONG statement was deleted during the execution of the MOVE ALONG. For example, this error would occur if node 10 was deleted during the motion initiated by the following statement: MOVE ALONG pth[1..10] Remedy: Do not delete motion nodes which are explicitly referenced in statements. 37119

4-PAUSE

(): node bad circular motion

Cause: The MOVE ALONG failed as the circular motion was not correctly setup. The motion failed because: * ** 1: the last node had a termination type of SEG_VIA, ** 2: the termination type was CIRCULAR and the preceding node was not SEG_VIA ** 3: a node contained the termination type SEG_VIA and the following * node did not contain a termination type of CIRCULAR * Remedy: For circular path motion it is necessary to define two nodes. The first node must have termination type ($TERM_TYPE) of SEG_VIA and the second node a termination type of CIRCULAR. The data used in the motion such as SEG_OVR and condition handler specifications are all taken from the second node. 37120

4-PAUSE

(): bad WITH CONDITION on MOVE ALONG

Cause: The condition handler specified in the WITH clause of the MOVE ALONG statement contains bad types of events. Only certain types of events and states can be used in such a condition handler. (Refer to the "Condition Handlers" chapter of the PDL2 Language Manual for information on valid conditions for locally enabled condition handlers.) Remedy: Either use the condition handler in a global manner with the ENABLE CONDITION statement or setup the condition handler for each node by using the $COND_MASK standard node field.

37121

4-PAUSE

(): no COND_TBL element for COND_MASK

Cause: A bit has been set in the $COND_MASK of a path and the specific element in the COND_TBL of the path has not been defined. Remedy: A node can contain either $COND_MASK or $COND_MASK_BACK standard node field. The bits set in the field are used for referencing the condition handlers defined in the condition handler table (COND_TBL) of the path. For example, the value of $COND_MASK could be 5 ie. bits 1 and 3. Elements 1 and 3 of COND_TBL must contain valid condition handler numbers. This error occurs if a bit has been set and no condition handler is defined. Either clear the bit in $COND_MASK or define the element in COND_TBL. 37122

4-PAUSE (): FRM_TBL element not initialized Cause: An uninitialized element of a path's frame table (FRM_TBL) is being accessed in the MOVE ALONG path. Remedy: Check that the element has been initialized and that no error has occurred on the variable. The built-in VAR_UNINIT can be used for checking the state of the variable.

37123

4-PAUSE

(): bad ARM_GET_NODE or ARM_SET_NODE

Cause: The setting or getting of the node number in the current path via the ARM_GET_NODE or ARM_SET_NODE built-ins failed either because no path is currently active on the arm or because of an invalid arm number has been specified. Remedy: Check that the arm number is correct, a path is running, and if setting the node, that the node is valid. To check if a path is active call ARM_GET_NODE and a value of zero means no path is active. 37124

2-WARNING

(): err at node

Cause: The error reported happened on the specified node in the specified program. Remedy:

Check the specified error to determine the necessary actions. 37125

2-WARNING

Err at node

Cause: The error reported happened on the specified node. Remedy: Check the specified error to determine the necessary actions. 37126

4-PAUSE

(): feature not yet implemented

Cause: The feature is not yet implemented. Remedy: Wait for a next software version. 37127

4-PAUSE

(): no node has such name

Cause: The PATH_GET_NODE built-in has been called and no node with such a name exists. Remedy: Check that the name is correct and that a node has been defined and not deleted with such a name. 37128

4-PAUSE

(): undefined label

Cause: A GOTO statement could not be executed as there is no such label defined. Remedy: Remove the GOTO statement or define the label. 37129

4-PAUSE

(): $SPD_OPT refers to bad aux axis

Cause: The movement is limited to the velocity of a non-existing auxiliary axis. For example, in a robot with a single auxiliary axis, $SPD_OPT cannot be set to SPD_AUX2 or SPD_AUX3 but only to SPD_AUX1.

Remedy: Check the value assigned to $SPD_OPT and verify that the corresponding axis exist. 37130

4-PAUSE

(): $TOOL changed during fly

Cause: $TOOL cannot be changed during a Cartesian FLY. Remedy: Do not execute FLY or do not change $TOOL. 37131

4-PAUSE

(): direct kinematic not available

Cause: This kind of robot does not support direct kinematics. Remedy: Do not use joint positions for Cartesian movements. 37132

4-PAUSE

(): bad JNT_SET_TAR axis or value

Cause: The axis or value specified in the JNT_SET_TAR built-in is out of range or cannot be set. Remedy: Check that the axis number and value are valid and that it can be set using the built-in. Only certain axis of certain arms can be set and the value must be correct relative to the resolver and transmission rate. 37133

4-PAUSE

(): no bytes to WRITE

Cause: An attempt was made to issue an asynchronous WRITE with no characters to send. Remedy: Do not issue the WRITE of no characters or issue a WRITE with some characters. 37134

4-PAUSE

(): bad bit number

Cause: An attempt was made to BIT_SET, BIT_TEST, or BIT_CLEAR a value and the bit number specified is not valid. The value must be in the range from 1 to 16/32. Remedy: Check the built-in call. 37135

4-PAUSE

(): bad state for setting output

Cause: An attempt was made to set an output port (ie. $DOUT, $GOUT or $AOUT) when in PROG state and the user is not in direct control of the program. Remedy: Remove the offending statement so that the program does not issue an output; or enter MEMORY DEBUG on the active device or change the program configuration. See $PROG_CNFG. The active device is the TP if connected and not on the cabinet, otherwise it is the CRT. 37136

4-PAUSE

(): bad DV_CNTRL parameter size

Cause: One of the parameters passed to the DV_CNTRL built-in is the wrong length or size. Remedy: Make sure that the parameters passed to DV_CNTRL are correct. 37137

4-PAUSE

(): warning in prog

Cause: A non-EC_PROG or EC_TRAP class of warning occurred in a program. This message states the warning and specifies to which program it applies. Remedy: Review the preceding warning to determine what action should be taken. 37138

2-WARNING

(): speed reduced for safety

Cause: This is a warning message indicating the arm is running at a reduced speed because either this is the first motion of the

activated program or the user interrupted the program execution flow in MEMORY DEBUG. Remedy: If this feature is not required, set the proper bit in $PROG_CNFG. 37139

2-WARNING

(): $LIN_SPD not obtainable

Cause: This is a warning message indicating the arm is running at a lower speed than $LIN_SPD specified by the user for safety reasons. 37140

2-WARNING

(): trajectory recovery in progress

Cause: This is a warning message indicating the arm is running at a reduced speed because of trajectory recovery. 37141

4-PAUSE

(): tracking not correctly enabled

Cause: $SENSOR_TYPE is set to an invalid value. This can happen if $SENSOR_TYPE has been set to an unused value or if a weaving frame tracking has been requested ($SENSOR_TYPE at value 2, 4, 8, 12) without having first activated the weaving on the move. Remedy: Verify which sensor is connected to the system and set $SENSOR_TYPE accordingly. 37142

4-PAUSE

(): tracking enabled without INTEC board

Cause: Sensor Tracking is enabled but INTEC board is not present. Remedy: Verify the presence of the correct INTEC board or the setup of the jumpers on the board. The stardard INTEC addresses are 0xF01000 for the first board and 0xF02000 for the second one. 37143

4-PAUSE

(): array data type or size mismatch

Cause: The specified array does not have the correct size or data type. Remedy:

Check the size and data type requirements for the array variable. 37144

4-PAUSE

(): interpolation time too short

Cause: The interpolation sampling time is too short to execute this feature. Remedy: Increase the interpolation sampling time using the IPERIOD system variable, field of $SC_DATA. 37145

4-PAUSE

(): axis not present for joint weaving

37146

4-PAUSE

(): tracking not possible

Cause: There are different cases in which this error can occur: if a joint move has been issued with sensor tracking enabled; if a cartesian move, with the sensor tracking enabled, is joined in fly (or with the ADVANCE) to a joint move; if the joint move follows a sensor tracking session without movement (enabled via the SENSOR_TRK(ON) built-in). Remedy: Disable the sensor tracking by setting $SENSOR_ENBL to FALSE before running the joint move or remove the fly (or ADVANCE) between the cartesian move and the joint one. 37147

10-DRIVE OFF read

(): previous Sensor Data not already

Cause: Previous data from the sensor has not been read by the interpolator yet. Remedy: Check that the rate of the data coming from the sensor and sent to the interpolator is not too high with respect to the rate of the data being read by the interpolator itself. 37148

10-DRIVE OFF

(): sensor Data not jet available

Cause: The data coming from the sensor is not ready to be read yet.

Remedy: Check that the rate of writings of the sensor data by the interpolator is not too low with respect to the rate of readings of the PDL2 program. 37149

4-PAUSE

(): arm mismatch in built-in

Cause: The built-in execution failed because the arm numbers are the same. Remedy: Change the arm number in built-in. 37150

4-PAUSE

(): auxiliary axis mismatch in built-in

Cause: The built-in execution failed because the auxiliary axis were not defined or absent. Remedy: Define properly the auxiliary axis. 37151

4-PAUSE

(): $SYNC_ARM not initialized yet

Cause: The built-in execution failed because the synchronized arm has not been defined. Remedy: Properly define the synchronized arm. 37152

4-PAUSE

(): axis 1 at open stroke end

Cause: The end position of the issued move has joint 1 at the maximum open configuration. Remedy: Change the final position. 37153

4-PAUSE

(): axis 1 at closed stroke end

Cause: The end position of the issued move has joint 1 at the maximum

close configuration. Remedy: Change the final position. 37154

4-PAUSE

(): axis 2 at open stroke end

Cause: The end position of the issued move has joint 2 at the maximum open configuration. Remedy: Change the final position. 37155

4-PAUSE

(): axis 2 at closed stroke end

Cause: The end position of the issued move has joint 2 at the maximum close configuration. Remedy: Change the final position. 37156

4-PAUSE

(): axis 1/2 at open stroke end

Cause: The arm is a SMART 3.75 P or an equivalent with the same kinematics for axes 1 and 2. The end position of the issued move has joint 1 and 2 at the maximum open configuration. Remedy: Change the final position. 37157

4-PAUSE

(): axis 1/2 at closed stroke end

Cause: The arm is a SMART 3.75 P or an equivalent with the same kinematics for axes 1 and 2. The end position of the issued move has joint 1 and 2 at the maximum close configuration. Remedy: Change the final position. 37158

4-PAUSE

(): mismatch in fly $WEAVE_TYPE

Cause: The value of $WEAVE_TYPE is different between two cartesian movements in fly. Remedy: Remove the fly between the two movements or put the same value of $WEAVE_TYPE. 37159

2-WARNING

(): SENSOR_TRK already enabled

Cause: This error occurs when a SENSOR_TRK(ON) is issued twice. Remedy: Remove the second call to SENSOR_TRK built-in as this is not necessary. 37160

4-PAUSE

(): SENSOR_TRK already reserved

Cause: This error occurs when attempting to issue the SENSOR_TRK built-in by a holdable program different from the one that has already enabled SENSOR_TRK on the same arm. SENSOR_TRK(OFF) can be only issued by the program that previously performed with success the SENSOR_TRK(ON) built-in. Remedy: Try to use the SENSOR_TRK built-in within a single holdable program. If multiple holdable programs use the SENSOR_TRK built-in, organize the statement execution so that a SENSOR_TRK(ON) is issued only when SENSOR_TRK is OFF. 37161

4-PAUSE

(): holdable built-in in nohold prog

Cause: A NOHOLD program cannot interpret HOLDable built-ins, such as SENSOR_TRK. Remedy: Change the program attribute. 37162

2-WARNING

(): coordinated jog not possible

Cause: The 8th button in cartesian jog base frame is not enabled for coordinated movement of the new interpress robot if the components

of the orientation of $BASE and $TOOL are different from zero and if it is not possible to compute the symmetric position of the starting point related to the pressed jog button (if the button is 8+, the robot must be on the right side in relation to the x axes of the "base" frame and the first Euler angle must be negative; viceversa if 8- is pressed). Remedy: Put the components of orientation of $BASE and $TOOL to zero or change the starting point of the jog session, bringing back the robot to a proper position. 37163

4-PAUSE

(): frame changed

Cause: $UFRAME is changed during a Cartesian FLY movement when $TOOL_RMT is set to TRUE or $BASE, $TOOL, $UFRAME or $SFRAME are changed between two movements in fly (or ADVANCE) with the absolute modality of Sensor Tracking enabled ($SENSOR_ENBL=TRUE and $SENSOR_TYPE=9, 10, 11 or 12). Remedy: Avoid changing the frame during fly or between two movements having the ADVANCE clause. Remove fly (or ADVANCE) if possible. 37164

4-PAUSE

(): $PROG_Uxxx index out of range

Cause: The index for $PROG_Uxxx is out of range. Remedy: Check that the index number is valid and that the element does exist. $PROG_ULEN[xxx] defines the number of elements for $PROG_Uxxx system variable. $PROG_UADR[xxx] defines the starting adress for $PROG_Uxxx system variable. 37165

4-PAUSE

(): $SENSOR_TYPE change not possible

Cause: This $SENSOR_TYPE modification is not allowed, unless the sensor tracking session is interrupted. Remedy: Interrupt the sensor tracking session. Note that a sensor tracking session is considered interrupted if neither fly nor ADVANCE is present between two movements and SENSOR_TRK is OFF. 37166

4-PAUSE

(): joint trajectory not allowed

Cause: Cannot use joint trajectory when cartesian tracking is enabled or in the first move after $CONV_NUM is 0. Remedy: Use linear trajectory instead of joint for these situations. 37167

4-PAUSE

(): ADVANCE not allowed

Cause: Conveyor tracking has been enabled/disabled during an ADVANCE. Cannot change $CONV_NUM when a move is active. Remedy: Remove the ADVANCE from the previous move statement. 37168

4-PAUSE

(): position out of work zone

Cause: The position, or the joint position, is not in the correct zone of work. This check is done for the S3 robot. Remedy: Change the position or joint position. 37169

4-PAUSE

(): condition rate out of range

Cause: The condition rate specified in the statement is negative or too large. Remedy: Change the statement to a value that is in range. 37170

2-WARNING

(): SCAN with no states

Cause: This warning occurs when the SCAN attribute is specified but the condition has no states defined. In this case the SCAN attribute will be ignored. Remedy: Remove the SCAN attribute from the condition handler.

37171

4-PAUSE

(): bad data type for VAR_UNINIT

Cause: The VAR_UNINIT built-in does not accept records, semaphores, nodes or any type of array. Remedy: Do not use those data types with the VAR_UNINIT built-in. 37172

4-PAUSE

(): DISABLE/ENABLE INTERRUPT mismatch

Cause: The ENABLE/DISABLE Interrupt statements do not match. Either an attempt to enable interrupts has been made while the interrupts are already enabled or to an attempt to disable interrupts has been made while the interrupts are already disabled. Remedy: Check that each enable interrupt matches with a disable interrupt. Do not forget that the RETURN instruction itself does an automatic ENABLE interrupt. 37173

4-PAUSE

(): cnfg changed before recovery

Cause: A recovery trajectory in a cartesian modality ($RCVR_TYPE) has been required but it is not possible because some positional configuration flags changed when jogging the robot away from the stopped position. Remedy: Set $RCVR_TYPE to a joint modality for recovery (values 0, 1, or 2) and restart the movement. Then restore the original value. 37174

2-WARNING

(): START/BACK outside EDIT

Cause: The START/BACK keys are currently disabled. This occurs after certain errors or when a manual motion is executed outside the EDIT environment. The START/BACK keys only work in PROG state when the motion was issued from within the EDIT environment. The EDIT environment includes PROGRAM EDIT/DATA, MEMORY DEBUG, immediate mode EXECUTE (E), and EZ. Remedy: If the keys are disabled due to an error, clear the error. Otherwise, enter the EDIT environment (PROGRAM EDIT/DATA, MEMORY

DEBUG, immediate mode EXECUTE, or EZ). 37175

4-PAUSE

(): wrist at close or open stroke end

Cause: The cartesian position or joint position is not in the correct zone of work, the wrist of the robot is opened or closed. This check is done for the SNAP robot. Remedy: Change the programmed cartesian or joint position moving axis 4 or 5. 37176

4-PAUSE

(): $TOOL with orientation not available

Cause: The $TOOL system variable has been defined with some orientation, this is not possible with the SNAP robot or BEHR cartesian robots. Remedy: Change the $TOOL system variable value so to set the Euler angles of this variable to the value zero. 37177

2-WARNING

(): jog keys combination not allowed

Cause: For the S3 robot, it is not allowed to contemporarely press jog keys 4 or 5 (+/-) with one of the jog keys 1, 2 or 3 (+/-). Remedy: The user is only allowed to contemporarely press jog keys 4 and 5 (+/-) or jog keys 1 and 2 and 3 (+/-). 37178

4-PAUSE

(): bad AUX_MMUX configuration

Cause: The AUX_MMUX built-in has been called with a wrong group of axes. The MMUX_SET operation only supports MMUX_A or MMUX_B as group of axes. Remedy: Check the second parameter and correct it. 37179

4-PAUSE Cause:

(): bad AUX_MMUX operation

The AUX_MMUX built-in has been called with a wrong operation code. Remedy: Check the first parameter and correct it. 37180

4-PAUSE

(): $TERM_TYPE value not allowed

Cause: During conveyor tracking no check is allowed on the tollerance on final points. Hence $TERM_TYPE system variable must be set to NOSETTLE. This is due to the continuous motion of the robot during the conveyor tracking. For the TRICEPT HP1 robot this type of $term_type (FINE and COARSE) is not available. Remedy: Set $TERM_TYPE to the NOSETTLE value during conveyor tracking and restore the original value when conveyor tracking is disabled. For the TRICEPT HP1 robot the user has to use the joint tolerance. 37181

4-PAUSE tracking

(): $BASE or $TOOL changed finishing

Cause: During the last move before loosing the conveyor tracking it is only allowed to change $UFRAME and not $BASE or $TOOL frames. This move is the first one with $CONV_NUM=0 after a conveyor tracking phase. Remedy: Avoide changing $BASE and $TOOL when loosing the conveyor tracking. 37182

4-PAUSE

(): MMUX already reserved

Cause: This error occurs if another program has already reserved the MMUX (by calling the AUX_MMUX() built-in before this program) and that program is still active at the moment. Remedy: Check that no other active programs have executed the AUX_MMUX built-in. 37183

4-PAUSE

(): $RCVR_TYPE value not allowed

Cause: During conveyor tracking it is not allowed to recovery the

trajectory using a joint trajectory. Hence $RCVR_TYPE system variable should be choosen for selecting a cartesian trajectory. This is due to the continuous motion of the robot during the conveyor tracking. Remedy: Set $RCVR_TYPE in order to use a cartesian trajectory for the recovery of the move. 37184

4-PAUSE

(): $CONV_WIN[1] unreachable

Cause: Conveyor tracking is probably held. Using the current value of $CONV_ZERO it it not possible to enter in the zone defined by $CONV_WIN[1] and $CONV_WIN[2]. This situation can easily happen in PROG state without having updated the value of $CONV_ZERO. Remedy: Update the value of $CONV_ZERO with the current value of $CONV_TBL[n].CT_RES. 37185

4-PAUSE

(): forbidded motion on MMUX axes

Cause: The external auxiliary axes have been disabled via the execution of the AUX_MMUX built-in. A movement on those axes has been requested, but it is not possible to execute it as these axes are disabled. Remedy: Do not try to move external auxiliary axes while they are disabled. For moving them, execute the AUX_MMUX built-in for enabling them. 37186

4-PAUSE

(): forbidded motion for integrated arm

Cause: The first arm of a couple of integrated arms (the carrier) moved in a non syncronized way while the second arm was executing a linear/circular movement on a JOINTPOS or a JOINT movement on a POSITION/XTNDPOS. Remedy: Move the two arms with a SYNCMOVE statement or try to maintain steady the first arm while executing this particular type of motion with the second. Note that the first arm is allowed to move while the second arm is doing LINEAR/CIRCULAR movements on a POSITION/XTNDPOS or JOINT movements on a JOINTPOS. 37187

4-PAUSE

(): SENSOR_TRK not attached

Cause: This error occurs when attempting to issue the SENSOR_SET_OFST built-in by a holdable program while the SENSOR has not yet been attached by any program. Remedy: Use the SENSOR_TRK built-in within an holdable program to attach the SENSOR. 37188

4-PAUSE

(): forbidded motion on AUX axes

Cause: The external auxiliary axes have been disabled via the execution of the built-in. A movement on those axes has been requested, but it is not possible to execute it as these axes are disabled. Remedy: Do not try to move external auxiliary axes while they are disabled. For moving them, execute the built-in for enabling them. 37189

4-PAUSE

(): bad AUX_SET axis

Cause: The axis specified in the AUX_SET built-in cannot be set as it does not exist or it is not configured for this feature. Remedy: Check that the axis number is valid and that it can be set using the built-in. Only certain axis of certain arms can be set due to the configuration file. 37190

2-WARNING satisfied

(): $RCVR_DIST not completely

Cause: This is a warning message indicating the arm is performing a trajectory recovery in the modality of Process resume ($RCVR_TYPE=9) but the $RCVR_DIST value can not be completely satisfied because of one of the following reasons: - the $RCVR_DIST could be grater than the distance from the initial position of the current move; - if there was a fly at the beginning of the interrupted move, the $RCVR_DIST could be greater than the distance from the end of the fly; - there was a fly active. The interrupted move will be recovered starting from a position closer to the interrupted point than the programmed distance

($RCVR_DIST). Remedy: It is a warning, so the recovery move will be performed anyway. 37191

2-WARNING progress

(): process resume trajectory in

Cause: This is a warning message indicating the arm is performing a trajectory recovery in the modality of Process resume ($RCVR_DIST>0). The arm is running at a reduced speed because of trajectory recovery. 37192

4-PAUSE

(): arm needs Calibration operation

Cause: It is not possible to execute MOVE instructions when the arm is not calibrated. Remedy: Calibrate the arm before executing MOVE instructions. 37193

4-PAUSE

(): arm needs Turn Set operation

Cause: It is not possible to execute MOVE instructions when the arm needs the turn-set operation. Remedy: Turn-set the arm before executing MOVE instructions. 37194

4-PAUSE

(): move(s) in progress

Cause: If a STANDBY built-in has been executed, it is not possible to enter in the STANDBY state as there are one or more moves in progress. If a AUX_SET built-in has been executed, it is not possible to connect/disconnect an axis as there are one or more moves in progress. Remedy: Use the STANDBY built-in or the AUXSET built-in to enter in the STANDBY state when there are no moves in progress. 37195

4-PAUSE

(): STANDBY state not available

Cause: It is not possible to enter in the STANDBY state as the system may not be in the AUTO (local or remote) state or the STANDBY feature is disabled. Remedy: Use the STANDBY built-in when the system is in AUTO state. Check that the STANDBY feature is enabled; $TUNE[27] is not equal zero. 37196

4-PAUSE

(): auxiliary axis already reserved

Cause: This error occurs if another program has already reserved the auxiliary axis management (by calling the AUX_SET built-in before this program) and that program is still active at the moment. Remedy: Check that no other active programs have executed the AUX_SET built-in on the same arm. 37197

4-PAUSE

(): BYPASS of SYS_CALL/DV_CNTRL

Cause: A SYS_CALL or DV_CNTRL has been bypassed due to BYPASS statement or command, in most of the cases issued by a different program. The trapping on of this error causes the execution of this program to continue. Remedy: As the SYS_CALL/DV_CNTRL statement can be interrupted, the PDL2 program should be structured to foresee this case. For example testing the $SYS_CALL_STS or $DV_STS. 37198

4-PAUSE

(): bad mask value

Cause: The value specified with the statement/built-in, does not fits in the foreseen range. For example, in case of BYPASS statement, the integer mask parameter must correspond to the number associated to a specific suspendable statement to be bypassed. In case of ON_JNT_SET statement, the axes mask must be the same of $JNT_MASK or a subset of it. Remedy: Check which is the correct mask value for the statement/built-in.

37199

8-HOLD (): kinematic compensation out of tolerance Cause: The error occurs in case of kinematic compensation alghorithm enabled, if the correction that has been introduced is greater than the specified tolerance. Usually this happens if the position specified in the motion statement is located near a singularity point. Remedy: Change the destination of the motion statement. If the error still occurs, please contact COMAU.

37200

4-PAUSE

(): parameters data type conflict

Cause: The parameters specified in the routine should be of the same data type. Remedy: Pass parameters of the same data type to the routine. 37201

2-WARNING

(): gun axis not calibrated

Cause: The axis of the gun is not calibrated and this causes the operation failure. Remedy: Calibrate the axis using the SPOT application program and execute the operation again. 37202

4-PAUSE

(): gun axis to be calibrated

Cause: It is not possible to execute MOVE statements is the gun axis is not calibrated. Remedy: Calibrate the axis using the SPOT application program before issuing motion statements again. 37203

4-PAUSE Cause:

(): posture not compensable

The Joint or Cartesian position cannot be compesated with the compensation algorithm. The Joints could be near the stroke ends (indluding open or closed parallelogram stroke end). Remedy: Modify the Joint or Cartesian position moving the axes that are near stroke end limitations. 37204

4-PAUSE (): Position in singularity of compensation Cause: The Joint or Cartesian position cannot be compesated with the compensation algorithm: axis 5 is in singularity. Remedy: Modify the Joint or Cartesian position moving the axis 5 out of the singularity area.

37205

4-PAUSE

(): Cartesian Position not compensable

Cause: In case of compensation algorithm active, it means that the programmed Joint or Cartesian position cannot be compensated. Remedy: In case of compensation algorithm active, program the Joint or Cartesian position out of the area where the compensation cannot work. 37206

4-PAUSE

(): $FLOW_TBL already reserved

Cause: This error occurs when a program issues the FLOW_MOD_ON or the FLOW_MOD_OFF on an element of the $FLOW_TBL that is already reserved to a different program. Remedy: It is a good programming rule to call the FLOW_MOD_ON, for enabling the modulation alghorithm, and the FLOW_MOD_OFF, for disabling it, always from the same program. 37207

4-PAUSE

(): wrong value in Flow Modulate

Cause: A parameter to the FLOW_MOD_ON / FLOW_MOD_OFF built-in or a value in the $FLOW_TBL table is not correctly set. For example, the

index of the analogue port passed as parameter to the FLOW_MOD_ON / FLOW_MOD_OFF is not correct; or the arm number in $FW_ARM is not an arm defined in the system. Remedy: Change the wrong value in $FLOW_TBL or the parameter passed to FLOW_MOD_ON / FLOW_MOD_OFF routine and issue the statement again. 37208

4-PAUSE

(): axis not present

Cause: The specified axis is not present. This error can also occur after calling the FLOW_MOD_ON built-in when the axis defined in the $FLOW_TBL[].FW_AXIS field does not exists for the arm specified in $FLOW_TBL[].FW_ARM. Remedy: Check the axis validity. In case of FLOW_MOD_ON, properly check the FW_AXIS field (and eventually FW_ARM) in the $FLOW_TBL. 37209

4-PAUSE

(): wrong table index

Cause: The specified table index does not exist. Remedy: Issue the statement specifying a correct table index. 37210

4-PAUSE

(): analogue port required

Cause: The statement requires the definition of an analogue port (for example $WORD). Remedy: Change the program in order to define the port to be used. In case of FLOW_MOD_ON, pass the port as parameter. In case of ON_POS, the port must already have been defined via the ON_POS_SET / ON_JNT_SET call that should preceede the ON_POS call. 37211

4-PAUSE

(): $ON_POS_TBL already reserved

Cause: This error occurs when a program issues the ON_POS_SET on an already reserved element. Remedy:

Call the ON_POS(OFF) before the ON_POS_SET. 37212

4-PAUSE

(): bad value in $ON_POS_TBL

Cause: A value in the $ON_POS_TBL is not properly set. For example, the $OP_TOOL_DSBL field cannot be TRUE if $OP_TOOL_RMT has a value of TRUE. Remedy: Check values compatibility in the $ON_POS_TBL fields settings. 37213

4-PAUSE (): arm in rout and in JOINTPOS conflict Cause: The arm specified as parameter to the internal routine ON_POS is different than the arm related to the JOINTPOS variable passed as parameter to the ON_JNT_SET. Remedy: Uniform the arms, by changing the arm passed to the ON_POS routine or redefining the jointpos associated to the table.

37889

14-FATAL

Configured servo board not present

Cause: One or more servo boards declared in the C3G.SYS file are not present in the rack. Remedy: Insert servo board(s) to match the required configuration, or ask Comau for a new configuration file. 37890

2-WARNING

Servo board(s) not configured

Cause: A servo board present in the rack is not used by the controller. Remedy: This is only a warning. Check to see if the configuration matches your needs. Eventually, remove the unused board. 37891

14-FATAL

Synchronization with servo board failed

Cause: A servo board fails the initialization phase. Remedy: If this error occurs after a loading operation of the system software, check the diskette and try to reload. Otherwise issue a restart of the system. If the problem still occurs, change the servo board. 37894

10-DRIVE OFF

Optional Sw for SINEC H1 not present

Cause: The system has detected the SINEC H1 board but there is no optional sw loaded to handle this feature. Remedy: Load the optional Sw for SINEC H1. 37895

10-DRIVE OFF

Optional Sw for VME147 not present

Cause: The system has detected the VME147 board but there is no optional sw loaded to handle this feature. Remedy: Load the optional Sw for VME147. 37897

14-FATAL

Software bootstrap fail, please restart

Cause: Something went wrong during the bootstrap phase of loading the system software. Remedy: If this error occurs after loading the system software, check the diskette and try to reload the system software. Otherwise issue a restart of the system. If the problem still occurs, change the RBC board. 37898

10-DRIVE OFF

Bad loading of compensation data

Cause: An error occurred when reading the .ROB file containing data related to the compensation of kinematic errors. The reason of this is indicated in the error message preceding this one.

Remedy: Check that the .ROB file has been properly installed and that it is not corrupted. Try to reload the original compensation file. 39937

4-PAUSE

(): ACOS value range (-1 to 1)

Cause: The value passed to the ACOS built-in is invalid. The value must be in the range 1.0 to -1.0. The result returned when this error is trapped on is an uninitialized REAL. Remedy: Check and modify the value passed to the built-in. 39938

4-PAUSE

(): ARRAY_DIM one dim array

Cause: The argument to the ARRAY_DIM2 built-in is invalid as it is only a one dimensional array. The result returned when this error is trapped on is an uninitialized INTEGER. Remedy: Check and modify the value passed to the built-in. 39939

4-PAUSE

(): ASIN value range (-1 to 1)

Cause: The value passed to the ASIN built-in is invalid. The value must be in the range 1.0 to -1.0. The result returned when this error is trapped on is an uninitialized REAL. Remedy: Check and modify the parameter passed to the built-in. 39940

4-PAUSE

(): ATAN2 value both zero

Cause: The values passed to the ATAN2 built-in are both equal to zero. The result returned when this error is trapped on is an uninitialized REAL. Remedy: Check and modify the value passed to the built-in. 39941

4-PAUSE

(): CHR bad index

Cause: The index to the CHR built-in is invalid. Remedy: Check that the index is within the string length. 39942

4-PAUSE

(): COM_PORT error

Cause: The specified error occurred while accessing the communication port via the COM_PORT_SET or COM_PORT_GET built-in. Remedy: Review the error number to determine the cause and what action is to be taken. 39943

4-PAUSE

(): ERR_POST bad severity or number

Cause: The error number or severity or both are invalid in the ERR_POST built-in. Valid error numbers are in the range 43008 to 44031. Valid severity numbers are 2, 4, 6, 8, 10, and 12. Remedy: Check and modify the parameters to the built-in. 39944

4-PAUSE

(): EXP value out of range

Cause: The value passed to the EXP built-in is invalid. The value must be less than 88.7. The result returned when this error is trapped on is an uninitialized REAL. Remedy: Check and modify the parameter passed to the built-in. 39945

4-PAUSE

(): HDIN_READ pos not read

Cause: The HDIN_READ built-in failed as the arm data has not been read. Remedy: Either the HDIN did not trigger or the HDIN_SET was not set up to record the arm position.

39946

4-PAUSE

(): HDIN_SET bad lock arm

Cause: The lock arms specified as the parameters to the HDIN_SET built-in are not present on the specified SCC board. Remedy: HDIN_SET can only lock arms which are present on the specified SCC board so either modify the SCC board number or the arm. The predefined variable $SC_DATA[scc_number].REF_ARMS contains a mask of arms which use the specified SCC board. 39947

4-PAUSE

(): JNTP_TO_POS jntp not initialized

Cause: The JNTP_TO_POS built-in failed because the JOINTPOS data has not been initialized. Remedy: Check the value passed to the built-in. 39948

4-PAUSE

(): LN value string length

Cause: The offset specified on the STRING predefined variable in the SYS_VAR_GET or SYS_VAR_SET built-in is invalid. The offset must be greater than zero and less than the current length or, if the STRING is uninitialized, the offset must be zero. Remedy: Check and modify the offset parameter. 39962

4-PAUSE

(): SYS_VAR ofst not on field boundary

Cause: The offset specified on the predefined variable in the SYS_VAR_GET or SYS_VAR_SET built-in is invalid. The offset must be on an element boundary and within the memory of the variable. Remedy: Check and modify the offset parameter. 39963

4-PAUSE

(): SYS_VAR limits on system variable

Cause: The predefined variable specified in the SYS_VAR_SET or SYS_VAR_GET built-in can contain only a limited range of values and an offset, conversion, or length have been specified in the built-in.

Remedy: Check and modify either the offset, conversion, or length parameter if the predefined variable is to be accessed or use direct access. 39964

4-PAUSE

(): SYS_VAR bad conversion specified

Cause: The conversion factor specified in the SYS_VAR_GET or SYS_VAR_SET built-in is invalid. The conversion can only be for bytes and words and the destination must be less than 4 bytes. Remedy: Check and modify the conversion parameter. 39965

4-PAUSE

(): SYS_VAR spec length too long

Cause: The length specified in the SYS_VAR_GET or SYS_VAR_SET built-in is invalid. The length + the offset must be within the boundary of the source and destination variable. Remedy: Check and modify the offset or length parameters supplied to the built-in. 39966

4-PAUSE

(): SYS_VAR spec ofst too long

Cause: The offset specified for the predefined variable in the SYS_VAR_GET or SYS_VAR_SET built-in is invalid. The offset must be greater than zero and within the boundary of the source and destination variable. Remedy: Check and modify the offset or length parameters supplied to the built-in. 39967

4-PAUSE (): SYS_VAR length not a multiple of element size Cause: The length specified or calculated for an ARRAY predefined variable in the SYS_VAR_GET or SYS_VAR_SET built-in is invalid. For ARRAYs, the length must be a multiple of the element size. Remedy:

Check and modify the offset or length parameter for the ARRAY predefined variable. 39968

4-PAUSE boundary

(): SYS_VAR spec ofst not on element

Cause: The offset specified or calculated for an ARRAY predefined variable in the SYS_VAR_GET or SYS_VAR_SET built-in is invalid. For ARRAYs, the offset must be on an ARRAY element boundary. Remedy: Check and modify the offset or length parameter for the ARRAY predefined variable. 39969

4-PAUSE

(): VOL_SPACE label string too short

Cause: The length of the STRING passed to the VOL_SPACE built-in is too short. The string length must be at least 12. Remedy: Pass a STRING whose length is greater than 11. 39970

4-PAUSE

(): WIN_CLEAR bad option

Cause: The clear specification parameter passed to the WIN_CLEAR built-in is invalid. Remedy: Check that the parameter is one of the WIN_CLR_xxx predefined constants. 39971

4-PAUSE rows

(): WIN_CREATE/WIN_SIZE bad number of

Cause: The number of rows specified in the WIN_CREATE or WIN_SIZE built-in is invalid. The value must be greater than zero and less than the number of rows on the particular device. Remedy: Check and modify the number of rows parameter. 39972

4-PAUSE

(): bad physical device

Cause: The physical device specified in one of the WIN_CREATE, SCRN_SET, SCRN_FONT, or SCRN_CLEAR built-ins is invalid. Remedy: Check and modify the parameter such that it is one of the PDV_xxx predefined constants. 39973

4-PAUSE

(): WIN_DEL window not deleted

Cause: The WIN_DEL built-in failed because either files are currently open on the device or the device is currently being displayed. Remedy: Check the state of the window by using WIN_STATE and either close the files or remove the window or both. 39974

4-PAUSE

(): WIN_REMOVE window not displayed

Cause: The WIN_REMOVE built-in failed because the window is currently not being displayed. Remedy: Check the state of the window by using WIN_STATE and take the corrective action. 39975

4-PAUSE

(): WIN_REMOVE POP-UPs on window

Cause: The WIN_REMOVE built-in failed because either the fixed window contains pop-up windows or the TP0: window is not being displayed. Remedy: Check the state of the window by using WIN_STATE and remove the offending pop-up windows before trying to remove the fixed window. 39976

4-PAUSE

(): EXIT CYCLE program not in a cycle

Cause: The EXIT CYCLE statement failed because the program has not yet entered the CYCLE .. END loop. Remedy:

Check that the current program counter position is within the CYCLE and END of the program and that the CYCLE statement or attribute is included in the program. 39977

4-PAUSE

(): no matching CASE

Cause: No matching CASE could be found in the SELECT statement. Remedy: Check the select value and the list of CASEs. If necessary add the ELSE: clause for handling the unexpected select value. 39978

4-PAUSE

(): PULSE time < 0

Cause: The time specified with the PULSE statement is less than zero. Remedy: Check and modify the pulse time. 39979

4-PAUSE

(): DELAY time < 0

Cause: The time specified in the DELAY statement is less than zero. Remedy: Check and modify the delay time. 39980

4-PAUSE

(): no memory for activation

Cause: An attempt was made to ACTIVATE a program but there are insufficient memory resources. Remedy: Check that the size of the program stack is not too large. Erase unneeded code and/or data from memory. 39981

4-PAUSE

(): program not loaded

Cause: An attempt was made to ACTIVATE a program which is currently not loaded in memory.

Remedy: Load the program into memory before trying to activate it. 39982

4-PAUSE

(): program already active

Cause: An attempt was made to ACTIVATE a program which is already active. Remedy: Either DEACTIVATE the program and then reissue the ACTIVATE or leave as is. 39983

4-PAUSE

(): program being edited

Cause: An attempt was made to ACTIVATE the program currently being edited in PROGRAM EDIT/DATA or viewed in MEMORY DEBUG. Only the editor can activate this program. Remedy: ACTIVATE the program from within the editor by issuing the RUN command. 39984

4-PAUSE

(): program not loaded

Cause: An attempt was made to DEACTIVATE a program which is not only not active, it is not even loaded in memory. Remedy: Check that the program name specified in the DEACTIVATE statement is correct. 39985

4-PAUSE

(): program not active

Cause: An attempt was made to either DEACTIVATE or EXIT CYCLE a program which is currently not active. Remedy: Check the state of the program and determine what action to take. 39986

4-PAUSE

(): program not active

Cause: An attempt was made to change the state and unsuspend a program which is currently not active. This typically occurs when trying to UNPAUSE or PAUSE a program which is not yet active. Remedy: Check what the program state should be. 39987

4-PAUSE

(): program already unsuspended

Cause: An attempt was made to change the state and suspend a program which is currently not active. This typically occurs when trying to UNPAUSE or PAUSE a program which is not yet active. Remedy: Check what the program state should be. 39988

4-PAUSE

(): program already suspended

Cause: An attempt was made to change the state and suspend a program which is already suspended for the same reason. This typically occurs when trying to PAUSE a program which is already paused. Remedy: Check what the program state should be. 39989

4-PAUSE

(): division by zero

Cause: A division by zero was attempted. Remedy: Check and modify the right hand side of the division operator. 39990

4-PAUSE

(): READ/Filer error

Cause: The specified error occurred during a READ or FILER operation. Due to the fact that many errors can be reported for FILER and READ operations, this message is used so that the errors can be trapped. The predefined variable $FL_STS contains the specified error. Remedy:

Review the specified error to determine what action to take. 39991

2-WARNING

(): READ has been canceled

Cause: A READ operation has been canceled. This is normally due to the fact that the program which issued the READ has been deactivated. If there are pending READs the data read may be inconsistent. Remedy: This is only a warning. No action is necessary. 39992

4-PAUSE

(): READ timeout

Cause: The READ operation has timed out. The program predefined variable $READ_TOUT can be used for specifying for how long the program should wait for the READ. When the READ times out, the unread variables are set uninitialized. Remedy: Either reissue the READ or continue with the variables set to an uninitialized value. 39993

4-PAUSE

(): file closed on READ

Cause: The READ operation has been aborted because the LUN has been closed. Remedy: Cancel the READ operation before attempting to close the file if this is a problem. 39994

4-PAUSE

(): bad BOOLEAN READ

Cause: The data read for a BOOLEAN variable is invalid. The valid values are TRUE, FALSE, ON, and OFF and any unique substring such as TR or F. Remedy: Check that the data is a legal value. 39995

4-PAUSE

(): bad formatted READ data

Cause: The data read was not valid for the type of variable. For example, if an INTEGER variable is being read, this error will occur if the data contains nonnumeric characters. Remedy: Check that the data supplied to the READ matches the data type of the variable. 39996

4-PAUSE

(): READ EOF

Cause: During the READ operation the end of file (EOF) was detected and therefore the data was incompletely read. Remedy: Check for the end of file condition before issuing the READ. can be done using the EOF built-in. 39997

2-WARNING

This

(): trap already exists

Cause: An attempt was made to ERR_TRAP_ON an error which is already trapped on. Remedy: Do not reissue the ERR_TRAP_ON for the same error number. 39998

2-WARNING

(): trap does not exist

Cause: An attempt was made to ERR_TRAP_OFF an error which is currently not trapped on. Remedy: Do not issue the ERR_TRAP_OFF for an error which is not trapped on. 39999

4-PAUSE

(): bad trap number

Cause: The value passed to ERR_TRAP_ON or ERR_TRAP_OFF is invalid. The number must be a valid EC_TRAP class error which are in the range 39936 to 40959. Remedy:

Check and modify the error number value. 40001

4-PAUSE

(): bad program priority

Cause: The program PRIORITY attribute is invalid. Remedy: Check that the program PRIORITY attribute has a value of 1, 2, or 3. 40002

4-PAUSE

(): error statement

Cause: An attempt was made in PROGRAM EDIT to execute an ~ERROR~ statement. Remedy: Either correct the statement such that it is no longer an error or place the cursor on the next line and continue execution. 40003

2-WARNING

(): held as step cycle

Cause: A single CYCLE has been executed and the step mode is CYCLE. Remedy: The program is suspended in the ready state. To continue the execution, press the START button or for NOHOLDable programs the RUN key can be pressed. 40004

2-WARNING

(): held as step move (fly)

Cause: A single MOVE has been executed and the step mode is MOVE. Remedy: The program is suspended in the ready state. To continue the execution, press the START button. 40005

4-PAUSE

(): magnitude of vector is zero

Cause: The magnitude of the VECTOR calculated in one of the POS_FRAME, POS_SET_APPR, POS_SET_ORNT, or POS_SET_NORM built-ins is zero.

Remedy: Check and modify the value passed to the built-in. 40006

4-PAUSE

(): ENCODE string or buffer full

Cause: The STRING in which data is being ENCODEd or the buffer used for the asynchronous WRITE is full. Remedy: Reduce the amount of data being written or encoded or increase the size of the ENCODE STRING. 40007

4-PAUSE

(): bad BY clause in event

Cause: The BY clause specified with one of the ERRORNUM or ERRORCLASS error events is not permitted. The BY clause cannot be used if the error is not in the EC_TRAP or EC_PROG class of errors. This error also occurs in WHEN EVENT condition expressions when the event number is not a user event and the BY clause is specified. Remedy: If the BY clause is associated with an error event, check that the error number specified in the error event is correct. If the BY clause is associated with an EVENT event (WHEN EVENT), check that the event number stays in the range from 49152 to 50175. 40008

4-PAUSE

(): unknown screen in window built-in

Cause: The screen specified in one of the SCRN_SET, SCRN_FONT, or SCRN_CLEAR built-ins is invalid. The valid screens are SCRN_USER, SCRN_SYS, or SCRN_EDIT. Remedy: Check and modify the value passed to the built-in. 40009

4-PAUSE

(): window error

Cause: During a window operation the specified error occurred. Remedy: Review the specified error to determine what action to take.

40010

4-PAUSE

(): $BASE not initialized

Cause: The value of $BASE is not initialized. Remedy: Check and modify the value of $BASE. 40011

4-PAUSE

(): $TOOL not initialized

Cause: The value of $TOOL is not initialized. Remedy: Check and modify the value of $TOOL. 40012

4-PAUSE

(): pos out of range

Cause: The Cartesian position is out of the available workspace for this arm. Remedy: It is necessary to change the position so that it is within the arm workspace. 40013

4-PAUSE

(): axis 1 at undefined pos

Cause: The arm, typically a SMART robot, has the center of the wrist align with the z-axis of the world frame. This is an arm singularity. Remedy: Avoid entering the center of the wrist in a cylindrical volume coaxial to z-axis. 40014

4-PAUSE

(): wrist axis at undefined pos

Cause: The wrist, typically a SMART wrist, has axis 5 at zero position. For this position it is impossible to independently compute the values of axes 5, 4, and 6. Remedy:

Avoid working in Cartesian with axis 5 at zero position or, if implemented, change the setting of $ORNT_TYPE to WRIST_JNT in order to execute the trajectory in Cartesian, but interpolate the wrist axes in joint. 40015

4-PAUSE (): limits .. for system var Cause: The value assigned to a predefined variable is outside the specified range. Remedy: Check and modify the assignment such that the value is within the range.

40016

4-PAUSE

(): NODISABLE on a STATE condition

Cause: The NODISABLE condition handler attribute cannot be used if the condition handler contains state condition expressions. This is because the condition handler would remain enabled and the state would be continuously triggering. Remedy: Change the type of condition expression to an event or remove the NODISABLE attribute. 40017

4-PAUSE

(): WITH bad FOR ARM number

Cause: The arm number specified in the FOR ARM condition handler attribute does not match the arm being referenced in the MOVE statement. For example CONDITION[2] FOR ARM[2]: WHEN HOLD DO LOCK ENDCONDITION . . . MOVE ARM[1] TO p1 WITH CONDITION[1] arm 1 is being moved, but the condition handler is defined for arm 2. Remedy: Redefine the condition handler or change the MOVE statement so the arm numbers are the same.

40018

4-PAUSE

(): WITH bad arm number for cond action

Cause: The FOR ARM was not specified in a condition handler definition and the condition handler contains actions which are arm related. This condition handler is being used in a MOVE statement and the arm at the time of the condition handler definition is different from the arm being moved. For example, - PROGRAM withact PROG_ARM=2 - . . . - BEGIN CONDITION[1]: WHEN HOLD DO LOCK -- This applies to arm 2 (PROG_ARM) ENDCONDITION . . . -- Error since the LOCK action applies to arm 2 and -- arm 1 is being moved MOVE ARM[1] TO p1 WITH CONDITION[1] . . . - END withact Remedy: Correct the condition handler definition such that the arm used at condition handler definition time is the same as the arm being referenced in the MOVE statement. 40019

2-WARNING

(): held as step stmt

Cause: A single statement has been executed and the step mode is statement. Remedy: The program is suspended in the ready state. To continue the execution, press the START button or for NOHOLDable programs the RUN key can be pressed. 40020

2-WARNING deleted

(): SCRN_CLEAR window not

Cause: The SCRN_CLEAR built-in with operation mode SCRN_CLR_REM failed as one of the windows being displayed on the screen could not be removed because files were opened on the window. Remedy: Close all files on the window before trying to remove the window

and clear the screen. 40021

2-WARNING

(): bad number of binary chars

Cause: The number of binary characters actually read does not equal the number of binary characters requested to be read. This can occur when a file is opened in binary mode and there is insufficient data in the file. Remedy: Check that the amount of bytes in the file or device is equal to the amount requested in the READ statement. 40022

4-PAUSE prog

(): cannot EXIT CYCLE on active edit

Cause: An attempt was made to EXIT CYCLE for the program which is currently being used in the PROGRAM EDIT or MEMORY DEBUG environments and the editor has control of the program (i.e., the red pop-up window is not being displayed). Remedy: If EXIT CYCLE is needed, issue the command directly from the editor or move the cursor to the beginning and continue execution. 40023

4-PAUSE

(): APPL_REQ error

Cause: The APPL_REQ built-in failed due to the specified error. Trapping on this error causes execution of the program to continue. The program predefined variable $APPL_STS is set to the specified error. Remedy: Review the specified error to determine what action to take. 40024

4-PAUSE

(): internal access error

Cause: An internal access failed due to the specified error. Remedy: Please report this error to Comau.

40025

4-PAUSE

(): axis 5 at undefined pos

Cause: The wrist, typically a MAST wrist, has axis 5 at an undefined position. Remedy: Avoid working in Cartesian with axis 5 at this undefined position or, if implemented, change the setting of $ORNT_TYPE to WRIST_JNT in order to execute the trajectory in Cartesian, but interpolate the wrist axes in joint. 40026

2-WARNING

(): held as a step mode

Cause: The step mode of the program has been changed. Remedy: Informational message. No action is necessary. 40027

4-PAUSE

(): bad SCRN_FONT number

Cause: The font number passed in the SCRN_FONT built-in is invalid. The CRT physical device (PDV_CRT) can contain up to 4 fonts and the TP (PDV_TP) up to two different fonts. Remedy: Check and modify the font number specified. 40028

4-PAUSE

(): inverse kinematics not available

Cause: This machine does not have inverse kinematics. Or, in case of compensation algorithm active, it means that the programmed Joint or Cartesian position cannot be compensated. Remedy: Do not try to work in Cartesian. Or, in case of compensation algorithm active, program the Joint or Cartesian position out of the area where the compensation algorithm cannot work. 40029

4-PAUSE

(): 2nd Euler angle less than zero

Cause: For definition, the second Euler angle cannot be less than 0

degrees or greater than 180 degrees. Remedy: Set the angle accordingly. 40030

4-PAUSE

(): SCRN_SET edit not active

Cause: The setting of the screen to SCRN_EDIT using the SCRN_SET built-in failed as the editor is not active on the particular device. Remedy: Check that the editor is active on the physical device. 40031

4-PAUSE

(): POS_IN_RANGE XTNDPOS not initialized

Cause: The POS_TO_JNTP built-in failed because the XTNDPOS positional data has not been initialized. Remedy: Check the value passed to the built-in. 40032

4-PAUSE

(): SYS_CALL timeout

Cause: The SYS_CALL has timed out and has therefore been canceled. The variable $SYS_CALL_TOUT can be used for setting this timeout value. Remedy: Either change the timeout period or accept this error. 40033

4-PAUSE

(): WRITE error

Cause: The specified error occurred during an asynchronous WRITE operation. Due to the fact that many errors can be reported for the WRITE operation, this message is used so that the errors can be trapped. The predefined variable $FL_STS contains the specified error. Remedy: Review the specified error to determine what action to take. 40034

4-PAUSE

(): WRITE timeout

Cause: The asynchronous WRITE operation has timed out. The program predefined variable $WRITE_TOUT can be used for specifying for how long the program should wait for the WRITE to complete. Remedy: Check why the WRITE may not have completed in time and if necessary increase the timeout value. 40035

4-PAUSE

(): WRITE not completed

Cause: The asynchronous WRITE operation did not complete for some reason, with only a partial amount of the data written. Remedy: Check the value of $WRITE_TOUT and that the LUN was not closed or the program deactivated during the WRITE operation. 40036

4-PAUSE

(): file closed on WRITE

Cause: The WRITE operation has been aborted because the LUN has been closed. Remedy: Cancel the WRITE operation before attempting to close the file if this is a problem. 40037

4-PAUSE

(): bad CANCEL semaphore

Cause: An attempt was made to CANCEL a SEMAPHORE while programs are waiting on the SEMAPHORE. The CANCEL statement or action only has an effect if the SEMAPHORE has been signaled. Remedy: Check which programs are waiting on the SEMAPHORE. 40038

4-PAUSE

(): not ALL conds DISABLEd

Cause: The DISABLE CONDITION ALL statement failed with not all the conditions disabled.

Remedy: Check if any of the conditions are currently being used locally in a motion statement. 40039

4-PAUSE (): not ALL conds PURGEd. Err

Cause: The PURGE CONDITION ALL statement or action failed due to the specified reason with not all the conditions purged. Remedy: Review the specified error to determine what action to take. Check if any of the conditions are currently being used locally in a motion statement.

40040

4-PAUSE

(): DV_CNTRL operation error

Cause: The operation specified in the DV_CNTRL built-in failed due to the specified error. Remedy: Check the valid codes for device control access and the specified error. 40041

2-WARNING

(): WRITE has been canceled

Cause: A WRITE operation has been canceled. This is normally due to the fact that the program which issued the WRITE has been deactivated or the statement bypassed. If there are pending WRITEs, the data written may be inconsistent. Remedy: This is only a warning. No action is necessary. 40042

4-PAUSE

(): bad screen name

Cause: The screen name supplied to the SCRN_CREATE or SCRN_DEL built-in is not valid or cannot be found. Remedy: Check the use of the built-in and see that a name between 1 and 8 characters has been specified and that it does exist.

40043

4-PAUSE

(): bad screen operation

Cause: The attempted operation on a screen is not legal. Remedy: Check what operation was being performed and verify that this is a correct operation for the type of screen. For example, the system screen (SCRN_SYS) cannot be deleted or removed. 40044

4-PAUSE

(): screen exists

Cause: The screen already exists. Remedy: An attempt was made to create a new screen (SCRN_CREATE) but it already exists. When this error is trapped on the value returned from the SCRN_CREATE built-in is the same as the existing screen. 40045

4-PAUSE

(): path error

Cause: The specified error occurred during an operation on a PATH. Remedy: Review the error to determine the exact cause and necessary remedy. 40046

4-PAUSE

(): $TIMER ATTACHed

Cause: The $TIMER is already ATTACHed by another program. Remedy: Use a different $TIMER element. 40047

4-PAUSE

(): built-in timeout

Cause: An asynchronous built-in operation has timed out and has therefore been canceled. The $SYS_CALL_TOUT predefined variable can be used for setting this timeout value. Remedy:

Either change the timeout period or accept this error. 40048

4-PAUSE

(): bad turn cnfg flag

Cause: The user sets a turn flag on a joint that cannot do more than 360 degrees. Remedy: Verify the turn configuration for the positional variable. 40049

4-PAUSE path

(): bad SIGNAL SEGMENT as no waiting

Cause: The SIGNAL SEGMENT statement failed because no motion is currently waiting on a PATH. Remedy: The signalling of a PATH is different from a SEMAPHORE in that there is no counter. A PATH can only be signalled if a motion is waiting. 40051

4-PAUSE

(): bad state for KEY_LOCK

Cause: The KEY_LOCK built-in failed because either the state of the PROGR/AUTO switch is not PROG or the editor, teach, or EXECUTE is active on the device. KEY_LOCK only works in AUTO-LOCAL and AUTO-REMOTE when certain commands are not being executed on the device. Remedy: Either reissue the built-in when in the correct state or do not issue the call to lock the keyboard. 40052

4-PAUSE

(): no condition action specified

Cause: A condition handler has been defined which contains a condition expression but no corresponding action. In the version before 3.2x, this was not treated as an error with the following condition action undertaken. This has been changed so that a condition expression with no action does not have any action. Remedy:

Either trap on the error so that there is no action or insert some form of action. 40053

4-PAUSE

(): string has no length

Cause: An attempt was made to assign or set a STRING variable which has no length. This occurs when the STRING is defined as STRING[*] and the length has not been defined in another program or when a variable file was loaded. Remedy: Set the string length or load a variable file that contains the variable value and a length. 40054

4-PAUSE

(): direct kinematics not available

Cause: This machine cannot perform direct kinematics from this positional point. Remedy: Move the machine to a known Cartesian POSition. From that point move in Cartesian mode to the needed point and teach a POSition point. 40055

4-PAUSE

(): $UFRAME not initialized

Cause: The value of $UFRAME is not initialized. Remedy: Check and modify the value of $UFRAME. 40057

4-PAUSE

(): AUX_MMUX error

Cause: The AUX_MMUX built-in failed due to an error. This error has been generated by the actions undertaken by the system upon the built-in call. Trapping on this error causes execution of the program to continue. Remedy: Review the error displayed by the system to determine what action to take.

40059

4-PAUSE

(): AUX_SET error

Cause: The AUX_SET built-in failed due to an error. This error has been generated by the actions undertaken by the system upon the built-in call. Trapping on this error causes execution of the program to continue. Remedy: Review the error displayed by the system to determine what action to take. 40060

4-PAUSE

(): Cartesian Position not compensable

Cause: In case of compensation algorithm active, it means that the programmed Joint or Cartesian position cannot be compensated. Remedy: In case of compensation algorithm active, program the Joint or Cartesian position out of the area where the compensation algorithm cannot work. 40061

2-WARNING

(): flow modulate already enabled

Cause: This error occurs when the FLOW_MOD_ON is called twice from the same program. Remedy: Remove the second call to FLOW_MOD_ON. 40062

2-WARNING

(): flow modulate already disabled

Cause: This error occurs when the FLOW_MOD_OFF is called twice from the same program. Remedy: Remove the second call to FLOW_MOD_OFF. 40063

2-WARNING

(): ON_POS already enabled

Cause: This error occurs when the ON_POS(ON) is called twice on the same element of the $ON_POS_TBL.

Remedy: Remove the second call to the ON_POS(ON). 40064

2-WARNING

(): ON_POS already disabled

Cause: This error occurs when the ON_POS(OFF) is called on an element of the $ON_POS_TBL that is not currently reserved to anybody. Remedy: Review the program in order to determine what causes this error, for example two consecutive calls to the ON_POS(OFF). 47105

0-INFO

Error opening input file

Cause: An error occurred opening the input file. Remedy: Make sure that the file exists and that the name was specified properly. 47106

0-INFO

Error closing VTRANS.ERR

Cause: It is not possible to close the VTRANS.ERR file. This is the file that contains the list of all errors detected during the translation of a file of variables. Remedy: Check that the RAM DISK is not full and otherwise delete the unused files. Try to delete the VTRANS.ERR file and issue the command again in order to translate the file of variables. 47107

0-INFO

Error closing the input file

Cause: The file to be translated could not be closed. Remedy: Check that the RAM DISK is not full and otherwise delete the unused files. Issue the translate command again. 47108

0-INFO

Error opening VTRANS.ERR file

Cause: An error occurred trying to open VTRANS.ERR for reporting translation errors. Remedy: Make sure that the file is not protected, and erase the file if it exists. 47109

0-INFO

The specified type is invalid

Cause: The variable or field type is not valid. Remedy: The variable type must be one of the pre-defined variable types (like int, rea, boo, etc.). 47111

0-INFO

[ expected but not found

Cause: The bracket was expected but not found. Remedy: The bracket was assumed present and translation continued. bracket at the proper location to remove this warning. 47112

0-INFO

Add the

] expected but not found

Cause: The bracket was expected but not found. Remedy: The bracket was assumed present and translation continued. bracket at the proper location to remove this warning. 47113

0-INFO

Add the

Value for len, arm, ax, or field not found

Cause: The integer value for a label could not be found. A label was used where a string length, arm number, axis number, number of fields or number of nodes was expected but the value of the label could not be found in the file. Remedy:

Add the labeled integer value to the file and retranslate. 47114

0-INFO

Len, arm, ax, or field id misspelled

Cause: The label for an integer value could not be found exactly. A label that matched closely was found and used. A match is considered close enough if the labels match in the first two characters. Remedy: Either fix the spelling for the label or add the proper label to the file. 47116

0-INFO

Missing len, arm, ax, or field id

Cause: A labeled integer was expected for the string length, arm number, number of axes, number of fields, or number of nodes and was not found. Remedy: Add the proper integer value to the file. 47117

0-INFO

Invalid or missing punctuation

Cause: The expected punctuation was either missing or invalid. Remedy: Fix the punctuation so that this warning is not displayed. 47118

0-INFO

Token exceeds maximum length

Cause: A token is too long and causes an overflow of the translators buffer. Remedy: Shorten the identifier in the file. 47119

0-INFO

Invalid array dim 1

Cause: The declared size of an array is either less than 1 or greater than 65535.

Remedy: Make sure the array dimensions are within the valid range. 47120

0-INFO

Invalid array dim 2

Cause: The declared size of an array is either less than 1 or greater than 65535. Remedy: Make sure the array dimensions are within the valid range. 47121

0-INFO

Invalid arm number

Cause: The arm number specified is greater than the maximum number of arms allowed in the system. Remedy: The arm number must be less than 32. 47124

0-INFO

Invalid number of aux axes

Cause: The number of aux axes must be between 0 and 3. Remedy: Fix the number of aux axes in the file to fall inside the allowable range. 47125

0-INFO

Invalid string length

Cause: The string length must be between 1 and 254. Remedy: Fix the string length to a valid size. 47126

0-INFO

Priv/Xport code missing, assuming Priv

Cause: The private or exported code was missing from a variable definition. The variable was assumed to be private.

Remedy: Add the Priv/Xport code to the variable definition. 47127

0-INFO

Invalid boolean value

Cause: The value specified for a boolean variable is invalid. must be either TRUE, FALSE, ON, or OFF.

The value

Remedy: Change the value to one of the valid values. 47128

0-INFO

Len, arm, ax, or field not specified

Cause: The value for a labeled integer value was missing. The value for the string length, arm number, number of fields, number of nodes, number of aux axes, etc was missing. Remedy: Add the value for the proper definition field. 47129

0-INFO

No available memory for buffer

Cause: The translation process ran out of free memory. Remedy: Erase all unnecessary data from memory and retranslate. 47130

0-INFO

Invalid or missing value

Cause: The data type of the value found does not match the type expected. For example a REAL value was found when an INTEGER value was expected. Remedy: Make sure that the type of the value matches the type expected for the value. 47131

0-INFO Cause:

Valid field id not found

The pre-defined field id was not a valid name. Remedy: Fix the field name to match a valid pre-defined field name. 47132

0-INFO

Invalid field for this data type

Cause: The pre-defined or user defined field is not a member of the record, node or path variable. Remedy: Either define the field for the type or remove the field value from the variable definition. 47133

0-INFO

Truncating over-length string

Cause: The value of a string exceeds the declared size of the string. string was truncated so that translation could continue. Remedy: Either increase the declared size of the string or shorten the length of the string value. 47134

0-INFO

No available memory for environment

Cause: The translation process ran out of free memory. Remedy: Erase all unnecessary data from memory and retranslate. 47135

0-INFO

Ignoring out of context item

Cause: The extra token was found and ignored. Remedy: Remove the extra token from the file. 47136

0-INFO Cause:

Ignoring duplicate field definition

The

The pre-defined field or user defined field already exists for the record or node definition. Remedy: Remove the extra field definition. 47137

0-INFO

CNFG string conversion failed, assuming default

Cause: The conversion of the configuration string failed. Remedy: Fix the configuration string so that it is enclosed in quotes and only contains valid characters. 47140

0-INFO

Missing name after reserved word TYPE

Cause: The name for a user defined type is missing. Remedy: Add the name for the user defined type after the reserved word TYPE. 47141

0-INFO

Missing or invalid type name

Cause: The type name for a record, array of records, node, or path is invalid. Either the type is not defined in the variable file or there were errors in the type definition. Remedy: Either add the type definition to the file or fix the errors in the definition. 47142

0-INFO

Field ignored due to error

Cause: An error occurred trying to create the field in the user defined type. Remedy: Check the previous error to determine the cause and proper solution for the error.

47143

0-INFO

Num fields read does not match expected

Cause: The actual number of fields read for a user defined type does not match the number expected. Remedy: Either remove the extra fields or adjust the number of fields specified at the start of the type definition. 47144

0-INFO

No fields for user defined type

Cause: No fields were found for a user defined type. Remedy: Either remove the user defined type or add fields to it. 47145

0-INFO

Invalid number of fields specified

Cause: The number of fields specified for a user defined type is not valid. Remedy: The number of fields in a user defined type must be between 1 and 255. Make sure that the specified number of fields is within this range. 47146

0-INFO

Invalid number of axes specified

Cause: The number of axis specified is invalid. Remedy: Make sure that the number of axis is between 1 and 8. 47147

0-INFO

Num aux axes not equal to prev value, using prev value

Cause: The number of aux axes does not match a previously specified value. The previous value is being used. Remedy:

Fix the number of aux axes to be consistent throughout the file. 47148

0-INFO

Num axes not equal to prev value, using prev value

Cause: The number of axes does not match a previously specified value. The previous value is being used. Remedy: Fix the number of axes to be consistent throughout the file. 47151

0-INFO

Ignoring variable due to errors

Cause: Errors were detected while translating the variable. Remedy: Fix the errors so that the variable will translate successfully. 47152

0-INFO

Unexpected end of file reached

Cause: The end of the file was found before expected. Remedy: Make sure that all variable and type declarations are properly completed in the file. 47153

0-INFO

No valid vars so .VAR not created

Cause: No variables were successfully translated, so the .var file was not created. Remedy: Fix the other errors in the file so that the variables translate successfully. 47154

0-INFO

Invalid array index dim 1

Cause: The index for dimension 1 of the array is out of range. Remedy:

Change either the index value or the number of elements in the array. 47155

0-INFO

Invalid array index dim 2

Cause: The index for dimension 2 of the array is out of range. Remedy: Change either the index value or the number of elements in the array. 47156

0-INFO

Invalid or missing num axes, using prev value

Cause: The number of axes is either missing or invalid. specified value is being used.

A previously

Remedy: Make sure that the number of axes is specified and valid. 47157

0-INFO

Invalid or missing num aux axes, using prev value

Cause: The number of aux axes is either missing or invalid. specified value is being used.

A previously

Remedy: Make sure that the number of aux axes is specified and valid. 47159

0-INFO

Ignoring invalid standard node field

Cause: An invalid standard node field definition was found and ignored. Remedy: Either fix the node field definition so that it matches a valid one or remove the definition from the user defined type. 47160

0-INFO

Ignoring standard node field

Cause: The standard node field definition is being ignored since it is in an invalid context.

Remedy: Either fix the context of the definition or remove it from the user defined type. 47161

0-INFO

Num path nodes expected but not found

Cause: The number of path nodes was expected but not found in the file. Remedy: Add the number of path nodes to the variable definition. 47162

0-INFO

Ignoring path node 2nd index

Cause: A path is allowed to have only one index so that second index specified is ignored. Remedy: Remove the second index from the path declaration. 47163

0-INFO

Invalid standard node field value

Cause: The value specified for a standard node field is invalid. Remedy: Change the value to match one of those allowed value. 47164

0-INFO

Ignoring extra $MAIN_ arm

Cause: An extra $MAIN_ arm specification was found that does not match the previous one specified. The second one is ignored and the previous value is used. Remedy: Either remove the extra specification or fix the definition. 47165

0-INFO

Ignoring extra $AUX_ arm

Cause: An extra $AUX_ arm specification was found that does not match the previous one specified. The second one is ignored and the previous

value is used. Remedy: Either remove the extra specification or fix the definition. 47166

0-INFO

Errors detected during translation

Cause: Errors were detected during the variable translation process. Remedy: Edit the variable file and fix all of the errors. 47167

0-INFO

Arm info doesn't match controller

Cause: The arm information in the ASCII variable file does not match the arm(s) setup on the controller. In this situation, the ASCII variable file cannot be translated on the controller. This error can be caused by including an arm in the ASCII variable file that is not defined on the controller or by having the wrong number of axes and/or auxilliary axes in the ASCII variable file. Remedy: Edit the variable file change the arm definitions at the top of the file to match the arm(s) defined on the controller. Also modify any of the JOINTPOS or XTNDPOS data values to match the arm(s) defined on the controller. 52224

2-WARNING

^C or Bypass on motion on ARM[1]

Cause: The motion being executed on ARM[1] has been canceled by a CNTRL C key pressure or by a bypass command or statement. Remedy: No remedy. 52225

2-WARNING

^C or Bypass on motion on ARM[2]

Cause: The motion being executed on ARM[2] has been canceled by a CNTRL C key pressure or by a bypass command or statement. Remedy: No remedy.

52226

2-WARNING

^C or Bypass on motion on ARM[3]

Cause: The motion being executed on ARM[3] has been canceled by a CNTRL C key pressure or by a bypass command or statement. Remedy: No remedy. 52227

2-WARNING

^C or Bypass on motion on ARM[4]

Cause: The motion being executed on ARM[4] has been canceled by a CNTRL C key pressure or by a bypass command or statement. Remedy: No remedy. 52228

2-WARNING

^C or Bypass on SYS_CALL

Cause: The being executed SYS_CALL built-in routine has been canceled by a CNTRL C key pressure or by a bypass command or statement. Remedy: No remedy. 52229

2-WARNING

^C or Bypass on PULSE

Cause: The being executed PULSE statement has been canceled by a CNTRL C key pressure or by a bypass command or statement. Remedy: No remedy. 52230

2-WARNING

^C or Bypass on READ

Cause: The being executed READ statement has been canceled by a CNTRL C key pressure or by a bypass command or statement. Remedy:

No remedy. 52231

2-WARNING

^C or Bypass on DELAY

Cause: The being executed DELAY statement has been canceled by a CNTRL C key pressure or by a bypass command or statement. Remedy: No remedy. 52232

2-WARNING

^C or Bypass on WAIT

Cause: The being executed WAIT statement has been canceled by a CNTRL C key pressure or by a bypass command or statement. Remedy: No remedy. 52233

2-WARNING

^C or Bypass on WAIT FOR

Cause: The being executed WAIT FOR statement has been canceled by a CNTRL C key pressure or by a bypass command or statement. Remedy: No remedy. 55296

0-INFO

55297

0-INFO

File open error, *.rob

55298

0-INFO

On file *.rob can't read GEOMETRIC_MODEL

55299

0-INFO

On file *.rob error reading geometric model

55300

0-INFO

On file *.rob error reading frame data

55301

0-INFO

On file *.rob number of joint exceeds limit

55302

0-INFO

On file *.rob base or link expected

55303

0-INFO

On file *.rob base link number out of range

55304

0-INFO

On file *.rob error reading disk

55305

0-INFO

On file *.rob error reading plate

55306

0-INFO

On file *.rob error reading rigid

55307

0-INFO

On file *.rob error reading absolute position of new link

55308

0-INFO

On file *.rob error reading gravitation model

55309

0-INFO

On file *.rob error reading actuator model

55310

0-INFO On file *.rob, actuator model incompatibility between conversion factor and initgeovalue

55311

0-INFO On file *.rob, actuator model incompatibility between conversion factor and transmission factor

55312

0-INFO On file *.rob, actuator model inverse of singular matrix not reliable

55313

0-INFO On file *.rob, actuator model inverse of non-square matrix not implemented

55314

0-INFO

On file *.rob, actuator model, ')' expected

55315

0-INFO

Floating point number expected

55316

0-INFO

',',';' or ']' expected

55317

0-INFO

Number of colums exceeds MaxCol

55318

0-INFO

Number of rows exceeds MaxRow

55319

0-INFO

Singular matrix

55320

0-INFO

Floating point number expected

55321

0-INFO

FltVector exceeds MaxElem

55322

0-INFO

',',';' or ']' expected

55323

0-INFO

Error reading frame

55324

0-INFO

';' or ']' expected

57344

14-FATAL

SCC: no memory resources

Cause: Servo CPU system pool does not have enough available memory for the system software request. Remedy: Please report this error Comau. 57345

14-FATAL

SA: robot library mismatch

Cause: Robot library mismatch with the controller configuration. Remedy: Check to see if the configuration file is correct for the arm. Check to see if the corresponding motion library was loaded. Load the controller with the correct configuration file and motion library. 57346

2-WARNING SAX: axis not synchronised with the robot Cause: The tuning parameters of the auxiliary axis does not guarantee a synchronized movement between the robot and the axis. This means that the auxiliary axis is less reactive than the robot to commands requiring movements. Remedy: Change, using the FAMILY tool, the tuning parameters of the motor of the auxiliary axis. Increase the Kp (position gain) or ffv (feed-forward of velocity).

57347

14-FATAL Cause:

SA: $RB_VARIANT mismatch

A mismatch has been detected in the values present in $RB_VARIANT related to the acceleration algorithm and the kind of robot. Remedy: Please report this error to Comau. 57348

13-FATAL SAX: wrong physical axis configuration Cause: The physical axis configuration for the arm is not correct. The axis cannot exist. Remedy: Please check the axis number in $ARM_DATA[].LOG_TO_PHY[]. If it is wrong then re-run the configuration tool, or contact COMAU for the correct controller configuration.

57349

2-WARNING

SCC: wrong value for $CT_JNT_MASK

Cause: The axis involved in $CONV_TBL[i].CT_JNT_MASK (where 'i' is 1 or 2) is not allowed to be an external resolver because it is already linked to a predefined arm. As a consequence the system variable has been ignored and set to the zero value; the conveyor tracking/reading is not yet configured. Remedy: Check the correct value for the $CONV_TBL[i].CT_JNT_MASK. Remember that the mask must consider the phisical channel of the axis linked to the external resolver used for the conveyor tracking. 57350

14-FATAL SAX: wrong hardware configuration Cause: The motor configuration for the arm is not correct. The motor pole reading is wrong, or the motor has been changed without make a correct restart of the controller. Remedy: Please check if the hardware to read the pole of the motor is correctly mounted and working, after make a restart (warm or cold).

57351

14-FATAL Cause:

SCC: RPT not properly detected

The error can occurred if the RPT has been mouted (or dismounted) without make a restart cold or warm of the controller. Remedy: Please make a restart warm or cold of the controller. Check that the hardware circuit that detects the presence of the RPT matches with the actual controller configuration. 59392

14-FATAL

SCC: no memory available

Cause: Servo CPU system pool does not have enough available memory for the system software request. Remedy: Report this error to Comau. problem. 59393

10-DRIVE OFF

The user is not able to correct this

SA: timeout on DSP driver

Cause: Handshaking with the servo control driver failed; no response from it after a request. The servo driver task could be aborted. Remedy: Report this error to Comau. The user is not able to correct this problem. 59394

10-DRIVE OFF

SA: serial line driver timeout

Cause: Handshaking with the serial driver failed; no response from it after a request. The serial driver task could be aborted or too busy to answer the request. Remedy: Report this error to Comau. 59395

8-HOLD

SAX: RPT preset aborted

Cause: The RPT and the servo control environment are reading the same resolver, but with a difference of two quadrant. The problem could be on the resolver reading made by the RPT or the servo control. One of them is not properly reading the resolver.

Remedy: Check the resolver circuits and eventually change the RPT. Also check to see if the resolver reading of the control is working properly. 59396

8-HOLD

SAX: RPT spreset aborted

Cause: The RPT and the servo control environment are reading the same resolver, but with a difference of two quadrant. The problem could be on the resolver reading made by the RPT or the servo control. One of them is not properly reading the resolver. Remedy: Check the resolver circuits and eventually change the RPT. Also check to see if the resolver reading of the control is working properly. 59397

8-HOLD aborted

SAX: servo calibration

Cause: The servo control does not accept the theoretical position during the startup phase or during calibration/turn-set/JNT_SET_TAR operations. If the servo control is not properly reading the resolver this error occurs. Remedy: Check the resolver circuits. If the problem persists, report it to Comau. 59398

8-HOLD

SAX: axis not configured

Cause: The user is trying to calibrate and/or turn-set an axes which is not declared for the system. Remedy: Do not calibrate and/or turn-set an undeclared axes. 59399

8-HOLD

SA: calibration data not valid

Cause: The user is trying to turn-set an axis for which the calibration error is not valid. Remedy:

Analyze the history of the C3G.SYS system data file. This file should contain the correct calibration error for each axes saved at calibration time. If it is not corrupted, load it, while drives are off, and reexecute the procedure. If the file was saved following the instructions, this axes now has a valid calibration error. If the file is corrupted, load the calibration error from the RPT, and reexecute the turn-set procedure. If the error does not vanish, the RPT data are also not valid. The axes need to be recalibrated. If the error does vanish, during the calibration procedure or after someone did not follow the instructions properly working with the system data files. 59400

2-WARNING off

SA: attempted operation in drive

Cause: An attempt was made to execute the calibration/turn-set operation when not in PROG state. Remedy: Enter PROG state before executing the procedure. 59401

8-HOLD

SA: RPT down or general RPT error

Cause: It is not possible to read the RPT data at startup time due to some problems on the RPT. This is a general message, other messages on the controller should explain to the user the reason why the operation failed. The probability that the robot is no longer calibrated at startup time is very high. Do not calibrate it. First it is necessary to solve the problem with the RPT. Remedy: Analyze the serial link with the RPT. Eventually analyze the problems reported by the controller generated on the RPT. Restart the system. 59402

8-HOLD

SA: arm not calibrated

Cause: It is not possible to execute MOVE instructions when the arm is not calibrated. Remedy: Calibrate or turn-set the arm before executing MOVE instructions. 59403

8-HOLD

Motion request mismatch with system state

Cause: Immediate execution MOVE statements are accepted only in PROG state. Remedy: Enter PROG state before executing a MOVE statement. 59404

10-DRIVE OFF

Motion released due to error

Cause: Pending motions are released back to the interpreter because an error was found on the current motion. Remedy: No remedy. 59405

8-HOLD

SA: bad operation with pending motion

Cause: There are pending MOVE statements already executed by the interpreter but not yet executed by the interpolator when the user is trying to calibrate/turn-set an arm. The same message is sent when the AUX_COOP() or ARM_COOP() built-in's are executed during a movement; this can happen if an ADVANCE clause is present on a MOVE statement before the built-in's or if built-in's are just at the beginning of the program (at the start of the program, a recovery movement is performed). Remedy: DEACTIVATE all the programs before the calibration/turn-set procedure. If the message is due to the cooperation, the ADVANCE clause before AUX_COOP() or ARM_COOP() built-in's must be removed. If built-in's are just at the beginning of a program they are to be moved down or a DELAY statement is to be introduced before them. 59406

8-HOLD tuning

SA: bad operation while jogging or

Cause: There was an attempt to jog the robot and execute a calibration/turn-set command. This is not possible. Remedy: Do not try to move the robot during calibration/turn-set operations. 59407

8-HOLD

SAX: $STRK_END_P out of

range Cause: The user $STRK_END_P[i] predefined variable has an absolute value greater than the corresponding system value $STRK_END_SYS[1][i]. Remedy: Restrict the user stroke end. 59408

8-HOLD range

SAX: $STRK_END_N out of

Cause: The user $STRK_END_N[i] predefined variable has an absolute value greater than the corresponding system value $STRK_END_SYS[2][i]. Remedy: Restrict the user stroke end. 59409

2-WARNING SAX: joint position not sufficient accurate Cause: During the turn-set procedure the user should move the arm near the calibration references. If the position is not so accurate, there could be problems due to resolver wrap and the operation will fail. Remedy: Move the arm as close as possible to the references.

59410

8-HOLD

START/BACK not available

Cause: The START/BACK keys are currently disabled. This occurs after certain errors or when a manual motion is executed outside the EDIT environment. The START/BACK keys only work in PROG state when the motion was issued from within the EDIT environment. The EDIT environment includes PROGRAM EDIT/DATA, MEMORY DEBUG, immediate mode EXECUTE (E), and EZ. Remedy: If the keys are disabled due to an error, clear the error. Otherwise, enter the EDIT environment (PROGRAM EDIT/DATA, MEMORY DEBUG, immediate mode EXECUTE, or EZ). 59411

8-HOLD SAX: motion after last reset ()

Cause: The arm resolver position at startup time is not equal to the resolver position frozen before the system shutdown. This could be due to an emergency manual control (EMC) session and this is normal, or to a wrong position from the RPT at startup time, or the axes moved when the system was down. Remedy: Analyze which is the cause. If it seems to be an RPT problem, substitute it and report the problem to Comau. 59412

2-WARNING SAX: influencing axis not calibrated Cause: An attempt was made to execute a turn-set operation on an axes which has an influence on another one and the influencing axes is not already calibrated. Remedy: The influencing axes should be properly calibrated before trying to calibrate the influenced one.

59413

8-HOLD

SA: interpolator already running

Cause: An attempt to execute a motion while the interpolator is already active was done. The motion stack is already full, so it is no longer possible to stack moves other than if they are coming from the same program. An exeception is an immediate mode EXECUTE (E) MOVE. Only one immediate mode EXECUTE (E) MOVE is accepted. Remedy: CANCEL the motion which is active, this leaves the stacked motions as they are, but now it is possible to execute another motion. 59414

8-HOLD

SA: general recovery error

Cause: It is not possible to recover the interrupted motion. Sometimes this could happen if the recovery is done in Cartesian and there is a mismatch in the configuration flags. Remedy: Set $RCVR_TYPE in order to do the recovery in joint or if it is not strictly necessary to recover, DEACTIVATE or CANCEL the interrupted motion.

59415

8-HOLD

SA: $RCVR_TYPE doesn't permit recovery

Cause: $RCVR_TYPE setting does not permit the recovery session. Remedy: Set $RCVR_TYPE to a different value or if it is not necessary to recover anything, DEACTIVATE the program. 59416

10-DRIVE OFF quadrant

SAX: bad preset

Cause: There is a mismatch in the resolver quadrant data from the RPT and the resolver quadrant value read by the servo, greater than 2 resolver quadrants. Remedy: Check the capability of both environments to read correctly the resolver. 59417

2-WARNING

Already at the initial position

Cause: The user pressed the BACK button when the arm is already at the initial position of this segment. Remedy: It is not possible to go backwards any further. 59418

2-WARNING

Final position reached

Cause: The arm has reached the final position. If the user releases and presses again the START button, the motion is completed, otherwise the user is still able to move backwards on this motion. 59419

2-WARNING

Initial position reached

Cause: The arm has reached the initial position and therefore cannot go backwards any further. The user is still able to move forwards on this motion.

59420

2-WARNING

Recovery position reached

Cause: The arm has reached the recovery position. If the user releases and presses again the START button, the next motion will start. 59421

2-WARNING SAX: positive adjustment is required Cause: During the turn-set procedure the user should move the arm near the calibration references. The position is accurate but not so much. The controller is requesting the user to move the arm in the positive direction. Remedy: Move the arm in the positive direction and issue the command again.

59422

2-WARNING SAX: negative adjustment is required Cause: During the turn-set procedure the user should move the arm near the calibration references. The position is accurate but not so much. The controller is requesting the user to move the arm in the negative direction. Remedy: Move the arm in the negative direction and issue the command again.

59424

8-HOLD

SA: bad working arm

59425

8-HOLD

SA: bad auxiliary axes

59426

8-HOLD

Synchronized arm cannot move

Cause: The user is trying to execute a SYNCMOVE when the synchronized arm cannot move (i.e. is not calibrated or is disabled or is locked). Remedy: Check the status of the sync arm. 59427

8-HOLD Cause:

$TP_ORNT wrong value

The $TP_ORNT system variable has been assigned an invalid value. Remedy: The value RS_TRAJ is not allowed as an orientation modality for jogging. Valid values are: WRIST_JNT and RPY_WORLD. 59428

8-HOLD

Wrong group of auxiliary axes active for MOVE

Cause: Motion has been restarted when the active group of auxiliary axes is not the original group frozen when the move statement was interpreted. This could happen if a move has been interrupted and the auxiliary group of axes has been changed using the built-in. Remedy: Choose the correct active group of auxiliary axes or cancel moves that have not completely been executed. 59429

8-HOLD

SA: Recovery pos not available

Cause: Motion has been restarted when the active group of auxiliary axes is not the group that owns the recovery position. The recovery position has been recorded with another group of auxiliary axes. Remedy: Select the correct active group of auxiliary axes. 59432

2-WARNING

SA: MOVE with arm in DRIVE OFF

Cause: Motion environment has received a MOVE while the robot is in DRIVE OFF state. This could happen in the AUTO state with a machine in DRIVE ON and the other machine in DRIVE OFF and a move has been issued on the machine that has the drives off. Remedy: Switch the drives on for the arm that is needed to be moved. 59435

8-HOLD

SA: arm needs Turn Set operation

Cause: It is not possible to execute MOVE instructions when the arm needs the turn-set operation. Remedy:

Turn-set the arm before executing MOVE instructions. 59436

8-HOLD

SA: gun axis not calibrated

Cause: It is not possible to execute MOVE statements when the gun axis is not calibrated. Remedy: Calibrate the axis of the gun using the proper application program before executing any MOVE statement. 59437

8-HOLD

SA: feature not available

Cause: It is not possible to enable the Soft Servo modality, because for this arm is not available the dynamic model compensation algorithm. Remedy: Do not try to work in Soft Servo modality. 60416

10-DRIVE OFF

Bad preset quadrant

Cause: There is a mismatch in the resolver quadrant data from the RPT and the resolver quadrant value read by the servo, greater than 2 resolver quadrants. Remedy: Check the capability of both environments to read the resolver correctly. 60417

10-DRIVE OFF

Bad preset velocity

Cause: This is due to a motor speed not equal to zero during an operation like calibration or turn-set checked by the servo environment. Remedy: Execute the operation with the machine in rest. 60418

14-FATAL Cause:

SAX: DSP parameter not set

The servo environment is not running; the shared memory between the processors on the SCC board is not working properly or the code of the servo was not mounted properly. Remedy: Check if the servo environment data files from the system software floppies were properly loaded on the controller. Check their version against the controller version. 60419

10-DRIVE OFF

SCC: DSP drive off fault

Cause: The servo environment does not acknowledge a DRIVE OFF request coming from higher levels of the controller. 60420

10-DRIVE OFF

SCC: DSP drive on fault

Cause: The servo environment does not acknowledge a DRIVE ON request coming from higher levels of the controller because it is in the ALARM state, probably due to some errors coming from the motors/resolvers. Remedy: Analyze the previous errors displayed on the controller and try to switch the power on from a normal DRIVE OFF state. 60421

2-WARNING

SCC: RPT spreset command failed

Cause: An attempted operation to preset an RPT axis due to a fatal error on a resolver circuit failed. This operation is executed typically when the controller gets a resolver fault from the latch on the SCC board. Remedy: Check the serial line between the controller and the RPT and the functionality of the RPT. Calibration might be lost at the next startup of the controller. Check the robot position before restarting the application program. 60422

10-DRIVE OFF done

SCC: Motor angle identification procedure

Cause: After having identifier the motor angle, the system enter in drive off state. This is normal as the activity of the controller when the drives are on cannot continue after having identifier the motor

angle. Remedy: This is the normal behaviour of the controller. In order to continue the normal controller activities, the user can switch the drives on and continue. 61440

10-DRIVE OFF SAX: motion under no servo control Cause: The servo control continues to read a resolver moving even if the servo loops are open. In other words, resolvers are moving and servo control is not sending current to the motors. This is due to noise on the resolver reading or the brakes are not able to keep the motor in rest. Remedy: Check the shield of the resolver cables and check the brakes of the axes.

61441

13-FATAL SAX: bad resolver reading () Cause: The servo control is reading a resolver value too many times without a correlation with the historical values. The resolver cables could have some problems, the resolver itself is not working properly, connectors are not plugged properly into the servo CPU board, resolver annex boards on the servo CPU are damaged, or the RPT circuit is corrupting the servo control resolver reading. Remedy: Analyze each of the possible causes one at a time until the error is corrected.

61442

11-DRIVE OFF out of range

SAX: following error

Cause: The servo control is not able to keep the following error below a limit. This may be caused by a limited value of the corrents from the servo drive or by the brake status (axis braked). Remedy: Analyze the maximum value of the current and check that this is enough to move the axes at full speed. Check to see if the axes are not on a mechanical stroke end. Check the brakes: they could be blocked or the connession towards brake could be opened. Be sure

the robot is not overloaded. 61443

10-DRIVE OFF

SAX: I2T triggered

Cause: The particular work cycle of the robot is stressing the axes motor too much or the axis is moving with the motor braked. The check is done by monitoring the current value requested from the motor to the drive. Remedy: The robot may be overloaded for this particular cycle. If it is possible, try to modify the trajectory in such a way that the axes are not so stressed. If the problem does not vanish it will be necessary to analyze the robot capability for this type of cycle and eventually tune the system with other system parameters. Verify that the connections towards brakes are not opened. 61444

11-DRIVE OFF position

SAX: bad target

Cause: A check of the targets in the servo control environment failed (DSP). Remedy: Please contact Comau. 61445

2-WARNING required

SAX: high current

Cause: The servo control is requesting too much current to the motors. This is because the robot cycle is stressed or there are problems on the motor itself, such as a bad phase or the brake is locked. Remedy: First check if the working process is satisfactory. If it is, ignore this warning. Otherwise modify the cycle, either by modulating the acceleration and deceleration slopes of the move to which the error applies, or by optimizing the points located in the area where the message occurs in order to reduce the stress on the robot. Verify that the connection towards brake is not opened. 61446

14-FATAL

SCC: dsp code checksum failure

Cause: The DSP code is corrupted. A failure during loading can cause this

problem. Check with the verify procedure the code loaded. If it is ok, please contact COMAU software technician. Remedy: Try to reload the DSP code. 61447

13-FATAL SAX: bad synchronization with remote link Cause: The synchronization among the 68020, DSP and the Personal Computer has been lost while the C3G was in the OPEN MODALITY. Remedy: One of the possible causes is that the execution of the program on the PC has been interrupted. If not, please contact COMAU.

61448

10-DRIVE OFF

SA: Maximum absorbed power

Cause: A specific robot work cycle is stressing the controller and can cause the overheating of it. One or more axes could turn with brake locked. Remedy: If possible, change the trajectory so to avoid stressing too much the axes. If the problem persists, it will be necessary to analise the robot capacity in relation to the work cycle and to regulate the system basing on the others system parameters. Verify that the connessions towards brakes are not opened. 62464

8-HOLD

SA: target position out of range

Cause: Firmware error. Remedy: Please contact COMAU. 62465

2-WARNING

SAX: positive stroke end

Cause: The arm is near the positive limit of the available range for this axis. It is not possible to move the arm further. Remedy:

Reenter the available workspace of the robot. 62466

2-WARNING

SAX: negative stroke end

Cause: The arm is near the negative limit of the available range for this axis. Is not possible to move the arm further. Remedy: Reenter the available workspace of the robot. 62467

2-WARNING

SAX: overspeed

Cause: During a jog session in Cartesian, an overspeed in joint world is requested to execute the trajectory. This usually happens near the singularity point. Remedy: Decrease $GEN_OVERRIDE until the move is possible or change the arm position. 62468

13-FATAL SAX: resolver open or short circuit Cause: A special circuit on the servo CPU detects a fault in the resolver circuit for this axis. Remedy: Review the resolver circuits. Check to see if there are short circuits or open circuits in the resolver excitation and/or the resolver phases.

62469

8-HOLD

SAX: tolerance unobtainable

Cause: The arm is not able to enter the joint tolerance with those programmable parameters. Remedy: Change the setting of $TERM_TYPE from FINE to COARSE if it is possible for the application, or increase the tolerance range ($TOL_JNT[][axis]) and switch the controller off and on. If the cycle is now executed correctly, save the new predefined variable in C3G.SYS, or increase the time ($TOL_TOUT) but this increases the cycle time.

62470

8-HOLD

SA: position out of tolerance

Cause: The arm is not able to enter into a sphere with those programmable parameters. Remedy: The radius of the sphere is too small. It is possible to increase it changing $TOL_FINE. If it is possible for the particular application, the problem could be solved by changing the setting of $TERM_TYPE from FINE to COARSE or it is possible to increase the time ($TOL_TOUT) but this increases the cycle time. 62471

8-HOLD

SA: HOLD due to singularity

Cause: If the predefined variable $SING_CARE is set TRUE or Sensor Tracking is enabled, the controller indicates to the user that the position of the robot is near to a singularity. Remedy: If the predefined variable is set FALSE, the controller tries to reach the singularities by limiting the joints speed; this is possible only for some kind of robots. If Sensor Tracking is enabled it is not possible to avoid this situation and the user should move the robot out of the singularities. 62472

8-HOLD

SAX: HOLD cartesian limit +

Cause: The arm is near the positive limit of the available range for an axis. It is not possible to move the arm further or the arm cannot reach the position due to its kinematics. Remedy: Change the final position. 62473

8-HOLD

SAX: HOLD cartesian limit -

Cause: The arm is near the negative limit of the available range for an axis. It is not possible to move the arm further or the arm cannot reach the position due to its kinematics. Remedy: Change the final position.

62474

12-DRIVE OFF

SA: feature not yet implemented

Cause: Some features permitted by the language are not yet implemented for this arm. Remedy: Determine which feature is not yet implemented for the arm and avoid using it. 62475

13-FATAL

SCC: safety chain open as error

Cause: A fatal error caused the opening of the safety chain. Remedy: Remove or analyze and solve the previous error first. 62476

2-WARNING motion

SA: Moving in joint as jogged

Cause: The user tried to jog while a manual motion was in execution. Remedy: Do not jog while a manual motion is in execution. 62477

8-HOLD

SA: cartesian position out of range

Cause: The Cartesian position is out of the available workspace for this arm. Remedy: Change the position. 62478

8-HOLD

SA: axis 1 at undefined position

Cause: The arm, typically a SMART robot, has the center of the wrist aligned with the z-axis of the world frame. This is an arm singularity. Remedy:

Avoid entering the center of the wrist in a cylindrical volume coaxial to the z-axis. 62479

8-HOLD

SA: wrist axis at undefined position

Cause: The wrist, typically a SMART wrist, has axis 5 at zero position. For this wrist, it is impossible to independently compute the values of axes 4, 5, and 6. Remedy: Avoid working in Cartesian space with axis 5 at zero position or, if implemented, change the setting of $ORNT_TYPE to WRIST_JNT in order to execute the trajectory in Cartesian, but interpolate the wrist axes in joint. 62480

2-WARNING

SA: axis 2/3 at open stroke end

Cause: The arm is a SMART 120 Kg or an equivalent with the same kinematics for axes 2 and 3. Due to the parallelogram it is not possible to move axis 2 and axis 3 independently. For the reciprocal joint position they are at the maximum open configuration. Remedy: Reenter the available workspace of the robot. 62481

2-WARNING

SA: axis 2/3 at closed stroke end

Cause: The arm is a SMART 120 Kg or an equivalent with the same kinematics for axes 2 and 3. Due to the parallelogram it is not possible to move axis 2 and axis 3 independently. For the reciprocal joint position they are at the maximum close configuration. Remedy: Reenter the available workspace of the robot. 62482

10-DRIVE OFF unobtainable

SAX: tolerance HOLD

Cause: It is not possible to obtain the tolerance after a HOLD. Remedy: Please contact COMAU.

62483

8-HOLD

SA: axis 5 at undefined position

Cause: The wrist, typically a MAST wrist, has axis 5 at an undefined position. Remedy: Avoid working in Cartesian space with axis 5 at this undefined position or, if implemented, change the setting of $ORNT_TYPE to WRIST_JNT in order to execute the trajectory in Cartesian, but interpolate the wrist axes in joint. 62484

8-HOLD

SA: inverse kinematics not available

Cause: This machine does not have the inverse kinematics. Or, in case of compensation algorithm active, it means that the programmed Joint or Cartesian position cannot be compensated. Remedy: Do not try to work in cartesian. Or, in case of compensation algorithm active, program the Joint or Cartesian position out of the area where the compensation cannot work. 62485

11-DRIVE OFF SAX: bad interpolator target position Cause: A check of the targets in the servo control environment failed. The interpolator is requesting target positions too far ahead. Remedy: Change the position if possible.

62486

12-DRIVE OFF allowed

Please contact COMAU.

SA: ADVANCE or new jog motion not

Cause: The machine has changed configuration due to a singularity. Neither the ADVANCE clause nor a new jog motion are allowed. Remedy: Either avoid moving through singularity points, do not use the ADVANCE clause, or release all jog buttons before pressing a new one.

62487

8-HOLD

SA: INTEC parameters out of range

Cause: Some initialization parameters of the INTEC board have been set at a wrong value. Remedy: Compare the value with the corresponding range. 62488

8-HOLD

SA: INTEC synchronisms not in sequence

Cause: INTEC board detected an error in weaving synchronism from system. This can happen with cartesian weaving along very short movement joined in fly if $FLY_TYPE is set to FLY_HIGH or FLY_NORM. Remedy: $FLY_TYPE must be set at FLY_CART value. 62489

8-HOLD

SA: INTEC synchronism overrun

Cause: During arc sensor tracking with weaving there is an overlap of reading phases from the analog input. This happens if weaving frequency is too high or if the time delay between the theoretical and real targets is too long. Remedy: Check INTEC parameters for time delay or reduce the weaving frequency. 62490

8-HOLD

SA: INTEC synchronism timeout

Cause: The weaving synchronism from the system to the INTEC board do not arrive on time. This happens only if a time-out is programmed on the INTEC board (usually time-out check is disabled). Remedy: Increase the time-out or remove this feature by setting the INTEC time-out to zero. 62491

8-HOLD Cause:

SA: INTEC corrections out of range

INTEC board has detected corrections out of the threshold for a long period. Usually this is due to an instability of the welding current or to a wrong value of the threshold. Remedy: Check the threshold on the maximum corrections; verify the welding parameters and the workpiece surface conditions. 62492

8-HOLD

SA: INTEC board error

Cause: INTEC board has detected an internal error. Remedy: INTEC board could be damaged. 62493

8-HOLD

SA: total corrections out of range

Cause: The distance between the robot and the programmed trajectory has exceeded the threshold defined in $SENSOR_OFST_LIM. This is a safety guard to stop the robot in the case of sensor failure. Remedy: Check the sensor or increase $SENSOR_OFST_LIM. 62494

11-DRIVE OFF

SCC: interpolation overrun

Cause: The interpolator sampling time is too short. Remedy: The interpolator sampling time has to be increased. Please, contact COMAU. 62495

2-WARNING

SA: axis 1 at open stroke end

Cause: The arm is near the open stroke end for axis 1. Is not possible to move the arm further. Remedy: Reenter the available workspace of the robot. 62496

2-WARNING

SA: axis 1 at closed stroke end

Cause: The arm is near the close stroke end for axis 1. Is not possible to move the arm further. Remedy: Reenter the available workspace of the robot. 62497

2-WARNING

SA: axis 2 at open stroke end

Cause: The arm is near the open stroke end for axis 2. Is not possible to move the arm further. Remedy: Reenter the available workspace of the robot. 62498

2-WARNING

SA: axis 2 at closed stroke end

Cause: The arm is near the close stroke end for axis 2. Is not possible to move the arm further. Remedy: Reenter the available workspace of the robot. 62499

13-FATAL

SCC: bad synchronization with remote link

Cause: In the OPEN MODALITY the synchronization with the PC has been lost. Remedy: One of the possible causes is that the execution of the program on the PC has been interrupted. If not, please contact COMAU. 62500

2-WARNING

SA: axis 1/2 at open stroke end

Cause: The arm is a SMART 3.75 P or an equivalent with the same kinematics for axes 1 and 2. Due to the parallelogram it is not possible to move axis 1 and axis 2 independently. For the reciprocal joint position they are at the maximum open configuration. Remedy: Reenter the available workspace of the robot.

62501

2-WARNING

SA: axis 1/2 at closed stroke end

Cause: The arm is a SMART 3.75 P or an equivalent with the same kinematics for axes 1 and 2. Due to the parallelogram it is not possible to move axis 1 and axis 2 independently. For the reciprocal joint position they are at the maximum close configuration. Remedy: Reenter the available workspace of the robot. 62504

8-HOLD

SA: out of the conveyor window

Cause: This error occurs when the robot moves out of the conveyor window. Remedy: Change the program so that all the movements stay within the window limits. 62505

2-WARNING

SA: pos out of work zone

Cause: The position or joint position is not in the correct zone of work. This check is done for the S3 robot. Remedy: Change the position or joint position. 62506

2-WARNING

SA: axis 4/5 close wrist

Cause: The cartesian position or the joint position is not in the correct zone of work, the wrist of the robot is closed. This check is done for the SNAP robot. Remedy: Move axis 4 or 5 in order to get out of the stroke end position. 62507

2-WARNING

SA:

axis 4/5 open wrist

Cause: The cartesian position or joint position is not in the correct zone of work, the wrist of the robot is opened. This check is done for

the SNAP robot. Remedy: Move axis 4 or 5 in order to get out of the stroke end position. 62508

4-PAUSE

SA: jog keys combination not allowed

Cause: For the S3 robot, it is not allowed to contemporarely press jog keys 4 or 5 (+/-) with one of the jog keys 1, 2 or 3 (+/-). Remedy: The user is only allowed to contemporarely press jog keys 4 and 5 or jog keys 1 and 2 and 3. 62509

11-DRIVE OFF on MMUX axes

SAX: forbidded motion

Cause: The external auxiliary axes have been disabled via the execution of the AUX_MMUX built-in. A movement on those axes has been requested, but it is not possible to execute it as these axes are disabled. Remedy: Do not try to move external auxiliary axes while they are disabled. For moving them, execute the AUX_MMUX built-in for enabling them. 62510

11-DRIVE OFF

SCC: move not compatible with dynamic model

Cause: The dynamic model compensation algorithm is running on your machine and does not allow the execution of the programmed move. This is due to the duration of the computation during the interpolation phase. Generally this happens during cartesian trajectories (linear or circular) with some additional features like cooperative motion, weaving, multi-arm interpolation, many motion CONDITIONs, etc. Remedy: There are three chances: disable some additional feature of the current move; or disable the dynamic model algorithm by means of the Family Configuration Tool; or increase the interpolator sampling time (for this last, please contact COMAU). 62511

11-DRIVE OFF SA: forbidded motion for integrated arm Cause:

The first arm of a couple of integrated arms (the carrier) moved in a non syncronized way while the second arm was executing a linear/circular movement on a JOINTPOS or a JOINT movement on a POSITION/XTNDPOS. Remedy: Move the two arms with a SYNCMOVE statement or try to maintain steady the first arm while executing this particular type of motion with the second. Note that the first arm is allowed to move while the second arm is doing LINEAR/CIRCULAR movements on a POSITION/XTNDPOS or JOINT movements on a JOINTPOS. 62512

8-HOLD

SA: Cartesian Position not compensable

Cause: In case of compensation algorithm active, it means that the programmed Joint or Cartesian position cannot be compensated. Remedy: In case of compensation algorithm active, program the Joint or Cartesian position out of the area where the compensation cannot work. 63488

13-FATAL

SAX: drive tests failed

Cause: The startup time hardware tests on the drive failed. Remedy: Change the module. 63489

11-DRIVE OFF supply lost

SAX: auxiliary hv

Cause: The auxiliary voltage on high power side was lost. Remedy: Change the module if this error is not common to all modules; if so check the power supply and eventually change it or the cable which connects the power supply to the drives. 63490

11-DRIVE OFF supply lost

SAX: auxiliary lv

Cause: The auxiliary voltage on the logic power side was lost.

Remedy: Change the module if this error is not common to all modules; if so check the power supply and eventually change it or the cable which connects the power supply to the drives. 63491

11-DRIVE OFF out of range

SAX: dc bus voltage

Cause: An attempt to switch the drives on failed because there was not enough voltage on the DC bus. The voltage is below the lower limit acceptable. Usually this is an indirect error message. The real failure reason could be something else. Analyze the controller diagnostic. Remedy: Verify that the safety chain is closed. It must be closed. Check the power fuses. Check the fuse inside the module. 63492

11-DRIVE OFF locked

SAX: drive brake

Cause: The motor brake could short circuited or, after an emergency, the DC voltage for the brake circuit disappeared when it should have been there because the power was on. Analyze the other errors from the diagnostic because this could be an indirect error. Usually after an emergency this error is normal. Remedy: Check the brake circuit on the motor. Check the DC cable brake connection between the module and the motor. 63493

11-DRIVE OFF SAX: dc bus or motor cable short circuit Cause: The connection module-motor could be open or short circuited, the power section of the module could be short circuited, or the voltage on the DC bus could be greater than the maximum. Remedy: If the cables are okay, check the recovery circuit. It could be broken or the system is stressed too much and the recovery circuit is not able to dissipate all of the energy and the DC bus is beyond the maximum voltage limit. If all the previous are okay, change the module.

63494

11-DRIVE OFF +

SAX: drive stroke end

Cause: The axis has reached the electrical positive end limit of its available range. This is the second level of protection before the axis reaches the mechanical stop. Typically the user gets this alarm when an uncalibrated axis is moved beyond the software range, or when the electrical sensor triggers before the software checks that the axis is beyond the limit. If this happens and the axis is calibrated, check the axis calibration and/or the tuning of the sensor. The sensor does not have power or the cable is open or the circuit inside the module that checks that is broken. Remedy: Check the sensor voltage. Use the device for the manual emergency motion in order to exit from this position. 63495

11-DRIVE OFF -

SAX: drive stroke end

Cause: The axis has reached the electrical negative end limit of its available range. This is the second level of protection before axis reaches the mechanical stop. Typically the user gets this alarm when an uncalibrated axis is moved beyond the software range, or when the electrical sensor triggers before the software checks that the axis is beyond the limit. If this happens and the axis is calibrated, check the axis calibration and/or the tuning of the sensor. The sensor does not have power or the cable is open or the circuit inside the module that checks that is broken. Remedy: Check the sensor voltage. Use the device for the manual emergency motion in order to exit from this position. 63497

11-DRIVE OFF

SAX: motor overheat

Cause: The motor temperature is beyond the maximum limit. The connection to the motor could be open. Usually there is also a message that the motor is requesting too much current or the I2T servo control checks already triggered. One or more phases on the motor are broken. Verify that the arm cycle is not requesting too much of the motors. The axis turns with brake locked. Remedy: Check the connections. If possible, stop the system and wait until the motor temperature is below the maximum limit. Check the resistivity of the motor phases. If they are open or short, change

the motor. Verify that the connection towards brake is not opened. 63498

11-DRIVE OFF SAX: inconsistent current vector Cause: The current vectors in input to the module have a wrong relative phase which is different from 120 degrees or the third current built into the module is greater than the maximum value due to the relative phases. Remedy: Check the current vector at the module input; the servo control axis annex could be broken or the connection is open. Change the module.

63499

11-DRIVE OFF circuit

SAX: bad stroke end

Cause: The arm is in electrical stroke end with a bus voltage higher than the minimum bus voltage; or the circuit inside the module that checks the electrical stroke end is broken. Remedy: First use the device for the manual emergency motion in order to make sure that the arm is out of the stroke end position. Restart the controller. If only a bad stroke end circuit error is reported, the module has to be changed. If a bad stroke end circuit error and stroke end positive or negative error is reported, the problem is related to some wire or connector and not the module. 63500

11-DRIVE OFF

SAX: drive overheat

Cause: The module is working with current beyond the limits or the contact between the module and the heat sink is not good or the sensor that checks that is broken. Analyze the diagnostic of the system. This could be an indirect error message, for example the axis turns with brake locked. Remedy: Check the connection of the sensor. Check the mechanical lock to the heat sink. Check to see if the silicon grease on the heat sink is there. Check the air cooling near the cabinet. Check the connections towards brakes are not opened. 63501

10-DRIVE OFF on drive

SAX: receive timeout

Cause: The associated drive to this axis does not reply to commands issued by the driver. This means that the line is down or the drive has problems on the serial line section. Maybe the connector on the drive front is out. Remedy: Check the cables and verify that this drive is present at the correct address on the line. 63502

8-HOLD

SAX: drive overload

Cause: The module is working with current beyond the limits and this is a first level of diagnostic; further, there will be a drive overheat message if the user does not change the working condition of the module. Remedy: Check the mechanical lock to the heat sink. Check to see if the silicon grease on the heat sink is there. Check the air cooling near the cabinet. Check the connections towards brakes are not opened. 63503

10-DRIVE OFF failed

SAX: drive operation

Cause: A command issued to the drive associated with this axis failed because the drive has multiple sections and one of them is declaring a fatal error which forced the entire module to be down. Remedy: Analyze not this section of the module, but the section which has the fatal error. 63504

13-FATAL

SP: power tests failed

Cause: The startup time hardware tests on the drive failed. Remedy: Change the module. 63505

11-DRIVE OFF

SP: bad recovery circuit

Cause: The circuit which gives the power to the recovery resistor is broken or the recovery resistor itself is broken or the connection is broken. Remedy: Check the connection. Measure the resistor. Change the module. 63506

11-DRIVE OFF

SP: phase bad

Cause: The sequence 'RST' is not observed or one of the power fuses is blown or the internal auxiliary fuse is blown. Remedy: Test the phase sequence 'RST' on the power. Check the fuses. Change the module. 63507

11-DRIVE OFF

SP: lost sync signal

Cause: The signal used for the PWM is lost. The reason could be external from the servo control or the connection servo control-module. Remedy: Check the connection. Check to see if the signal is present at the module input. Change the module. 63508

11-DRIVE OFF

SP: brake sensor overheat

63509

11-DRIVE OFF

SP: power overheat

Cause: The module is working with current beyond the limits or the contact between the module and the heat sink is not good or the sensor that checks that is broken. Analyze the diagnostic of the system. This could be an indirect error message. Remedy: Check the connection of the sensor. Check the mechanical lock to the heat sink. Check to see if the silicon grease on the heat sink is there. Check the air cooling near the cabinet. 63510

10-DRIVE OFF Cause:

SP: receive timeout on power

The associated power supply to this arm does not reply to commands issued by the driver. This means that the line is down or the module has problems on the serial line section. Maybe the connector on the module front end is out. Remedy: Check the cables and verify that this module is present at the correct address on the line. 63511

13-FATAL

SCC: RPT resolver primary shorted

Cause: RPT detects a failure in the resolver primary circuit. Remedy: Check this circuit. 63512

8-HOLD

SCC: RPT battery low

Cause: The battery on this RPT is below the limit. This message is display only at power up time and it is normal if the RPT is new. Remedy: If the RPT is not new, verify that the battery cables are connected with the RPT. Check the battery voltage and the RPT's recharge circuit. 63513

13-FATAL

SCC: RPT hardware error

Cause: RPT signals a problem which concerns its hardware. Remedy: Change the RPT. 63514

8-HOLD

SCC: RPT reset after preset

Cause: The RPT was reset when an axis was preset. This could happen only if the power was down and the battery on the RPT had been disconnected. Remedy: This error could be reset only if that axis is preset again by

calibrating or turn setting the axis. 63515

13-FATAL SCC: RPT/FLASH-MEM communication error Cause: The serial link between the RPT, or the FLASH memory (inside the drives), and the controller is down somewhere. Remedy: Check if the RPT or the FLASH memory are configured for this arm at the correct address. Check the RPT or the FLASH memory hardware setting in respect to the controller parameters (speed, address). Check the physical serial link to see if there are interruptions somewhere.

63516

8-HOLD failed

SCC: RPT/FLASH-MEM operation

Cause: This error occurs when one of the following operations fail: a command that sets the sample rate on RPT; a write to RPT; a write to the FLASH memory (inside the drives). Remedy: Check the sample rate value in the controller configuration. If the error is caused by a write to the RPT or the FLASH memory, please contact COMAU. 63517

2-WARNING

SCC: RPT motion without reference

Cause: Without the resolver reference from the Servo CPU board, the RPT has seen the resolver moving. This could happen after a power failure with the arm running at high speed or after an emergency manual control (EMC) session. Remedy: This is just a warning. 63518

2-WARNING

SCC: RPT bad sample rate

Cause: A set sample rate command fails. Remedy: Check the controller's configuration for the sample rate value.

63519

2-WARNING

SCC: RPT not correctly configured

Cause: An RPT not declared in the controller configuration was found on the serial line. Remedy: Please contact Comau. 63520

8-HOLD error

SAX: RPT 180 degrees preset

Cause: An attempt to preset an RPT axis fails because there is an incompatibility between the resolver quadrant read by the RPT and the value issued by the controller read by the servo control. These two environments are probably reading different values from the same resolver. Remedy: Check the resolver circuits on the RPT. 63521

13-FATAL short

SAX: RPT secondary open or

Cause: An RPT detects a failure in the resolver secondary circuit. Remedy: Check this circuit. 63522

13-FATAL sequence

SAX: RPT bad quadrant

Cause: The resolver value read by the RPT does not follow a reasonable sequence. There are quadrant jumps in the resolver value. Remedy: Check the resolver circuit. 63523

8-HOLD preset Cause:

SAX: RPT inconsistent

An attempt to preset an axis fails because the RPT does not signal errors but the axis is not preset. Remedy: Please contact COMAU. 63524

2-WARNING

SAX: RPT spreset command

Cause: An attempt to preset an axis fails because the RPT does not signal errors but the axis is not preset. Remedy: Please contact COMAU. 63525

10-DRIVE OFF

SCC: transmission timeout

Cause: The driver is not able to send a message. Remedy: Please contact COMAU. 63526

13-FATAL

SCC: firmware error

Cause: General firmware error. Remedy: Please contact COMAU. 63527

13-FATAL

SCC: protocol error

Cause: The devices on the serial link are not able to speak to each other even after some retries. Remedy: Please contact COMAU. 63528

13-FATAL fault Cause:

SCC: device not present or at

The device is correctly configured in the system, but the system is not able to build a connection with it. Remedy: If the device is there, check the physical serial link and/or the serial buffers at both sides of the link. 63529

2-WARNING

SCC: device not declared

Cause: A module which is not declared in the system configuration was found attached on the serial link. Remedy: This is just a warning. 63530

13-FATAL

SAX: device not activated

Cause: It is not possible to activate a configured module which needs to be activated. If this operation fails the module does not work. This is the reason why the severity is so high. Remedy: Please contact COMAU. 63531

10-DRIVE OFF

SP: power operation failed

Cause: Firmware problem. Remedy: Please contact COMAU. 63532

10-DRIVE OFF SCC: RPT/FLASH-MEM and C3G.SYS data mismatch Cause: The configured data in the RPT or in the FLASH memory (inside the drives), belongs to an arm which mismatches with the controller configuration. Remedy: The user must decide what to do: delete the old RPT or FLASH memory data, with an retentive memory save command, or change the hardware

(RPT or FLASH memory). 63533

13-FATAL SAX: RPT does not send the resolver turn number Cause: The RPT does not send the resolver turn number. This axis could be present, so it is not necessary to execute the 'TURN_SET' procedure. This is an RPT error, we are going to fix. Remedy: Switch the power off and on again. The problem should disappear.

63534

13-FATAL SAX: RPT does not count motor turns Cause: The RPT does not count the motor turns. The RPT is not able to correctly read the resolver channel or the RPT is in fault on that channel. Remedy: If the resolver circuits are good, the RPT must be substituted.

63535

11-DRIVE OFF SAX: RPT does not accept motor turns Cause: The user is executing the JNT_SET_TAR built-in while an axis of another arm in the same machine (i.e. an axis of a different arm connected to the same RPT) is moving. Otherwise this is an internal RPT firmware error. Remedy: When executing the JNT_SET_TAR built-in, all the arms of the same machine (i.e. all the axes connected to the same RPT) must be held.

63536

11-DRIVE OFF

SA: axes not yet configured

Cause: None of the linear axes of a PMAST robot has been defined by the user or none of the motor angles of a TRICEPT HP1 robot has been defined by the user. Remedy: Please use the configuration tool to configure the axes.

63537

2-WARNING

SCC: device not yet configured

Cause: A module in the system is not yet configured. For arms in the PMAST family this module is configurable. For other families, it is just a warning that tells the user that an extra module exists in the system. Remedy: This is just a warning. Check the software system configuration and the servo drive configuration. Eventually, the configuration tool should be used to correct this situation. This warning applies to arms of the PMAST family. 63538

10-DRIVE OFF SAX: undefined drive full scale current value Cause: There is some error in the check of the drive full scale current. Remedy: Please contact COMAU.

63539

10-DRIVE OFF SAX: incorrect drive full scale current value Cause: The drive full scale current is not correct. Remedy: Please contact COMAU.

63540

2-WARNING

SCC: RPT not present

Cause: This type of robot allows the RPT to be configured. system doesn't find it this message is displayed.

When the

Remedy: This is only a warning, the user should verify that the RPT is not supposed to be present. 63541

2-WARNING Cause:

SP: not present

In this type of robot the second power can be configured, when the system doesn't find it this message is displayed. Remedy: This is only a warning, the user should verify that the second power should not be present. 63542

13-FATAL

SCC: Resolver to Digital cards mismatch

Cause: Resolver to digital cards do not match with the controller configuration. Remedy: It is necessary to check the controller configuration and the resolver to digital cards on the servo board. 63543

10-DRIVE OFF SCC: RPT/FLASH-MEM bad checksum on hour meter Cause: A checksum error has been detected in the computation of the hour meter on RPT or FLASH memory (within drives). Remedy: Try the operation again reissuing the saving or reading operation. If the problem persists check if the hardware components need to be substituted.