CS8C_ErrorMessage

0

No Error

1

uniVAL plc server license not installed

2

uniVAL plc server demo period has expired. Reboot is needed

3

Lifebit Error. The lifebit period seems to be not stable.

5

Try to load a non-existing server.

6

Error while loading server. check event logger for more details

7

ArmIO error: IO signal not responding

8

Controller IO error: IO signal not responding (UsrIn, Valves, Fout, Fin)

9

unknown server Key or server not ready

10

Robot model could not be identified. Check event logger for more information

20

Invalid function code

21

BankID not defined in user database or user frame not defined in plc database (range: [0..31])

22

Command not supported for this controller.

23

TCP not defined

24

Mdesc not defined

25

Joint not defined

26

Point not defined

27

Invalid  value for VEL

28

Invalid value for ACCEL

29

Invalid value for DECEL

30

Invalid value for TVEL

31

Invalid value for RVEL

32

Invalid value for LEAVE

33

Invalid value for REACH

34

Invalid value for BLEND. Range is [1..3]

35

 Userframe cannot be computed. Check the position of the 3 construction points

36

Invalid point index for Userframe computation range is: [1..3]

37

Invalid configuration for a point

38

Try to access a datatype that does not exist. (1=Point 2=Joint 3=TCP 4=Mdesc)

39

Invalid size for a bank

40

Position not reachable.

41

Motion stack is locked because a previous motion has failed.

43

Change in configuration detected - Shoulder

44

Change in configuration detected - Elbow

45

Change in configuration detected - Wrist

46

Robot powering ON/OFF sequence has failed.

48

Cannot execute movement, no database has been loaded.

50

Cannot change monitor speed. Robot not in ‘Remote’ working mode.

51

Invalid frame number. The position of the current active Tool is reported relatively to a defined userFrame. There are 32 userframes available on robot side. This error is reported when you select a userFrame number that is out of range [0..31]

52

Invalid Tool number. A total number of 32 Tools are available on robot side. You shall select the number of the Tool which position is reported by uniVAL plc server. This error is reported when you select a Tool number that is out of range [0..31]

60

uniVALplc client library initialization failed.

61

Parameter AxesGroup not in range.

62

Index parameter not in range.

63

Invalid Buffer mode (0='Aborted' 1='Buferred' 6='Blending Joint' 7='Blending Cartesian')

64

Invalid Transition Mode (0=’None’ 3=’Corner distance’ 10=’Blending distances).

65

Communication reset during transaction. (Communication protocol aborted)

66

Data of the profinet module cannot be read at specified address.

67

Access to an invalid input or output number

68

Operation timeout. Server acknowledgment missed.

90

RemoteMCP mode not activated. Dummy plug not detected. Check that dummy plug is installed on J110.

92

Invalid Jog mode selected. (1=Joint 2=Frame 3=Tool)

93

Cannot jog: Manual mode requested

94

Cannot jog: Robot power is OFF

110

Internal error #10 while loading a data base. Please contact your local Stäubli business unit

111

Internal error #11 while loading a data base. Please contact your local Stäubli business unit

112

Internal error #12 while loading a data base. Please contact your local Stäubli business unit

113

Internal error #13 while loading a data base. Please contact your local Stäubli business unit

114

Internal error #14 while loading a data base. Please contact your local Stäubli business unit

120

Internal error #20 while loading a data base. Please contact your local Stäubli business unit

121

Internal error #21 while loading a data base .Please contact your local Stäubli business unit

122

Internal error #22 while loading a data base. Please contact your local Stäubli business unit

123

Internal error #23 while loading a data base. Please contact your local Stäubli business unit

130

Internal error #30 while loading a data base. Please contact your local Stäubli business unit

131

Internal error #31 while loading a data base. Please contact your local Stäubli business unit

132

Cannot load database, Device not found.

133

Cannot load database, Device not ready

134

Cannot load database, Device timeout

139

Cannot load database, File not found

142

Cannot load database, No answer from FTP server.

200

Enveloppe error.(0x1503)

201

Cannot settle arm power: working mode change. (0x1605)

202

Joint limit electrical switch activated. (0x160d)

203

Drive error SAFETY-DriveFault. (0x160e)

204

Cannot settle arm power (0x1626)

205

Arm power shutdown: working mode change. (0x1627)

206

Teach pendant emergency stop activated. (0x1709)

216

System event SAFETY-ShortrOpen.(0x1736)

217

System event SAFETY-Watchdog.(0x1737)

218

System event SAFETY-ThermoOpened.(0x1738)

219

Internal power error (fuse F3 on USBI safety board ?).(0x1739)

220

Internal power error (fuse F2 on RSI board ?).(0x173a)

221

Teach pendant emergency stop activated.(0x173b)

222

Remote emergency stop activated.(0x173c)

223

Cell emergency stop chain open (User ES1-2)

224

Deadman switch released or emergency stop chain for manual mode open (User EN)

225

Emergency stop chain DOOR open

226

cell emergency stop chain open (User ESB1-2).(0x1740)

227

brake select switch turned from normal (0) position.(0x1741)

228

brake release button pressed.(0x1742)

229

system event ROBOT-SafetyInit.(0x1743)

230

system event SAFETY-UnstableSignal.(0x1744)

231

system event SAFETY-NoSignal.(0x1745)

232

system event SAFETY-Transient.(0x1746)

233

phasing signal is enabled.(0x1747)

234

system event SAFETY-EstopSoft.(0x1748)

235

system event ROBOT-Safety.(0x1749)

238

Use of WMS is not allowed.(0x180A)

239

The robot is not calibrated: only joint jog move is possible.

240

Cannot move: destination is out of software axis limits.(0x3b05)

241

Cannot complete move: destination is out of reach.(out of software joint limits).0x3b06)

242

Cannot move: cannot cross singularity in this case.(0x3b07)

243

Cannot apply arm power: arm power is still in disabling phase.(0x3f04)

244

Cannot apply arm power: press and hold the deadman switch. (0x3f08)

245

Cannot apply arm power: release & press deadman to enable arm power request. (0x3f12)

246

Jog mode cannot be selected: first enable arm power.(0x3f15)

247

Turn off arm power or switch to manual mode. Jogging is not possible in this mode. (0x3f16)

248

Jog move impossible: first select a jog mode.(0x3f19)

249

Cannot apply arm power: park the pendant on the cradle.(0x3f22)

251

Invalid working mode. Try to perform an action which is not allowed in the current working mode. e.g. switch power ON in remote workingmode.(0x4001)

252

Cannot apply arm power: after an emergency stop, eStop acknowledge signal (as configured in iomap.cf) must be validated.(0x4002)

800

Unexpected application runtime error. Check error logger

810

Invalid numerical calculation (division by zero).

811

Invalid numerical calculation (e.g.ln(-1))

820

Access to an array with an index that is larger than the array size.

821

Access to an array with negative index or resize to zero.

829

Invalid task name. See taskCreate() instruction.

830

The specified name does not correspond to any VAL 3 task.

831

A task with the same name already exists. See taskCreate instruction.

832

Only 2 different periods for synchronous tasks are supported. Change scheduling period.

840

Not enough memory space available.

841

Not enough memory space to run the task. See the run memory size.

860

Maximum instruction run time exceeded.

861

Internal VAL 3 interpreter error

870

Invalid instruction parameter. See the corresponding instruction.

880

Uses data or a program from a library not loaded in the memory.

881

Incompatible kinematic: Use of a point/joint/config that is not compatible with the arm kinematic.

882

The reference frame or tool of a variable belongs to a library and is not accessible.

890

The task cannot resume from the location specified. See taskResume() instruction.

900

The speed specified in the motion descriptor is invalid (negative or too great).

901

The acceleration specified in the motion descriptor is invalid (negative or too great).

902

The deceleration specified in the motion descriptor is invalid (negative or too great).

903

The translation velocity specified in the motion descriptor is invalid (negative or too great).

904

The rotation velocity specified in the motion descriptor is invalid (negative or too great).

905

The reach parameter specified in the movement descriptor is invalid (negative).

906

The leave parameter specified in the movement descriptor is invalid (negative).

922

Attempt to write in a system input.

923

Use of a dio, aio or sio input/output not connected to a system input/output.

924

Attempt to access a protected system input/output

925

Read or write error on a dio, aio or sio (field bus error)

950

Cannot run this movement instruction: a previous movement request could not be completed (point out of reach, singularity, configuration problem, etc.)

953

Movement command not supported

954

Invalid movement instruction: target out of reach, or check the movement descriptor.

960

Invalid flange tool coordinates

961

Invalid world tool coordinates

962

Use of a point without a reference frame. See Definition.

963

Use of a frame without a reference frame. See Definition.

964

Use of a tool without reference tool. See Definition.

965

Invalid frame or reference tool (global variable linked to a local variable)

999

Unexpected error. Please check event logger of Stäubli controller.