CS9_ErrorMessages
Id | Description |
|---|---|
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. |
4 | Not defined |
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. |
47 |
|
48 | Cannot execute movement, no database has been loaded. |
49 |
|
50 | Cannot change monitor speed. Robot not in ‘Remote’ working mode. |
51 | User-frame number is out of range [0..31] |
52 | Tool number 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 | Invalid inpt/output signal 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. |
199 | Not response from RSI board. |
200 | Enveloppe error.(0x1503) |
201 | internal DSI board voltage error |
202 | redundancy check error in DSI board |
203 | internal DSI error |
204 | communication error with one encoder |
205 | shortcut on RBR signal enable1 (J1204) |
206 | shortcut on RBR signal enable2 (J1204) |
207 | shortcut on RBR signal mode1 (J1204) |
208 | shortcut on RBR signal mode2 (J1204) |
209 | shortcut on RBR signal select1 (J1204) |
210 | shortcut on RBR signal select2 (J1204) |
211 | shortcut on RBR signal select3 (J1204) |
212 | shortcut on RBR signal select4 (J1204) |
213 | invalid voltage on a RBR input |
214 | open wire on brake 1 |
215 | open wire on brake 2 |
216 | open wire on brake 3 |
217 | open wire on brake 4 |
218 | open wire on brake 5 |
219 | open wire on brake 6 |
220 | DSI board alarm: unexpected encoder feedback on axis 1 |
221 | DSI board alarm: unexpected encoder feedback on axis 1 |
222 | DSI board alarm: unexpected encoder feedback on axis 2 |
223 | DSI board alarm: unexpected encoder feedback on axis 2 |
224 | DSI board alarm: unexpected encoder feedback on axis 3 |
225 | DSI board alarm: unexpected encoder feedback on axis 3 |
226 | DSI board alarm: unexpected encoder feedback on axis 4 |
227 | DSI board alarm: unexpected encoder feedback on axis 4 |
228 | DSI board alarm: unexpected encoder feedback on axis 5 |
229 | DSI board alarm: unexpected encoder feedback on axis 5 |
230 | DSI board alarm: unexpected encoder feedback on axis 6 |
231 | DSI board alarm: unexpected encoder feedback on axis 6 |
232 | cut wire, disconnected or shortcut on valve A1 |
233 | cut wire, disconnected or shortcut on valve A2 |
234 | cut wire, disconnected or shortcut on valve B1 |
235 | cut wire, disconnected or shortcut on valve B2 |
236 | cut wire, disconnected or shortcut on brake 1 |
237 | cut wire, disconnected or shortcut on brake 2 |
238 | cut wire, disconnected or shortcut on brake 3 |
239 | cut wire, disconnected or shortcut on brake 4 |
240 | cut wire, disconnected or shortcut on brake 5 |
241 | cut wire, disconnected or shortcut on brake 6 |
242 | shortcut on a valve signal |
243 | shortcut on a brake signal |
244 | shortcut on a RBR signal |
245 | DSI temperature is too high |
246 | invalid brake power supply |
247 | unexpected voltage on encoder 1 power supply |
248 | unexpected voltage on encoder 2 power supply |
249 | unexpected voltage on encoder 3 power supply |
250 | unexpected voltage on encoder 4 power supply |
251 | unexpected voltage on encoder 5 power supply |
252 | unexpected voltage on encoder 6 power supply |
253 | DSI in standalone mode: please check if RBR is not activated or press update button |
254 | An encoder change detected. Encoder validation procedure is required (calibration page). |
255 | safety alarm: reboot is required after validation of the faulty safety signal |
256 | unexpected STO feedback from the drives: STO1 OFF |
257 | unexpected STO feedback from the drives: STO1 ON |
258 | unexpected STO feedback from the drives: STO2 OFF |
259 | unexpected STO feedback from the drives: STO2 ON |
260 | diagnostic is missing. Check safety board I/O on control panel |
261 | diagnostic is missing. Check safety board I/O on control panel |
262 | inconsistent safety stop signal from the MCP (MCPES1 off) |
263 | inconsistent safety stop signal from the MCP (MCPES2 off) |
264 | inconsistent safety stop signal from user stop USIA (USIA1 (J100-1, J101-7) off) |
265 | inconsistent safety stop signal from user stop USIA (USIA2 (J100-2, J101-8) off) |
266 | inconsistent safety stop signal from user stop USIB (USIB1 (J100-5) off) |
267 | inconsistent safety stop signal from user stop USIB (USIB2 (J100-6) off) |
268 | inconsistent safety stop signal from user stop USIC (USIC1 (J100-9) off) |
269 | inconsistent safety stop signal from user stop USIC (USIC2 (J100-10) off) |
270 | inconsistent safety stop signal from user stop USID (USID1 (J100-13) off) |
271 | inconsistent safety stop signal from user stop USID (USID2 (J100-14) off) |
272 | communication lost between the CPU and the safety board |
273 | drive error |
274 | interruption or too much delay in the communication between the MCP and the safety board |
275 | safety stop request from MCP |
276 | safety stop request from MCP |
277 | safety stop request from MCP |
278 | ESTOP on WMS (J101 5-7,6-8) or safety stop request from user USIA (J100 1-3,2-4) |
279 | user stop USIA1 (J100-1) |
280 | user stop USIA2 (J100-2) |
281 | user stop USIB (J100-5/6) |
282 | user stop USIB1 (J100-5) |
283 | user stop USIB2 (J100-6) |
284 | user stop USIC (J100-9/10) |
285 | user stop USIC1 (J100-9) |
286 | user stop USIC2 (J100-10) |
287 | user stop USID (J100-13/14) |
288 | user stop USID1 (J100-13) |
289 | user stop USID2 (J100-14) |
290 | no working mode request from the CPU (safety need a WMS and there is no WMS connected) |
291 | SS1 safety stop condition from external safety PLC |
292 | SS2 safety stop condition from external safety PLC |
293 | diagnostic is missing. Check safety board I/O on control panel |
294 | diagnostic is missing. Check safety board I/O on control panel |
295 | WMS stop (WMS signal WMS-Local (J101-1)) |
296 | WMS stop (WMS signal WMS-Remote (J101-2)) |
297 | WMS stop (WMS signal WMS-Manu (J101-3)) |
298 | working mode change |
299 | working mode change |
300 | working mode change |
301 | arm power is not allowed in brake release mode |
302 | diagnostic is missing. Check safety board I/O on control panel |
303 | brake test timeout |
304 | activation of brake test mode |
305 | the MCP plug was not placed in time after the MCP removal request |
306 | a safety restart is needed |
307 | safety reset signal activated |
308 | the enabling device is released |
309 | release the enabling device and press it again |
310 | safe velocity required but disabled |
311 | safe referencing required but not defined |
312 | safety overspeed |
313 | safe joint limits overpassed |
314 | movement detected in Safe Operating Stop mode |
315 | the enabling device was not released 1s after activation of service auto |
316 | safety stop request from Zone1 |
317 | safety stop request from Zone2 |
318 | diagnostic is missing. Check safety board I/O on control panel |
319 | diagnostic is missing. Check safety board I/O on control panel |
320 | diagnostic is missing. Check safety board I/O on control panel |
321 | diagnostic is missing. Check safety board I/O on control panel |
322 | diagnostic is missing. Check safety board I/O on control panel |
323 | diagnostic is missing. Check safety board I/O on control panel |
324 | diagnostic is missing. Check safety board I/O on control panel |
325 | manual slow working mode expected |
326 | brake release mode expected to open brakes without arm power |
327 | a brake is still in closing phase |
328 | no brake is selected |
329 | several brakes are selected |
330 | no communication between CPU and safety board RSI9 |
331 | diagnostic is missing. Check safety board I/O on control panel |
332 | diagnostic is missing. Check safety board I/O on control panel |
333 | diagnostic is missing. Check safety board I/O on control panel |
334 | diagnostic is missing. Check safety board I/O on control panel |
335 | diagnostic is missing. Check safety board I/O on control panel |
336 | diagnostic is missing. Check safety board I/O on control panel |
337 | diagnostic is missing. Check safety board I/O on control panel |
338 | diagnostic is missing. Check safety board I/O on control panel |
339 | diagnostic is missing. Check safety board I/O on control panel |
340 | temperature out of range |
341 | internal voltage out of range |
342 | internal error |
343 | the safety application contains faults |
344 | safety configuration is corrupted |
345 | the safety configuration does not match the safety application |
346 | the format of the safety configuration is not supported |
347 | internal communication error |
348 | test output fault |
349 | input deactivation fault |
350 | signal on USIA1 (J100-1) is not the expected test signal TDO0 (J100-3/8/11, J101-5, J103-7) |
351 | signal on USIA2 (J100-2) is not the expected test signal TDO1 (J100-4, J101-6, J103-12) |
352 | signal on USIB1 (J100-5) is not the expected test signal TDO2 (J100-7/16, J103-5) |
353 | signal on USIB2 (J100-6) is not the expected test signal TDO0 (J100-3/8/11, J101-5, J103-7) |
354 | signal on USIC1 (J100-9) is not the expected test signal TDO0 (J100-3/8/11, J101-5, J103-7) |
355 | signal on USIC2 (J100-10) is not the expected test signal TDO3 (J100-12/15, J103-3) |
356 | signal on USID1 (J100-13) is not the expected test signal TDO3 (J100-12/15, J103-3) |
357 | signal on USID2 (J100-14) is not the expected test signal TDO2 (J100-7/16, J103-5) |
358 | signal on WMS-Local (J101-1) is not the expected test signal TDO0 (J100-3/8/11, J101-5, J103-7) |
359 | signal on WMS-Remote (J101-2) is not the expected test signal TDO0 (J100-3/8/11, J101-5, J103-7) |
360 | signal on WMS-Manu (J101-3) is not the expected test signal TDO0 (J100-3/8/11, J101-5, J103-7) |
361 | signal on WMS-Reset (J101-4) is not the expected test signal TDO1 (J100-4, J101-6, J103-12) |
362 | signal on Enabling1 (J103-8) is not the expected test signal TDO0 (J100-3/8/11, J101-5, J103-7) |
363 | signal on Enabling2 (J103-17) is not the expected test signal TDO1 (J100-4, J101-6, J103-12) |
364 | signal on Estop1 (J103-6) is not the expected test signal TDO2 (J100-7/16, J103-5) |
365 | signal on Estop2 (J103-4) is not the expected test signal TDO3 (J100-12/15, J103-3) |
366 | signal on USOA1 (J102-1) is not as expected |
367 | signal on USOA2 (J102-2) is not as expected |
368 | signal on USOB1 (J102-5) is not as expected |
369 | signal on USOB2 (J102-6) is not as expected |
370 | signal on USOC1 (J102-9) is not as expected |
371 | signal on USOC2 (J102-10) is not as expected |
372 | internal signal on STO1 (J222-10) is not as expected |
373 | internal signal on STO2 (J222-10) is not as expected |
374 | shortcut to 24V on USOA1 (J102-1) or USOA2 (J102-2) |
375 | shortcut to 24V on USOB1 (J102-5) or USOB2 (J102-6) |
376 | shortcut to 24V on USOC1 (J102-9) or USOC2 (J102-10) |
377 | shortcut to 24V on STO1 or STO2 |
378 | shortcut to 24V on STO1 or STO2 |
379 | safety overrun. Reduce the number/type of monitoring points |
380 | diagnostic is missing. Check safety board I/O on control panel |
381 | diagnostic is missing. Check safety board I/O on control panel |
382 | diagnostic is missing. Check safety board I/O on control panel |
383 | diagnostic is missing. Check safety board I/O on control panel |
384 | unreferenced error on DSI board |
385 | safety license missing or over |
386 | RSI temperature exceeds threshold |
387 | Encoder on Axis1 exceeds a temperature threshold |
388 | Encoder on Axis2 exceeds a temperature threshold |
389 | Encoder on Axis3 exceeds a temperature threshold |
390 | Encoder on Axis4 exceeds a temperature threshold |
391 | Encoder on Axis5 exceeds a temperature threshold |
392 | Encoder on Axis6 exceeds a temperature threshold |
393 | Safe referencing (manu or auto) need to be activated in safety program because of SEL, SLS or SZM configuration |
394 | continuous axis license not compatible with safety version lower than 200.004 |
395 | maintenance mode is not allowed by the current user profile |
396 | current working mode is not allowed by the current user profile |
397 | Safe referencing inconsistency: positions of 'safe position 1' and 'safe position 2' should be different for all joint |
398 | SS2 is unsupported in current safety version (requested from external safety PLC?) |
399 | Invalid working mode. Try to perform an action which is not allowed in the current working mode. |
400 | Cannot settle arm power: error reading DSI temperature. |
401 | Cannot settle arm power: DSI temperature must be above 0 degrees Celsius. |
403 | Arm power shutdown: internal power error (24V_OK in ARPS module) |
404 | Arm power shutdown: controller power supply shutdown detected (MAIN_POWER_OK signal) |
405 | Arm power shutdown: due to prepareCpuShutdown VAL3 function call |
406 | Cannot apply arm power: controller not yet initialized. |
407 | Cannot apply arm power: simultaneous power off request. |
408 | Cannot apply arm power: arm power is still in disabling phase. |
410 | Overspeed on joint. (0x0209) |
411 | Cannot move: cannot cross singularity in this case.(0x021c) |
412 | Translation or Rotational velocity too high (0x021e) (0x021f) |
413 | Cartesian position unreachable with the specified configuration. (0x0215) |
414 | Jog mode cannot be selected: first enable arm power.(0x3f15) |
415 | Jog mode cannot be selected: first select manual working mode, then enable arm power. (0x3f16) |
416 | Jog move impossible: first select a jog mode.(0x3f19) |
417 | Invalid move axis or direction. (0x3f1A) |
418 | Cannot apply arm power: park the pendant on the cradle.(0x3f22) |
420 |
|
421 |
|
438 | Safety board communication error. Please check event logger of Stäubli controller. |
440 | system event CPU-BatteryOff. CPU board battery is not present or dead. |
441 | system event CPU-Overcurrent. Overcurrent detected on CPU. |
442 | system event CPU-CpuReadingFailed. CPU temperature reading failed. |
443 | system event CPU-BBReadingFailed. Baseboard temperature reading failed. |
444 | system event CPU-FanReadingFailed. CPU board fan speed reading error. |
445 | system event CPU-BatteryReadingFailed. Battery state reading failed. |
446 | system event CPU-OvercurrentReadingFailed. CPU board overcurrent state reading error. |
447 | system event CPU-CpuTemperatureLow. CPU temperature is lower than minimum threshold). |
448 | system event CPU-CpuTemperatureWarning. CPU temperature exceeded the warning threshold. |
449 | system event CPU-CpuTemperatureLimit. CPU temperature exceeded the error threshold. Behaviour of CPU board is uncertain. |
450 | system event CPU-BBTemperatureLow. Baseboard temperature is lower than minimum threshold. |
451 | system event CPU-BBTemperatureWarning. Baseboard temperature exceeded the warning threshold. |
452 | system event CPU-BBTemperatureLimit. Baseboard temperature exceeded the error threshold Behaviour of CPU board is uncertain. |
453 |
|
454 | system event CPU-FanHigh. CPU board fan speed is higher than limit. |
455 | CPU fan control failed. |
456 | Safety board error 'Not ready after a minute': Failed to initialize. Please reboot the controller. |
457 | Safety board error: Not ready anymore. |
458 | Safety alarm. |
459 | Safety error . A reboot is required. |
460 | Safety board error communication error. Please check event logger of Stäubli controller and Staubli support service. |
461 |
|
470 | Invalid safe referencing position. |
471 | Safety restart failed during safe referencing procedure. |
472 | The number of the safe reference position does not match the status of safe referencing procedure. |
473 | The reference position is out of range. |
479 | The test brake procedure failed. |
480 | No |
481 | Hibernate function not supported by controller |
482 | Timeout waiting for confirmation of the safety board. |
483 | Robot must be disabled to activate power save. |
484 |
|
485 |
|
486 |
|
487 | Wake up function not supported by controller |
488 | Timeout waiting for encoder interface ready state |
489 | Timeout waiting for safety board ready state |
513 | Internal motion generator error. |
514 | Invalid parameter value. |
515 | Invalid motion generator state. |
520 | Joint position out of software limits. |
521 | Position out of software limits on joints: %s. |
522 | Overspeed on joint %u. |
525 | Arm position not allowed. |
526 | Translation velocity too high. |
527 | Rotation velocity too high. |
530 | No joint solution found (no convergence). Cartesian position probably out of reach. |
531 | Cartesian position out of joint limits. |
532 | Cartesian position out of workspace. |
533 | Cartesian position unreachable with the specified configuration. |
534 | Orientation unreachable with this arm. |
535 | The arm position found is in a forbidden area. |
536 | The arm positions found are either outside joint limits or inside forbidden areas. |
540 | Cannot cross singularity in this case. |
541 | Internal error: Cartesian path discontinuity. |
542 | Configuration discontinuity: the joint position reached does not match the arm configuration requested for next movement. |
543 | Robot not at trajectory start position. |
544 | The Cartesian path is leading a multi-turn joint out of its range. |
550 | Circular arc: the angle between start and intermediate points exceeds 180 deg. |
551 | Circular arc: the angle between intermediate and end points exceeds 180 deg. |
552 | Circular arc: start, intermediate and end points are too close. |
553 | Circular arc: the orientation change between start and intermediate, or intermediate and end points is exactly 180 deg. The direction of the move is |
554 | Cartesian blending: the rotation is too large. Move direction maybe ambiguous. |
560 | No blending supported with compliant moves. |
561 | No blending supported with movejSync. |
562 | 'joint' blending not supported with tracking movements. Use 'Cartesian' instead. |
563 | No blending supported with trajMove. |
564 | No blending supported with splines. |
565 | Invalid blending in mdesc : 'Cartesian' blending is not possible when switching between {external axes+arm} and {arm only} kinematics. |
570 | Invalid data for this arm (wrong number of joints or wrong kinematic). |
571 | Invalid kinematic chain part. |
572 | Part mounting error: a resetMotion() is required to switch to carried part trajectory mode. |
573 | Part mounting error: a resetMotion() is required to switch to carried tool trajectory mode. |
574 | Part mounting error: carried part mode is not supported for this move. |
580 | A 'trackOn' movement is required to start a conveyor tracking sequence. |
581 | A 'trackOff' movement is required to end a conveyor tracking sequence. |
582 | The moving frame is different from the previous one. Use a 'trackon' movement to switch between moving frames. |
583 | The tracking movements stopped: %s |
584 | Tracking iterations failed: the conveyor may be out of reach or too fast. |
585 | Internal tracking error. |
586 | Conveyor too fast to be tracked. |
590 | Alter: invalid status, command ignored. |
591 | Alter: alteration of the path starting. |
592 | Alter: alteration of the path stopping. |
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. |