Error messages of the mxA interface in the robot interpreter

No.

Message text

Cause

Remedy

0

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1

INTERNAL ERROR

Internal exception error

Contact service.

2

ASSERT FAILED

Internal exception error

3

OVERFLOW STATUS RETURN QUEUE (MAIN)

There are more than 100 status change feedback messages to be transmitted from the robot controller to the PLC.

The data transfer rate is much smaller than the processing speed.

Reduce the number of instructions that are buffered simultaneously.

Contact service if this is not possible.

4

OVERFLOW STATUS RETURN QUEUE (TRIGGER)

5

INVALID COMMAND QUEUE INDEX

Internal exception error

Contact service.

6

INVALID COMMAND STATE

Internal exception error

7

INVALID COMMAND ID

Internal exception error

8

INVALID MOVE TYPE

Internal exception error

9

OVERFLOW TRIGGER FIFO

Internal exception error

10

UNDERFLOW TRIGGER FIFO

Internal exception error

11

INVALID TRIGGER FIFO INDEX

Internal exception error

12

EXECUTION OF T_AFTER MISSING

Internal exception error

13

EXECUTION OF T_START MISSING

Internal exception error

14

INVALID ADVANCE_ACT

Internal exception error

16

TIMEOUT HEARTBEAT FROM PLC

Connection to PLC interrupted

Reconnect, then acknowledge error.

PLC program stopped

Restart PLC program.

Connecting line defective or not connected correctly

Replace connecting line or connect correctly.

17

INVALID ORDERID (INVERSE)

Internal exception error

Contact service.

30

INVALID PTP APO

An invalid contour parameter was transferred for a PTP movement.

Program valid value (parameter Approximate).

(>>> APO)

31

INVALID CP APO

An invalid contour parameter was transferred for a CP movement (LIN, CIRC).

32

INVALID BASE NUMBER

An invalid number for the BASE coordinate system has been programmed in a KRC_ReadBaseData or KRC_WriteBaseData function block.

Specify the number of the BASE coordinate system currently used in the robot controller (parameter BaseNo).

  • 1 … 32

An invalid number for the BASE coordinate system has been programmed in a KRC_Move or KRC_Jog function block.

Specify the number of the BASE coordinate system currently used in the robot controller (parameter CoordinateSystem - COORDSYS.Base).

(>>> COORDSYS)

33

INVALID TOOL NUMBER

An invalid number for the TOOL coordinate system has been programmed in a KRC_ReadToolData or KRC_WriteToolData function block.

Specify the number of the TOOL coordinate system currently used in the robot controller (parameter ToolNo).

  • 1 … 16

An invalid number for the TOOL coordinate system has been programmed in a KRC_Move or KRC_Jog function block.

Specify the number of the TOOL coordinate system currently used in the robot controller (parameter CoordinateSystem - COORDSYS.Tool).

(>>> COORDSYS)

34

INVALID VELOCITY

An invalid value for the velocity has been programmed in a function block.

Program valid value (parameter Velocity):

  • 0 … 100 %

35

INVALID ACCELERATION

An invalid value for the acceleration has been programmed in a function block.

Program valid value (parameter Acceleration):

  • 0 … 100 %

36

INVALID C_PTP

An invalid approximation distance was transferred for a PTP movement.

Program valid value (parameter Approximate).

(>>> APO)

37

INVALID C_DIS

An invalid distance parameter was transferred for a contouring motion.

38

INVALID C_VEL

An invalid velocity parameter was transferred for a contouring motion.

39

INVALID C_ORI

An invalid orientation parameter was transferred for a contouring motion.

40

INVALID ORI_TYPE

An invalid value for the orientation control of the TCP has been programmed in a KRC_Move or KRC_Jog function block.

Program valid value (parameter OriType).

(>>> OriType)

41

POSITION DATA NOT INITIALIZED

No target position was transferred when calling a KRC_Move function block.

Define at least 1 element of the target position (parameter Position).

(>>> E6POS)

42

AXISPOSITION DATA NOT INITIALIZED

No axis position was transferred when calling a KRC_MoveAxis function block.

Define at least 1 axis position (parameter AxisPosition).

(>>> E6AXIS)

43

INVALID TRIGGER DISTANCE

An invalid value for the switching point of the trigger has been programmed in a KRC_SetDistanceTrigger function block.

Program valid value (parameter Distance):

  • 0: Switching action in the start point
  • 1: Switching action in the end point

44

INVALID TRIGGER IO

An invalid output has been programmed in a KRC_SetDistanceTrigger or KRC_SetPathTrigger function block.

Program valid value (parameter Output):

  • 1 … 2 048

45

INVALID TRIGGER PULSE

An invalid value for the length of the pulse has been programmed in a KRC_SetDistanceTrigger or KRC_SetPathTrigger function block.

Program valid value (parameter Pulse):

  • 0.1 … 3.0 s
  • 0.0 s (No pulse active)

46

INVALID CIRC_HP

No auxiliary position was transferred when calling a KRC_MoveCirc function block.

Define at least 1 element of the auxiliary position (parameter CircHP).

(>>> E6AXIS)

47

INVALID INTERRUPT IO

The number of the digital input to which an interrupt is declared is invalid (function block KRC_DeclareInterrupt).

Program valid value (parameter Input):

  • 1 … 2 048

48

INVALID INTERRUPT PRIORITY

An invalid number was transferred when calling a KRC_...interrupt function block.

Program valid value (parameter Interrupt):

  • 1 … 8

49

INTERRUPT NOT DECLARED

Interrupt was not declared.

Declare interrupt.

(>>> Declare interrupt)

50

INVALID INTERRUPT ACTION

The reaction to the interrupt, which was programmed when an interrupt was declared, is invalid.

Program valid reaction (parameter Reaction)

(>>> Declare interrupt)

51

INVALID IO NUMBER

The number of the digital input to which an interrupt is declared is invalid (function block KRC_DeclareInterrupt).

Program valid value (parameter Input):

  • 1 … 2 048

52

INVALID PULSE DURATION

An invalid value for the length of the pulse has been programmed in the KRC_ WriteDigitalOutput function block.

Program valid value (parameter Pulse):

  • 0.1 … 3.0 s
  • 0.0 s (No pulse active)

53

INVALID BUFFER_MODE

An invalid BufferMode has been programmed in a function block. The DIRECT mode is not available for some function blocks, for example.

Program valid BufferMode.

(>>> BufferMode)

54

INVALID TOOL NUMBER FOR LOAD_DATA

An invalid number has been programmed in the function block KRC_ReadLoadData or KRC_WriteLoadData for reading or writing the load data or the additional load data.

Program valid value (parameter Tool).

(>>> Read load data)

(>>> Write load data)

55

INVALID ANALOG IO NUMBER

An invalid number has been programmed in a function block for the analog input or output.

Program valid value (parameter Number):

  • 1 … 32

56

INVALID IPO_MODE

An invalid value for the interpolation mode has been programmed in a function block, e.g. in a KRC_Move function block.

Program valid value (parameter CoordinateSystem - COORDSYS.IPO_MODE).

(>>> COORDSYS)

57

INVALID CIRC_TYPE

In a KRC_MoveCirc function block an invalid value has been programmed for the orientation control during the circular motion.

Program valid value (parameter CircType).

(>>> CircType)

58

INVALID FRAME DATA

Invalid TOOL or BASE data were programmed in a KRC_WriteToolData or KRC_WriteBaseData function block.

Program valid data (parameter ToolData or BaseData).

(>>> Write TOOL data)

(>>> Write BASE data)

59

INVALID LOAD DATA

Invalid load data were programmed in a KRC_WriteLoadData function block.

Program valid data.

(>>> Write load data)

60

INVALID SOFT_END (REVERSED)

Error when writing the software limit switches: positive software limit switch < negative software limit switch (function block KRC_WriteSoftEnd or KRC_WriteSoftEndEx)

Program smaller values for the negative software limit switches than for the positive software limit switches.

61

INVALID INTERRUPT STATE

Internal exception error

Contact service.

62

INVALID SYS VAR INDEX

In a KRC_ReadSysVar or KRC_WriteSysVar function block an index was transferred for which no system variable is stored.

Program valid value (parameter Index).

(>>> Read system variables)

(>>> Write system variables)

63

INVALID SYS VAR VALUE

An invalid value for the system variable has been programmed in a KRC_WriteSysVar function block.

Program valid value (parameter Value1 ... Value10).

(>>> Write system variables)

64

SYS VAR NOT WRITEABLE

An error occurred while writing a system variable.

The specified system variable does not exist or may not be written to in the current operating state.

65

INVALID REAL VALUE

The programmed real value is invalid.

Program valid value:

  • -2,147,483,500 … +2,147,483,500

66

ERROR SETTING OUTPUT

Error while writing a digital output. It is possible that the output is already occupied by the system.

Use another digital output (parameter Number):

  • 1 … 2 048

67

ERROR SETTING SOFTEND

Error when writing the software limit switches: A possible error is, for example, that a rotatory axis is written with a value outside +/-360°.

Program valid values for the software limit switches (see machine data).

68

INVALID TECH FUNCTION INDEX

In a KRC_TechFunction function block a TechFunctionID was transferred for which no technology function is stored.

Contact service.)

69

INVALID TECH FUNCTION PARAMETER

An invalid value has been programmed for a parameter in a KRC_TechFunction function block.

Contact service.

70

INVALID PARAMETER VALUE

An invalid value has been programmed for one or more parameters in the called function block.

Program valid values for the parameters.