Error messages of the mxA interface in the submit interpreter

No.

Message text

Cause

Remedy

401

INTERNAL ERROR

Internal exception error

Contact service.

402

ASSERT FAILED

Internal exception error

403

INVALID COMMAND ID

Internal exception error

404

INVALID COMMAND STATE

Internal exception error

405

OVERFLOW COMMAND QUEUE

Internal exception error

406

INVALID COMMAND QUEUE INDEX

Internal exception error

407

INVALID COMMAND (PRE) QUEUE INDEX

Internal exception error

408

INVALID WRITE_Q_IDX AND WRITE_PRE_Q_IDX

Internal exception error

409

OVERFLOW STATUS RETURN QUEUE (SUBMIT)

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.

410

INVALID FIELDBUS TELEGRAMM LENGTH

Internal exception error

Contact service.

411

TIMEOUT ABORT_REQUEST

Internal exception error

412

INVALID CHECKSUM PLC -> KRC

The checksum during data transmission from the PLC to the robot controller is invalid:

Error during commissioning:

  • EtherCAT configuration in WorkVisual or TwinCAT faulty

Check configuration in WorkVisual and TwinCAT and configure EtherCAT correctly.

Error during operation:

  • Bit error during data transmission

Contact service.

413

INVALID MOVE TYPE

Internal exception error

Contact service.

414

TIMEOUT HEARTBEAT FROM PLC

Connection to PLC interrupted

Reconnect, then acknowledge error.

PLC program stopped

Restart PLC program.

Submit Interpeter deselected or stopped

Restart Submit Interpeter.

Connecting line defective or not connected correctly

Replace connecting line or connect correctly.

416

SYS VAR NOT INITIALIZED

An error occurred while reading a system variable.

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

Example: $POS_ACT can only be accessed after a BCO run.

417

UNDERFLOW OF NIBBLE

Internal exception error

Contact service.

418

OVERFLOW OF NIBBLE

Internal exception error

419

UNDERFLOW OF BYTE

Internal exception error

420

OVERFLOW OF BYTE

Internal exception error

421

UNDERFLOW OF INT16

Internal exception error

422

OVERFLOW OF INT16

Internal exception error

423

UNDERFLOW OF INT32

Internal exception error

424

OVERFLOW OF INT32

Internal exception error

425

UNDERFLOW OF REAL

Internal exception error

426

OVERFLOW OF REAL

Internal exception error

430

INVALID PTP APO

An invalid contour parameter was transferred for a PTP movement.

Program valid value (parameter Approximate).

(>>> APO)

431

INVALID CP APO

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

432

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)

433

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)

434

INVALID VELOCITY

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

Program valid value (parameter Velocity):

  • 0 … 100 %

435

INVALID ACCELERATION

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

Program valid value (parameter Acceleration):

  • 0 … 100 %

436

INVALID C_PTP

An invalid approximation distance was transferred for a PTP movement.

Program valid value (parameter Approximate).

(>>> APO)

437

INVALID C_DIS

An invalid distance parameter was transferred for a contouring motion.

438

INVALID C_VEL

An invalid velocity parameter was transferred for a contouring motion.

439

INVALID C_ORI

An invalid orientation parameter was transferred for a contouring motion.

440

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)

441

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)

442

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)

443

INVALID TRIGGER DISTANCE

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

Program valid value (parameter Distance):

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

444

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

445

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)

446

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)

447

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

448

INVALID INTERRUPT NUMBER/ PRIORITY

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

Program valid value (parameter Interrupt):

  • 1 … 8

449

INTERRUPT NOT DECLARED

Interrupt was not declared.

Declare interrupt.

(>>> Declare interrupt)

450

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)

451

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

452

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)

(>>> Write digital output)

453

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)

454

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)

455

INVALID ANALOG IO NUMBER

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

Program valid number (parameter Number):

  • 1 … 32

456

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)

457

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)

458

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)

459

INVALID LOAD DATA

Invalid load data were programmed in a KRC_WriteLoadData function block.

Program valid data.

(>>> Write load data)

460

INVALID SOFT_END (REVERSED)

Error when writing the software limit switches: positive software limit switch < negative software limit switch

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

461

INVALID INTERRUPT STATE

Internal exception error

Contact service.

462

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)

463

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)

464

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.

465

INVALID REAL VALUE

The programmed real value is invalid.

Program valid value:

  • -2,147,483,500 … +2,147,483,500

466

ERROR SETTING OUTPUT

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

Use another digital output (parameter Number):

  • 1 … 2 048

467

ERROR SETTING SOFTEND

An error occurred while writing a software limit switch.

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).

468

INVALID TECH FUNCTION INDEX

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

Contact service.

469

INVALID TECH FUNCTION PARAMETER

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

Contact service.

470

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.

471

PDAT NOT INITIALIZED

No PDAT data was transferred when calling a KRC_ForwardAdvanced or KRC_InverseAdvanced function block.

Define at least 1 element of the PDAT_ACT.

472

FDAT NOT INITIALIZED

No FDAT data was transferred when calling a KRC_ForwardAdvanced or KRC_InverseAdvanced function block.

Define at least 1 element of the FDAT_ACT.

473

LDAT NOT INITIALIZED

No LDAT data was transferred when calling a KRC_ForwardAdvanced or KRC_InverseAdvanced function block.

Define at least 1 element of the LDAT_ACT.

474

INVALID TOOL OR BASE NUMBER

An invalid number for the TOOL coordinate system or for the BASE coordinate system has been programmed in the KRC_ForwardAdvanced or KRC_InverseAdvanced function block.

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

  • 1 … 16

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

  • 1 … 32