Errors in the function block

No.

Message text

Cause

Remedy

501

INTERNAL ERROR

Internal exception error

Contact service.

502

INVALID BUFFER_MODE

BufferMode 0: DIRECT is not permitted for this function block.

Program correct mode:

  • 1: ABORTING
  • 2: BUFFERED

(>>> BufferMode)

503

INVALID MXA VERSION

The software versions of the mxA interface and the PLC library are not compatible.

Install compatible software versions on robot controller and PLC.

(>>> initialize mxA interface)

504

INVALID OVERRIDE

Invalid override value in function block KRC_SetOverride

Program a valid value (parameter Override):

  • 0 … 100%

505

MAX GROUP REF IDX REACHED

The index of the axis group specified in the KRC_ReadAxisGroup function block is already occupied.

Simply instantiate the KRC_ReadAxisGroup function block in a program.

506

INVALID GROUPREFIDX

The index of the axis group specified in the function block is invalid.

Specify a valid index for the axis group (parameter AxisGroupIdx).

507

INVALID FB ORDER

The order in which the function blocks are called is invalid.

Program the function blocks in the correct order.

508

CONNECTION NOT INITIALIZED

No instructions can be transferred because the mxA interface has not been initialized.

Initialize the mxA interface.

(>>> initialize mxA interface)

509

510

NO CONNECTION TO KRC

TIMEOUT HEARTBEAT FROM KRC

Connection to robot controller interrupted

Reconnect, then acknowledge error.

The robot controller is switched off.

Restart the robot controller.

Submit interpreter deselected or stopped

Restart Submit interpreter.

Bus error or I/O configuration faulty

Check I/O configuration.

Connection cable defective or not connected correctly.

Replace connection cable or connect correctly.

Maximum cycle time of the Submit interpreter is too short (only for message no. 510)

Increase the value for MaxSubmitCycle in the KRC_Diag function block.

A function was called from the input ExecuteCmd before the interface was initialized.

Before calling a function with ExecuteCmd wait for the output KRC_Initialize.Done.

To reset the error, set the input ExecuteCmd to the value FALSE.

511

TIMEOUT CMD INTERFACE BLOCKED

The input ExecuteCmd was reset before the busy signal was set.

Acknowledge the message and reset the input ExecuteCmd in the future only after the Done, Error or Aborted signal has been set.

512

INVALID CHECKSUM KRC -> PLC

The checksum for the data transmission from the robot controller to the PLC is invalid.

Error during start-up:

  • EtherCAT configuration in WorkVisual or TwinCAT faulty

Check configuration in WorkVisual and TwinCAT and configure EtherCAT correctly.

Error during operation:

  • Bit error during the data transmission

Contact service.

513

INVALID POSITION INDEX

An invalid number was transferred for the position to be taught in the KRC_TouchUP function block.

Program a valid value (parameter Index):

  • 1 … 100

514

POS_ACT INVALID

The current position cannot be taught because the position data is invalid (no BCO).

BCO with a RESET at the KRC_AutomaticExternal function block.

517

INVALID COMMAND SIZE

Internal exception error

Contact service.

518

KRC STOPMESS ACTIVE

Group error that prevents the motion enable

Check how the error was triggered and correct the error.

  • Analyze the messages in the message window of the KUKA smartHMI.
  • Read the current error state of the robot controller with the KRC_ReadKRCError function block.

519

INVALID ABSOLUTE VELOCITY

An invalid value for the parameter AbsoluteVelocity has been programmed in a KRC_Move function block.

Contact service.

520

VELOCITY CONFLICT

Several values for the velocity have been programmed in a KRC_Move function block.

Contact service.

521

INVALID PARAMETER COUNT

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

Contact service.

522

INVALID PARAMETER USAGE

The parameter ParameterCount has been configured incorrectly in the KRC_TechFunction function block.

Contact service.

523

INVALID OPERATION MODE

The robot is in the wrong operation mode.

Select the Automatic External operation mode.

524

USER_SAF SIGNAL NOT ACTIVE

The operator protection is violated.

Close the protection equipment and acknowledge the closing.

525

ALARM_STOP SIGNAL NOT ACTIVE

The safety configuration is faulty, causing an EMERGENCY STOP to be triggered.

Check and change the safety configuration of the system (robot controller and PLC).

No connection to the EMERGENCY STOP of the system

Check EMERGENCY STOP of the system and restore connection.

Inputs and outputs of the Automatic External interface are configured incorrectly.

  1. In the main menu, select Display > Inputs/Outputs > Automatic External.
  2. Check and change the configuration of the inputs and outputs.

526

APPL_RUN SIGNAL ACTIVE

RESET cannot be performed because a robot program is being executed.

  1. Wait until the robot program has been processed.
  2. Execute the instruction again.

527

TIMEOUT MESSAGE CONFIRM

The message cannot be acknowledged by the PLC.

Acknowledge the message on the robot controller.

528

TIMEOUT MXA MESSAGE CONFIRM

An error cannot be acknowledged in the KRC_AutoStart function block.

Contact service.

529

TIMEOUT SWITCHING DRIVES ON

Internal exception error

Contact service.

530

TIMEOUT PROGRAM SELECTION

Internal exception error

531

TIMEOUT PROGRAM START

Internal exception error

532

MOVE_ENABLE SIGNAL NOT ACTIVE

Robot has no motion enable

Enable motion with the parameter MOVE_ENABLE.

533

INVALID AXIS_VALUES

Not all axis angles required for execution are defined in the KRC_Forward function block.

Define the missing axis angles in the KRC_Forward function block.

534

INVALID $BASE

Internal exception error

Contact service.

535

INVALID $TOOL

Internal exception error

536

INVALID SOFTEND

Error in KRC_Forward function block:

The specified axis angles are outside the software limit switches.

Enter axis angles that are within the software limit switches (parameter Axis_Values).

or: Change the software limit switches.

537

ERR MATH TRAFO

Error in KRC_Forward function block:

The robot cannot reach the specified axis angles.

Enter axis angles that the robot can reach (parameter Axis_Values).

538

INVALID AXIS_VALUES

Error in KRC_Inverse function block:

  • The Cartesian robot position was not fully specified.
  • The axis-specific values at the start point of the movement were incompletely specified.
  • Specify the complete Cartesian robot position (parameter Position).
  • Specify the complete axis-specific values at the start point of the movement (parameter Start_Axis).

539

INVALID $BASE

Internal exception error

Contact service.

540

INVALID $TOOL

Internal exception error

541

INVALID SOFTEND

Error in KRC_Inverse function block:

The axis-specific values at the start point of the movement are outside the software limit switches.

Enter values that are within the software limit switches (parameter Start_Axis).

Or: Change the software limit switches.

542

ERR MATH TRAFO

Error in KRC_Inverse function block:

The robot cannot reach the specified axis-specific values at the start point of the movement.

Enter values that the robot can reach (parameter Start_Axis).

543

INVALID EXECUTE

In the case of a concatenated motion that can be contoured, the Execute input was reset before the ComAcpt signal was set by the function block.

Acknowledge the message and in future do not reset the Execute input until the ComAcpt signal has been set.

544

INVALID DEV_VEL_CP

Initialization of the mxA interface on the robot controller has not yet been completed or is faulty.

Check whether the output Done in the function block KRC_Initialize is active.

547

INVALID TURN

Error in KRC_Inverse function block:

With the specified turn, the axis-specific values are at the specified position outside the software limit switches.

Enter values that are within the software limit switches (parameter Position).

Or: Change the software limit switches.

550

Check of LDD Installation (LDD in EXT) failed (Err=-1)!

Error in KRC_LDDconfig function block:

The check of the installation and activation of the function block failed.

More information about the source of the error can be found in the Windows Event Log.

551

Check of LDD Installation (LDD in EXT) failed (Err=-2)!

Error in KRC_LDDconfig function block:

The initialization of the internal data interface is not correct.

552

Check of LDD Installation (LDD in EXT) failed (Err=-3)!

Error in KRC_LDDconfig function block:

The user data configuration is not valid.

Observe the error messages.

553

Default settings not correctly finished (Err=-40)!

Internal error

More information about the source of the error can be found in the Windows Event Log.

554

Default settings not correctly finished (Err=-41)!

Internal error

555

Default settings not correctly finished (Err=-42)!

Internal error

556

A4 < 0.0 … Move A4 to 0.0

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 4 is smaller than 0°.

Move axis 4 in positive direction to 0°.

557

A4 > 0.0 … Move A4 to 0.0

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 4 is greater than 0°.

Move axis 4 in negative direction to 0°.

558

Axis ranges: A2 / A3 not valid!

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

The position of axes 2 and 3 is not valid.

Position axes 2 and 3 so that the robot arm is horizontal.

559

Axis ranges: A3 range not valid!

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 3: Axis range is not valid.

Reduce or increase the axis range.

Ideal values:

  • Axis range: 4°
  • Start position: ±2°

560

Axis position: A4 position not valid!

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 4: Axis range is not valid.

Move axis 4 to 0°.

561

Axis ranges: A5 range not valid!

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 5: Axis range is not valid.

Reduce or increase the axis range.

Ideal values:

  • Axis range: 80°
  • Start position: ±40°

562

Axis ranges: A6 range not valid!

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 6: Axis range is not valid.

Reduce or increase the axis range.

Ideal values:

  • Axis range: 120°
  • Start position: ±60°

563

Axis ranges: A1 too close to the lower limit!

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 1 violates the permissible lower axis range.

Move axis 1 in positive direction of movement.

564

Axis ranges: A2 too close to the lower limit!

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 2 violates the permissible lower axis range.

Move axis 2 in positive direction of movement.

565

Axis ranges: A3 too close to the lower limit!

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 3 violates the permissible lower axis range.

Move axis 3 in positive direction of movement.

566

Axis ranges: A5 too close to the lower limit!

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 5 violates the permissible lower axis range.

Move axis 5 in positive direction of movement.

567

Axis ranges: A6 too close to the lower limit!

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 6 violates the permissible lower axis range.

Move axis 6 in positive direction of movement.

568

Axis ranges: A1 too close to the upper limit!

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 1 violates the permissible upper axis range.

Move axis 1 in negative direction of movement.

569

Axis ranges: A2 too close to the upper limit!

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 2 violates the permissible upper axis range.

Move axis 2 in negative direction of movement.

570

Axis ranges: A3 too close to the upper limit!

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 3 violates the permissible upper axis range.

Move axis 3 in negative direction of movement.

571

Axis ranges: A5 too close to the upper limit!

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 5 violates the permissible upper axis range.

Move axis 5 in negative direction of movement.

572

Axis ranges: A6 range not valid!

Error in function block KRC_LDDconfig or KRC_LDDcheckPos:

Axis 6 violates the permissible upper axis range.

Move axis 6 in negative direction of movement.

574

LDD configuration not valid!

Error in KRC_LDDtestRun function block:

The load data determination was not configured correctly.

More information about the source of the error can be found in the Windows Event Log.

575

LDD KRL Program not correctly finished

Error in KRC_LDDstart function block:

The load data determination was not completed correctly.

More information about the source of the error can be found in the Windows Event Log.

576

Kuka.Load 5 result unknown

Error in KRC_LDDstart function block:

The load analysis did not provide any result.

More information about the source of the error can be found in the logbook of KUKA.Load.

577

LDD_LOAD_RESULT = #STATOVL

Error in KRC_LDDstart function block:

The load analysis has shown that there is a static overload. The selected robot type is not permitted for the specified load case.

Contact service.

578

LDD_LOAD_RESULT = #DYNOVL

Error in KRC_LDDstart function block:

The load analysis has shown that there is a dynamic overload. The selected robot type is not permitted for the specified load case.

579

LDD_LOAD_RESULT = #OVL

Error in KRC_LDDstart function block:

The load analysis has shown that there is a static and dynamic overload. The selected robot type is not permitted for the specified load case.

580

LDD_LOAD_RESULT = #SLOOR

Error in KRC_LDDstart function block:

The load analysis has shown that the additional load is outside the specified range. The selected robot type is not permitted for the specified load case.

581

Tool Number=-1: $config.dat unchanged!

Error in the function block KRC_LDDstart or KRC_LDDwriteLoad:

Parameter Tool = -1

The determined load data are not assigned to any tool.

To assign the load data to a tool, set the Tool parameter to a valid value and call the KRC_LDDwriteLoad function block.

  • 1 ... maximum number of tools

582

LDD_start not correctly finished!

Error in the function block KRC_LDDstart or KRC_LDDwriteLoad:

The load data determination was not completed correctly.

Observe the error messages.

583

Kuka.Load 5 not correctly finished!

Error in the function block KRC_LDDstart or KRC_LDDwriteLoad:

The evaluation of the load data by KUKA.Load was not completed correctly.

Observe the error messages.

If necessary, refer to the Windows Event Log or the KUKA.Load log for further information.

584

Tool number not correct!

Error in the function block KRC_LDDstart or KRC_LDDwriteLoad:

The tool number is not valid.

Set tool number (parameter Tool) to a valid value:

  • 1 ... maximum number of tools

585

LDD KRL Test run Program not correctly finished!

Error in KRC_LDDtestRun function block:

The test drive was not completed correctly.

Execute the test drive program completely.

586

program override check, should be less or equal 10

Error in KRC_LDDtestRun function block:

Function block was executed with a program override ≥ 10%.

  1. Set the program override to ≤ 10% (function block KRC_SetOverride).
  2. Execute KRC_LDDtestRun function block again.

587

Internal error

Error in the function block KRC_LDDstart or KRC_LDDwriteLoad:

Internal error

More information about the source of the error can be found in the Windows Event Log.

588

Internal error

Error in the function block KRC_LDDstart or KRC_LDDwriteLoad:

Internal error

More information about the source of the error can be found in the Windows Event Log.