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:
(>>> 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):
|
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:
| Check configuration in WorkVisual and TwinCAT and configure EtherCAT correctly. | ||
Error during operation:
| 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):
|
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.
|
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. |
| ||
526 | APPL_RUN SIGNAL ACTIVE | RESET cannot be performed because a robot program is being executed. |
|
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:
|
|
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:
|
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:
|
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:
|
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.
|
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:
|
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%. |
|
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. |