SOFTWARE

KR C...

Error messages / troubleshooting

KUKA System Software (KSS)

Issued: 10.Oct.2004

Version: 01

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e Copyright

KUKA Roboter GmbH

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers. Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in the case of a replacement or service work. We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in subsequent editions. Subject to technical alterations without an effect on the function.

PD Interleaf
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Contents
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Error messages / troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Message groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Message time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Message number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Originator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Message text . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . List of error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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They are often a consequence of a status (operational) message.2 Message time The message time indicates the time at which the message was generated. An acknowledgement message stops a movement or prevents further operation. for example: Message group Message time Message number Originator Message text COMMAND ACCELERATION EXCEEDED A2 ACTIVE COMMANDS INHIBITED 1.g. if an illegal key has been pressed. These can be either informative messages that do not need to be acknowledged or messages that have to be acknowledged. A message consists of the following items of information. a secondary signal that has to be acknowledged is set for reasons of safety. Dialog messages require confirmation by the operator (“Yes” or “No” softkeys).02. The message is cleared once its cause has been eliminated. Emergency Stop. for example. Fehlermeldungen 09. Operational messages signal the status of the system that has led to a control reaction. Acknowledgement messages indicate a situation that must in all instances be recognized and acknowledged with the acknowledge key. e.1 Message groups Hint messages provide the operator with explanatory information. The message is cleared after it has been confirmed.Error messages / troubleshooting 1 Error messages / troubleshooting Messages of all categories are displayed in the message window.01 en 4 of 135 . In some cases. 1.

the message number is shown first. unlike on the display. the corresponding cause. Fehlermeldungen 09. Cause gives a detailed description of the cause of the error. effect and remedy can quickly be located in the list of error messages. 1.3 Message number With the aid of the message number. By referring to this message number.02. Effect describes how the controller reacts to the error. 1. This information is subdivided into: Message text is the actual text of the error message as displayed. Remedy describes what action the user can take to eliminate the error.5 Message text The text of the error message is shown here.4 Originator The origin of the error is indicated in this field. it is possible to obtain further information on an error and the appropriate remedial action. 1. Monitor indicates when the conditions for generation of the message are checked.6 List of error messages To make it easier to find error messages in the following list.01 en 5 of 135 .1 Error messages / troubleshooting (continued) 1.

Check the Emergency Stop pushbutton and Emergency Stop circuit.Cyclic --> none.Acknowledge message. 2 Message text Cause Monitor Effect Remedy 3 Message text Cause Monitor Effect Remedy 4 Message text Cause Monitor Effect Remedy 5 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.Voltage of the backup battery too low. -. -. Internal error -.Emergency Stop initiated by the software.Emergency Stop pushbutton pressed.Ramp--down braking.Release the Emergency Stop pushbutton.Change the battery.Ramp--down braking. -.Path--maintaining stop. batt. -. When the message is displayed. -.All active commands inhibited. -. -.Rectify and acknowledge the signalled fault. is full up to a specific limit. -.Cyclic. voltage” is displayed --> acknowledge.01 en 6 of 135 .Cyclic.02. -.All active commands inhibited. MESSAGE BUFFER OVERFLOW -. -.The battery voltage is checked when the power is switched off. Only then may the controller be switched off. -.Internal KRL software test.After the battery has been charged. the message “Ackn.Rectify and acknowledge the signalled faults.All active commands inhibited.The message buffer.Cyclic. -. -. -.All active commands inhibited.Replace KCP. -. BUFFER BATTERY VOLTAGE LOW xx -. -.Cyclic. -. -.Error messages / troubleshooting 1 Message text Cause Monitor Effect Remedy EMERGENCY STOP -. -. -. -. -.At “Power off”.KCP defective. it is necessary to wait until the battery has recharged. Malfunction <HPU or RCP> -. -.Within the KRL software. which contains the currently active messages (acknowledgement and status messages). -.

When a message is generated.In program processing.Update the system time with the form “systime”.Check fan. -. ERROR DIGITAL OUTPUTS @P1@ -. -.The point could not be created System time invalid -.Fault in KCP connection.Ramp--down braking.KRL program contains too many nested structures or too many recursive subprogram calls! The C--stack of the R--INT would otherwise overflow.01.Cyclic.00. -. -.Too many messages have been cyclically generated. -PROGRAM STACK OVERFLOW -.All active commands are cancelled and cannot be restarted. -. -. -.Change the structure of the program. -.The system time is invalid after TIME_HW_FAILURE and has been set to the initial value. -. -. MFC overtemperature -.Short circuit at outputs 1--8 or 9--16.01 en 7 of 135 . -.1 6 Message text Cause Monitor Effect Remedy 7 Message text Cause 8 Message text Cause Monitor Effect Remedy 9 Message text Cause Monitor Effect Remedy 10 Message text Cause Monitor Effect Remedy 11 Message text Cause Error messages / troubleshooting (continued) Transmission error <HPU or RCP> -. -.Path--maintaining braking.When the controller is booted.The temperature sensor on the MFC has been triggered. -. -.93 00:00:00. -.Cyclic.02. -.The system time is initialized with 01. Monitor Effect Remedy 12 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. -. Exchange MFC if necessary. -.All active commands inhibited.Maximum braking.Ramp--down braking.Cyclic. TPBASIS -.Check the KCP cable.The KRC has to be booted. TOO MANY MESSAGES -.

%2 unknown -.Error during loading/reading of “ident_vx. -.Jump to the end in load data program.Robot traversing not possible.An unknown device which cannot be supported has been inserted in Interbus -. or increase memory by changing the value “VxWinRAM” in the registry. -. -SOFTPLC: @P1@ ----OUTPUT MONITORING DC BUS VOLTAGE KPS: @P1@ -.The controller is inoperable. KR C1A.o”: memory or file not found.During setup. --.The robot can no longer be traversed -. WRONG/UNKNOWN HARDWARE FOUND -. ---Error while reading “O file” -.Copy the file “ident_vx.DC bus voltage of a KPS overloaded.Carry out setup again or make appropriate changes to hardware configuration.In the write function “w_ident_state”.A channel has failed or more than one enabling switch has been pressed. Servobus DSE--No.DSE ID. -. KR C2) was selected or the hardware configuration is invalid.o” to the directory “/ir_spec/l_ident”. -. -.02.Remove unknown device from servo bus Fehlermeldungen 09.Cyclic. %1 participant No.01 en 8 of 135 . the wrong control hardware (KR C1. -.Error messages / troubleshooting 13 Message text Cause Monitor Effect Remedy 14 Message text Cause Monitor Effect Remedy 15 Message text Cause Monitor Effect Remedy 16 Message text Cause Monitor Effect Remedy 17 Message text Cause Monitor Effect Remedy 18 Message text Cause Monitor Effect Remedy ERROR SAFETY LOOP -.Path--maintaining braking. device ID -. active commands inhibited. -.

-. -.Cyclic.Power module.Check second motor cable and return signal at KPS X114. pin 7 -.Emergency braking triggered by software. -.Cyclic.1 19 Message text Cause Monitor Effect Remedy 20 Message text Cause Monitor Effect Remedy Error messages / troubleshooting (continued) FAILURE OF MOTOR PHASE <axis> -.All active commands inhibited. -. -. EXTERNAL EMERGENCY STOP PRESSED -.Switch on drives. -.Second motor cable is not connected or is incorrectly connected.All active commands inhibited. -. -. -. Second motorcable not connected -. -.Check power module.Rectify and acknowledge the signalled fault.Dynamic braking. intermediate circuit voltage discharged. the return signal is connected to the KPS X114.01 en 9 of 135 . -. DSE.02.Check the Emergency Stop pushbutton. the additional cable contains two wires which are connected to the robot.Path--maintaining braking.Cyclic. pin 7 21 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. -.The robot cannot be traversed -.Emergency Stop button pressed.

-.Replace RDW.Cyclic.Check motor. SYNCHRONIZATION ERROR WITH DSE ** -.Check encoder cable. resolver.Cyclic.All active commands inhibited.Low signal at “$ALARM_STOP” output.The DSE could not be initialized when the controller was booted. -.Low signal at “$ALARM_STOP” output. DSE ** BOOT UP FAILURE -.The resolver/digital converter (RDW) could not be initialized when the controller was booted.All active commands inhibited. -. -.Maximum braking.Cable defective (e.DSE has not triggered software watchdog in the DP--RAM.Replace DSE. -. -.Encoder defective.Replace DSE or MFC. -.Error in the DSE or PC area. loose connection). -. -. -. -. -.At runup. -. -. -.Cyclic.Low signal at “$ALARM_STOP” output. -. -. DSE or cable between RDW and DSE. WATCHDOG INTERPOLATION CYCLE ** -.Possibly replace RDW. -.g.Maximum braking (dynamic braking). MFC or motherboard. -.Maximum braking (dynamic braking).At runup. -.All active commands inhibited.02.RDW defective. Monitor Effect Remedy 103 Message text Cause Monitor Effect Remedy 104 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. -.01 en 10 of 135 .Software error. -. --. ENCODER CABLE FAILURE ** -.Maximum braking. -.DSE has not received feed command value for 1 interpolation cycle although servo--control is active.Software error. -.Error messages / troubleshooting 100 Message text Cause Monitor Effect Remedy 101 Message text Cause Monitor Effect Remedy 102 Message text Cause RDW ** BOOT UP FAILURE -. -.

-.Low signal at “$ALARM_STOP” output.If the controller detects a request for maximum (dynamic) braking.Move measuring tool free. -. -. PERFORM MASTERING ** ! -. -. -.Value assignment “$TURN = 1”.01 en 11 of 135 . CLEAR FAST MEASURING INPUT @P1@ -. absolute or incremental.Open--circuit between RDW and DSE.Softkeys for dial adjustment pressed. -.Position actual value difference after restart too great and sensor mastering not possible because sensor location run has not been performed.Encoder setting.All active commands inhibited.Dynamic braking.02. -. -. -. -.All active commands inhibited. EMERGENCY STOP DUE TO DIAL ADJUSTMENT -. Remedy 106 Message text Cause Monitor Effect Remedy 107 Message text Cause Monitor Effect Remedy 108 Message text Cause Monitor Remedy 109 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. DYNAMIC BRAKING ACTIVE -.All active commands inhibited.During rapid gauging.Transmission malfunctions.RDW ** -. it geneates the status (operational) message “DYNAMIC BRAKING ACTIVE”. -.Perform mastering. which remains active until all axies have stopped. -.Rapid gauging becomes active when measuring tool has been moved free. -. -.During mastering. -. -.Cyclic. -. -.Maximum braking.The status message “DYNAMIC BRAKING ACTIVE” is reset by the controller when the robot is at standstill without a secondary message being generated. -.When “$TURN” instruction is executed.Leave the mastering menu by pressing the Recall key twice. -.At “Power on”.0 signal at “$ALARM_STOP” output -.Rapid gauging has been switched on.1 105 Message text Cause Monitor Effect Error messages / troubleshooting (continued) TRANSMISSION ERROR DSE -.Check shielding of encoder cable.Cyclic. -. -.Check serial interface DSE--RDW.

-. -. -.Coupling of external axes in higher motion profile.SBC interface inoperable.Turn back or remaster the axis concerned. INVALID $TOOL: WORKING ENVELOPE SURVEILLANCE NOT POSSIBLE -.02. DRIVE FREE WORK ENVELOPE %1 -.All active commands inhibited. -. -.Cyclic in the interpolation cycle.Cyclic. -.TCP is inside a working envelope with MODE INSIDE STOP or outside a working envelope with MODE OUTSIDE STOP. -.Cyclic.Re--initialize SBC program. --.Free work envelope. --TEPRO INACTIVE -. -. -.Error messages / troubleshooting 110 Message text Cause Monitor Effect Remedy 111 Message text Cause Monitor Effect Remedy 112 Message text Cause Monitor Effect Remedy 113 Message text Cause Monitor Effect Remedy 114 Message text Cause Monitor Effect Remedy 115 Message text Cause ADVANCED PATH PROFILE NOT POSSIBLE WITH LINKED EXTERNAL AXES -. RANGE OVERFLOW ** ** -.Assign “$TOOL” or switch off working envelope monitoring.Cyclic.SBC no longer sending a signal to KRC. -.Path--maintaining Emergency Stop. -.01 en 12 of 135 .Switch off working envelope or use key on the KCP to override work envelope monitoring.None. -. Monitor Effect Remedy Fehlermeldungen 09. @P1@ VIOLATED -.Path--maintaining braking. move free in T1 mode.During command and program execution.TCP is inside a working envelope with MODE INSIDE STOP or outside a working envelope with MODE OUTSIDE STOP and the working envelope monitoring is overridden. WORKING ENVELOPE NO.“$TOOL” invalid when working envelope monitoring is activated. -.Overflow of the actual value of an endless axis: actual value > +/-90*10E15 increments or --99999000 < $REVO_NUM < 999999000 -.Cyclic. -.

1 116 Message text Cause Monitor Effect Remedy 117 Message text Cause Monitor Effect Remedy 118 Message text Cause Monitor Effect Remedy Error messages / troubleshooting (continued) DSE WATCHDOG COMMAND ** -.Ramp--down braking.Program more movement breaks. and when the value of i*t reaches approx.As soon as the torque command value supplied by the speed controller exceeds 30% of the max. -.PTC thermistor (measuring shunt) in the motor winding has been tripped (motor temperature too high). OVERCURRENT ** -.Eliminate the fault and reset it by pressing the acknowledge key on the KCP. ACKN.DSE has not executed a command.Cyclic. 0. Program processing stopped. -. -.The current of each axis is monitored and the amplifier--internal current protection is tripped if the power consumption is too high. MOTOR BLOCKED ** -. -. MOTOR TEMPERATURE ** -.Ramp--down braking.monitoring). -. -. -. torque command value) * sec] the control is switched off (i*t -. -.Eliminate the fault and reset it by pressing the acknowledge key on the KCP.Cyclic. Program processing stopped. -.02. -.Thermostatic switch on the heat sinks of the servo output stage is tripped due to overheating of the output stage transistors.Check hardware in the DSE. TORQUE EXCEEDED AXIS @P1@ HEAT SINK TEMPERATURE ** -.75 [(torque command value / max. MFC area.Eliminate the fault and reset it by pressing the acknowledge key on the KCP.Check that the axis is moving freely. integration is started. -.Cyclic.Ramp--down braking. -.Clean the heat sinks. -. -. 119 Message text Cause Monitor Effect Remedy 120 Message text Cause Monitor Effect Remedy 121 Message text Cause Monitor Effect Fehlermeldungen 09.Ramp--down braking.Cyclic.Ramp--down braking. Program processing stopped. torque command value. -. Program processing stopped. -.01 en 13 of 135 .

Ramp--down braking.With the PM6. -. a defective power module. -. -.Cyclic.Cyclic in the position controller. The axis does not follow the command value. -. REGULATOR LIMIT EXCEEDED <axis number> -. Possible causes are a defective ballast (feedback) resistor or ballast fuse. all axes are supplied from one brake driver.The brake cable is monitored for short--circuit. overload and cable break. The value for the maximum permissible limit current is specified in the machine data by “$CURR_MON[]”. CURRENT LIMIT OF THE MOTOR CABLE <string1> AFTER <string2> s EXCEEDED 100% -. -. brake ramp too steep etc.Cyclic. -.The internal operating voltage (+15V) of the servo output stage is monitored. active commands inhibited. -.Ramp--down braking. -. -.Following error too great. -. BRAKE FAULT ** -.Eliminate the fault and reset it by pressing the acknowledge key on the KCP.Cyclic.The intermediate--circuit voltage is too high.01 en 14 of 135 .Eliminate the fault and reset it by pressing the acknowledge key on the KCP.Auxiliary (external) axis is operated as an asynchronous axis. UNDERVOLTAGE <axis number> -.Eliminate the fault and reset it by pressing the acknowledge key on the KCP. <axis number> DETACHED EXTERNAL AXIS -.Cyclic. -.Reduce load. Program processing stopped. Program processing stopped.Check the axis. -. i2--t MONITORING. Monitor Effect Remedy 123 Meldungstext Cause Monitor Effect Remedy 124 Message text Cause Monitor Effect Remedy 125 Message text Cause Monitor Effect Remedy 126 Message text Cause Monitor Effect Remedy 127 Message text Cause Monitor Effect Fehlermeldungen 09.Ramp--down braking.Maximum braking. Program processing stopped.Axis overloaded.Cyclic.Ramp--down braking. -.02. -. -. OVERVOLTAGE <power module number> -. Undervoltage results in power failure. -.Error messages / troubleshooting Remedy 122 Message text Cause -. -.Eliminate the fault and reset it by pressing the acknowledge key on the KCP.

-. -. -.Robot remains motionless.motor cables of two axes interchanged.Intermediate circuit cannot be loaded. --.Rectify the corresponding error in the control loop. active commands inhibited.. BUS VOLTAGE CHARGING UNIT IS DEFECTIVE <KPS number> -. defective brake. KPS. -.Cyclic.Cyclic.Fault in control loop: -.1 Remedy 128 Message text Cause Monitor Effect Remedy 129 Message text Cause Monitor Effect Remedy 130 Message text Cause Monitor Effect Remedy 131 Message text Cause Monitor Effect Remedy 132 Message text Cause Monitor Effect Remedy 133 Message text Cause Error messages / troubleshooting (continued) SOFTWARE LIMIT SWITCH OF DETACHED EXTERNAL AXIS <motion direction> <axis number> -. -. MONITORING OF THE ACTUAL VELOCITY @P1@ -. --.The K1 contact is welded. or neg.Axis overloaded.01 en 15 of 135 . BRAKE DEFECTIVE <axis .error in the axis assignment.> -.Exchange contactor. -.Exchange KPS. -.power module defective. -.02. -.Exchange motor.Ramp--down braking.Wear on brakes.Asynchronous axis has tripped the pos. -. i2--t MONITORING.resolver unmastered. -. software limit switch.The energy supply system is not interrupted.. -.Reduce load. -. Monitor Effect Remedy Fehlermeldungen 09. --. The value for the maximum permissible limit current is specified in the machine data by “$CURR_MON[]”.The software limit switch is checked cyclically if the axis is operated as an asynchronous axis.The optocoupler on the KPS is not registering current flow. CURRENT LIMIT OF THE MOTOR CABLE <string1> AFTER <string2> s EXCEEDED 95% -. K1 CONTACT FAIL TO OPEN <KPS number> -.Axis moves in an uncontrolled manner.

... ----.Exchange contactor..... FIRMWARE ERROR ----DN CH . ----DN CH ...... KPS.. BUS ERROR .. HARDWARE ERROR ----. DN CH . WATCHDOG ERROR ----- Fehlermeldungen 09.. WRONG FASTWRITE MACID IN INI FILE ----DN CH . KPS. MODULE ERROR . DN CH .01 en 16 of 135 .Exchange contactor. ----DN CH . SLAVE ERROR .Error messages / troubleshooting 134 Message text Cause Monitor Effect Remedy 135 Message text Cause Monitor Effect Remedy 136 Message text Cause Monitor Effect Remedy 137 Message text Cause Monitor Effect Remedy 138 Message text Cause Monitor Effect Remedy 139 Message text Cause Monitor Effect Remedy 140 Message text Cause Monitor Effect Remedy DN CH .....02..

-... ----DN CH . the drive servo is deactivated when the maximum value of 100% is exceeded -. the robot must be brought to a standstill..02.If necessary.Free axis work envelope Monitor Effect Remedy 146 Message text Cause Monitor Effect Remedy 147 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.01 en 17 of 135 .The robot is stopped in a controlled manner.. CONFIGURATION MODE ENABLED ----Ixt servo drive %1 exceed value %2 %% -.Cyclic.Use stronger robot Wrong amplifier %1 -..Cyclic.. USER ERROR .Traversing not possible -. otherwise.1 141 Message text Cause Monitor Effect Remedy 142 Message text Cause Monitor Effect Remedy 143 Message text Cause Error messages / troubleshooting (continued) DN CH .Drive module of a slave axis does not correspond to drive module on the associated master axis -.The robot is inside a working envelope with MODE INSIDE STOP or outside a working envelope with MODE INSIDE STOP and the working envelope monitoring is overridden.Verify load data -. exchange drive module for one corresponding to the master axis and reboot controller DRIVE FREE AXIS WORK ENVELOPE NO.Cyclic. reduce the load cycle (wait time) -. %1 -.If the defined Ixt monitoring warning value of a drive servo is exceeded.Shut down controller. -. -. the warning bit on the drive servo -. --.

An I/O reload command has been transmitted via the KCP. -.Check KCP.Emergency Stop is active.The robot is inside a working envelope with MODE INSIDE STOP or outside a working envelope with MODE OUTSIDE STOP -. the normal operating state is automatically restored. -.Path--maintaining braking. --. 155 Message text Cause Monitor Effect Remedy 200 Message text Cause Monitor Effect Remedy 201 Message text Cause Monitor Effect Remedy 202 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.Switch off axis working envelope or override work envelope monitoring in T1 mode and move free <axis> DECOUPLED AUXILIARY AXIS ----DRIVES CONTACTOR OFF -. safety logic.All active commands inhibited. %1 violated -.All active commands inhibited. -. -. -. -. check DSE.01 en 18 of 135 . -.After successful reconfiguration.The safety (deadman) switch has been released during an active function (motion of an axis) in mode T1 or T2. intermediate--circuit voltage discharged. -. drives circuit is interrupted.Cyclic.Switch drives on.Check power module.02.Cyclic.Error messages / troubleshooting 148 Message text Cause Monitor Effect Remedy Axis work envelope No.Power module. KCP DEADMAN SWITCH -. all active commands inhibited -.Maximum braking.Path--maintaining braking. I/O RECONFIGURATION -. -. -. -.Maximum braking. -.Cyclic. -.Press safety switch.

1 203 Message text Cause Monitor Effect Remedy 204 Message text Cause Monitor Effect Remedy 205 Message text Cause Error messages / troubleshooting (continued) GENERAL MOTION ENABLE -.Low signal at $MOVE_ENABLE input.The parameters in the servo file are incorrect.Check the input.Operator safety has been tripped in the AUTOMATIC or EXTERNAL mode (input at the peripheral interface).Cyclic.Emergency Stop button pressed.Check the input.Maximum braking.Emergency braking triggered by software.Close the safety gate.The hardware limit switch has been tripped. -. SOFTWARE LIMIT SWITCH <motion direction> <axis number> -.Ramp--down braking.Correct the parameters. SERVO PARAMETERS <axis> LINE <integer> INCORRECT -. -. Monitor Effect Remedy 206 Message text Cause Monitor Effect Remedy 207 Message text Cause Monitor Effect Remedy 208 Message text Cause Monitor Fehlermeldungen 09. -. -. --. -. -.02.01 en 19 of 135 .Move the axis in the opposite direction (no change to the robot--specific coordinate system takes place).All active commands inhibited. -. -. -.Movement in the direction indicated is inhibited.Maximum braking. -. -. -. -.All active commands inhibited.Cyclic.Cyclic. HARDWARE LIMIT SWITCH / +24V MISSING -. -. -.Ramp--down braking. (The message is effective only after “Robot synchronized”). -. -. FAILURE IN ESC SAFETY LOOP -. OPERATOR SAFETY / GATE OPEN -.While loading machine data.Cyclic.Switch to mode T1 or T2 (in these modes the robot can be moved when the signal is low).Cyclic. -.The software limit switch of the axis indicated has been tripped in the direction indicated. -. -.Shunt out the hardware limit switch and move axis off limit switch.

Rectify and acknowledge the signalled fault.Acknowledge the message “Passive Stop”.01 en 20 of 135 . -. -.Cyclic.All active commands inhibited. -.Stop from a passive operator control unit (the message is displayed only if an active process has been stopped). STOP KEY <RCP or teach pendant> -. -.All active commands inhibited. -. PASSIVE STOP <RCP or teach pendant> -. -. -.The start key or a traversing key has been actuated while the stop key is depressed.Check the Emergency Stop pushbutton.02.Cyclic. -. -.Ramp--down braking. DRIVES OFF TIMEOUT DURING EMERGENCY STOP OCCURRED -----ERROR WRITING TO PERCEPTRON -----ERROR WRITING TO BOSCH -----COMMON DRIVES ERROR <axis number> --- Fehlermeldungen 09.All active commands inhibited.Check the stop key.Path--maintaining braking. -.Error messages / troubleshooting Effect Remedy 209 Message text Cause Monitor Effect Remedy 210 Message text Cause Monitor Effect Remedy 211 Message text Cause Monitor Effect Remedy 212 Message text Cause Monitor Effect Remedy 213 Message text Cause Monitor Effect Remedy 214 Message text Cause Monitor -. -.Ramp--down braking. CHECK SAFETY LOGIC.

-. Change the site of installation. -.Power module ballast (feedback) switch defective. EMERGENCY STOP FROM KRC ( ALARM STOP ) -.: ..The cabinet temperature has risen above the permissible limit value. -.Cyclic. -. another serious error has occurred. Fehlermeldungen 09.Brake ramp in the program too steep.01 en 21 of 135 ..1 Effect Remedy 215 Message text Cause Monitor Effect Remedy 216 Message text Cause Monitor Effect Remedy 217 Message text Cause Monitor Effect Remedy 218 Message text Cause Monitor Effect Remedy 219 Message text Cause Monitor Effect Remedy ---- Error messages / troubleshooting (continued) COMMON DRIVES ERROR <axis number> -----DRIVES ERROR .Ramp--down braking.Cyclic.Ramp--down braking.Maximum braking.The Start key or a direction key was activated while the Stop key was pressed.Eliminate and acknowledge the signalled fault (serious error).Ramp--down braking. All active commands inhibited. Check the fans. CABINET TEMPERATURE TOO HIGH ** -. -.The energy of the axis to be braked was too high. -. FEEDBACK SWITCH TOO LONG ON ** -. -. -. Clean the heat exchanger..All active commands inhibited. ----Reduce the external temperature. -.An alarm stop has been initiated by the KRL system software.Cyclic. -. -.Check Stop key. NO. -.02. -..

saving all data on HDD. MODE NOT ALLOWED -.Check the mains voltage. Monitor Effect Remedy 221 Message text Cause Monitor Effect Remedy 222 Message text Cause Monitor Effect Remedy 223 Message text Cause Monitor Effect Remedy 224 Message text Cause Monitor Effect Remedy 225 Message text Cause Monitor Effect Remedy PARITY ERROR POWERMODULE ** -.Too much interference at the power module interface. POWER FAIL -. The message “DRIVES NOT READY” is then displayed.Check drives circuit for faults.Error messages / troubleshooting 220 Message text Cause DRIVES CONTACTOR OFF. -. Caution: the intermediate circuit is still charged! The intermediate circuit is discharged after about 2 minutes.02.Ramp--down braking. -.A parity error has occurred more than five times in succession when reading the power module register.Connect the axis correctly (high or low power).At runup. or power module defective.The axis is incorrectly plugged into the power module or not connected at all. -. -. -.Switch drives on again.The cabinet voltage has been switched off. -. -.E2 keyswitch in AUTO mode. replace power module.Path--maintaining Emergency Stop.Cyclic. Check cable. -. -. buffering of the mastering data. -. POWER MODULE AXIS ** NOT OR WRONGLY PLUGGED -.Cyclic. The energy in the intermediate circuit is sufficient to ensure a path--maintaining stop. check shielding.Active commands inhibited. MOTOR CABLE ** ----- Fehlermeldungen 09. -.01 en 22 of 135 . INTERMEDIATE CIRCUIT LOADED !!! -.The drives contactor drops out.Path--maintaining Emergency Stop -. the mains voltage is interrupted.

01 en 23 of 135 .1 226 Message text Cause Monitor Effect Remedy 227 Message text Cause Monitor Effect Remedy 228 Message text Cause Monitor Effect Remedy 229 Message text Cause Monitor Effect Remedy 230 Message text Cause Monitor Effect Remedy 231 Message text Cause Monitor Effect Remedy 232 Message text Cause Monitor Effect Remedy Error messages / troubleshooting (continued) FAILURE OF HEAT SINK TEMPERATURE SENSOR ** ----FAILURE OF CABINET INTERIOR TEMPERATURE SENSOR <AXIS NUMBER> ----DRIVES PARAMETER DATA ** INVALID ----FAILURE OF MOTOR TEMPERATURE SENSOR <AXIS NUMBER> ----WRONG DRIVES PARAMETER <AXIS NUMBER> ** ----ERROR SYNC. INPUT DRIVE <AXIS> ----SYNCHRONISATION ERROR DRIVE <AXIS> ----- Fehlermeldungen 09.02.

Error messages / troubleshooting 233 Message text Cause Monitor Effect Remedy 234 Message text Cause Monitor Effect Remedy 235 Message text Cause Monitor Effect Remedy 236 Message text Cause Monitor Effect Remedy 237 Message text Cause Monitor Effect Remedy 238 Message text Cause Monitor Effect Remedy 239 Message text Cause Monitor Effect Remedy <AXIS> WITHOUT POWER ----COMMON DRIVES ERROR <AXIS NUMBER> ----COMMON DRIVES ERROR <AXIS NUMBER> ----COMMON DRIVES ERROR <AXIS NUMBER> ----COMMON DRIVES ERROR <AXIS NUMBER> ----COMMON DRIVES ERROR <AXIS NUMBER> ----LOADING ** SERVO PARAMETERS ** -.02.Loading drive servo parameters ---- Fehlermeldungen 09.01 en 24 of 135 .

If communication with the KPS is faulty. SOFTWARE OF DSE ** DOES NOT FIT THE HARDWARE OR DEFECTIVE DSE -. --SERVO BUS DISTURBANCE DSE **.Buffering is activated via the servo bus on the KPS.The drive servo parameters have been loaded. the buffering cannot be activated and switch--off takes place immediately. NO BUFFERING AND AUTOMATIC DATA STORAGE POSSIBLE -.1 240 Message text Cause Monitor Effect Remedy 241 Message text Cause Monitor Effect Remedy 242 Message text Cause Monitor Effect Remedy 243 Message text Cause Monitor Effect Remedy 244 Message text Cause Monitor Effect Remedy 245 Message text Cause Error messages / troubleshooting (continued) PLEASE SWITCH OFF THE CABINET -. ---. but will not take effect until the next reboot.Configure the correct DSE software. Defective bus module.DSE software and kernel system do not work together.01 en 25 of 135 . ** FIRMWARE RELEASE ** -.The wrong software was configured for the DSE DSEAT and KR C1A/KR C2.Upgrade drive servo firmware or servo files. ---.Upgrade drive servo firmware or servo files.Defective bus cable.Configure the correct software. Monitor Effect Remedy 246 Message text Cause Fehlermeldungen 09.The servo file configuration contains parameters for the drive servos which are not supported by the firmware. SERVO BUS DISTURBANCE DSE ** -. ---.Rectify fault. ---SERVOFILE CONFIGURATION ** DOES NOT FIT THE ** RELEASE ** -. ---. ** SOFTWARE VERSION INCORRECT -.Information about the firmware release of the axis in question.02. -. Defective bus driver.

Error messages / troubleshooting Monitor Effect Remedy 247 Message text Cause Monitor Effect Remedy 248 Message text Cause Monitor Effect Remedy 249 Message text Cause Monitor Effect Remedy 250 Message text Cause Monitor Effect Remedy 251 Message text Cause Monitor ---- Re--establish communication with the KPS. SERVO BUS DISTURBANCE ** ----SERVO BUS DISTURBANCE ** ----$MOVE_ENABLE INPUT (1025) NOT ALLOWED ----INCORRECT SERVO PARAMETER <AXIS> ----<variable> OVERLAPPING OUTPUT SIGNALS -- Interface unit outputs assigned twice. -- At “Power On”. After editing the machine data. After loading the machine data. -- No RC Ready. -- Value assignment. <variable> INTERFACE--I/O ASSIGNMENT ERROR <correct index> -- Double assignment of interface controller output. -- At “Power on”. -- After editing the machine data. -- After loading the machine data. -- No RC ready. -- Correct the indicated machine datum.

Effect Remedy 252 Message text Cause Monitor

Effect Remedy

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1 253 Message text Cause

Error messages / troubleshooting (continued)

ERRONEOUS DSE AXIS ASSIGNMENT <axis number> -- Machine datum $IFACE_DRV[6] has been assigned twice to a drive interface, or a non--existent interface has been addressed. -- KTL encoders have been entered in IFACE_DRV[6] without connecting APC interfaces, or ADAR axes have been entered in $ADAR_AXIS without connecting ADAR interfaces. -- At “Power on”. -- After editing the machine data. -- After loading the machine data. -- No RC ready. -- Correct the machine datum. DSE FILE <program name> NOT AVAILABLE -- The DSE program entered in the RD_HWINF.INI file does not exist.

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Effect Remedy 254 Message text Cause Monitor Effect Remedy 255 Message text Cause

-- Enter or alter the DSE program. <$ variable> INVALID VALUE -- The machine data loader has detected that a variable contains an incorrect value: a) Limit monitoring tripped. b) Machine data not logically coherent. -- At “Power on”. -- After editing the machine data. -- After loading the machine data. -- No RC ready. -- Correct the value assignment. CHECK MACHINE DATA ! -- It cannot be assured that the machine data loaded during a cold start are valid for the connected robot. -- Generated at cold start. -- No RC ready. -- Controller is in its initial state, i.e. tasks dependent on machine data are not generated. -- Either edit or copy the machine data or option data file.

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Effect Remedy 256 Message text Cause Monitor Effect

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Error messages / troubleshooting 257 Message text Cause ERRONEOUS USER DATA -- The user data loader has detected that a variable contains an incorrect value: a) Limit monitoring tripped. b) Data not logically coherent. -- At “POWER ON”. -- After editing the user data. -- After loading the user data (DEFDAT $CUSTOM PUBLIC). -- No RC ready. -- Correct value assignment of the indicated variable. ERRONEOUS OPTION DATA -- The option data loader has detected that a variable contains an incorrect value: a) Limit monitoring tripped. b) Data not logically coherent. -- At “POWER ON”. -- After editing the option data. -- After loading the option data (DEFDAT $OPTION PUBLIC). -- No RC ready. -- Correct value assignment of the indicated variable. ** MACHINE DATA LOADER ABORTED -- The errors detected by the machine data loader exceed the capacity of the message buffer. -- At “POWER ON”. -- After editing the machine data. -- After loading the machine data. -- No RC ready. -- Correct value assignment of the indicated variable. USER DATA LOADER ABORTED -- The errors detected by the user data loader exceed the capacity of the message buffer. a) Limit monitoring tripped. b) Data not logically coherent. -- At “POWER ON”. -- After editing the user data. -- After loading the user data. -- No RC ready. -- Correct value assignment of the indicated variable.

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Effect Remedy 258 Message text Cause

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Effect Remedy 259 Message text Cause Monitor

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After loading the correction data. -.After editing the machine data. -. ERRONEOUS CORRECTION DATA -. Fehlermeldungen 09.Correct value assignment of the indicated variable. -. -.At “POWER ON”. after loading the correction data (DEFDAT $ROBCOR). ERRONEOUS <path> MACHINE DATA -. -. a) Limit monitoring tripped.No RC ready. Monitor Effect Remedy 262 Message text Cause Monitor Effect 263 Message text Cause Monitor Effect Remedy 264 Message text Cause Monitor Effect Remedy 265 Message text Cause Monitor Effect Remedy -. b) Data not logically coherent.The errors detected by the correction data loader exceed the capacity of the message buffer. -. -. -.At “POWER ON”.At “POWER ON”.Enter the RDW program correctly in the INI file. RDW FILE <program name> NOT AVAILABLE -.1 261 Message text Cause Error messages / troubleshooting (continued) OPTION DATA LOADER ABORTED -. -. -.After loading the machine data.No RC ready.01 en 29 of 135 . -. -.After loading the option data.The RDW program entered in the RD_HWINF. a) Limit monitoring tripped. <path> CORRECTION DATA LOADER ABORTED -.The errors detected by the option data loader exceed the capacity of the message buffer. b) Data not logically coherent.No RC ready. -.The correction data loader has detected a variable with an illegal value.INI file does not exist.Correct value assignment of the indicated variable.Correct value assignment of the indicated variable.After editing the correction data. b) Data not logically coherent. a) Limit monitoring tripped. -. -.No RC ready.02. -. -.POWER ON after editing the correction data.After editing the option data.The machine data loader has detected a variable with an illegal value.

-. -.Troubleshooting in the DSE and power module area. WATCHDOG POWER MODULE <power module number> -. replace MFC or DSE. -. -.The ballast (feedback) resistor has overheated.Active commands inhibited. -.Replace DSE or MFC.125ms. MEMORY TEST ERROR DSE <DSE number 1--4> -.Cyclic.01 en 30 of 135 .Error messages / troubleshooting 266 Message text Cause Monitor Effect Remedy 267 Message text Cause Monitor Effect Remedy 268 Message text Cause Monitor Effect Remedy 269 Message text Cause Monitor Effect Remedy 270 Message text Cause Monitor Effect Remedy 271 Message text Cause Monitor Effect Remedy OVERTEMPERATURE FEEDBACK RESISTOR <power module no.At runup.When loading the robot machine data. reduce the acceleration.The bit on the MFC indicating whether a DSE is inserted is not set although axes are allocated to this DSE.Double assignment of $PMCHANNEL or incorrect channel. -.Machine data loader aborted. -. -. -.Runup.> OR FAN -. -. DSE <DSE number 1--4> NOT AVAILABLE -.The memory test on the DP--RAM of the DSE detected an error. -. ** DOES NOT CORRESPOND TO CALIBRATION FILE ** ----- Fehlermeldungen 09. -. ROBOT NO.Ramp--down braking.Cyclic.Active commands inhibited. -.Dynamic braking. -.Insert DSE.Insert wait times into the program. In the motion program the robot is cyclically accelerated and decelerated without a break. INCORRECT POWER MODULE SETTING <axis> -.02. The watchdog is triggered by the DSE every 0.Correct $PMCHANNEL.The watchdog on the power module has dropped out. -.

Run--up.Only a message that the robot is moving on the path in EXTERN. -.The message is deleted as soon as BCO is reached.01 en 31 of 135 . -.02. Monitor Effect Remedy Fehlermeldungen 09. --.1 272 Message text Cause Monitor Effect Remedy 273 Message text Cause Monitor Effect Remedy 274 Message text Cause Monitor Effect Remedy 275 Message text Cause Monitor Effect Remedy 276 Message text Cause Monitor Effect Remedy 277 Message text Cause Error messages / troubleshooting (continued) NO ROBOT NUMBER PROGRAMMED ----MORE THAN ONE CALIBRATION FILE AVAILABLE ----Check robot number ----SET ROBOT NUMBER – PROGRAM ROBOT NAME ----WRONG MACHINE DATA FOR THIS ROBOT TYPE -. -. --. Robot not on path.Reprogram the robot type. so that the robot automatically moves on path at process velocity.The machine data do not correspond to the robot type stored in the robot base.$MOT_STOP_OPT = TRUE. AUTOMATIC REPOSITIONING -.Load the correct machine data. $MOT_STOP (flag that the robot is not on path) has been set by the user (via the GUI) to FALSE. In EXTERN.

Maximum braking.Change power module.Exchange accu.All active commands inhibited.02. Feedback switch too long on <KPS number> while charging ---. -. -. -.Cold boot. -.Maximum braking. The accu is not charged correctly anymore.Correct program. -. Accu voltage is under 19V.Eventually loss of reference. -. Message comes directly from the KPS. --. Check accumulator <kps number> ------.All active commands inhibited. -.Check the hardware. -. Monitor Effect Remedy Fehlermeldungen 09.Check the hardware.Active commands inhibited. -.Error messages / troubleshooting 278 Message text Cause Monitor Effect Remedy 279 Message text Cause Monitor Effect Remedy 280 Message text Cause Monitor Effect Remedy 281 Message text Cause Error Power Relay K1 -. The accu is to old or broken. -.01 en 32 of 135 .All active commands inhibited. Overvoltage <kps number> while charging ---.The contact in drive contactor K1 is stuck.Path--maintaining braking.

02.Exchange accu.Cold boot.Check the hardware for faults.Active commands inhibited. -.Intermediate circuit could not be charged correctly. Accu--voltage at <kps number> below <voltage level> during last buffering -.All active commands inhibited. -.Restart the controller. --.Eventually loss of reference.Brake error --.Exchange KPS. --.Path--maintaining braking. RIO configuration change: controller reboot necessary -.The accu is not charged correctly anymore. -.1 282 Message text Cause Monitor Effect Remedy Error messages / troubleshooting (continued) Undervoltage <kps number> while charging -. Brake error <KPS number> channel <brake channel> -.Message comes directly from the KPS.In order for the RIO configuration change to take effect.Check supply voltages of KPS (especially three--phase current) if there are interferences.The accu voltage was too low at the last switch off to buffer the shutdown.01 en 33 of 135 .All active commands inhibited. 283 Message text Cause Monitor Effect Remedy 284 Message text Cause Monitor Effect Remedy 285 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. -. -. -. -. -. ---.Maximum braking. it is necessary to restart the system.The accu is to old or broken. -. -. -.

introduce wait times Overtemperature fan %1 -.Check PC fan and exchange if necessary PC fan error -. Monitor Effect Remedy 289 Message text Cause Monitor Effect Remedy 300 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. -.The mode selector switch is set to an illegal position.The feedback resistor has got too hot -.The robot is stopped and can no longer be traversed -.None -. The status (operational) message is then reset.Maximum braking.Check PC fan immediately and exchange if necessary Over temperature feedback resistor %1 -.The robot is cyclically accelerated and braked in the motion program without a pause -. -.02.Exchange the fan in question OPERATING MODE CHANGE -.Reduce acceleration.One of the two fans in the cabinet is defective -.Cyclic.In command processing.Cyclic. -.PC controller cooling is no longer sufficient. -.All active commands inhibited. -. but could soon become critical -.Cyclic.01 en 34 of 135 .Error messages / troubleshooting 286 Message text Cause Monitor Effect Remedy 287 Message text Cause Monitor Effect Remedy 288 Message text Cause Warning: PC fan below nominal speed -.Cyclic. -. -.Ramp--down braking -. -. continued operation could cause damage to components -.Set mode selector switch to a permissible position.PC controller cooling is still sufficient.Ramp--down braking -.

-. -.01 en 35 of 135 .Program processing not possible. -. -. i.Wait until the linking procedure is finished. -. when writing to analog outputs. -. -.ERR FILES EXIST --- Monitor Effect Remedy 304 Message text Cause Monitor Effect Remedy 305 Message text Cause Monitor Effect Remedy 306 Message text Cause Monitor Effect Remedy 307 Message text Cause Monitor Fehlermeldungen 09.The message remains set until the value of the analog output concerned lies within the standardized range and therefore no limitation occurs.Command processing (RUN command).New selection requires deselection/linking. -.e. ERRORS AT COMPLETE COMPILATION -.In command processing. until the message disappears.Startup (setup) menu selected.MOVEMENT WILL BE HANDLED AS TEST ----*<command name> ACTIVE -.None.02. -.None. COMPLETE COMPILATION ACTIVE ----SELECTION ACTIVE -. LIMIT <signal name> -.The value for the corresponding analog output lies outside the standard range and has therefore been limited to the maximum or minimum value.Wait until OBJH is free again.1 301 Message text Cause Monitor Effect Remedy 302 Message text Cause Monitor Effect Remedy 303 Message text Cause Error messages / troubleshooting (continued) STOP WHILE MEASUREMENT ACTIVE -.Cyclic.None.OBJH command is being executed.In command processing. -. -. -.Quit the setup menu using the ESC key. START UP -.

-.Cyclic. depending on the indicated parameter.Axes 4 and 5 have palletizing mode ( $PAL_MODE = TRUE ). i.Error messages / troubleshooting Effect Remedy 308 Message text Cause Monitor Effect Remedy 309 Message text Cause Monitor Effect Remedy 1000 Message text Cause Monitor Effect Remedy 1001 Message text Cause Monitor Effect Remedy 1002 Message text Cause Monitor Effect Remedy 1003 Message text Cause Monitor Effect REBOOT AFTER POWERFAIL -.Low signal at “$ALARM_STOP” output. ---LEVEL OVERFLOW <IP. -.02.Increase basic cycle.e. -. Remedy Fehlermeldungen 09. A4=0 degrees and A5=90 degrees.None.PCP> -. -.Move axes into position in the specified direction. but not the right position.All active commands inhibited.Internal.Maximum braking. --PALLETIZING MODE: MOVE AXIS <axis> <motion direction> INTO POSITION -. the message data have not been correctly set.01 en 36 of 135 .Cyclic. -. -.Controller is turned on again or voltage has returned. BLOCK SELECT : BCO REACHING IN T1/T2 REQUIRED ----USER--MEMORY DELETED (**) ----INTERNAL ERROR (DEFAULT MESSAGE) -. -. -.Increase interpolation cycle or position control cycle.Computing time overload of CPU. -.

-. -. NO MORE USER MEMORY AVAILABLE -.Delete objects that are not required.In command processing.In command processing.1 1004 Message text Cause Monitor Effect Remedy 1005 Message text Cause Error messages / troubleshooting (continued) CAN CONTROLLER @P1@ FAILURE ----NO MORE SYSTEM MEMORY AVAILABLE -.Command is not executed.The selected channel cannot be assigned. -.) -.There is not enough memory available for the command “SHOW VAR” or “SET INFO” to be executed (the control requires a certain amount of memory for these commands. -. -.In form processing.Save and delete programs that are not required.No more memory is available for copying objects.Controller is booted for the first time (not reboot after power failure). -.$ABS_ACCUR = FALSE and $ABS_CONVERT = TRUE conversion impossible without model. then $ABS_ACCUR must also be TRUE! ---. If $ABS_CONVERT is TRUE. CONTROLLER BOOTED -. -.Command is not executed.Free channel at another point (should occur only with printer channel). ---POINT CONVERSION IMPOSSIBLE WITHOUT ABSOLUTE ACCURACY MODEL -. -. dependent on the length of the output value.Command is not executed. CHANNEL <channel name> CANNOT BE ASSIGNED -.01 en 37 of 135 .02.$ABS_ACCUR = TRUE or $ABS_CONVERT = FALSE Monitor Effect Remedy 1006 Message text Cause Monitor Effect Remedy 1007 Message text Cause Monitor Effect Remedy 1008 Message text Cause Monitor Effect Remedy 1009 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.

DAT. -. OBJH ERROR: <localization> -. --.In command processing.Inform service department. <status>) -. boot controller.Inform service department. -. -.In command processing. -.02. -.Software.RC Ready reset during processing. -. -. -. -.When loading $OPTION.Load file.Internal test of KRC. --. boot controller.Load file.Syntax error when interpreting the parameter file (absolutely accurate robot). -.Inform service department.Parameter file for absolutely accurate robot is not available. -. SYNTAX ERROR IN FILE <filename> IN ROW <contents of the line> -. GENERAL ERROR: <error no.01 en 38 of 135 . Fehlermeldungen 09.Software.None. -. -.Internal error in the OBJH.Unknown feedback from a function in the object.Error messages / troubleshooting 1010 Message text Cause Monitor Effect Remedy 1011 Message text Cause Monitor Effect Remedy 1012 Message text Cause Monitor Effect Remedy 1013 Message text Cause Monitor Effect Remedy 1014 Message text Cause Monitor Effect Remedy 1015 Message text Cause Monitor Effect Remedy INTERNAL ERROR <system error number> (<task ID>.DAT or defining $LOAD or $LOAD_A3. -. UNKNOWN COMPILER ERROR: <error class> -.In command processing.None.> <function> <additional info> -.Compiler software has detected an error.None. FILE <file name> NOT FOUND -. -.When loading $OPTION.Acknowledge message. -.Within the KRC.

-. !!!Caution!!! Moving the robot off the limit switch correctly is the operator’s responsibility. -.$ABS_CONVERT = TRUE and no T1 mode Point conversion must be carried out carefully.01 en 39 of 135 . ABSOLUTE ACCURACY ROBOT: POINT CONVERSION ONLY POSSIBLE IN T1 MODE -. --.In object processing.1 1016 Message text Cause Monitor Effect Remedy Error messages / troubleshooting (continued) HARDWARE LIMIT--SWITCH / +24V MISSING -.Enter correct $ROBROOT or $PAL_MODE = FALSE.Write function. -. -. since no axis--specific interlocks are set.Maximum braking.The interface module monitoring function has detected that a common input for hardware limit switches has been set.Ramp--down braking.Palletizing is only possible with floor and ceiling--mounted robots. palletizing is not possible. Active commands inhibited.DAT to FALSE or select T1 mode.Move robot off limit switch and acknowledge message. The action was not correctly carried out.Internal software error. -. 1017 Message text Cause Monitor Effect Remedy 1018 Message text Cause Monitor Effect Remedy 1019 Message text Cause Monitor Effect Remedy 1020 Message text Cause Monitor Effect Remedy 1021 Message text Cause Monitor Effect Remedy INTERNAL ERROR WHEN ACCESSING <object name> -. <return status>) -.02. INTERNAL ERROR <error number> (<task ID>. ERROR OCCURRED WHILE READING IDF FILE ----PALLETIZING MODE NOT POSSIBLE WITH THIS ROBOT TYPE -.Set variable $ABS_CONVERT in $CUSTOM. Fehlermeldungen 09. If $ROBROOT A or B <> 0.Cyclic in interface module monitoring. -.An internal error has occurred when accessing a file (acknowledgement message already set).The roboter is stopped with maximum braking and the active commands are inhibited until this message has been acknowledged. -. -.

02.Field bus error is still present. -. -.Check I/O components.Check the corresponding I/O hardware.Maximum braking. -. INPUT BUFFER OVERFLOW ** ----ERROR DURING READING OF INI FILE ** ** -.Maximum braking.Error messages / troubleshooting 1022 Message text Cause COMMUNICATION <operator control device> – KRC INTERRUPTED -.In command processing. -.Correct INI file. ERROR DIGITAL INPUT READING PORT: ** Monitor Effect Remedy 1023 Message text Cause Monitor Effect Remedy 1024 Message text Cause Monitor Effect Remedy 1025 Message text Cause Monitor Effect Remedy 1026 Message text Cause Monitor Effect Remedy 1027 Message text Cause Monitor Effect Remedy 1028 Message text Cause Monitor Effect Remedy -.Communication between the active operator control unit and the KRC has been interrupted while a motion was being executed in the test mode.ini.In system runup.Error in INI file. -. -.Check io_int.01 en 40 of 135 . ERROR WRITE DIGITAL OUTPUTS PORT: ** -.Bus I/O still not available. CONFIGURATION ERROR I/O DRIVER <driver name> -.Error in the INI file. ERROR RESTART I/O <bus/driver name> -.All commands are inhibited.At system start. -. -. -. Fehlermeldungen 09. -.Re--establish the connection. -.Eliminate field bus error (hardware).

-. SEN: <string> ** ** -.1 1029 Message text Cause Monitor Effect Remedy 1030 Message text Cause Monitor Effect Remedy 1031 Message text Cause Monitor Effect Remedy 1032 Message text Cause Monitor Effect Remedy 1033 Message text Cause Monitor Effect Remedy 1034 Message text Cause Monitor Effect Remedy 1035 Message text Cause Monitor Effect Remedy SEN: ** SEN: <string> ** ** SEN: <string> ** ** Error messages / troubleshooting (continued) -.Sensor error that requires ramp--down braking. ERROR ON READING.Hint message of a sensor that does not require a stop. DRIVER: ** ** ----ERROR ON WRITING.02. -.Depends on sensor concerned. -. ORIENTATION ERROR ----- Fehlermeldungen 09.Sensor error that requires ramp--down braking.Sensor error that requires ramp--down braking. DRIVER: ** ** ----SINGULARITY--LESS MOTION: MAX.01 en 41 of 135 .

Forward motion.01 en 42 of 135 . Only possible in T1 or T2. --.Command execution. KPS. SOFTPLC: ** ----ACKN K1 CONTACT FAIL TO OPEN <KPS number> -.The energy supply is not interrupted.The K1 contact is welded. Fehlermeldungen 09. DRIVES OFF TIMEOUT DURING EMERGENCY STOP ----LOCAL EMERGENCY STOP BUTTON PRESSED ----INVALID OPERATING MODE -.02.No points were executed and recorded in the forwards direction. or the traces were rejected.All recorded motions have already been executed. -.Exchange contactor.Command execution. BACKWARD MOTION EXECUTION NOT POSSIBLE: NO TRACE -. -. -.Command execution.Forward motion. --. --BACKWARD MOTION EXECUTION NOT POSSIBLE: TRACE EMPTY -. -.Error messages / troubleshooting 1036 Message text Cause Monitor Effect Remedy 1037 Message text Cause Monitor Effect Remedy 1038 Message text Cause Monitor Effect Remedy 1039 Message text Cause Monitor Effect Remedy 1040 Message text Cause Monitor Effect Remedy 1041 Message text Cause Monitor Effect Remedy 1042 Message text Cause Monitor Effect Remedy CHECK SAFETY LOGIC.START MINUS was pressed in AUT or EXT. --.

Rectify bus error and carry out RESET via the menu. --. This means that the bus no longer starts again automatically.No program execution/simulation possible. The user nevertheless tries to set the outputs by hand. -.Change operating mode.Exchange motor. SERVO INDEPENDENT COMMAND EXECUTION ----BLOCKING OF OUTPUTS IN AUT/EXT IS ENABLED -.Intermediate circuit cannot be loaded. PLEASE EXECUTE RESET COMMAND -. --. -.1 1043 Message text Cause Monitor Effect Remedy 1044 Message text Cause Monitor Effect Remedy 1045 Message text Cause Monitor Effect Remedy 1046 Message text Cause Monitor Effect Remedy 1047 Message text Cause Monitor Effect Remedy 1048 Message text Cause Monitor Effect Remedy 1049 Message text Cause Monitor Effect Remedy Error messages / troubleshooting (continued) ACKN BUS VOLTAGE CHARGING UNIT IS DEFECTIVE <KPS number> -.Exchange KPS. ACKN.Indication that a bus reset is necessary since the bus does not start again automatically (the corresponding option is not set). A Profibus reset is necessary.Wear on brakes. --.01 en 43 of 135 . ---SERVO INDEPENDENT COMMAND EXECUTION ONLY POSSIBLE IN TESTING MODE -.Robot simulation not allowed in operating modes #AUT or #EXT. OUTPUT MONITORING DC BUS VOLTAGE KPS: ** -.02. -. --. Fehlermeldungen 09.DC bus voltage of a KPS overloaded. defective brake. ---PROFIBUS MASTER IS IN STATE AUTOCLEAR.The optocoupler on the KPS is not registering current flow.Variable $BLK_IO_AUT is set to TRUE (setting outputs in AUT/EXT is blocked).Bus error in Profibus. ACKN BRAKE DEFECTIVE ** -. Option AUTOCLEAR is set.Axis moves in an uncontrolled manner. -.

: <DSE no.> PARTICIPANT NO. DN CH ** TOO MANY MODULE ERRORS ** ----TRACE BUFFER EMPTY. -.Path--maintaining braking.Error messages / troubleshooting 1050 Message text Cause Monitor Effect Remedy 1051 Message text Cause Monitor Effect Remedy 1052 Message text Cause Monitor Effect Remedy 1053 Message text Cause Monitor Effect Remedy 1054 Message text Cause Monitor Effect Remedy 1055 Message text Cause Monitor Effect Remedy 1056 Message text Cause Monitor Effect Remedy PROFIBUS : ERROR IN MASTER CIRCUIT ** ** ----PROFIBUS: ERROR IN SLAVE CIRCUIT ----KCP: CAN BUS ERROR -. switching to SCAN method. REDUCTION POINT ** ** BY ** ----ACKN.Active commands inhibited. -. ACKN. -.Transmission error in CAN BUS. -. Fehlermeldungen 09.When START minus is pressed.: <IBS device> UNKNOWN -.DSE ID. -.An unknown device which is not supported was inserted in Interbus.Acknowledge. -. -.Remove the device causing the fault from the bus system. START WITH BACKWARD SCAN -. SERVOBUS DSE--NO.02. CP VEL.Empty trace for backward motion. --.01 en 44 of 135 .Teach pendant task. device ID.Acknowledge.

all following instructions up to the motion are executed before backward motion is carried out. NO TOOL AND BASE INFORMATION FOUND -.02. the interpreter encounters a subprogram which has already been completely executed. -. FAILURE OF MOTOR PHASE <axis> -.INI. -. -.Cyclic.Correct program or set the entry BACKWARDSTART = FALSE in BACKWARD.Active commands inhibited.An attempt was made to carry out BCO motion with START MINUS.Exchange battery. -.EMERGENCY STOP brakes the robot more quickly than the strategy based on the dynamic model -. $BWDSTART NOT IN FOLD.The robot does not start. BASE and TOOL changes cannot be carried out during backward motion.Each time before backward motion is started.When START MINUS is pressed.During backward motion. however. the message “Ackn. -.Acknowledge. After exchange. and in addition the message “User memory deleted” is displayed (machine data. user data. the fixed braking ramp strategy is used as this brakes the robot significantly more quickly -. -.Cyclic --> none.In the event of EMERGENCY STOP with dynamic model -.Verify machine data Remedy 1058 Message text Cause Monitor Effect Remedy 1059 Message text Cause Monitor Effect Remedy 1060 Message text Cause Monitor Effect Remedy 1061 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. From this line onwards. -.Each time before backward motion is started.Backward motion in SCAN method: a $BWDSTART assignment must be programmed as the first instruction in a motion fold. FINISHED SUBROUTINE: SKIP MOTIONS -. -. -.At “Power on”.INI. -.1 1057 Message text Cause Monitor Effect Error messages / troubleshooting (continued) ACKN. check accumulator” appears --> acknowledge. -. In this case. -. -. application programs must be reloaded).In the event of EMERGENCY STOP with dynamic model. -.Backup battery voltage low.Verify load data and correct if necessary -.At “Power on” --> automatic general reset. Rapid EMERGENCY STOP with fixed braking ramps -.Use START PLUS or set Implicit_BCO = TRUE in BACKWARD. BCO MOTION: PRESS START PLUS -.01 en 45 of 135 .Active commands inhibited.

but could soon become critical -.Acknowledge message Ackn.None -.Cyclic. over temperature feedback resistor %1 -. second motorcable not connected -.Cyclic.: over temperature fan %1 -.Exchange motherboard -.Cyclic.Acknowledge message Ackn. mainboard overtemperature -.Second motor cable was not connected or was connected incorrectly ---.Ramp--down braking -. -.Error messages / troubleshooting 1062 Message text Cause Monitor Effect Remedy 1063 Message text Cause Ackn.The robot is cyclically accelerated and braked in the motion program without a pause -.Acknowledge message Ackn.Once -.01 en 46 of 135 .Exchange fan filter Mainboard temperature check not available -. --.Check fan -.The ambient temperature is too high -.Motherboard does not support temperature monitoring -. -.Cyclic.One of the two fans in the cabinet is defective -.Switch temperature monitoring off Monitor Effect Remedy 1064 Message text Cause Monitor Effect Remedy 1065 Message text Cause Monitor Effect Remedy 1066 Message text Cause Monitor Effect Remedy 1067 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.PC controller cooling is still sufficient.02.The cabinet fan has failed -.Acknowledge message Mainboard temperature reached warning level -. --.No monitoring -.The feedback resistor has got too hot -.

reduce programmed acceleration.The brake holding torque on the axis is not sufficient to keep the robot motion permanently stopped at a point.Output ”$ALARM_STOP” 0 signal -.Verify machine data COMMANDED GEAR TORQUE %1 -.Active commands inhibited.Interpreter stop -.Interpreter stop -.Inputs and outputs are not set ----Terminate the Watchdog by reconfiguring the I/Os De--energize controller board Watchdog cycle time possibly set too low Fault in the KRC system since the read function of the driver was not called cyclically 1071 Message text Cause Monitor Effect Remedy MOTOR HOLDING TORQUE %1 EXCEEDED -.Verify load data and reduce if necessary.The motor holding torque of the axis is not sufficient to keep the robot motion permanently stopped at a point. during path planning -.Verify machine data BRAKE HOLDING TORQUE %1 EXCEEDED -. -.1 1068 Message text Cause Monitor Effect Remedy Error messages / troubleshooting (continued) INTERBUS: Watchdog Time expired! -. -.01 en 47 of 135 . dependent on dynamic data $DYN_DAT() -.Correct or reduce load data -. -.Not cyclic. -. -.Not cyclic. reduce programmed velocity.The Interbus driver read function was not called in the time defined -.Correct or reduce load data -.Cyclic.Path--maintaining braking -. acknowledge message 1072 Message text Cause Monitor Effect Remedy 1073 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. during path planning -.02.Cyclic.Permissible gear torque exceeded.

Low signal at “$ALARM_STOP” output. reduce programmed velocity. -. reduce programmed velocity.Path--maintaining braking -.Acknowledge message Ackn. -.Path--maintaining braking -.Check manipulator. servobus DSE--No. Remedy 1075 Message text Cause Monitor Effect Remedy 1078 Message text Cause Monitor Effect Remedy 1079 Message text Cause Monitor Effect Remedy 1100 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. %1 participant No.The device number in the servo bus was too low ---. reduce programmed acceleration. -. -.All active commands inhibited. acknowledge message Ackn.With robot “in position”. -.Acknowledge message STOPPED <axis number> -. -.Maximum braking. -.Axis has beeen moved out of the standstill position according to the machine data. servobus DSE--No. check motor brake.Verify load data and reduce if necessary. dependent on dynamic data $DYN_DAT() -. -.02.Permissible kinetic energy for crash exceeded. %2 not available -.Active commands inhibited.Acknowledge message.Output ”$ALARM_STOP” 0 signal -. %1 participant No.Permissible motor torque exceeded.Check output stage. Positioning window ($IN_POS_MA) times standstill window minus factor ($IN_STILL_MA).01 en 48 of 135 .Verify load data and reduce if necessary.Cyclic. acknowledge message MAXIMUM KINETIC ENERGY %1 -.The device number in the servo bus was higher than the number defined in the machine data ---.Error messages / troubleshooting 1074 Message text Cause Monitor Effect COMMANDED MOTOR TORQUE %1 -.Cyclic.Active commands inhibited. -. -. dependent on dynamic data $DYN_DAT() -. %2 not available -. -.Output ”$ALARM_STOP” 0 signal -.

The brake control must be checked (LED on PM) if the error occurs on more than one axis. e.Maximum braking. -. -. -.Maximum braking. -.02.Permissible command acceleration exceeded. because robot has been moved through singularity in cartesian mode. DATA EXCHANGE WITH TEPRO MISSING -.Reduce path velocity.Cyclic. Remedy 1103 Message text Cause Monitor Effect Remedy 1104 Message text Cause Monitor Effect Remedy 1105 Message text Cause Monitor Fehlermeldungen 09. -.Cyclic by transfer task.The set value of the machine datum $COM_VAL_MI has been exceeded.All active commands inhibited. Remedy 1102 Message text Cause Monitor Effect COMMAND VELOCITY EXCEEDED <axis number> -.Cyclic.Low signal at “$ALARM_STOP” output. POSITIONING MONITOR <axis number> -.Check power module. -. -.Cyclic.Low signal at “$ALARM_STOP” output. ACKN.Re--initialize the SBC program or eliminate the error in the SBC program.Maximum braking. -. -. -.Positioning window $IN_POS_MA has not been reached within the set positioning time $TIME_POS. -.01 en 49 of 135 . ----Check program for alpha5 transitions (singularity). -. -. -. -. -. interruption of the SBC interface.All active commands inhibited.g.When positioning. -. Reduce path acceleration.The SBC is not transmitting cyclic data on time (TEPRO = Technological Process).1 1101 Message text Cause Monitor Effect Error messages / troubleshooting (continued) COMMAND ACCELERATION EXCEEDED <axis number> -. Reduce path velocity. The axis does not follow the command value. because robot has been moved through singularity in cartesian mode. -. -.Permissible command velocity exceeded. -.Low signal at ”$ALARM_STOP” output.Ramp--down braking. REGULATOR LIMIT EXCEEDED <axis number> -. The position controller output has gone into limitation. e.g.Reduce path acceleration. Acknowledge message.All active commands inhibited.

“Learn” tool weight. the sensor switching point was detected.Maximum braking.01 en 1107 Message text Cause Monitor Effect Remedy 1108 Message text Cause Monitor Effect 1109 Message text Cause Monitor Effect Remedy 1110 Message text Cause Monitor Effect Remedy 1111 Message text Cause 50 of 135 .All active commands inhibited. DYNAMIC BRAKING ERROR <axis number> -.Drift is completed.Ramp--down braking.All active commands inhibited. Fehlermeldungen 09.None.An attempt was made to define the variable $WBOXDISABLE in mode T2.Actual value does not decrease although braking ramp is predefined in terms of command values.The axis has the status “in position” after the message has been acknowledged. Check manipulator. -. -. -. WORKING ENVELOPE SURVEILLANCE CAN ONLY BE OVERRIDDEN IN T1 MODE -. EXT.During EMT mastering a check run was carried out for a tool whose weight has not yet been learnt. SENSOR LOCATION SEARCH FOR <axis> -.Command execution.None.Re--initialize the SBC program.Error messages / troubleshooting Effect -. Acknowledge message. interruption of the SBC interface.Cyclic. --.02. -----Enlarge positioning window. -.The SBC is not collecting cyclic data on time. DRIFT COMPLETED -. AUT.Short--circuit braking. Lengthen positioning time. Check power module.Low signal at “$ALARM_STOP” output. -. -.During EMT mastering.During the sensor location search. Remedy 1106 Message text Cause Monitor Effect Remedy TOOL WEIGHT NOT YET LEARNT -. -.Cyclic by transfer task. -. -. -.Cyclic. COMMUNICATION WITH TEPRO FAULTY -. -. --.Change operating mode. -. -. -.

Leave menu via Recall.During command execution.Sensor location search was not carried out or $ROBCOR. SENSOR ADJUSTMENT INVALID <axis number> -.None.When selecting sensor adjustment for an axis with incremental or absolute encoder.Acknowledge message. -.Master axis with EMT probe or depth gauge. -. -. SERVO PARAMETERS NOT TRANSFERRED! -. -. -.DAT not available. --. interruption of the SBC interface.Press ESC to quit menu.Acknowledge message.Notify customer support.Define $SERVOPARA correctly. -.When command “ADJUST SENSOR”.When defining the structure $SERVOPARA. -.Servo parameters were not sent to DSE.01 en 51 of 135 .None. -.1 Monitor Effect Remedy 1112 Message text Cause Monitor Effect Remedy 1113 Message text Cause --.During sensor adjustment.Command “Sensor location search”: a) axis was not mastered b) last mastering type was sensor adjustment -. INVALID MASTERING SEQUENCE -. -.In mastering. -. Error messages / troubleshooting (continued) PERFORM SENSOR LOCATION SEARCH <axis number> ! -. -. Monitor Effect Remedy 1114 Message text Cause Monitor Effect Remedy 1115 Message text Cause Monitor Effect Remedy 1116 Message text Cause Monitor Effect Remedy 1117 Message text Cause Monitor Effect Fehlermeldungen 09.Command is not executed.Set axis with DIAL or TURN.None. -.Semaphore is inhibiting access to acyclic data. ACYCLIC DATA NOT RELEASED BY TEPRO -. -.Ramp--down braking. -. -. -.Command is not executed. SENSOR LOCATION SEARCH INVALID <axis number> -. -. -.In acyclic data transfer.Mastering sequence defined in machine datum $SEQ_CAL has not been observed.Master axis with EMT or dial gauge.02.

Program $ADVANCE > 0.01 en 52 of 135 .Semaphore is inhibiting access to acyclic data.Ramp--down braking.In KRL interface instruction.Eliminate the error in the SBC program. CYCLIC DATA NOT RELEASED BY TEPRO -. -. -.Ramp--down braking. -.1. -. -. -.Eliminate the error in the SBC program.Cyclic by transfer task.Eliminate the error in the SBC program. -.The memory provided internally for the output function with a delay is not adequate for the programmed delay.Cyclic by transfer task.Approximation (approximate positioning) is not possible for computing time reasons. -.In command processing.The SBC stops data exchange because of an error. -. DATA EXCHANGE -.Program a shorter delay.Eliminate the error in the SBC program. -.2.The interface with the SBC is not initialized. WRONG START POSITION -.None.Ramp--down braking. -. interruption of the SBC interface. WRONG DATA TYPE FROM TEPRO -.When the approximate positioning criterion is reached in the interpolator. -. -.02.Error messages / troubleshooting Remedy 1118 Message text Cause Monitor Effect Remedy 1119 Message text Cause Monitor Effect Remedy 1120 Message text Cause Monitor Effect Remedy 1121 Message text Cause Monitor Effect Remedy 1122 Message text Cause Monitor Effect Remedy 1123 Message text Cause Monitor Effect Remedy 1124 Message text Cause -.None. ANALOG OUTPUT : DELAY REDUCTION -. -. -. Cable for EMT mastering connected during sensor location run or sensor mastering. -. INCOMPLETE INSTRUCTION -.Switch off axis simulation. -. interruption of the SBC interface.Initialize the interface. Monitor Fehlermeldungen 09. -. APPROXIMATION NOT POSSIBLE -.Cyclic by transfer task. EMT mastering starts in the groove rather than before it. interruption of the SBC interface. -.SBC is cyclically sending incorrect data. -.The programmmed delay is automatically reduced.

-.Ramp--down braking.Sensor supplies a zero signal because it is not properly tightened.Check robot--EMT connection.Cyclic in the interpolation cycle. ACKN. -.Command aborted. Robot stops because $STOP_NOUES = TRUE is set and operating mode = T1 or T2. -.During program execution of ASYPTP commands.Press ESC to cancel.In command processing.Ramp--down braking.Approximation not possible for reasons of planning or time. -. -.After command processing. MOTOR TEMPERATURE <axis number> -. -. -. -.01 en 53 of 135 .After command processing. --.Command aborted. 1126 Message text Cause Monitor Effect Remedy 1127 Message text Cause Monitor Effect Remedy 1128 Message text Cause Monitor Effect Remedy 1129 Message text Cause Monitor Effect Remedy 1130 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.Command aborted. TOO MANY ASYPTP COMMANDS --. -. Disconnect cable for EMT mastering. -.Fewer ASYPTP commands.A motor temperature fault is signalled by the DSE board if the temperature exceeds 155 degrees. -MASTERING PERFORMED <axis number> -. -.Repeat measurement. STOP. Move axis to correct starting position.1 Effect Remedy 1125 Message text Cause Monitor Effect Remedy Error messages / troubleshooting (continued) -. -.Reduce the velocity and/or acceleration in the instruction until approximation is possible. EMT SENSOR FAULTY -.Axis does not stop within a certain time after a stop command.Check screwed connection of sensor. -. -.1. STOP COMMAND IGNORED -. -. APPROXIMATION NOT POSSIBLE -.Check A3/DSE module.2.02.Program execution is stopped.Acknowledge message. -.Attempt to remaster an axis that has already been mastered. -. -.

-. -.Motion is stopped.Short--circuit braking. HEATSINK TEMPERATURE <axis number: AX> -.The motor torque is not located in the specified monitoring tunnel.Cyclic in interpolation cycle.Cyclic in the interpolation cycle. -ACKN. EMT MASTERING DISTANCE EXCEEDED -. -.The calculated gear torque is larger than the maximum permissible gear torque.Acknowledge message. check EMT and groove. -.Verify load data.In program mode.A heat sink temperature fault is signalled by the DSE board if the temperature exceeds 80 degrees. -.None. -. -. -. increase size of tunnel.Cyclic.In torque mode. -. TORQUE EXCEEDED <axis> -. GEAR TORQUE EXCEEDED AXIS <axis> -.Acknowledge message. -.Motion and program are stopped. -. ACKNOWLEDGE ERROR 6SC620 <axis number> -. Fehlermeldungen 09.Groove not located. -.Error messages / troubleshooting 1131 Message text Cause Monitor Effect Remedy 1132 Message text Cause Monitor Effect Remedy 1133 Message text Cause Monitor Effect Remedy 1134 Message text Cause Monitor Effect Remedy 1135 Message text Cause Monitor Effect Remedy 1136 Message text Cause Monitor Effect Remedy 1137 Message text Cause Monitor Effect Remedy -.Axis stops. -. 54 of 135 . REFPO DETERMINES AXIS <axis> -.Clean heat sink.Malfunction/error in drive module or on processor module in Simodrive 6SC620 acknowledgement.Move axis into mastering position.Output after reference point for axes 1--6 has been calculated.01 en ACKN. -.Velocity limit exceeded in torque mode. -. axis position not before groove prior to start. -.02. -.Reteach points.None. -.None. TORQUE MODE VELOCITY LIMIT EXCEEDED <axis> -.Cyclic in interpolation cycle.

200. program processing stopped.(e. with the result that the system time and $POS_RET are determined by the beginning of a new block.Mastering is not possible by transferring the reference offset as this is not valid in $ROBCOR.(e. etc. -.SCALE_IN must be corrected. REFERENCE OFFSET NOT VALID -. 1108. 104.). correct operator action).Ramp--down braking. -. SYNACT NOT POSSIBLE <block number> -.If during an activated Emergency Stop a fault occurs that permits only maximum (dynamic) braking. -.An exact stop point has been approached with a deviation.Acknowledge message. -.DAT. DEVIATION AT TARGET POINT -.Maximum braking. in command processing.02. a path--maintaining Emergency Stop ramp or maximum braking.(e. -. -. TTS NOT EXISTING -. 1100. -. this message is additionally displayed.The X--axis of the tool coordinate system and the path tangent are parallel. Correct the point.The programming of synchronous actions with the variable $M_TIME or $M_TIME_APO causes the message to be output when the program is resumed after ramp--down braking.Cyclic in the interpolation cycle when calculating the path correction. -. (TTS = tool--based technological system). in mastering).Maximum braking or a path--maintaining stop and a simultaneous block change which makes calculation of $POS_RET and the system time impossible. BLOCK CHANGE AT STOP -. 101. 202.With the following messages: 100. 111. ramp--down braking.Function generator becomes active during positioning.1 1138 Message text Cause Monitor Effect Remedy 1139 Message text Cause DYNAMIC BRAKING Error messages / troubleshooting (continued) -.Reprogram the movement. -. eliminate fault.g.g. -. 114.g. 206. -. 1140 Message text Cause Monitor Effect Remedy 1141 Message text Cause Monitor Effect Remedy 1142 Message text Cause Monitor Effect Remedy 1143 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.Maximum braking. 110. -. 103.01 en 55 of 135 . 102. cyclic. 105.

The sensor location search is not carried out.01 en 56 of 135 .I*t monitoring is signalled by a DSE.An attempt was made to carry out a sensor location search for an axis on which initial mastering has not yet been performed. -.The motion is stopped by a path--maintaining Emergency Stop.Cyclic in the interpolation cycle.Overflow of the actual value of an endless axis.Remaster the axis concerned. ADJUSTMENT PROCEDURE NOT POSSIBLE <axis number> -. DATA TRANSFER INVALID <axis number> V--GROOVE HAS WRONG PROFILE -. -. -. MOTOR BLOCKED <axis number> -. -.When selecting the function “Extended sensor adjustment” for the corresponding axis.Replace EMT groove.When selecting the function “Extended sensor adjustment” for the corresponding axis. <motion direction> <axis number> -.Ramp--down braking. -.Acknowledge message. -.The function “Extended sensor adjustment” is not carried out.The mastering groove for EGP adjustment does not have a V or U profile. -.Perform initial mastering (e.Cancel via Recall or master axis with EMT / dial gauge.An attempt was made to carry out “Extended sensor adjustment” for an axis when the coupling axes are not in the same position as was reported in the data transfer. -.In EMT mastering. Monitor Effect Remedy 1149 Message text Cause Monitor Effect Remedy 1150 Message text Fehlermeldungen 09. -.Cyclic in the interpolation cycle. ACKN. -.When selecting the function “dat_ueb” for the corresponding axis. INVALID AXIS COUPLING RATIO <axis number> -. -. PERFORM INITIAL MASTERING <axis number> -. -.Clean EMT.Error messages / troubleshooting 1144 Message text Cause Monitor Effect Remedy 1145 Message text Cause Monitor Effect Remedy 1146 Message text Cause Monitor Effect Remedy 1147 Message text Cause Monitor Effect Remedy 1148 Message text Cause -. -. STOP DUE TO VALUE OUT OF RANGE OVERFLOW.An attempt is made to carry out sensor adjustment or the axis is not equipped with a KTL encoder and DSE.02. -. -. -.Move coupling axes to the same position as in the data transfer.g.The sensor adjustment is not carried out. dial gauge or EMT mastering) for the corresponding axis. -. mastering procedure is aborted.

Sensor offset must be eliminated before a PTP block is executed. PERFORM DATA TRANSFER <axis number> -.Maximum braking. -.None. the velocity must already be reduced in the preceding block.The sensor location search for the axis is not carried out. APPROXIMATION NOT POSSIBLE. this block is not long enough to allow that.. TORQUE TOO HIGH -. SBC ERROR: <Watchd. -.. -.Carry out sensor location search for the corresponding axis. -.When selecting the function “Extended sensor adjustment” for the corresponding axis.Cyclic in the TEP task.02. -.Transf.01 en 57 of 135 .Cancel via Recall. -. -.Error in communication between SBC and KRC32.Check SBC (SW.1 Cause Monitor Effect Remedy 1151 Message text Cause Monitor Effect Remedy 1152 Message text Cause Monitor Effect Remedy 1153 Message text Cause Monitor Effect Remedy 1154 Message text Cause Monitor Effect Remedy 1155 Message text Cause Error messages / troubleshooting (continued) -.Interpreter. However. -DEVIATION IN THE START POINT -. -.An attempt is made to carry out a sensor location search for an axis which is not equipped with a KTL encoder and DSE.The function “Sensor location search” is not carried out.Corr> -. in motion planning. Decreasing the velocity and acceleration of the individual block. -.Increase the length of the individual block by: decreasing the approximate positioning radius at the end point of the current motion block or.Interpolator. -. HW). -. -.When the function “Sensor location search” for the corresponding axis is selected and the Enter key is pressed.Ramp--down braking. if the start point is approximated. by decreasing this approximate positioning radius. -. -.An attempt was made to carry out sensor adjustment for an axis on which no sensor location search has been performed.A PTP motion is to be executed with a sensor offset value.The sensor location search has been properly carried out. -. Monitor Effect Remedy Fehlermeldungen 09. -. DATA TRANSFER PERFORMED <axis number> -. -.When selecting the sensor location search function for the corresponding axis.Not cyclic.For an approximate positioning block to be executed.

. -.Not cyclic.Error in planning of the PTP motion profile. -. -. in motion planning.The max. -. acceleration). -. ACKN MONITORING OF THE ACTUAL VELOCITY ** -.Check load data (mass. in motion planning. acceleration). in motion planning.Modify profile data (rounding factor.Not cyclic. NOT POSSIBLE INTERNAL ERROR IN PTP MOTION PLAN -.Not cyclic.Fault in control loop: -.01 en 58 of 135 . -. in motion planning.Not cyclic. -. moments of inertia). center of gravity. velocity. TRACE: RECORDING TIME IS TOO LONG -. -..%. -.02. INTERNAL ERROR IN PTP MOTION PLANNING <number> -.Interpreter stop.Error messages / troubleshooting 1156 Message text Cause Monitor Effect Remedy 1157 Message text Cause Monitor Effect Remedy 1158 Message text Cause Monitor Effect Remedy 1159 Message text Cause Monitor Effect Remedy 1160 Message text Cause Monitor Effect Remedy 1161 Message text Cause APPROX.resolver unmastered. -. motor torque of the axis is statically exceeded by . -. OVERLOAD OF GEAR TORQUE <axis number> BY <percentage value> -. Monitor Effect Remedy Fehlermeldungen 09. -. -.TRACE is not recorded.Check load data (mass.Shorten TRACE recording time or reduce the number of channels. Please consult KUKA. -.. -.error in the axis assignment.. exact stop. -.Modify profile data (rounding factor. STATIC MOTOR TORQUE OVERLOAD <axis number> BY <percentage value> -.. -.Interpreter stop.The max.motor cables of two axes interchanged.Robot remains motionless. -. Please consult KUKA.%.Error in planning of the approximate positioning block.When starting the TRACE.Interpreter stop.Cyclic. moments of inertia). -. center of gravity.. -.Rectify the corresponding error in the control loop.Approximate positioning is not executed. velocity.DEF is too long. gear torque of the axis is statically exceeded by .power module defective. -.The recording time in TRACE. There is not enough memory available for recording.

02.01 en 59 of 135 .1 1162 Message text Cause Monitor Effect Remedy 1163 Message text Cause Monitor Effect Remedy 1164 Message text Cause Monitor Effect Remedy 1165 Message text Cause Monitor Effect Remedy 1166 Message text Cause Monitor Effect Remedy 1167 Message text Cause Monitor Effect Remedy 1168 Message text Cause Monitor Effect Remedy 1169 Message text Error messages / troubleshooting (continued) SEPARATE BREAK CONTROL OF AUXILIARY AXIS NOT ENABLED ----AXIS COUPLING NOT POSSIBLE (DSE/PM--CHANNEL ASSIGNMENT) ----COUPLE PROCESS ACTIVE ----ERROR ON AXIS COUPLING ----ERROR ON AXIS DECOUPLING ----<axis> DECOUPLED AUXILIARY AXIS ----<axis> DECOUPLED AUXILIARY AXIS. MASTERING NOT PERMITTED Fehlermeldungen 09. MOVE NOT PERMITTED ----<axis> DECOUPLED AUXILIARY AXIS.

deviation warning master--slave %1 -.02. -.Cyclic.Error messages / troubleshooting Cause Monitor Effect Remedy 1170 Message text Cause Monitor Effect Remedy 1171 Message text Cause Monitor Effect Remedy 1172 Message text Cause Monitor Effect Remedy 1173 Message text Cause Monitor Effect Remedy 1174 Message text Cause Monitor Effect Remedy 1175 Message text Cause Monitor Effect Remedy ----ASYPTP COMMAND INCLUDES DECOUPLED AUXILIARY AXIS ----VALUE OF $ASYNC_AXIS CONTAINS DECOUPLED AUXILIARY AXIS ----VALUE CANNOT BE CHANGED. PROGRAM IS SELECTED ----Ackn. deviation alarm master--slave %1 -. the drives synchronize themselves automatically Ackn.Maximum braking -.Loss of mastering of the corresponding axis -.01 en 60 of 135 .Positional deviation between master and slave exceeds lower limit value -.Maximum braking -.Positional deviation between master and slave exceeds upper limit value -.Acknowledge message.Acknowledge message Ackn.None -.Cyclic.Dial mastering of the axis Fehlermeldungen 09. -. deviation critical master--slave %1 -. -.Cyclic.Positional deviation between master and slave exceeds middle limit value -.

Low signal at “$ALARM_STOP” output.Acknowledge message.Maximum braking -. -. speed deviation master--slave %1 -. -.Acknowledge message. -. -.Acknowledge message. -.Acknowledge message ACKN.Cyclic. Do not switch off until battery has recharged. -. Remedy Fehlermeldungen 09.Secondary message following the status (operational) message “DSE BOOT UP FAILURE”.01 en 61 of 135 . -. -.Ramp--down braking. -. -. RDW <axis number> BOOT UP FAILURE -.None. -. -.Cyclic.Acknowledge message.All active commands inhibited.The battery voltage is too low for backup purposes. -. ACKN. -. EMERGENCY STOP -. DSE <DSE number> BOOT UP FAILURE -. ACKN.Replace encoder. -.Emergency Stop was active. BUFFER BATTERY VOLTAGE LOW ** -.Cyclic. -. ENCODER CABLE FAILURE <axis number> -. -. -.Runup.Maximum braking. ACKN.02.Speed deviation between master and slave exceeds limit value -.Secondary message following the status (operational) message “RDW BOOT UP FAILURE”.Secondary message following the status (operational) message “ENCODER CABLE FAILURE”.Acknowledge message.Cyclic.All active commands inhibited.1 1176 Message text Cause Monitor Effect Remedy 1200 Message text Cause Monitor Effect Remedy 1201 Message text Cause Monitor Effect Remedy 1202 Message text Cause Monitor Effect Remedy 1203 Message text Cause Monitor Effect Remedy 1204 Message text Cause Monitor Effect Error messages / troubleshooting (continued) Ackn.All active commands inhibited.

Secondary message following the status (operational) message “WATCHDOG INTERPOLATION CYCLE”.DSE has not received feed command value for 1 interpolation cycle although servo--control is active.All active commands inhibited. -.Low signal at “$ALARM_STOP” output.Cyclic.Acknowledge message. ACKN. -. -. -.01 en 62 of 135 . -. GENERAL SERVO ENABLE -.Cyclic. MASTERING PERFORMED <axis number> -.Cyclic.Perform mastering -.Low signal at “$ALARM_STOP” output. -.Cyclic.Transmission malfunction -.There was a low signal at $MOVE_ENABLE input. -. -.Error messages / troubleshooting 1205 Message text Cause Monitor Effect ACKN.Maximum braking. -. -.RDW <DSE number> -.Follow--up message for status message “PERFORM MASTERING” -. ACKN. ACKN. ACKN.Acknowledge message. -. Remedy 1206 Message text Cause Monitor Effect Remedy 1207 Message text Cause Monitor Effect Remedy 1208 Message text Cause Monitor Effect Remedy 1209 Message text Cause Monitor Effect Remedy 1210 Message text Cause Monitor Effect Fehlermeldungen 09. -. -.Check shielding of encoder cable. -. -.All active commands inhibited.All active commands inhibited.Maximum braking. WATCHDOG INTERPOLATION CYCLE <DSE number> -.02.There was a low signal at $SERVO_RDY input. -. -.Acknowledge message.Cyclic.Acknowledge message.Cyclic. -. -.Replace DSE or MFC.All active commands inhibited.Check serial interface DSE--RDW.All active commands inhibited. -. SYNCHRONIZATION ERROR WITH DSE <axis number> -. ACKN. GENERAL MOTION ENABLE -. -.Open--circuit between RDW and DSE.Acknowledge message. TRANSMISSION ERROR DSE -. -.

All active commands inhibited.) ACKN.Acknowledge message. not with axis--specific manual traversing.Acknowledge message. -. <command name> <action> -. move robot in the opposite direction.Check the mains voltage. -.If necessary acknowledge message.The cabinet voltage has been switched off. STOP DUE TO SOFTWARE LIMIT SWITCH <motion direction> <axis number> -. ACKN. --.Command processing. -.Cyclic.1 Remedy 1211 Message text Cause Monitor Effect Remedy 1212 Message text Cause Monitor Effect Remedy 1213 Message text Cause Monitor Effect Remedy 1214 Message text Cause Monitor Effect Remedy 1215 Message text Cause Monitor Effect Remedy 1216 Message text Cause Monitor Effect Remedy Error messages / troubleshooting (continued) -.The originator of the passive stop has acknowledged the message. (The robot can then be started in the AUTOMATIC or EXTERNAL mode again. -. buffering of the mastering data. PASSIVE STOP <RCP or teach pendant> -.02. DRIVES ERROR <axis number> NO.: ** ----- Fehlermeldungen 09.Maximum braking. -. -.OBJH command finished. ACKN.Cyclic. -. -.None. the mains voltage is interrupted. saving all data on HDD.Cyclic.None.Operator safety has been tripped in the AUTOMATIC or EXTERNAL mode.) POWER FAILURE -. -.Acknowledge message. -. OPERATOR SAFETY -.01 en 63 of 135 .Overrun of a sofware limit switch (command value) has been detected.Path--maintaining Emergency Stop. -. (Acknowledgement possible only on active unit. -. -.Ramp--down braking. -.All active commands inhibited.

-. ACKN.Ramp--down braking. -. -. -. -.Dynamic braking.Cyclic.02.At runup. -. -. ACKN. -. -.Connect axis correctly. SBX--HPU CONNECTED -.Error messages / troubleshooting 1217 Message text Cause Monitor Effect Remedy 1218 Message text Cause Monitor Effect Remedy 1219 Message text Cause ACKN.Ramp--down braking. All active commands inhibited.All active commands inhibited.Softkeys for dial mastering pressed. -.Acknowledge message. UNDERVOLTAGE <power module> Monitor Effect Remedy 1220 Message text Cause Monitor Effect Remedy 1221 Message text Cause Monitor Effect Remedy 1222 Message text Cause Monitor Effect Remedy 1223 Message text Fehlermeldungen 09. All active commands inhibited. -. ACKN.Acknowledge message.Acknowledge message.Active commands inhibited. -. -. -.01 en 64 of 135 .Acknowledge message. All active commands inhibited.Ramp--down braking. SBX--HPU CONNECTED INPUT -.When $TURN instruction is executed. EMERGENCY STOP DUE TO DIAL MASTERING -.The software has detected that in the dual--channel evaluation of the signal “Teach pendant plugged in” the two channels (MPC interface and safety box) have different statuses.Low signal at “$ALARM_STOP 0” output. -. ramp--down braking. ACKN. POWER MODULE AXIS <axis number> NOT /OR INCORRECTLY CONNECTED -.Cyclic.Cyclic. BRAKE ERROR <axis number> ----ACKN. -. ACKN.Press the Recall key twice.Safety box has detected a fault in the input unit of the permanently installed input.Safety box has detected a fault in signal input “teach pendant plugged in”.The axis is incorrectly plugged into the power module or not connected at all. -. -. SBX--HPU DEPOSITED INPUT -.

Troubleshooting in the DSE and power module area. -.Maximum braking. ACKN. BALLAST RESISTOR <number> OR FAN -. Fehlermeldungen 09.125ms. FEEDBACK SWITCH ON TOO LONG ** -.Power module ballast (feedback) switch defective. -.Brake ramp in the program too steep. -. E<2 or 7 keyswitch> SWITCH CLOSED ----ACKN.The watchdog on the power module has dropped out. OVERTEMPERATURE.The ballast (feedback) resistor has overheated.02.Ramp--down braking. -.The energy of the axis to be braked was too high. -. OVERCURRENT <axis number> ----ACKN.01 en 65 of 135 .Cyclic. In the motion program the robot is cyclically accelerated and decelerated without a break.1 Cause Monitor Effect Remedy 1224 Message text Cause Monitor Effect Remedy 1225 Message text Cause Monitor Effect Remedy 1226 Message text Cause Monitor Effect Remedy 1227 Message text Cause Monitor Effect Remedy 1228 Message text Cause Monitor Effect Remedy 1229 Message text Cause Monitor Effect Remedy 1230 Message text Cause ----- Error messages / troubleshooting (continued) ACKN. The watchdog is triggered by the DSE every 0. ACKN. WATCHDOG POWER MODULE <number> -. E<2 or 7 keyswitch> SWITCH OPEN ----ACKN. OVERVOLTAGE <power module> ----ACKN. -.

Error messages / troubleshooting Monitor Effect Remedy 1231 Message text Cause Monitor Effect Remedy -- Cyclic. -- Ramp--down braking. -- Insert wait times into the program, reduce the acceleration. ACKN. CABINET OVER TEMPERATURE ** -- The cabinet temperature has risen above the permissible limit value. -- Cyclic. -- Ramp--down braking. ----Reduce the external temperature. Change the site of installation. Check the fans. Clean the heat exchanger.

1232

Message text Cause Monitor Effect Remedy

ACKN. MOTOR CABLE ** ----ACKN. FAILURE OF HEAT SINK TEMPERATURE SENSOR <axis number> ----ACKN. CABINET INTERIOR TEMPERATURE SENSOR FAILURE <axis number> ----ACKN. DRIVES PARAMETER DATA <axis number> INVALID ----ACKN. FAILURE OF MOTOR TEMPERATURE SENSOR <axis number> -----

1233

Message text Cause Monitor Effect Remedy

1234

Message text Cause Monitor Effect Remedy

1235

Message text Cause Monitor Effect Remedy

1236

Message text Cause Monitor Effect Remedy

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1 1237 Message text Cause Monitor Effect Remedy 1238 Message text Cause Monitor Effect Remedy 1239 Message text Cause Monitor Effect Remedy 1240 Message text Cause Monitor Effect Remedy 1241 Message text Cause Monitor Effect Remedy 1242 Message text Cause Monitor Effect Remedy 1243 Message text Cause Monitor Effect Remedy

Error messages / troubleshooting (continued)

ACKN. WRONG DRIVES PARAMETER <axis number> ** ----ACKN. ERROR SYNC. INPUT DRIVE <axis> ----ACKN. SYNCHRONISATION ERROR DRIVE <axis> ----ACKN. <axis> WITHOUT POWER ----ACKN. i2 t MONITORING, CURRENT LIMIT OF THE MOTOR CABLE <string> AFTER <string>s EXCEEDED 100% -- Axis overloaded. The value for the maximum permissible limit current is specified in the machine data by “$CURR_MON[]”. -- Cyclic. -- Ramp--down braking, active commands inhibited. -- Reduce load. ACKN. i2 t MONITORING, CURRENT LIMIT OF THE MOTOR CABLE ** AFTER ** EXCEEDED 95% ----LINE ** IN ** TOO LONG. LINE WAS CUT OFF. -- An excessively long program line was cut off in order to avoid deletion of the rest of the program. -- Triggered during line compilation. -- The line is cut off. The program is retained. -- Modify the incorrect line in expert mode.

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Error messages / troubleshooting 1244 Message text Cause Monitor Effect Remedy 1245 Message text Cause Monitor Effect Remedy 1246 Message text Cause Monitor Effect Remedy 1247 Message text Cause Monitor Effect Remedy 1248 Message text Cause Monitor Effect Remedy 1254 Message text Cause Monitor Effect Remedy 1255 Message text Cause SUCCESS LOADING ** SERVO PARAMETERS ** -- Completed loading of servo parameters. ---ACKN SERVO BUS DISTURBANCE DSE ** ----ACKN SERVO BUS DISTURBANCE DSE **, NO BUFFERING AND AUTOMATIC DATA STORAGE POSSIBLE ----ACKN SERVO BUS DISTURBANCE ** ----ACKN SERVO BUS DISTURBANCE ** ----Ackn. PC fan error -- PC fan speed was below the alarm threshold and is now back in the nominal range -- Cyclic. -- None -- Acknowledge message Ackn. Ixt servo drive %1 exceed value of %2 %% -- If the defined Ixt monitoring warning value of a drive servo is exceeded, the robot must be brought to a standstill; otherwise, the drive servo is deactivated when the maximum value of 100% is exceeded ---- Acknowledge message

Monitor Effect Remedy

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Stop one process.On transmission. -.None.Reduce baud rate. -. 1302 Message text Cause Monitor Effect Remedy 1303 Message text Cause Monitor Effect Remedy 1304 Message text Cause Monitor Effect Remedy 1305 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.Increase procedure monitoring time. REFERENCING AXIS <axis number> INADMISSIBLE -.Check cable. -.Parity incorrectly set. PROCEDURE ERROR -. -.02. -. -.01 en 69 of 135 .Wait until one process has been completed.) -. -. -.Transmission error in LSV2 procedure which was not detected by the parity monitor.None.None. RCP SWITCH POSITION INADMISSIBLE -.Check parity setting on controller and operator control unit (PC).Master the axis. -.Attempt to reference a non--incremental axis.The specified axis is not referenced. -. SCC OVERFLOW -. -. -.None. -.1 1300 Message text Cause Monitor Effect Remedy 1301 Message text Cause Monitor Effect Remedy PARITY ERROR Error messages / troubleshooting (continued) -.During single--axis referencing. -.Increase procedure repetition counter. -. CHANNEL NOT AVAILABLE -. -. -.None.On transmission. -.Procedure monitoring time elapsed.Too many transfer processes started (a maximum of 4 transfer processes can be started. -.Repeat transmission. -.During transfer.On transmission.Baud rate set too high (SCC = Serial Communication Controller).On transmission.

Wrong object selected.Objects that are not available in the KRC cannot be addressed.Too many objects selected. TOO MANY OBJECTS ARE SELECTED -. -. 150).01 en 70 of 135 . FORMAT ERROR -.Command does not support any channels.Command is not executed. <object name> NOT CORRECTLY COPIED -.During transfer. change the board (interface CPU). -.In command processing.Command is not executed. -. printer).Command is not executed.Hardware error of the interface on I--CPU.None.Error token in the object.During transfer.Errors have been detected in the line analysis. -. -.Check cable and device.Select only the permitted number of objects (approx.02.Correct object. -. -. -. -. -.In command processing.None. -.In command processing. CHANNEL NOT ALLOWED IN COMMAND -. -. -.If the error occurs repeatedly. -. -. -.g. -.None. -.Device switched off (e. -. OBJECT IS NOT AVAILABLE -. Fehlermeldungen 09.Error messages / troubleshooting 1306 Message text Cause Monitor Effect 1307 Remedy Message text Cause Monitor Effect Remedy 1308 Message text Cause Monitor Effect Remedy 1309 Message text Cause Monitor Effect Remedy 1310 Message text Cause Monitor Effect Remedy 1311 Message text Cause Monitor Effect Remedy DEVICE NOT READY -.Cable defective or not connected.In command processing.

-. -.Module package cannot be linked since at least one of the objects of the module package is assigned. If runtime values are used in trigger assignment. -.None.In command processing. -. acknowledge message. INVALID STATEMENT -. -. DATA NOT ALLOWED -.Specify extension correctly. -. -.During program execution.Command is not executed.Specify the source and target correctly. <module name> IS NOT A MODULE -. -. -. -.* (copy *.Extension not compatible.The source and target specifications do not conform to the convention for “COPY”.Object cannot be processed in this state (object already assigned).01 en 71 of 135 .Command is not executed. -. use only global variables.* is possible into a directory only).Alter program. DELETING OF SYSTEM FILES IS INADMISSIBLE ----- Monitor Effect Remedy 1313 Message text Cause Monitor Effect 1314 Remedy Message text Cause Monitor Effect Remedy 1315 Message text Cause Monitor Effect Remedy 1316 Message text Cause Monitor Effect Remedy 1317 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.Command is not executed.Take a different module. -.In command processing. RUNTIME VALUES FOR TRIGGER IN SUBROUTINES INADMISSIBLE -.1 1312 Message text Cause Error messages / troubleshooting (continued) <object name> ASSIGNED -.In command processing. all active commands inhibited. -.02.In a subroutine a trigger is defined which is possibly not activated until the main program. -.Command is not executed. they are not valid at the time of activation. -.In command processing. -. -.copy *.Ramp--down braking.The name represents a directory.

Check interface software. -. -.g. module name or extension has been specified. dir /R1/otto/abc. -.In command processing. -. -. Fehlermeldungen 09. -. -. -.02. analyse otto.An invalid path. -.Correct command. -. -. -.Correct command.An invalid extension has been specified (only “DAT” is allowed).Command is not executed. -.An extension has been specified in a command where it is not allowed (e.In command processing. -.In command processing. EXTENSION NOT ALLOWED -. -.Command is not executed.src).Command is not executed.In command processing. -. <path> IS NOT A DIRECTORY -. <module> NOT LINKED -. -.In command processing. -. -. /abc not allowed).01 en 72 of 135 .Command is not executed.In command processing.Module information that cannot be evaluated has been received in a COPY operation from an external source.g. -.Command is not executed.Command is not executed.Select data list. <object> CANNOT BE CORRECTED -.Error messages / troubleshooting 1318 Message text Cause Monitor Effect Remedy 1319 Message text Cause Monitor Effect Remedy 1320 Message text Cause Monitor Effect Remedy 1321 Message text Cause Monitor Effect Remedy 1322 Message text Cause Monitor Effect Remedy 1323 Message text Cause Monitor Effect Remedy FILE DESCRIPTION CANNOT BE PROCESSED -.Correct command.None.Command contains an invalid subdirectory (e.An attempt has been made to transmit or edit a protected file.“UNLINK” has been applied to an object that is not a program. <path> INVALID DATA MODULE NAME OR EXTENSION -.Set INIT switch on I--CPU to position 3.

The source and target specifications define the same object. -ACCESS TO IMPORTED VARIABLE IS NOT POSSIBLE -.In command processing. -. -.Command is not executed. -. -.Module is not correct for TTS calculation.Free the assignment (/R1/CONFIG>DAT).In command processing.1 1324 Message text Cause Monitor Effect Remedy 1325 Message text Cause Monitor Effect Remedy 1326 Message text Cause Monitor Effect Remedy 1327 Message text Cause Monitor Effect Remedy 1328 Message text Cause Monitor Effect Remedy 1329 Message text Cause Monitor Effect Remedy 1330 Message text Cause Monitor Effect Remedy Error messages / troubleshooting (continued) <object> NOT AVAILABLE -.Command is not executed. -. <module> LINKING ERROR -.Change target object. -.In command processing. -.01 en 73 of 135 . <object> : <number of errors> COMPILATION ERROR -. -.Create the object.Extend the search path. -.In command processing. correct the error(s).In command processing.Command is not executed. -.Using the error list.02. -.An object that has already been assigned has been addressed. Fehlermeldungen 09.None. -.The indicated number of errors have been detected in the indicated object during total compilation. -. -. -.Command is not executed. -. -.Correct the errors. -.An object that is not available has been addressed.Command is not executed.The search path has not been extended to the external data list. <object> CANNOT BE PROCESSED -.One or more errors have been detected in the indicated module during linking.In command processing. FAULTY FILE -.In command processing.Command has not been executed. -. SOURCE AND TARGET OBJECT ARE IDENTICAL -. -.

Object cannot be deleted because it is write--protected.Program cannot be unlinked.Command is not executed. -.Command is not executed.Ramp--down braking. the maximum permissible number of interrupts that can be declared or activated was exceeded.None. -.In command processing.Reduce the number of KRL interrupts accordingly. -.COR is allowed for data lists only.Command is not executed. MORE THAN 16 INTERRUPTS DEFINED -.01 en 74 of 135 .Command is not executed.Correct the error in the indicated module (perform ANALYSE). -.Block selection to the subprogram is not possible. -. -.An incorrect module has been selected in a linking operation. -. <object> CANNOT BE DELETED -.Command is not executed. -. -.Select a data list.Copying from one channel to another (not allowed in SWP1). -. At this point. <module> SELECTED -. -.Program processing.In command processing. -. -.An attempt has been made to carry out a block selection in a local subprogram that is not in the caller stack. -.Error messages / troubleshooting 1331 Message text Cause Monitor Effect Remedy 1332 Message text Cause <module> NOT CORRECT -.Reduce number.In command processing.Program instruction INTERRUPT ON can switch on a maximum of 16 defined interrupts but more than 16 are defined. -. Line selection not possible: too many Interrupts -. TOO COMPLEX -. -. module is selected with “RUN”. -.In command processing.Terminate program run (CANCEL).In command processing. Monitor Effect Remedy 1333 Message text Cause Monitor Effect Remedy 1334 Message text Cause Monitor Effect Remedy 1335 Message text Cause Monitor Effect Remedy 1336 Message text Cause Monitor Effect Remedy 1337 Message text Cause Monitor Effect Fehlermeldungen 09. --. -.02. COR ARE FOR DATA LISTS ONLY -.

the user has failed to respond to $Power--Fail by calling the SYNC() function. -. Robot system is not available Fehlermeldungen 09. --.Maximum braking.It has not been possible to convert an external message (e. -. -. -. -. REFERENCE SYSTEM DEFINITION NOT COMPLETE -. -.Select a different reference system (TRANSSYS).Cyclic. -. -. LIN).Acknowledge message.In IRSTOPMESS.Correct the application program. NOT ALLOWED REFERENCE SYSTEM -. SYNC()--CALL NOT PROGRAMMED -. from the interface CPU.In command processing.Working zone limit has been exceeded.In command processing.With traversing keys.At least one frame required for calculating the reference matrix has not been assigned.None.All active commands inhibited.1 Remedy 1338 Message text Cause Monitor Effect Remedy 1339 Message text Cause Monitor Effect Remedy 1340 Message text Cause Monitor Effect Remedy 1341 Message text Cause Monitor Effect Remedy 1342 Message text Cause Monitor Effect Remedy 1343 Message text Cause Monitor Effect Remedy 1344 Message text -. PSX) into an RCX message. (TTS = tool--based technological system).Acknowledge message.None. -. MOVE.TTS or BASE calculation cannot be performed.None. -.None.g. -.In cartesian motion commands (e.g. PTP.During power failure. -.At start.01 en 75 of 135 . Error messages / troubleshooting (continued) BLOCK CANNOT BE CORRECTED -. -. -. -.02. WORK ENVELOPE EXCEEDED -.The reference system for manual motion is not possible for the kinematic system. UNKNOWN EXTERNAL MESSAGE (<external message number>) -.

Remedy 1345 Message text Cause -.Error messages / troubleshooting Cause Monitor Effect -. -.In single--axis referencing. -. -. an attempt has been made to reference an axis which has already been referenced.During single--axis referencing the wrong direction key was pressed. INADMISSIBLE MASTERING SEQUENCE -.Select the next axis which has not been referenced.Start of a program without the robot being mastered.Acknowledge message.During program execution.The mastering sequence was not adhered to (depending on machine datum $SEQ_CAL).Master the robot.During mastering.All active commands inhibited.Observe mastering sequence.During referencing.Ramp--down braking -. depending on machine datum $DIR_CAL. -. -. -. -.Selection of a program without the robot being mastered. -.The axis is not referenced. -.01 en 76 of 135 .No second robot system activated in the machine data (command: $HOME = “/R2”) -.During referencing.All axes mastered. -.During command execution.In command execution a) The command is not executed.Alter machine data.02. -. --. -.Axis cannot be mastered.In command processing.Acknowledge message.In program processing. -. CHANGE REFERENCE DIRECTION <axis number> -. -.Carry out referencing in the other direction. ROBOT NOT MASTERED -. <axis number> AXIS SYNCHRONIZED -. -. ROBOT MASTERED -. Monitor Effect Remedy 1346 Message text Cause Monitor Effect Remedy 1347 Message text Cause Monitor Effect Remedy 1348 Message text Cause Monitor Effect Remedy 1349 Message text Cause Fehlermeldungen 09. -. -.All axes are mastered. -.In program execution -.Axis cannot be referenced in this direction.

-. -.Cyclic.Press safety switch. -.An attempt has been made to move an axis in the inhibited direction (inhibited by software limit switch).Simultaneous pressing of more than one key on the KCP. -BCO REACHED -. -.None.The “START” command has been entered textually. $AXIS_RET.In command processing. -. -. Error messages / troubleshooting (continued) -. -.Repeat drift compensation. $AXIS_FOR. -.Release all keys on the KCP. DRIFT COMPENSATION ABORTED -. -. $POS_FOR. KEY COMBINATION <KCP> INADMISSIBLE -. -. -.With BCO travel.In command processing.The safety (deadman) switch has not been pressed while actuating the start or traversing key in mode T1 or T2.After the first position in the user program has been reached.In mastering. message triggering a stop). Monitor Effect 1351 Remedy Message text Cause Monitor Effect Remedy 1352 Message text Cause Monitor Effect Remedy 1353 Message text Cause Monitor Effect Remedy 1355 Message text Cause Monitor Effect Remedy 1356 Message text Cause Monitor Effect Fehlermeldungen 09.Command is not executed.None.Execution of the command requires the start key to be pressed. START KEY REQUIRED -. AXIS <axis number> INHIBITED -.The drift compensation was interrupted by a stop (Stop key.Move axis off limit switch in other direction.01 en 77 of 135 .In command processing. -.1 Monitor Effect Remedy 1350 Message text Cause -.Cyclic for the duration of drift compensation. -. -.Signalling that BCO has been achieved.KCP operation momentarily interrupted. -.).After repositioning ($POS_RET.Command is not executed. -.Drift compensation failed (dynamic braking).Robot is mastered. -. etc. -.02. -. DEADMAN SWITCH REQUIRED -.

In command processing.RUN has been applied to a process in the end state.Ramp--down braking -. TTS CANNOT BE DETERMINED -. -.In command processing.Command is not executed.Termination of search for the path direction point.Select correct block number. -. -. -.At RUN command.Selected block does not exist in the program.In program processing -. -. -.External computer: check job identification.In program processing the message has to be acknowledged. -. -SELECTION NOT ALLOWED -. -. -.The node setting has been changed during actuation of a traversing key or execution.Active processes are stopped if the mode is changed.“RUN” without path specification and no program is selected.None. -. STOP DUE TO OPERATING MODE CHANGE -. -.RESET program.Command is not executed.When start key is pressed.All active commands inhibited. -.Start key pressed without a program being selected. -.Error messages / troubleshooting Remedy 1357 Message text Cause Monitor Effect -. -.In command processing.Acknowledge message. -.Cyclic. -.All active commands inhibited. -.02. -.Press start key. -.Ramp--down braking.In program processing.Command is not executed.01 en Remedy 1358 Message text Cause Monitor Effect Remedy 1359 Message text Cause Monitor Effect Remedy 1360 Message text Cause Monitor Effect Remedy 1361 Message text Cause Monitor Effect Remedy 1362 Message text Cause Monitor 78 of 135 . -. (TTS = tool--based technological system). Fehlermeldungen 09. -. -.In command processing -.In command processing. STOP DUE TO NODE SWITCHOVER -. RESET REQUIRED -. SELECTION REQUIRED -.Select program.

-.In command processing. -. --. -.Indicated operator control unit is active.Correct program. c) For host computers the mode EXT is required. -. AUT). -ACTIVE STATUS REQUIRED -. -.Path triggers are not permissible with PTP motions.Command is not executed. only PTP motions with an axis--specific target may be carried out.Switch operator control unit to active status.Command is not executed. OPERATOR CONTROL UNIT DISABLED -.Switch indicated operator control unit to passive status.Path--maintaining Emergency Stop. reboot. CARTESIAN TARGET NOT POSSIBLE -.The command entered may only be issued from an active operator control unit (modes T1. -.Path--maintaining braking. acknowledge. b) For non--stationary KCP the mode T1 or T2 is required. -. <operator control device> IS ACTIVE -. Monitor Effect Remedy 1364 Message text Cause Monitor Effect Remedy 1365 Message text Cause Monitor Effect Remedy 1366 Message text Cause Monitor Effect Remedy 1367 Message text Cause Monitor Effect Remedy 1368 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.01 en 79 of 135 .Correct program.In command processing.Acknowledge message. ---. -.In the line interpreter. a) For RCP and stationary KCP the mode AUT is required.When using a 5--axis robot ($DEF_A4FIX=TRUE) and palletizing mode is deactivated ($PAL_MODE=FALSE). -. -. -.Command cannot be executed. -. T2. -. OUT PARAMETERS INADMISSIBLE -.Fulfil the “active” conditions. PATH TRIGGER WITH PTP MOTION INADMISSIBLE -.02.Command cannot be executed because the KCP settings do not fulfil the conditions.In command processing.1 Effect Remedy 1363 Message text Cause Error messages / troubleshooting (continued) -. acknowledge.Program execution is stopped.Trigger with subprogram call where reference parameters are transferred.

All active commands inhibited. Monitor Effect Remedy 1370 Message text Cause Monitor Effect Remedy 1371 Message text Cause Monitor Effect Remedy 1372 Message text Cause Monitor Effect Remedy 1373 Message text Cause Monitor Fehlermeldungen 09.Ramp--down braking. -.Acknowledge message (acknowledgement possible only on the originating unit.The operator control unit has been deactivated during actuation of the start key or a traversing key in mode T1 or T2.For non--stationary KCP the mode T1 or T2 is required.In program processing the message has to be acknowledged. -. -. -.All active commands inhibited. or during the BCO run. -.Stop from a passive operator control unit (the message is displayed only if an active process has been stopped).In program processing -.Ramp--down braking -.In command processing -.Cyclic. -. -.All active commands inhibited. -. -. -. -. -.02. even in passive status). -.For RCP and stationary KCP the mode AUT is required.In command processing. STOP DUE TO UNIT PASSIVE -. PROCESS ACTIVE -.Set the correct mode.In command processing.Command is not executed.An attempt has been made to start an active command during an active process. -.For host computers the mode EXT is required.Error messages / troubleshooting 1369 Message text Cause ACTIVE ALLOWED IN <mode> ONLY -.Program already selected.Ramp--down braking.In program processing.In command processing. -.Command is not executed.Wait until end of processing. -. -. -.Stop active processing.In command processing. PASSIVE STOP -.In program processing. PROCESS BUSY -.Acknowledge message. -. -. -. -.01 en 80 of 135 .Switch operator control unit to active status. -.

In command processing. -.All active commands inhibited. -. -.A message which causes the active commands to be inhibited has been set. -.In command processing. PROCESS DISABLED -. -.In command processing.The command that is to be cancelled has already been processed.Ramp--down braking -.02.Command is not executed. COMMAND NOT BEING PROCESSED -. -. COMMAND NOT ALLOWED -.In program processing the message has to be acknowledged.1 Effect Error messages / troubleshooting (continued) -. Remedy 1374 Message text Cause Monitor Effect Remedy 1375 Message text Cause Monitor Effect Remedy 1376 Message text Cause Monitor Effect Remedy 1377 Message text Cause Monitor Effect Remedy 1378 Message text Cause Monitor Effect Remedy 1379 Message text Cause Fehlermeldungen 09.Wait until end of preceding command.Command is not executed.All selected processes have the program mode “DISABLED” or a non--disabled process is finished.During editing abort has been selected by the editor kernel before the command concerned (ERASE.Enter command correctly.01 en 81 of 135 .None. ACTIVE COMMANDS INHIBITED -.Deselect program already selected. -. -. -.Acknowledge active messages in the message window.Cancel command. COMMAND EXECUTION NOT POSSIBLE -. -. COMMAND ABORTED -.None. -.In program processing -.FIND) is called. -.In command processing.Alter program mode. -. -. -.In command processing -.The command has been cancelled. -. -.None.A preceding command is still being processed. -.Impermissible or unknown command.GET.Command is not executed. -.In command processing. -.Command is not executed.

None. -.A command is already being processed in the background.02. -. -.In command processing.Command is not executed.In command processing. -.01 en Monitor Effect Remedy 1384 Message text Cause Monitor Effect Remedy 1385 Message text Cause Monitor Effect 82 of 135 .Provide complete specifications in $OPTION.Wait until command has been executed.Cancel the exclusive assignment of the indicated device.Error messages / troubleshooting Monitor Effect Remedy 1380 Message text Cause Monitor Effect Remedy 1381 Message text Cause Monitor Effect Remedy 1382 Message text Cause Monitor Effect Remedy 1383 Message text Cause -.Create space on the storage medium (delete files that are no longer required).Cancel and reselect the program.The background is exclusively assigned to another operator. -. -.None. ** IS NOT A MEMORY DUMP -.In command processing. -. -. -. ABORTED -.The currently edited file is deleted. BACKGROUND OCCUPIED -. -.In command processing. it has been discovered that there is not enough space available on the storage medium (hard disk). -. -.Cancel command. -.In editing. PROTOCOL ERROR -. -.“BREAK” has been repeated.The parameter is not evaluated. Fehlermeldungen 09.Background cannot be exclusively assigned. -.Error in the protocol software of the operator control unit or output device. -.The command is aborted. -. --BACKGROUND PROCESS BUSY WITH <operator control device> -.In command processing.DAT. -. -.In command processing.A RUN command with a parameter has been executed for a program that is already selected. PARAMETER NOT PROCESSED -.When writing a data block (a file received from the controller or a temporary file created by the server).

01 en 83 of 135 . CIRC ANGLE NOT ACCEPTED Access to component not allowed -. VARIABLE TOO LARGE -.Check protocol software.Enter the option. -. -. ---.In command processing. -. -.In a program module an attempt was made to change a write-protected variable.More than 10 arguments have been specified.g.In command processing. -. field is larger than the display).Command is not executed.NAME[2]). 10 ARGUMENTS ADMISSIBLE -. Fehlermeldungen 09. -. INTERRUPT--UP: MAX. -.In command processing.None.02. -.Command is not executed.Illegal access to a component of the program/motion trace (e.Subdivide the request into several sections. SHOW VAR $PRO_TRACE[5].Write access to a “$” variable with an illegal process status (active. -. not active. WRITE PROTECTION DUE TO PROCESS STATUS -.The variable specified in SHOW VAR or SET INFO is too complex or too large (e.In program mode.In command processing. <string> VARIABLE WRITE PROTECTED IN MODULE <string> LINE <string> -.The option has not been entered. Error messages / troubleshooting (continued) -.Command is not executed.Reduce the number of arguments to the maximum permissible number. -. RC Ready).1 Remedy 1386 Message text Cause Monitor Effect Remedy 1387 Message text Cause Monitor Effect Remedy 1388 Message text Cause Monitor Effect Remedy 1389 Message text Cause Monitor Effect Remedy 1390 Message text Cause Monitor Effect Remedy 1391 Message text Cause Monitor Effect Remedy 1392 Message text Cause Monitor -.g. --OPTION <option name> MISSING -.

correct program. -.In command processing.In program processing -. -. -. RC ready).Command is not executed.Acknowledge message.In command processing. PROGRAM NOT LINKED -.Set a permissible process status. -. -.Command is not executed. -. reselect program. -.During command execution. MEMORY REQUEST FOR PARAMETER LIST TOO LARGE -. -. -. Check rcp selector switch -. -.In program processing the message has to be acknowledged.The selector switch on the RCP is not set to “RUN” in the case of selection or start from another operator control unit.Switch operator control unit to “active” status. WRITE PROTECTION DUE TO OPERATOR CONTROL UNIT STATUS -. Remedy 1397 Message text Cause Monitor Effect Remedy 1398 Message text Cause Monitor Effect Fehlermeldungen 09. -.Reading of a “$” variable with an inadmissible process status (active. -. -. --. -. not active.Set a permissible process status.Ramp--down braking -.Selection of a non--linked program.Reading of a “$” variable with the operator control unit status incorrectly set. -. -.In command processing.Command is not executed.All active commands inhibited.Command is not executed.Link the program.02. READ PROTECTION DUE TO OPERATOR CONTROL UNIT STATUS -.Switch operator control unit to “active” status.01 en 84 of 135 .In command processing. -. -.Command is not executed.Error messages / troubleshooting Effect 1393 Remedy Message text Cause Monitor Effect Remedy 1394 Message text Cause Monitor Effect Remedy 1395 Message text Cause Monitor Effect Remedy 1396 Message text Cause Monitor Effect -.An attempt has been made to write a “$” variable with the operator control unit status incorrectly set.The transfer parameters of the program require too much memory.In command processing -. READ PROTECTION DUE TO PROCESS STATUS -.At selection.Command is not executed.

Ramp--down braking.Selection into a control structure.1 Remedy 1399 Message text Cause Monitor Effect Remedy 1400 Message text Cause Monitor Effect Remedy 1401 Message text Cause Monitor Effect Error messages / troubleshooting (continued) -.The user is in the mode “Editing without implicit block selection”.The control structure is exited when the end is identified.Note: editing is now possible.Select the startup mode.02. Message not available -. The object is write--protected. -.Command is not executed.In command processing.With all commands of the startup mode. -. -.Acknowledge message. -Control structure next block <block number> -. Select startup -.Turn the selector switch on the RCP to “RUN”. -. -. -.None.During command execution. -.Modify interrupt module accordingly. MESSAGE CANNOT BE ACKNOWLEDGED -. Edit commands now allowed -.In program processing. -. Read the message.A command has been entered that is only allowed in the startup mode.Acknowledge message. -.Acknowledge message. -. -. -. --.Textual acknowledgement of a message that is not available.In program processing.Ramp--down braking.Acknowledgement of a status (operational) message. -. -. The interrupt module that is called after an error stop may not contain any motion instructions.Motion instruction in the interrupt routine that is executed after an error stop. and after completion of the current motion block has received an editor enable. Remedy 1402 Message text Cause Monitor Effect Remedy 1403 Message text Cause Monitor Effect Remedy 1404 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.Command cannot be executed.Command is not executed. -.In command processing. Interrupt instruction aborted -.All active commands inhibited. -. -.01 en 85 of 135 . -. -.

-.Command is not executed.01 en 86 of 135 . -. Error in path -. Program line does not exist -----.Program execution stopped.The user tries to edit a program while in mode “Editing without implicit block selection”. Edit commands inadmissible.Check and correct path specification. Line compilation or decompilation error -. -. acknowledge message.Editing is not possible. Fehlermeldungen 09.Trigger was programmed in interrupt or SUB module. -. <object name> is write protected -.Error messages / troubleshooting 1405 Message text Cause Monitor Effect Remedy 1406 Message text Cause Monitor Effect Remedy 1407 Message text Cause Monitor Effect Remedy 1408 Message text Cause Monitor Effect Remedy 1409 Message text Cause Monitor Effect Remedy 1410 Message text Cause Monitor Effect Remedy No trigger allowed in ISR or *.Press the Start key again until the message “Edit commands now allowed” appears.Correct program. -.In command processing.02.Object is write--protected.No effect. -.g.During command execution.Check object status (e.In command processing.Command is not executed.Error in path specification e.SUB -. -.Program execution. Editing is then possible. -. -. The user is still located in a motion instruction. -. unlink or deselect object). -. finish movement first -.g. /R5. all active commands inhibited. -.Message will soon be deleted.

-.All active commands inhibited. -.No value has been assigned to the program datum “$VEL_AXIS”.CP”. -. -.All active commands inhibited.CP”. -. -.During line selection. -.Before pressing the Start key.At the first CP block.Acknowledge message.No value has been assigned to the program data “$ACC. -.When the Start key is pressed. -. -. -.At the first CP block.Alter the program accordingly. -.Acknowledge message.No value has been assigned to the program datum “$VEL. -. Path acceleration not programmed -.All active commands inhibited. -.All active commands inhibited.02.Alter the program accordingly. Orientation acceleration not programmed -.No value has been assigned to the program datum “$ACC_AXIS”. -. After that the backward motion can be carried out. -.Acknowledge message.ORI1” and “$ACC.Line selection outside the trace.1 1411 Message text Cause Monitor Effect Remedy 1412 Message text Cause Monitor Effect Remedy 1413 Message text Cause Monitor Effect Remedy 1414 Message text Cause Monitor Effect Remedy 1415 Message text Cause Monitor Effect Remedy 1416 Message text Cause Monitor Effect Remedy Error messages / troubleshooting (continued) Line selection beyond buffer: Next start deletes buffer. -. -.Acknowledge message. Path velocity not programmed -.ORI2”.No value has been assigned to the program datum “$ACC. make another line selection within the buffer.Alter the program accordingly.Alter the program accordingly. -. -.Acknowledge message.Ramp--down braking. -.When starting a PTP block. -. -. Axis <axis number> acceleration not programmed -. -.All active commands inhibited.01 en 87 of 135 . the buffer for backward motion is deleted.Alter the program accordingly. Axis <axis number> velocity not programmed -. -.At the first CP block.When starting a PTP block. Fehlermeldungen 09.

-. -.All active commands inhibited.In program processing -.With a cartesian motion.Ramp--down braking.VEL”.ORI1” and “$VEL.ROB”. -.No value has been assigned to the program data “$APO. -. -.All active commands inhibited.Alter the program accordingly -.02.Error messages / troubleshooting 1417 Message text Cause Monitor Effect Remedy 1418 Message text Cause Orientation velocity not programmed -.In program processing -.Ramp--down braking -.In command processing -.All active commands inhibited. “$APO.Assign a value to “$TOOL”.Alter the program accordingly. Approximation not programmed <approximation criterion> -. -. -. -. <X.Acknowledge message.ORI”. -. -.Alter the program accordingly.When starting the first motion block with approximate positioning. -.Assign a value to “$BASE”. -.Acknowledge message. Monitor Effect Remedy 1419 Message text Cause Monitor Effect Remedy 1420 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.Y. -.A.No value has been assigned to the program datum “$BASE”.A.Command is not executed.All active commands inhibited. and/or “$APO.Z.Ramp--down braking -.DIS”. -. -.in a user program -.In command processing -.Command is not executed.C> TOOL not programmed -.With a cartesian motion. -.In command processing -.Y.In program processing -.01 en 88 of 135 .Acknowledge message.In command processing -.Alter the program accordingly -. -.B.Acknowledge message.Z. -. -.after overall reset of the control for a cartesian command. -.B.No value has been assigned to the program datum “$TOOL” -.ORI2”.No value has been assigned to the program data “$VEL.after overall reset of the control for a cartesian command.In program processing -.At the first CP block.Ramp--down braking. <X.in a user program -.C> BASE not programmed -. “$APO. -.

Acknowledge message in program processing.Value is not compatible with the specified data type.g.In program processing -.Ramp--down braking. -. <$ variable> invalid value -.Alter the program.During command execution. -.In program processing. -. -. value assignment of a number >255 to the data type “char”.Acknowledge message.Command is not executed. -.The GUI filters out the error number and initiates the double download for the file in question. -.In command processing. -.01 en 89 of 135 .Alter the program accordingly.When this error is caused by global types.All active commands inhibited. -.All active commands inhibited.Command is not executed.In program processing. -.Alter data type. PROGRAM STACK OVERFLOW -. -.Ramp--down braking -. -.1 1421 Message text Cause Error messages / troubleshooting (continued) <file> : <number> compilation error -.In program processing -. it can be corrected by downloading the files twice.02.Acknowledge message. -.All active commands inhibited.Compilation error due to unrecognized data type can occur in the case of global self--defined data types and ENUMs. Monitor Effect Remedy 1422 Message text Cause Monitor Effect Remedy 1423 Message text Cause Monitor Effect Remedy 1424 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. -.In command processing -.In command processing. -. reading of “$POS_INT” outside an interrupt routine. -. -. -.The nesting depth for subprograms and functions has been exceeded. e. -. -.g.In command processing -.In program processing. This means that the GUI must initiate a second download. e.Read access to a variable that is not initialized or that has an invalid value. -. Overflow -.Ramp--down braking -.

In program processing. -. $OUT_C[N] IS NOT PERMISSIBLE IN INTERRUPT PROGRAMS -.Ramp--down braking.The nesting depth of the variable has been exceeded. -.02. -. -. -. the string consists of more characters than the existing array. -.In program processing.In the program. Variable stack depth exceeded -.Acknowledge message.Program instruction that is not allowed as a command.In command processing -. -.Ramp--down braking -.Insert a RETURN instruction.Interpreter stop -. -. -.Command is not executed. -.01 en 90 of 135 .In a value assignment to arrays.Instruction not permissible here --.All active commands inhibited. -. -.Revise SRC file and acknowledge message Function value not defined -. -.Ramp--down braking. -.All active commands inhibited.Acknowledge message.All active commands inhibited.Error messages / troubleshooting 1425 Message text Cause Monitor Effect Instruction not allowed -. -.In program processing -. -. -.Ramp--down braking -.In program processing. -. -.All active commands inhibited. Remedy 1426 Message text Cause Monitor Effect Remedy 1427 Message text Cause Monitor Effect Remedy 1428 Message text Cause Monitor Effect Remedy 1429 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.RETURN instruction missing in the function module.Acknowledge message. String too long -.Program instruction that is only allowed in an interrupt routine.Command is not executed.Alter the program accordingly. -.In command processing.In command processing.Alter the program accordingly.In command processing -. -. -.In program processing -.Alter the variable accordingly.

Acknowledge message. Max. when attempting to open a file in the view mode) or has the attribute “hidden”.g. -. The file may not exist or it may have the attribute “hidden”.In command processing -.Selection of the editor is not possible.In command processing.More than 32 interrupts have been defined. -. -. -.In program processing -.Command is not executed.Alter the program accordingly. -. -.1 1430 Message text Cause Monitor Effect Error messages / troubleshooting (continued) <Interrupt or Trigger> not defined -. -.Acknowledge message.Command is not executed. Selection not possible -.Define interrupt. Remedy 1431 Message text Cause Monitor Effect Remedy 1432 Message text Cause Monitor Effect -.All active commands inhibited. of interrupts on -. of interrupts defined -. -.02. Remedy 1433 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.In program processing.In command processing -.In command processing -.More than 8 interrupts have been switched on. -. no.Ramp--down braking -. -.In command processing.An interrupt that has not been defined has been switched on.All active commands inhibited.Acknowledge message.In program processing.Ramp--down braking -. -. -. -.In program processing. Max.In command processing.In program processing -.Check whether the file exists (e. no.All active commands inhibited. -. -.Alter the program accordingly.In program processing -. -.Command is not executed. -. -.01 en 91 of 135 .Ramp--down braking -.

Error messages / troubleshooting 1434 Message text Cause Target point not reached -. -.Ramp--down braking. Data storage device not ready: . -.There is no disk inserted or the floppy disk drive is defective.Remove the write protection.Command is not executed. Disk write protected -.BCO was not achieved on returning from the interrupt routine. -. Reposition -. -.Alter the program accordingly.In command processing -..All active commands inhibited.02. -.In program processing. -.In program processing. Monitor Effect Remedy 1435 Message text Cause Monitor Effect Remedy 1436 Message text Cause Monitor Effect Remedy 1437 Message text Cause Monitor Effect Remedy 1438 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. Read protection -. A LIN motion to the programmed target point is executed when the robot is started. -.In program processing the message has to be acknowledged. -. -. with LIN $POS_RET. -.The contour cannot be determined when selecting a CIRC block with a circle angle. e.It is not possible to save data on the floppy disk.It is not possible to save to floppy disk. -.The write protection is activated.A “$” variable that is not admissible for the selected interpreter type has been read.None.g. -. -.In command processing.Insert floppy disk into the disk drive in. -. -.All active commands inhibited.The next motion is also a BCO run. -.In program processing -.01 en 92 of 135 . -.Ramp--down braking -.Acknowledge message. The robot must be repositioned to the interrupt point before the end of the interrupt routine..In program processing. check disk drive. -.

g.Ramp--down braking -.Command is not executed. SQRT (negative value).“DRIFT”.01 en 93 of 135 .In command processing -. -. Approximation not allowed for instructions -. -. -.Alter the program accordingly.All active commands inhibited. -.In program processing -.Command is not executed.Acknowledge message. -. -. -.In command processing. -.In interpretation of C functions. Remedy 1440 Message text Cause Monitor Effect Remedy 1441 Message text Cause Monitor Effect Remedy 1442 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. Interrupt priority not allowed -.Alter the program accordingly. -.In program processing.1 1439 Message text Cause Monitor Effect Error messages / troubleshooting (continued) <variable name> argument inadmissible -.Approximate positioning is not performed for the motion instructions.Ramp--down braking -. -.An incorrect MBX_ID is specified in the C function “MBX_REC”.In program processing.All active commands inhibited. -.In interpretation of “MBX_REC”.At least one argument in the function is inadmissible.All active commands inhibited.Acknowledge message. -. -.Acknowledge message.In program processing -. -.Alter the program accordingly. Mailbox identification not allowed -.Alter the program accordingly. -. -. e.Interrupt priority greater than 128 or less than 1 -.02. -.In command processing -. “$TOOL” or “$FILTER” is programmed between two motion instructions.Ramp--down braking. -.

After repositioning with LIN the angle status does not agree with the status of the programmed block.Perform repositioning with PTP.In command processing -.In command processing. -.In command processing.All active commands inhibited. -. Angle status inadmissible -. -.In command processing -.g.ORI1.No program motion. Array index inadmissible -. e.The first motion instruction in the program is not programmed completely.In program processing.Alter the program. -.Inadmissible value assignment for predefined variables.In program processing. e. -.Acknowledge message. PTP [33. -.In program processing.Ramp--down braking -.Assigned $BASE or $TOOL not possible for the kinematic system.Alter the program accordingly. -.02.Acknowledge message. -.An attempt has been made to access an array element that does not exist. -. -.All active commands inhibited. Acknowledge message. -.In program processing -.Ramp--down braking.The first motion instruction in the program is relative. -.Command is not executed. -. -.0 or > $SPEED_MA.Ramp--down braking -.Error messages / troubleshooting 1443 Message text Cause Start movement not allowed -.33].Alter the program accordingly.01 en 94 of 135 . -. -. -.All active commands inhibited. -. -. Value assignment not allowed -. $SPEED. -. Monitor Effect Remedy 1444 Message text Cause Monitor Effect Remedy 1445 Message text Cause Monitor Effect Remedy 1446 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.g.In program processing -.In program processing. -. -.ORI1 <= 0.Command is not executed.Acknowledge message.

-.In program processing -.In program processing.In command processing -.Command is not executed. -. -.All active commands inhibited. -.Ramp--down braking -.All active commands inhibited.g. -. -. <$variable> variable write protected -. -.The specified memory dump name contains wildcards.In command processing. -.Command is not executed.Acknowledge message.Data transfer is not carried out. This is not allowed however.In program processing. -. -.Alter the program.Acknowledge message.$BASE or $TOOL has been assigned although no transformation is configured. -. -.02.In program processing -. -.In command processing.1 1447 Message text Cause Monitor Effect Error messages / troubleshooting (continued) Software limit <motion direction> <axis number> out of range -.Target point cannot be reached due to a software limit switch.Alter the program.01 en 95 of 135 . Expansion of these wildcards has resulted in more than one valid file name.Alter the program. -.Ramp--down braking -. Transformation not configured -. -. -.In command processing -.Command is not executed.In program processing -. <Name> ambiguous -.All active commands inhibited. -. -.In command processing -. Remedy 1448 Message text Cause Monitor Effect Remedy 1449 Message text Cause Monitor Effect Remedy 1450 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. “$POS_ACT”. -.Ramp--down braking -.Write access to a write--protected variable e.Specify an unambiguous name.In program processing.Acknowledge message. -.In command processing.

Command is not executed.Command is rejected.In command processing -.01 en 96 of 135 .Backward motion is deactivated ($VW_BACKWARD = FALSE). -. -Inadmissible in this edit mode -.Alter the program. Backward motions not active -. -. -.An attempt has been made to divide a value by “0”. -.Set variable $VW_BACKWARD to TRUE.Acknowledge message.Ramp--down braking.02.Error messages / troubleshooting 1451 Message text Cause Monitor Effect Division by 0 -. -.A command that would alter the object has been entered in the listing mode of the editor.Edit in full edit mode.None. -.When START MINUS key is pressed.The attempted action is not executed.An attempt has been made in the data correction mode to delete or copy a range of blocks or to delete a block consisting of only one line.BSTEP -. -.In command processing.All active commands inhibited. -. -. -. -.Acknowledge message.Distance between start point and end point is too small. Start point equal to end point -. Remedy 1452 Message text Cause Monitor Effect Remedy 1454 Message text Cause Monitor Effect Remedy 1455 Message text Cause Monitor Effect Remedy 1456 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. -. -. -. -.Reprogram start point and/or end point. -.In program processing -. -.In program processing.During preparation.Ramp--down braking -.Active commands inhibited. -.In the editor. Start continue not possible -.In command processing. -.

When the “Start backwards” key is pressed. -.Program cannot be processed by the editor.In the editor.Command is not executed. Command syntax error -.Editing was carried out or a block selection was made at a position which causes the trace to be discarded.Correct the command.Command is not executed.During preparation.Select program with “Edit”.Reprogram start point and/or auxiliary point. -.Active commands inhibited.Ramp--down braking.The command contains a syntax error. Backward motion is thus also disabled.1 1457 Message text Cause Monitor Effect Remedy 1458 Message text Cause Monitor Effect Remedy 1459 Message text Cause Error messages / troubleshooting (continued) Start point equal to mid point -.Ramp--down braking.Command is not executed.Forward motion.Forward motion. -. Deleting Trace: no backward motions possible -. Switching to forwards in this subprogram would not be possible. -.Distance between start point and auxiliary point is too small.01 en 97 of 135 . Mid point equal to end point -. -.Reprogram auxiliary point and/or end point.During preparation. -. -. -. -. -. -.Active commands inhibited.An attempt was made to carry out backward a motion located inside a subprogram which has already been executed. -.02. -. From now on backward motion is no longer possible. -.When the “Start backwards” key is pressed. Monitor Effect Remedy 1460 Message text Cause Monitor Effect Remedy 1462 Message text Cause Monitor Effect Remedy 1463 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. Backward motions not possible: finished subroutine -.Distance between auxiliary point and end point is too small. -. -. -. -. -. Object not ready -.In the editor. -.Command is not executed.

01 en 98 of 135 . -. Key not allowed -.Alphanumeric key pressed in prompted operation when no input field is available.An unassigned softkey or function key has been pressed during prompted operation.In command processing. Main process not available -.Interpreter stop -. -.Revise SRC file and acknowledge message Key not assigned -.None.None.Instruction not permissible here --. -.Main run display (motion trace) selected but no main run block interpreted yet. Change of direction not possible Monitor Effect Remedy 1474 Message text Cause Monitor Effect Remedy 1477 Message text Cause Monitor Effect Remedy -.Impermissible key (e.Start the program. -. -.None. -.02. softkey) pressed in textual operation.When a key is pressed.Instruction not permissible here --. Fehlermeldungen 09. -.When a softkey is pressed. -. -.Revise SRC file and acknowledge message ONLY 8 $OUT_C[N] ASSIGNMENTS PER MOTION PERMISSIBLE -.When a function key is pressed.Interpreter stop -. -.g.Acknowledge the message. -.Error messages / troubleshooting 1464 Message text Cause Monitor Effect Remedy 1465 Message text Cause Monitor Effect Remedy 1468 Message text Cause Monitor Effect Remedy 1472 Message text Cause $OUT_C[N] IS NOT PERMISSIBLE IN SUBMIT -.None. -.Entry is ignored.In command processing.

Ramp--down braking.From the PCL application program (bonding technology). -.Monitoring of the dispensed volume has been triggered.Ramp--down braking. Too much adhesive has been dispensed. Oil filter dirty -. -.Check the adhesive application hardware.Clean or replace oil filter. -. -. or the outlet nozzle is clogged. -. -.Set the search path to the current interpreter environment.Check the adhesive application hardware.None. -.Monitoring of the dispensed volume has been triggered. -. Possibly there are bubbles in the adhesive supply line. Volume too small -. -.Ramp--down braking.From the PCL application program (bonding technology). All active commands inhibited. all active commands inhibited. Monitor Effect Remedy 1485 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. -. A pressure value outside the permissible tolerance range has been detected. Excessive volume -. purge it if necessary.Check the adhesive application hardware. purge it if necessary. -.01 en 99 of 135 . -.init).Advance run display (program trace) selected but no program is in the STOP or END state. purge it if necessary.From the PCL application program (bonding technology). -. Wrong adhesive pressure -. -.02. All active commands inhibited.In command processing.The hydraulic pressure is no longer adequate because the hydraulic oil filter is dirty. No runtime data access -. -. All active commands inhibited. -.From the PCL application program (bonding technology).Access to an invalid or non--existent object value memory or runtime data area via the hierarchy table (search path). -.The initial pressure of the adhesive is continuously monitored by the PLC during dispensing.1 1478 Message text Cause Monitor Effect Remedy 1481 Message text Cause Monitor Effect Remedy 1482 Message text Cause Monitor Effect Remedy 1483 Message text Cause Monitor Effect Remedy 1484 Message text Cause Error messages / troubleshooting (continued) Pre process not available -.None. -.Ramp--down braking. Insufficient adhesive has been dispensed.Start the program.In the interpreter (prim -.

In the application of adhesive to glass. the glass might be damaged or might no longer be clamped to the fixture. Component check error -. -. Emergency Stop. oil temperature exceeded -. All active commands inhibited.From the PLC application program (bonding technology). -.01 en 100 of 135 . All active commands inhibited.Component damaged or no longer clamped to the fixture.02.Ramp--down braking. -. the glass is held in position by means of a vacuum.The maximum permissible hydraulic oil temperature has been exceeded.Check the workpiece.Ensure that the air pressure and quantity are sufficient. -. Centering error -.From the PLC application program (bonding technology).Check fixture.If this situation occurs frequently. -. All active commands inhibited. In this case. -. -. If this vacuum is not available.Ramp--down braking. the robot motion and adhesive application must be stopped immediately! -. All active commands inhibited.From the PCL application program (bonding technology).The required air supply pressure for the pneumatic valves is not available.The workpiece is not correctly positioned or clamped. There is possibly a fault in the feed equipment.Maximum braking. -. the adhesive nozzle is pressed onto the glass. -. or the fixture is defective.From the PCL application program (bonding technology).Vacuum missing or insufficient. -. the glass cannot be held in position after it has been centered. check the hydraulic unit. -.Ramp--down braking. If this pressure is missing during adhesive application.Wait until the hydraulic oil has cooled down. Vacuum error -. feed equipment or workpiece position.From the PCL application program (bonding technology). -. General system air pressure -. -. -. Monitor Effect Remedy 1489 Message text Cause Monitor Effect Remedy 1490 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. -. All active commands inhibited.Error messages / troubleshooting 1486 Message text Cause Monitor Effect Remedy 1487 Message text Cause Monitor Effect Remedy 1488 Message text Cause Max.Ramp--down braking. In the application of adhesive to glass.Check the vacuum pump and hoses. -.

Ramp--down braking. -.None.In program processing. All active commands inhibited.Check the adhesive application hardware.In command processing. -.02.01 en 101 of 135 .None. or cancel the instruction. -. -. -. -.The maximum time for filling the dispenser with adhesive has been exceeded. -. -.In command processing. -. -. -.The time for filling the dispensing unit with adhesive is monitored by the PLC. Channel assigned to PLC -. -.None.An attempt has been made to access the channel that has already been parameterized for the PLC link. Adhesive level -.Alter the channel declaration protocol. Timeout during filling -.1 1491 Message text Cause Error messages / troubleshooting (continued) CP/PTP approximation not feasible -.Set ANOUT OFF.Reparameterize the channel. -.PLC protocol is set and channel declaration is not set to SER1. If the maximum time is exceeded.More than 2 cyclic analog outputs have been switched on.Ramp--down braking.Prepare a new adhesive drum or switch over to a filled drum. there is a fault in the adhesive application hardware. Monitor Effect Remedy 1492 Message text Cause Monitor Effect Remedy 1493 Message text Cause Monitor Effect Remedy 1495 Message text Cause Channel not compatible with protocol -. -. S change in the CP block.In the CP block the traversing distance of an axis is greater than 180 degrees. Close the channel and open it again.The adhesive drum is empty. Monitor Effect Remedy 1496 Message text Cause Monitor Effect Remedy 1497 Message text Cause Monitor Effect Remedy Fehlermeldungen 09.From the PLC application program (bonding technology). software limit switch violated in travel along “shortest path”. -.From the PLC application program (bonding technology). All analog functions assigned -.

-. -.In command and program processing. -.In the program.02.Ramp--down braking. -.Ramp--down braking.In logical comparison of value assignments during cyclic Synact monitoring. or all points lie on a straight line.. e.CIRC block is not executed. -. -. variables for individual blocks and approximate positioning blocks are combined in the logic comparison or value assignment.All active commands inhibited..Acknowledge message. Invalid SYNACT variable <variable name> <block number> -. -. -. -. e. -. Analog output already assigned -. -.Cyclic.In program processing. -. -. -.Ramp--down braking. variable write--protected. -. Combination of variables not allowed <block number> -.In a synact instruction. -.Acknowledge the message.Program auxiliary point and/or end point correctly.In the individual CIRC block. all active commands inhibited. SIGNAL SIG2 $ANOUT[1]. -.All active commands inhibited.A cyclic analog output is assigned a second time in the program. -.Switch off cyclic analog output: ANOUT OFSIG.g.Non--existent analog output signal or incorrect signal index accessed. ANOUT ON SIG2 = .Distance between starting point and/or auxiliary point and/or end point is too small.Correct the data or the program.Ramp--down braking.Error messages / troubleshooting 1498 Message text Cause Monitor Effect Remedy 1499 Message text Cause <Signal name> not an analog output -.. -. CIRC parameter not allowed -.Program synact instruction differently. SIGNAL SIG1 $ANOUT[1]. all active commands inhibited.Ramp--down braking.. Formation of a circle is not possible.01 en 102 of 135 ..g. an error occurred when accessing a variable.. ANOUT ON SIG1 = . Monitor Effect Remedy 1504 Message text Cause Monitor Effect Remedy 1505 Message text Cause Monitor Effect Remedy 1506 Message text Cause Monitor Effect Remedy Fehlermeldungen 09..

None. -.In command processing. or incorrect format specification in CWRITE instruction.Change program execution mode. Error at format selection no.Ramp--down braking. -. -.Top up hydraulic oil and check hydraulic system for leaks. -.Parameter inconsistent with format specification.02. No file available -. Insert another disk -. -.No file is available that meets the search criteria specified in the DIR command. mode inadmissible -.In command processing.In program processing.The selected program execution mode is not permissible. <number of incorrect format selection> -.Alter the program accordingly. Fehlermeldungen 09. -. -.Program the correct format specification. -. -. -.Insert floppy disk in the disk drive.01 en 103 of 135 . -. -.32--bit word is exceeded.Program execution is stopped. -. -. ---.The oil level in the hydraulic system has fallen below the minimum limit.1 1507 Message text Cause Monitor Effect Remedy 1508 Message text Cause Monitor Effect Remedy 1509 Message text Cause Monitor Effect Remedy 1510 Message text Cause Monitor Effect Remedy 1511 Message text Cause Monitor Effect Remedy 1513 Message text Cause Monitor Effect Remedy 1514 Message text Cause Monitor Effect Remedy Hydraulic level Error messages / troubleshooting (continued) -.None.In PLC program processing.None. -. Program exec. Access denied ----Range for <path> <axis number> exceeded -.Request for next floppy disk.Program processing in S_INT function CWRITE.Check specifications and spelling in the DIR command.

In program processing. -.Set the option “--S”. Pressure sensor cable failure -.The current flow of the analog input channel for volume sensing has fallen below the minimum limit (4 -.02.Ramp--down braking.Check connecting cable.Ramp--down braking.01 en 104 of 135 . -. connectors and current source. all active commands inhibited.) -.Program $BASE correctly. -. -.Carry out BCO run to end point.$BASE is programmed incompletely or not at all. -. Reference system not programmed -. -. -.The current flow of the analog signal for pressure sensing has fallen below the minimum limit (4 -.20 mA interface). BCO move to aux.In command processing. -. connectors and current source. point required -.File is not transmitted. -. -. -. -.Check connecting cable.In command processing.The command is aborted.20 mA interface).In command processing. -. Monitor Effect Remedy 1516 Message text Cause Monitor Effect Remedy 1517 Message text Remedy 1518 Message text Cause Monitor Effect Remedy 1519 Message text Cause Monitor Effect Remedy 1520 Message text Cause Monitor Effect Remedy 1521 1522 Message text Message text Cause Monitor Effect Remedy Fehlermeldungen 09.Ramp--down braking.A default parameter or no parameter has been transferred to a predefined C function. Default parameter -.The axis selected for mastering is inactive.Call the C function with a parameter. -. -. Change of segment is erroneous Selected axis is not adjustable -. all active commands inhibited.System file has been transmitted via an interface without the option “--S” being set “--S” is the code for the download command. -.Error messages / troubleshooting 1515 Message text Cause <object> copy refused (--S.Ramp--down braking.In command processing. -.Master only active axes. -. Volume actual value cable failure -.In program processing.

-. -.In command processing.Ramp--down braking. triggers (50) defined -.Perform sensor location run for the axis. Segment exchange successful Reduced velocity during sensor location search -.02.Correct the value.The maximum number of Trigger commands has been defined. Max. Max.In program processing.A brake is still open after the preceding motion. -. -.The velocity defined by the user for the sensor loction run in $RED_JUS_UEB is greater than the possible maximum at which the sensor can be detected.Command is not executed. Monitor Effect Remedy Fehlermeldungen 09.Wait until all brakes are closed and the servos are disabled.Reduce the permissible velocity for manual traversing in the machine data. Sensor mastering inadmissible -. -.In command processing. The controller automatically reduces the velocity to allow the sensor to be detected.“PRIO” -.1 1523 Message text Cause Monitor Effect Remedy 1524 Message text Cause Effect Remedy 1525 Message text Cause Remedy 1526 Message text Cause Remedy 1527 Message text Cause Monitor Effect Remedy 1528 Message text Cause Monitor Effect Remedy 1529 1530 Message text Message text Cause Error messages / troubleshooting (continued) EXTFCTP instruction inadmissible -. -.Command is aborted. Brakes open during mastering selection -.Alter the program. -. -.No sensor location run has been performed for the axis. -. -.An EXTFCTP instruction has been programmed in the program.In command processing. Invalid trigger -.Delete the EXTFCTP instruction in the program. -.Ramp--down braking. -. -. active triggers reached -. all active commands inhibited.Too many Trigger commands programmed in a block.An inadmissible value was entered for Trigger--PRIO.Reduce number of active Trigger commands in the program.01 en 105 of 135 . -. -.None. -.

Sensor location run/referencing.Loader for the file “$CUSTOM.The correction data have been altered. after the start the CIRC block is then executed as a LIN motion.In the program.An attempt has been made to execute a CIRC motion as a BCO run. -. CIRC is executed as LIN -. Monitor Effect Remedy 1536 Message text Cause Monitor Effect Remedy 1537 Message text Cause Fehlermeldungen 09.Set the mode to T1.01 en 106 of 135 . execution/archiving of the correction data.Ramp--down braking.Acknowledge message. Perform mastering again. -.In program processing.Neg.Change the logic condition of the synact instruction. All active commands inhibited. -. -. -. Stop due to loading new custom data -. -. -. Delay <block number> inadmissible -.Do not use undefined array parameters and transfer complete arrays as current parameters only on a “call--by--reference” basis. -. -.In command processing. -. M_SC_B. -.Program execution is stopped.Error messages / troubleshooting 1531 Message text Cause Monitor Effect Remedy 1532 Message text Cause Monitor Effect Remedy 1533 Message text Cause Monitor Effect Remedy 1534 Message text Cause Monitor Effect Remedy 1535 Message text Cause Adjustment possible only in mode T1 -. -.DAT” has been called.In program processing. -. M_SCAPO_F.Ramp--down braking.02.Ramp--down braking.Ramp--down braking. M_SCAPO_B).The operating mode of the controller is not set to mode T1. Array parameter inadmissible -.In command processing. -. all active commands inhibited. -.dat check sum error -. all active commands inhibited. ---COR.Undefined array parameter or complete “call--by--value” array in the list of current parameters when function is called.Message that the program line has been corrected. Program line changed -. delay in the synact instruction has not been used in combination with one of the 4 position trigger variables (M_SC_F. all active commands inhibited. No process may be active at the same time since the system is fully occupied with the loader.

Machine data error -.Ramp--down braking.A third dynamic analog input has been switched on in the program. -. -. -.One of the dynamic analog inputs must first be switched off.Stop.The value for “DISTANCE” is not permissible. -. Do not edit “$CUSTOM.Acknowledge message.Acknowledge message. -. All pulse outputs assigned -. -.In total more than 16 “slow” variables have been used in the logical expressions of the INTERRUPT DECL instructions on the control and robot levels. -. -.In program processing. Digital input already assigned -.Maximum braking.DAT” during an “active process” Invalid “DISTANCE” value -. enter permissible value.Acknowledge message. -.Use fewer predefined variables.Switch off the dynamic digital input. -. program execution stopped. Interrupt expression complexity exceeded -.Machine data have not yet been checked. -.In program processing. -.Ramp--down braking.A digital input has been cyclically switched on in the program for a second time.1 Monitor Effect Remedy 1538 Message text Cause Remedy 1539 Message text Cause Remedy 1540 Message text Cause Error messages / troubleshooting (continued) -.More than 16 impulse outputs have been switched on. -.Stop.Program processing.01 en 107 of 135 . -. -.The value for “DELAY” is not permissible. All active commands inhibited.Edit the machine data or copy the machine data or option data file.02.In program processing. -.None.With active commands. -. Monitor Effect Remedy 1541 Message text Cause Monitor Effect Remedy 1542 1543 Message text Message text Cause Monitor Effect Remedy 1544 Message text Cause Monitor Effect Remedy 1545 Message text Cause Monitor Effect Fehlermeldungen 09. enter permissible value. Error in “UPCALL” token No more dynamic analog inputs available -. -. Invalid “DELAY” value -.In command processing.

---Channel already open -.Program. -.05 to 3049.In command processing.An invalid HANDLE has been programmed into CWRITE or CREAD.Error messages / troubleshooting Remedy 1546 Message text Cause Monitor Effect Remedy 1547 Message text Cause Monitor Effect Remedy 1548 Message text Cause Monitor Effect Remedy 1549 Message text Cause Monitor Effect Remedy 1550 Message text Cause Monitor Effect Remedy 1552 Message text Cause Monitor -.Ramp--down braking.Incorrect data type of a target variable or wrong format in a CREAD or SREAD instruction. -.02.Ramp--down braking. A value outside this range has been specified. No more data/variables available -. -. -.In program processing.The permissible range for the pulse duration extends from 0. -. Fehlermeldungen 09.Eliminate the error using the error list containing the linking errors.Program values in the permissible range.Program that must be linked for reselection causes linking error. program execution stopped.01 en 108 of 135 . ---.With SREAD/CREAD there is no more text to be read or there are no variables available for storing the values.Specify a valid HANDLE. Invalid pulse duration -. -. Target variable must be of type REAL -. <name of the displayed program> reselection not possible -. -. -.Alter program accordingly.None. Invalid handle -.Correct CREAD or SREAD instruction: change format specification or use variable of type REAL. -.An attempt has been made to open a channel that is alraedy open.Command processing (RUN command). -.

Fehlermeldungen 09. -.The operator has attempted to open a SINEC H1 channel by means of the OPEN command or to close it by means of the CLOSE command. -. Channel has to be opened/closed -. SINEC L2 bus channel not opened -. Channel already fully assigned -. -.None. -.None. -.The maximum number of jobs have already been assigned to the channel.None. -. -. -.None.In command processing. -.DAT” is faulty or not initialized. -. -.In command processing.At least one channel parameter in the parameter variable of the channel in “$CUSTOM. SINEC H1 channels are opened and closed automatically.In command processing.In command processing. -.In command processing. -. Wrong type of parameter variable -.Correct or initialize the parameter variable.In command processing. -. -. -. Channel parameters faulty or incomplete -.None.Open SINEC L2 bus channel.Wait until at least one of the jobs is finished. -.01 en 109 of 135 .None. -.02.Close the channel prior to assignment.1 1553 Message text Cause Monitor Effect Remedy 1554 Message text Cause Monitor Effect Remedy 1555 Message text Cause Monitor Effect Remedy 1556 Message text Cause Monitor Effect Remedy 1557 Message text Cause Monitor Effect Remedy 1558 Message text Cause Monitor Effect Remedy Error messages / troubleshooting (continued) Channel cannot be opened/closed -.The channel parameters used for assigning the channel do not correspond to the current channel parameters.Correct CHANNEL declaration for the channel.An attempt has been made to open a SINEC L2 connection without the SINEC L2 bus channel being open.None.The parameter variable for the channel is of the wrong type.

-. baud rate). Channel already closed -.In command processing.Close all the SINEC L2 communication channels.None. -. <SINEC L2.Enter shorter wait times.In command processing. expressed in basic clock rate cycles. -. -. exceeds the long range. SINEC L2 communication channels not closed -.None.Ramp--down braking.In command processing. -. i.An attempt has been made to close a channel that is already closed.None.Abort.01 en 110 of 135 .Install the corresponding board. -.Check and correct the channel parameters (e. SINEC L2 CONFIGURATION ERROR ** -. -.02. -.Program processing.The opening or closing of a SINEC L2 channel is refused on account of a configuration error detected by the SINEC L2 module.An attempt has been made to transmit a productive command via the SINEC L2 bus channel. -.In command processing.An attempt has been made to close the SINEC L2 bus channel without all the SINEC L2 communication channels being closed first.An attempt has been made to access a SINEC L2 or SINEC H1 channel without the corresponding board being installed.The wait time in the WAIT_SEC command. -. -. -.None.An attempt has been made to output the listing or the message buffer through the SINEC H1 channel to a third station.None. is greater than 2147483647. -.e. -.In command processing.Error messages / troubleshooting 1559 Message text Cause Channel specification inadmissible -.None. SINEC H1> board not available -. -. Monitor Effect Remedy 1560 Message text Cause Monitor Effect Remedy 1561 Message text Cause Monitor Effect Remedy 1562 Message text Cause Monitor Effect Remedy 1564 Message text Cause Monitor Effect Remedy 1565 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. -. Value range exceeded -. -.g. -. -.

Maximum no. -.None.Alter the baud rate.Correct the data used for the channel as required.Too many processes are running through the serial interface. Parameter change inadmissible.The connection of the IFC to the SINEC L2 board is faulty.02. -. Baud rate summation exceeded -.An attempt has been made to allocate parameters differing from the current ones to a channel that is already assigned. ---. -. or close the channel and re--open it with the appropriate parameters.The maximum value of a channel parameter has been exceeded.The aggregate baud rate of both channels has been exceeded (it is limited to 19200 bauds). Invalid parameter value -.01 en 111 of 135 .1 1566 Message text Cause Monitor Effect Remedy 1567 Message text Cause Monitor Effect Remedy 1568 Message text Cause Monitor Effect Remedy 1569 Message text Cause Monitor Effect Remedy 1570 Message text Cause Monitor Effect Remedy 1571 Message text Cause Monitor Effect Remedy Error messages / troubleshooting (continued) SINEC L2 TRANSMISSION ERROR <error no. -. channel assigned -.None.Wait until a process is finished. exchange board (IFC with SINEC L2 board).Correct the channel parameter. SINEC L2--M> -. -.Carry out warm start.In data transmission. ---. ---.Cyclic -. -. ---. NO CONNECTION TO SINEC L2 BOARD -. of processes assigned to channel -.Data transmission via SINEC L2 is not possible on account of an error detected by the SINEC L2 module.If fault recurs. Fehlermeldungen 09.Check the transmission link and rectify the error.

Maximum braking. a syntax error has occurred in the interface CPU with regard to the command generated by the control.Maximum braking.Command processing. -.Check whether the physical connection to the periphery still exists.Change the name of the module.An inadmissible value has been entered. IFC syntax error -. BASE change inadmissible -. --. not acknowledgeable).01 en 112 of 135 .Alter the program accordingly. ---.KRC system error (core system.Close and re--open the channel.Error messages / troubleshooting 1572 Message text Cause Monitor Effect Remedy 1573 Message text Cause Protocol timeout -.Reboot the KRC controller. <Name> already exists -. --. -.02.A SUB module cannot be created in the editor if an SCR module of the same name already exists and vice versa. “KRC system error 0” indicates that a task has crashed. all active commands inhibited.During an attempt to open or close a channel.During conveyor operation an attempt has been made to change the BASE.Command processing. <Value> inadmissible -. -. Monitor Effect Remedy 1574 Message text Cause Monitor Effect Remedy 1576 Message text Cause Monitor Effect Remedy 1577 Message text Cause Monitor Effect Remedy 1578 Message text Cause Monitor Effect Remedy Fehlermeldungen 09. --.Enter an admissible value. ---. Increase the timeout setting appropriately if it is too low. -. --.The defined protocol time has been exceeded. KRC system error <error number> <originator> -.

The interrupt must not be triggered on the level where the interrupt was declared. ---<SER_1> block size error -. are incompatible with the function definition.Internal error in APS detected by APS. -.Request confirmation from APS.In the interpreter when changing CLASS or MODE.An interrupt has occurred in the program section where the interrupt with RESUME was declared.01 en 113 of 135 .. -.The function parameters are checked by the interpreter in the advance run. which is not defined.3. Tech mode inadmissible -.The received data block is too large. --. Tech.FKT i=1. -. -.Alter the buffer length in the external data storage device to the control-internal size or smaller. -.Correct the function parameters. ---. -.The “CYCLE” mode has been programmed for the technology category “VEL”.FCT inadmissible -. reboot probably required.The function parameters programmed in $TECH[i]. Program structure for resume inadmissible -.Ramp--down braking. function $TECH[<parameters 1--3>].Ramp--down braking. -.02.A non--existent external kinematic system has been assigned to the system variable “$BASE” with the function EK.RESUME may be used only in conjunction with the subprogram technique.Alter the program. ---.Ramp--down braking.1 1579 Message text Cause Monitor Effect Remedy 1580 Message text Cause Monitor Effect Remedy 1581 Message text Cause Monitor Effect Remedy 1582 Message text Cause Monitor Effect Remedy 1583 Message text Cause Monitor Effect Remedy 1584 Message text Cause APS system error Error messages / troubleshooting (continued) -. The return is therefore executed to the advance run pointer. Kinematic instruction inadmissible -. Monitor Effect Remedy Fehlermeldungen 09.

. ---. interrupted (File server) -. Monitor Effect Remedy Fehlermeldungen 09.A SET INFO is being applied to an ENUM variable from a user data list.In command processing.Enter ENUM declaration and variable declaration in the “$CONFIG. The search path extension has been altered again --> no access to ENUM type information. -. --.See “SINEC AP Technological Functions. --. Path inadmissible -. SINEC AP/TF ERROR <SINEC AP/TF--Fhlcode> -.01 en 114 of 135 . --. -.The path specification for SINEC H1 contains “wildcards”. ---. ENUM not declared in $CONFIG -.Command processing. closing channel inadmissible.The application communication with the file server has been interrupted or disconnected. Application comm.In command processing. --. Part B”. -.Correct the value of the CA appropriately.See “SINEC AP Technological Functions.Error messages / troubleshooting 1585 Message text Cause Monitor Effect Remedy 1586 Message text Cause Monitor Effect Remedy 1587 Message text Cause Monitor Effect Remedy 1588 Message text Cause Monitor Effect Remedy 1589 Message text Cause Monitor Effect Remedy 1590 Message text Cause CA parameter out of range -..The channel concerned cannot be closed during transmission. -. channel active -.02.DAT” file.Too large a value has been programmed for the parameter CA (complete angle) in the CIRC block.Wait for the transmission to finish or abort the transmission.In command processing. Part B”.Check the transmission link between the ACR and the file server. .Copy just one file at a time.

. -.Value assignment is not carried out.Correctly program “$LOAD”. -. the load has not been completely programmed. -. then carry out tacho balance.]”.Operator information.In every motion in the program or interrupt.First select an axis. Tacho balance only possible for one axis -. -. Load not programmed -.Set minimum to a value less than the maximum Load dependent ACC. -. CONTROL : ** 1596 Message text Cause Monitor Effect Remedy 1597 Message text Cause Monitor Effect Remedy 1598 Message text Cause Monitor Effect Remedy 1599 Message text Cause Monitor Effect Remedy 1600 Message text Fehlermeldungen 09. adaption not possible for PTP <.Carry out tacho balance for DSE axes only.Lower the optimization limit “$OPTEXCLUDE”.Value assignment is not carried out.On value assignment to “$TACH_CHANGE”.On value assignment to “$TACH_CHANGE”. No axis selected -.> -..An attempt to carry out a tacho balance for an axis which is not present on the DSE board. Not a DSE axis -.At every PTP preparation with activated load--dependent acceleration adaptation.If allowed: increase the max..Value assignment is not carried out. -. -. -. no effect.With the acceleration adaptation activated. -. -. -. -.An attempt has been made to carry out a DSE tacho balance for several axes at the same time.01 en 115 of 135 .02.The minimum value defined for an ANOUT command was greater than the maximum --.Interpreter stop -.Program stop. -. permissible continuous gear torque “$DYN_DAT[50. -.1 1591 Message text Cause Monitor Effect Remedy 1595 Message text Cause Monitor Effect Remedy Error messages / troubleshooting (continued) MINIMUM MUST BE LESS THAN MAXIMUM -.Carry out tacho balance for one axis only.An attempt has been made to carry out a tacho balance even though no axis has been selected.On value assignment to “$PROG_EEPOT”.The simulation calculation of the integrated dynamic model exceeds the given limit values of the continuous gear torque. -. -.

DEF -.When starting a trace. --. -.Troubleshooting with CMD (Phoenix diagnostic tool).DEF” file could not be read at the start of trace recording. -. InterBus : bus error <segment. position> -. -. diagnosis with CMD software (Phoenix).Malfunction in the bus module specified (Segment Position).Error or malfunction in data transmission on the Interbus.DEF” available.Data transmission on the Interbus is stopped. position> -. ---.Correct “TRACE.02.When starting a trace. -.The trace has been incorrectly defined in the “TRACE.Eliminate the error in the specified module.Ramp--down braking.Return value of a BOOL function has been assigned directly to a $CYCFLAG. --. -.Achieve block coincidence in the SINGLE--STEP mode first. All active commands inhibited.Make “TRACE.DEF”. InterBus : bus warning <segment. -.Outputs are reset.Error messages / troubleshooting 1601 Message text Cause Monitor Effect Remedy 1602 1603 1604 Message text Message text Message text Cause Monitor Effect Remedy 1605 Message text Cause Monitor Effect Remedy 1606 Message text Cause Monitor Effect Remedy 1607 Message text Cause Monitor Effect Remedy 1608 Message text Cause Monitor Effect Remedy No block coincidence. Error reading TRACE. -.In program processing. --.Alter the program. outputs are reset. step mode first -.The “TRACE. acknowledge message.01 en 116 of 135 . --. Fehlermeldungen 09. Assignment of function value to $CYCFLAG inadmissible -.No block coincidence when changing mode to AUTO. start or check FTP server. BCO run in step mode required Safety fence open Error in trace definition -.DEF” file.

All active commands inhibited.In program processing.Start is inhibited during insertion of one or more blocks in PROCOR. -.Bus error in the ring of the higher--level controller (PLC.). -.Ramp--down braking. --. -. InterBus: bus error in slave ring -.Automatic External interface deactivated.A $CYCFLAG has been assigned local runtime data. NEW BLOCK IS NOT A DECLARATION BINARY OUTPUT SIGNAL EXPECTED INCORRECT INITIALIZATION FAULTY INITIALIZATION VALUE “DEFDAT” EXPECTED VARIABLE NOT INITIALIZED “CA” EXPECTED “DEF” OR “DEFFCT” EXPECTED BLOCK CANNOT BE MODIFIED Fehlermeldungen 09. etc.02. acknowledge message.1 1609 Message text Cause Monitor Effect Remedy 1610 1611 1612 1613 1614 1615 1616 Message text Message text Message text Message text Message text Message text Message text Cause 1617 Message text Cause Monitor Effect Remedy 2000 2001 2002 2003 2004 2005 2006 2007 2008 Message text Message text Message text Message text Message text Message text Message text Message text Message text Error messages / troubleshooting (continued) Assignment of runtime value to $CYCFLAG inadmissible -. -.Alter the program (use global variables only).Rectify bus error in higher--level ring.01 en 117 of 135 . ERROR IN CONFIGURATION FILE MAC--ID IN USE ERROR DURING TASK START ERROR DURING ALLOCATE DEVICE ** ERROR DURING SCAN DEVICE ** “PRIO” 40--80 CLOSED Start locked <string> -.

SUBROUTINE. FOUND FUNCTION EXTERNAL FUNCTION EXPECTED.02.01 en 118 of 135 . SUBROUTINE FOUND DATA LIST NOT “PUBLIC” IMPORTED VARIABLE NOT DECLARED IN DATA LIST IMPORTED VARIABLE NOT DECLARED IN DATA LIST IMPORTED VARIABLE TYPE/DIMENSION CONFLICT EXTERNAL AND SR/FCT DECLARATIONS DO NOT MATCH EXTERNAL AND SR/FCT DECLARATIONS DO NOT MATCH IMPORT INTERFACE NOT CORRECT EXT[FCT] AND DEF[FCT] PARAMETERS ARE INCOMPATIBLE SYNTAX ERROR IN MODULE MODULE USED BY ANOTHER PROCESS MODULE PACKAGE NOT AVAILABLE ILLEGAL COMMAND Fehlermeldungen 09.Error messages / troubleshooting 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 2021 2022 2023 2024 2025 2026 2027 2028 2029 2030 2031 2032 Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text GLOBAL SR/FCT CANNOT BE RENAMED DATA LIST CANNOT BE RENAMED DIFFERENT TYPES WITH CHANGE OF INITIAL VALUE SUB CANNOT BE LINKED TO SRC VARIABLE CANNOT BE RENAMED INDEX CANNOT BE CHANGED NOT A SYSTEM SUBROUTINE NOT A SYSTEM FUNCTION SYNTAX ERROR IN P_PATH UNUSED EXTERNALLY DECLARED SUBROUTINE EXPECTED EXT.

INSERT NOT SUCCESSFUL “DEFDAT” NOT ALLOWED ERROR IN GLOBAL “DEF”/“DEFFCT” “DEF”/“DEFFCT” NOT ALLOWED “END”/“ENDFCT”/“ENDDAT” NOT ALLOWED HERE “EXT”/“EXTFCT”/“IMPORT” NOT ALLOWED HERE FILE NOT FOUND ERROR ON ENTERING THE DATA LIST INITIAL VALUE NOT ALLOWED HERE INITIAL VALUE SYNTAX INCORRECT NAME IN FIRST LINE MUST BE SAME AS MODULE NAME ARRAY NAME ENTERED NOT ALLOWED HERE INITIAL VALUE OF INDEX ALREADY EXISTS ’=’ EXPECTED REAL CONSTANT EXPECTED ’{’ EXPECTED Fehlermeldungen 09.1 2033 2034 2035 2036 2037 2038 2039 2040 2041 2042 2043 2044 2045 2046 2047 2048 2049 2050 2051 2052 2053 2054 2055 2056 Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Error messages / troubleshooting (continued) END OF BLOCK OR COMMENT EXPECTED INSERT BEFORE FIRST BLOCK NOT ALLOWED INVALID BLOCK NUMBER ONLY COMMENT MAY BE ENTERED AFTER “ENDDAT” ILLEGAL OR UNKNOWN BLOCK DECLARATION NOT IN DECLARATION SECTION INSTRUCTION NOT IN INSTRUCTION SECTION INITIAL VALUE BLOCK NOT INITIALIZATION SECTION ERROR IN “DEFDAT”.01 en 119 of 135 .02.

02.01 en 120 of 135 . MULTIDIMENSIONAL ARRAY SUBSCRIPT MISSING COMPONENT IS NO ARRAY ’#’ OR ENUM TYPE NAME EXPECTED STRUCTURE TYPE NAME EXPECTED TYPENAME INCOMPATIBLE WITH TEXT COMPONENT NEITHER PART OF “FRAME” OR “POS” ASCENDING INDICES EXPECTED NUMBER TOO LOW ’IS’ EXPECTED INTEGER CONSTANT EXPECTED IDENTICAL PREDEFINED SIGNAL NAMES EXPECTED COMPONENT TYPE UNKNOWN PROTOCOL VARIABLE DECLARED IMPLICITLY Fehlermeldungen 09. REAL OR CHARACTER CONSTANT EXPECTED CHARACTER OR INTEGER CONSTANT EXPECTED “TRUE” OR “FALSE” EXPECTED ENUM CONSTANT TYPE DOES NOT MATCH ENUM VARIABLE COMPONENT ARRAY SPEC.Error messages / troubleshooting 2057 2058 2059 2060 2061 2062 2063 2064 2065 2066 2067 2068 2069 2070 2071 2072 2073 2074 2075 2076 2077 2078 2079 2080 Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text COMPONENT NOT PART OF VARIABLE TYPE CONSTANT NAME NOT PART OF VARIABLE TYPE STRING CONSTANT TOO LONG ARRAY INDEX ENTERED INADMISSIBLE HERE AGGREGATE COMPONENT INITIALIZED MORE THAN ONCE INFORMATION LOSS POSSIBLE ON CHANGE OF TYPE INTEGER.

’ EXPECTED SIGNAL INDEX TOO LARGE ’.” EXPECTED STRUCTURE TYPE VARIABLE NOT ALLOWED VARIABLE NOT DECLARED IN DATA LIST ARRAY INDEX EXCEEDS ARRAY LIMITS POSITIVE INTEGER EXPECTED ARRAY INDEX NOT COMPATIBLE WITH INDEX ARRAY LIMIT EXCEEDED NO VARIABLE EXISTS WITH THIS NAME PARAMETER SPECIFICATION NOT ALLOWED IN DATA LIST Fehlermeldungen 09. “]” OR “. OR “AXIS” EXPECTED VARIABLE WITH STRUCTURE TYPE EXPECTED PREDEFINED SIGNAL EXPECTED PREDEFINED CHANNEL NAME EXPECTED ’[’ EXPECTED ARRAY LIMIT MISSING ’.01 en 121 of 135 .1 2081 2082 2083 2084 2085 2086 2087 2088 2089 2090 2091 2092 2093 2094 2095 2096 2097 2098 2099 2100 2101 2102 2103 2104 Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Error messages / troubleshooting (continued) “POS”.02.’ EXPECTED ONE DIMENSIONAL CHAR FIELD EXPECTED “IN” OR “OUT” EXPECTED SYNTAX ERROR IN ARRAY SPECIFICATION POS.. INTEGER. “FRAME”.” EXPECTED NO MORE THAN THREE DIMENSIONS ALLOWED RELATIVE P_PATH NOT COMPATIBLE WITH NODE “]” OR “.

02. NOT COMPATIBLE WITH CALL LOCATION OBJECT MUST BE DECLARED IN DATA LIST OR IMPLICITLY INCORRECT DIMENSION NAME NOT DECLARED AS ARRAY NAME NOT DECLARED AS FUNCTION VARIABLE NOT DECLARED IN DATA LIST COMPONENT NOT PART OF TYPE NO STRUCTURE DATA TYPE FORMAL PARAMETER DECLARATION MISSING MORE ACTUAL THAN FORMAL PARAMETERS SPECIFIED Fehlermeldungen 09.Error messages / troubleshooting 2105 2106 2107 2108 2109 2110 2111 2112 2113 2114 2115 2116 2117 2118 2119 2120 2121 2122 2123 2124 2125 2126 2127 2128 Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text LOCAL PARAMETER TYPE DEFINED LOCALLY BLOCK CANNOT BE DELETED DELETE MODULE BY MEANS OF DEDICATED FUNCTION “ERROR” TOKEN IN I--CODE END STATEMENT MISSING INCORRECT END OF CONTROL STRUCTURE SUBROUTINE/FUNCTION INCORRECTLY COMPLETED IDENTIFIER NOT DECLARED PROTOCOL VARIABLE MUST BE OF STRUCTURE TYPE CORRECT TYPE ENTRY UNAVAILABLE COMPONENT TYPE NOT DEFINED OR CORRECTLY DEFINED TYPE OF A PARAMETER IS DEFINED LOCALLY ENDDAT STATEMENT MISSING TYPE CHANGE FOR INITIAL VALUE NOT POSSIBLE COMPILE LOC.01 en 122 of 135 .

01 en 123 of 135 .“FRAME”.02.1 2129 2130 2131 2132 2133 2134 2135 2136 2137 2138 2139 2140 2141 2142 2143 2144 2145 2146 2147 2148 2149 2150 2151 2152 Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Error messages / troubleshooting (continued) FORMAL PARAMETER NOT DEFINED NOT ALLOWED EXPRESSION AFTER RETURN INSTRUCTION EXPRESSION AFTER RETURNING INSTRUCTION MISSING NO INTERFACES ALLOWED TYPE MUST BE “POS”.“AXIS” OBJECT TYPE NOT VALID NAME NOT DECLARED AS SUBROUTINE LOCAL SUBROUTINE NOT ALLOWED IN PROCESS COMMANDS NAME NOT DECLARED AS SIMPLE VARIABLE NO NAME OF SUCH A CONSTANT TYPE SPECIFIED TYPE IS NOT ENUM TYPE NO ENUM TYPE SPECIFIED INDEXING OR [] NOT ALLOWED INDEXING OR [] EXPECTED END OF CONTROL STRUCTURE NOT ALLOWED HERE “ENDLOOP” MISSING “ENDWHILE” MISSING “ENDFOR” MISSING “UNTIL” MISSING “ENDIF” MISSING “ENDSWITCH” MISSING “SWITCH” CONTAINS NO “CASE” NO “CASE” AFTER “SWITCH” “CASE”/“DEFAULT” AFTER “DEFAULT” Fehlermeldungen 09.

Error messages / troubleshooting 2153 2154 2155 2156 2157 2158 2159 2160 2161 2162 2163 2164 2165 2166 2167 2168 2169 2170 2171 2172 2173 2174 2175 2176 Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text “EXIT” NOT IN LOOP BODY NAME NOT DECLARED AS CHANNEL NAME NOT DECLARED AS LABEL JUMP DESTINATION NOT DECLARED LOCALLY JUMP DESTINATION NOT DECLARED GLOBALLY JUMP TO LABEL NOT ALLOWED THERE EXISTS AN INVALID JUMP TO THIS LABEL “THEN” EXPECTED “DO” EXPECTED INVALID INPUT CHARACTER COUNT EXCEEDED NO “/” IN P_PATH WILDCARD NOT ALLOWED NO FILE NAME NAME TOO LONG INVALID EXTENSION PATH INCORRECT BLANK CHARACTER INVALID EXTENSION NOT ALLOWED CHANNEL HANDLE EXPECTED ABSOLUTE PATH EXPECTED ’TO’ EXPECTED USER. DEVICE OR NODE TYPE NAME EXPECTED “OBJ”. “PERI” EXPECTED Fehlermeldungen 09. “NODE”.01 en 124 of 135 . “USER”.02.

1 2177 2178 2179 2180 2181 2182 2183 2184 2185 2186 2187 2188 2189 2190 2191 2192 2193 2194 2195 2196 2197 2198 2199 2200 Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Error messages / troubleshooting (continued) “NODE”. “USER”.01 en 125 of 135 .02.*’ INVALID “WHEN” EXPECTED CHANNEL NAME EXPECTED ABSOLUTE PATH AFTER DEVICE/CHANNEL NAME EXPECTED “INFO” EXPECTED “MESSAGE” EXPECTED INTEGER CONSTNT EXPECTED KI EXPECTED: 1<=I<=12 Fehlermeldungen 09. “PERI” EXPECTED VALUE MISSING “NODE” MUST FOLLOW “BVS” OR “MSD” MUST FOLLOW “DEV” MUST FOLLOW CONSTANT OR VARIABLE EXPECTED OPTION ENTERED TWICE OPTION EXPECTED AFTER MINUS SIGN BLOCK NUMBER EXPECTED BLOCK NUMBER MUST BE POSITIVE STRING EXPECTED STRING EXPECTED INITIAL BLOCK NUMBER > FINAL BLOCK NUMBER ATTRIBUTE NAME MUST FOLLOW CONSTANT FOR KEY MUST FOLLOW EXTENSION MISSING EXTENSION OR ’.

“V” ALLOWED AS OPTION ONLY ERROR AT END OF BLOCK “SEC”. BOOL.02. ENUM CONSTANT EXPECTED Fehlermeldungen 09. “FOR” OR “CLOCK” EXPECTED CHANNEL NAME MISSING NAME NOT DECLARED AS CHANNEL “DEL” MUST FOLLOW TOO MUCH MEMORY REQUIRED FOR DYNAMIC VARIABLE “. “ACCESS” OR “COMMENT” EXPECTED NESTING DEPTH EXCEEDED OPERAND OR EXPRESSION EXPECTED “)” EXPECTED NAME OF LOOP VARIABLE EXPECTED EXPRESSION TYPE NOT EQUAL TO STAT_T EXPRESSION TYPE NOT EQUAL TO INT. “B”.” EXPECTED SYMBOL IS NOT AT BEGINNING OF EXPR. CHAR.Error messages / troubleshooting 2201 2202 2203 2204 2205 2206 2207 2208 2209 2210 2211 2212 2213 2214 2215 2216 2217 2218 2219 2220 2221 2222 2223 2224 Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text “+” OR “--” EXPECTED “VAR” EXPECTED ONLY “I”./VALUE ASSIGNMENT LABEL NOT DECLARED LOCALLY “WAIT CLOCK” NOT AVAILABLE IN PACKAGE 1 ARRAY CONTAINS TOO MANY ELEMENTS TYPE TOO LARGE ENTRY IN SYMBOL TABLE IS NOT LABEL “USER”. “H”.01 en 126 of 135 . REAL.

REAL. CHAR LEFT OPERAND NOT EQUAL TO BOOL RIGHT OPERAND NOT EQUAL TO BOOL BOTH OPERANDS NOT EQUAL TO BOOL LEFT OPERAND NOT EQUAL TO INT. ENUM RIGHT OPERAND NOT EQUAL TO INT. BOOL.1 2225 2226 2227 2228 2229 2230 2231 2232 2233 2234 2235 2236 2237 2238 2240 2241 2242 2243 2244 2245 2246 2247 2248 2249 Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Error messages / troubleshooting (continued) POSITIVE INTEGER CONSTANT EXPECTED INVALID SIGN LEFT OPERAND NOT EQUAL TO INT. CHAR. CHAR. CHAR BOTH OPERANDS NOT EQUAL TO INT. BOOL. ENUM RIGHT OPERAND NOT EQUAL TO INT. FRAME RIGHT OPERAND NOT EQUAL TO POS.01 en 127 of 135 . BOOL. REAL. ENUM BOTH OPERANDS NOT EQUAL TO INT. ENUM OPERAND TYPES NOT COMPARABLE LEFT OPERAND NOT EQUAL TO POS. ENUM LEFT OPERAND NOT EQUAL TO INT. CHAR. CHAR. CHAR. CHAR. REAL.02. REAL LEFT OPERAND NOT EQUAL TO INT. REAL RIGHT OPERAND NOT EQUAL TO INT. REAL BOTH OPERANDS NOT EQUAL TO INT. ENUM OPERANDS NOT EQUAL TO INT. FRAME OPERANDS NOT EQUAL TO POS. REAL. FRAME BOTH SIDES OF THE VALUE ASSIGNMENT ARE NOT COMPATIBLE EXPRESSION NOT EQUAL TO INT. CHAR RIGHT OPERAND NOT EQUAL TO INT. REAL. REAL EXPRESSION NOT EQUAL TO INT Fehlermeldungen 09. REAL.

Error messages / troubleshooting 2250 2251 2252 2253 2254 2255 2256 2257 2258 2259 2260 2261 2262 2263 2264 2265 2266 2267 2268 2269 2270 2271 2272 2273 Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text EXPRESSION NOT EQUAL TO BOOL EXPRESSION NOT EQUAL TO POS, FRAME EXPRESSION NOT EQUAL TO POS, FRAME, AXIS VARIABLE OR ARRAY ELEMENT EXPECTED SELECTION INVALID HERE EXPRESSION NOT EQUAL TO CHAR, INT, ENUM OPERAND NOT EQUAL TO INT, REAL OPERAND NOT EQUAL TO, CHAR OPERAND NOT EQUAL TO BOOL LEFT OPERAND: ARRAY OR PATH INVALID RIGHT OPERAND: ARRAY INVALID RIGHT OPERAND: ARRAY WITH DIMENSION > 1 INVALID ARRAY AS OPERAND INVALID TYPE OF LOOP VARIABLE NOT EQUAL TO INT EXPRESSION TYPE NOT “MODUS_T” COMMA OR “)” EXPECTED TYPE COMPONENT INCOMPATIBLE WITH TYPE INITIAL VALUE LEFT SIDE: ARRAY INVALID RIGHT SIDE: ARRAY INVALID RIGHT STRING CONSTANT => LEFT INDEXING TYPE OF LEFT AND RIGHT HAND SIDE INCOMPATIBLE PATH EXPRESSION REQUIRED! (ARRAY!) PATH EXPRESSION INVALID ARRAY INVALID

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1 2274 2275 2276 2277 2278 2279 2280 2281 2282 2283 2284 2285 2286 2287 2288 2289 2290 2291 2292 2293 2294 2295 2296 2297 Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text

Error messages / troubleshooting (continued)

TYPE ACTUAL/FORMAL PARAMETER INCOMPATIBLE TYPE ACTUAL/FORMAL PARAMETER INCOMPATIBLE DIMENSION INCOMPATIBLE ARRAY DIMENSION GREATER THAN 1 NOT ALLOWED RETURN VALUE: STRING CONSTANT ARRAY INVALID TYPE RETURN VALUE INCOMPATIBLE WITH TYPE FUNCTION RIGHT OPERAND: PARENTHESES INVALID IN PATH EXPRESSIONS PARENTHESES NOT ALLOWED FOR PATH EXPRESSIONS FIRST CONSTANT INCOMPATIBLE WITH THIS CONSTANT CONSTANT TYPE INCOMPATIBLE WITH EXPR. TYPE IN SWITCH NO SELECTION OF ENTIRE ARRAYS COMPONENT NAME EXPECTED COMPONENT SPECIFIED TWICE “,” OR “}” EXPECTED “]” EXPECTED INCORRECT RANGE SPECIFICATION CONSTANT EXPECTED NAME OF A STRUCTURE DATA TYPE EXPECTED NO DATA TYPE NAME: CREATION NOT ALLOWED COMPONENT NOT DECLARED AS ARRAY “#”EXPECTED ARRAY COMPONENTS CANNOT BE INDEXED NOT A NAME OF A CONSTANT OF THIS TYPE COMPONENT DECLARED AS ARRAY: INDEXING EXPECTED

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Error messages / troubleshooting 2298 2299 2300 2301 2302 2303 2304 2305 2306 2307 2308 2309 2310 2311 2312 2313 2314 2315 2316 2317 2318 2319 2320 2321 Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text AGGREGATE TYPE (POS) INCOMPATIBLE WITH CONTEXT EXPECTED CONSTANT TYPE UNKNOWN NOT A NAME OF AN ENUM DATA TYPE NOT AN AXIS COMPONENT NOT A FRAME COMPONENT NOT A POS COMPONENT INCORRECT END OF PARAMETER LIST NAME OF A SUBROUTINE EXPECTED RELATIVE PATH INVALID ANALOG INPUT EXPECTED DIGITAL INPUT EXPECTED “(”EXPECTED DIGITAL INPUT NOT ALLOWED HERE TYPE OF FORMAL PARAMETER INVALID PROGRAM NOT AVAILABLE NO ERROR NO FILE NAME SPECIFIED FILE NAME TOO LONG FILE NAME MAY NOT CONTAIN “.” HIERARCH. NO. NOT IN SEARCH PATH PARAMETERS TO BE DECLARED IN MODULE “ON”,“OFF”,“ENABLE”,“DISABLE”,“DECL” EXPECTED SIGNAL NAME CANNOT BE CHANGED PREDEFINED SIGNAL CANNOT BE CHANGED

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CONSTANT NOT EQUAL 0 EXPECTED NO MORE THAN 12 CHARACTERS NO GLOBAL PROCEDURE AVAILABLE “DISTANCE” EXPECTED “DELAY” EXPECTED Fehlermeldungen 09.02. VARIABLE OR ARRAY ELEMENT EXPECTED COMBINED SIGNAL MORE THAN 32 BITS “ON” OR “OFF” EXPECTED ARRAY LIMITS INVALID IN PARAMETER SPECIFICATION ARRAY LIMITS INVALID IN PARAMETER SPECIFICATION TEACH--IN FOR TYPE INVALID RECOMPILE BLOCK INT.1 2322 2323 2324 2325 2326 2327 2328 2329 2330 2331 2332 2333 2334 2335 2336 2337 2338 2339 2340 2341 2342 2343 2344 2345 Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Error messages / troubleshooting (continued) SIGNAL TYPES ARE DIFFERENT SIGNAL TYPE CANNOT BE CHANGED DUAL DECLARATION TYPE UNKNOWN NAME EXPECTED TYPE EXPNAME OF A SIGNAL EXPECTED “:” EXPECTED COMBINED ANALOG SIGNALS INADMISSIBLE NAME OF A SIGNAL EXPECTED ANALOG OUTPUT EXPECTED ARRAY ELEMENT/VARIABLE NOT TYPE REAL “*” EXPECTED REAL CONSTANT.01 en 131 of 135 .

When a module has reached the maximum size (65536 bytes) the message “SRC HAS REACHED MAXIMUM SIZE AND CANNOT BE ENLARGED”. is displayed.02. FILE OPEN ERROR <object name> NO FREE PHYSICAL MEMORY <object name> NO FREE VIRTUAL MEMORY INTERNAL COMPILER ERROR <object name> <object name> ERROR IN MEMORY MANAGER <error number> 2712 2713 2714 2800 2801 Message text Message text Message text Message text Message text Fehlermeldungen 09.01 en 132 of 135 . <object name> NOT ENOUGH MEMORY.Error messages / troubleshooting 2346 2347 2348 2349 2350 2351 2700 2701 2702 2703 2704 2705 2706 2707 2708 2709 2710 2711 Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Message text Cause “PRIO” EXPECTED “PRIO” BETWEEN 40 AND 80 NOT ALLOWED “DISTANCE”: ONLY 1 OR 0 ALLOWED ASSIGNMENT TO CONSTANT NOT PERMISSIBLE RUNTIME DATA OF THE MAIN PROGRAM CANNOT BE USED RUNTIME DATA CANNOT BE USED <object name> BLOCK NOT AVAILABLE <object name> BLOCK TOO LONG <object name> BLOCK TOO LONG OR INCORRECTLY COMPLETED TOO MANY ELEMENTS IN <object name> ARRAY <object name> NO DYNAMIC MEMORY AVAILABLE BLOCK <object name> CANNOT BE FORMATED BLOCK <object name> CANNOT BE DECOMPILED BLOCK <object name> UNAVAILABLE STACKING DEPTH <object name> EXCEEDED <object name> LINK LIST CANNOT BE EXTENDED <object name> TOO MANY LOCAL SUBROUTINES <object name> has reached maximum size -. for example.

Change the orientation of the end point <object name> COMPILE ? <object name> COPY ? <object name> OVERWRITE ? -. -.Avoid excessive rotation of the wrist axis angles during non--OriJoint motions. <object> DELETE ? <object> LINK ? <object> UNLINK ? Monitor Effect Remedy 2822 Message text Cause Monitor Effect Remedy 2829 Message text Cause Monitor Effect Remedy 4300 4301 4302 Message text Message text Message text Cause Monitor 4303 4304 4305 Message text Message text Message text Fehlermeldungen 09. This prevents the TCP from moving with a different orientation to a programmed point.This occurs when the TCP is moved over the extension of the line A 2 – A 3 (“elbow configuration”). -. --.1 2803 2821 Message text Message text Cause Error messages / troubleshooting (continued) UNDEFINED SYNTAX ERROR $ORI_TYPE implicitly set to #VAR -.01 en 133 of 135 .Exact stop -. This happens if one of the wrist axis angles turns too greatly during a non--OriJoint CP motion (see also message #1491).The external TCP is activated for operating mode “T1” or “T2” ($IPO_MODE = TCP) and the orientation control $ORI_TYPE is set to #JOINT. the motion block cannot be executed with $ORI_TYPE = #JOINT.$ORI_TYPE is implicitly set to #VAR.02.Ramp--down braking.Set $ORI_TYPE to #VAR or “CONSTANT” -.Set $ORI_TYPE to #VAR or #CONSTANT Blending $ORI_TYPE=#VAR/#CONSTANT to $ORI_TYPE=#JOINT not possible -.In command processing. OriJoint not possible: Configuration of start and target position differs -. -. --.A file that is to be copied already exists.Inconsistent axis angle in CP--CP approximation from $ORI_TYPE = #VAR or #CONSTANT to $ORI_TYPE = #JOINT. --.Set $IPO_MODE to #BASE -. This combination is not permissible.

The file already exists. -.Program processing is stopped.None. <object name> PROGRAM DELETE ? -. -.None.In command processing. -. These have to be deleted too.The destination directory has not yet been created on the PC. ---.01 en 134 of 135 . <object name> SELECTED. <object name> SELECTED.The file that is to be deleted is selected. <object name> PROGRAM.The file that is to be deleted is a program. -.None.Error messages / troubleshooting 4307 Message text Cause Monitor Effect Remedy 4308 Message text Cause Monitor Effect Remedy 4309 Message text Cause Monitor 4310 Message text Cause Monitor Effect 4311 Message text Cause Monitor Effect 4312 Message text Cause Monitor Effect 4314 Message text Cause Monitor Effect Remedy 4315 Message text Cause Monitor Effect DELETE COMPLETE PROCEDURE ? -. <file name> ACTIVE : PROCESS STOP ? -. DIRECTORY NOT FOUND ! CREATE ? -. is selected and the operator intends to recreate it. -.DEF block is to be deleted. DELETE -.None.Create the directory. -.Command processing (DELETE command). OVERWRITE ? -. -. -.None. The DEF block can be deleted only together with the complete procedure.None. -. OVERWRITE ? -.An array declaration is to be deleted for which there is a subsequent initialization (also subsequent blank lines).Reloading of machine data. -. --. -. DELETE COMPLETE INITIALIZATION ? -.The file already exists and the operator intends to recreate it (COPY).None. -.02.Command processing (COPY command).In command processing.None.Command processing (DELETE command). -. Fehlermeldungen 09.

1 Remedy 9000 Message text Cause Monitor Effect Remedy Error messages / troubleshooting (continued) -.02. ---- 1 Fehlermeldungen 09.01 en 135 of 135 .The program must be restarted after the machine data have been loaded. ****** -.User--programmable message.

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