Event Code Description NT8000

Event Code Description NDC8 4.
Edition 06/2020
D4-35000-610_
Keep all manuals as a product component during the life of the product.
Pass all manuals to future users / owners of the product.
Record of Document Revisions
Revision Edition/Date Reason for Revision
_ 2020-06-26 Release NDC8 4.0
IMPORTANT NOTICE
© Kollmorgen Automation AB 2006-2020. All rights reserved. All rights are reserved and
no part of this publication may be reproduced or transmitted in any form or by any
means without prior written consent from Kollmorgen Automation AB.
Disclaimer
The information in this manual was accurate and reliable at the time of its release.
However, Kollmorgen Automation AB reserves the right to change the specifications of
the product described in this manual without notice at any time.
This document contains proprietary and confidential information of Kollmorgen

Automation AB. The contents of the document may not be disclosed to third parties,
translated, copied or duplicated in any form, in whole or in part, without the express
written permission of Kollmorgen Automation AB.
It is the responsibility of the product user to determine the suitability of this product for a
specific application.
Technical changes which improve the performance of the device may be made without
prior notice!
Printed in Sweden. All rights reserved.
All other proprietary names mentioned in this manual are the trademarks of their
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Event Code Description NDC8 4.0 │ EVENT CODES
Contents
1. EVENT CODES 10
SystemError 1 ............................................................................... 10
SystemError 2 ............................................................................... 12
SystemError 3 ............................................................................... 13
SystemError 4 ............................................................................... 14
SystemError 5 ............................................................................... 15
SystemError 6 ............................................................................... 16
SystemError 7 ............................................................................... 17
SystemError 8 ............................................................................... 18
SystemError 9 ............................................................................... 19
SystemError 10 ............................................................................. 20
SystemError 11 ............................................................................. 21
SystemError 12 ............................................................................. 22
SystemError 13 ............................................................................. 23
SystemError 14 ............................................................................. 24
SystemError 15 ............................................................................. 25
SystemError 16 ............................................................................. 26
SystemError 17 ............................................................................. 27
SystemError 18 ............................................................................. 28
SystemError 19 ............................................................................. 29
SystemError 20 ............................................................................. 30
SystemError 21 ............................................................................. 31
SystemError 22 ............................................................................. 32
SystemError 23 ............................................................................. 33
SystemError 24 ............................................................................. 34
SystemError 25 ............................................................................. 35
SystemError 26 ............................................................................. 36
SystemError 27 ............................................................................. 37
SystemError 28 ............................................................................. 38
SystemError 32 ............................................................................. 39
SystemError 35 ............................................................................. 40
SystemError 36 ............................................................................. 41
SystemError 37 ............................................................................. 42
SystemError 38 ............................................................................. 43
SystemError 39 ............................................................................. 44
SystemError 40 ............................................................................. 45
SystemError 41 ............................................................................. 46
SystemError 42 ............................................................................. 47
SystemError 43 ............................................................................. 48
SystemError 44 ............................................................................. 49
SystemError 45 ............................................................................. 50
SystemError 46 ............................................................................. 51
SystemError 47 ............................................................................. 52
SystemError 48 ............................................................................. 53
SystemError 49 ............................................................................. 54
SystemError 50 ............................................................................. 55
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SystemError 51 .............................................................................. 56
SystemError 52 .............................................................................. 57
SystemError 53 .............................................................................. 58
SystemError 54 .............................................................................. 59
SystemError 55 .............................................................................. 60
SystemError 56 .............................................................................. 61
SystemError 57 .............................................................................. 62
SystemError 58 .............................................................................. 63
SystemError 59 .............................................................................. 64
SystemError 60 .............................................................................. 65
SystemError 61 .............................................................................. 66
SystemEvent 1 .............................................................................. 67
SystemEvent 2 .............................................................................. 68
SystemEvent 3 .............................................................................. 69
SystemEvent 4 .............................................................................. 70
SystemEvent 5 .............................................................................. 71
SystemEvent 6 .............................................................................. 72
SystemEvent 7 .............................................................................. 73
SystemEvent 8 .............................................................................. 74
SystemEvent 9 .............................................................................. 75
SystemEvent 10............................................................................. 76
SystemEvent 11............................................................................. 77
SystemEvent 12............................................................................. 78
SystemEvent 13............................................................................. 79
SystemEvent 14............................................................................. 80
SystemEvent 15............................................................................. 81
SystemEvent 16............................................................................. 82
SystemEvent 17............................................................................. 83
SystemEvent 18............................................................................. 84
SystemEvent 19............................................................................. 85
SystemEvent 20............................................................................. 86
SystemEvent 21............................................................................. 87
SystemEvent 22............................................................................. 88
SystemEvent 23............................................................................. 89
SystemEvent 24............................................................................. 90
SystemEvent 25............................................................................. 91
SystemEvent 26............................................................................. 92
SystemEvent 27............................................................................. 93
SystemEvent 28............................................................................. 94
SystemEvent 29............................................................................. 95
SystemEvent 30............................................................................. 96
SystemEvent 31............................................................................. 97
SystemEvent 32............................................................................. 98
SystemEvent 33............................................................................. 99
SystemEvent 34........................................................................... 100
SystemEvent 35........................................................................... 101
SystemEvent 36........................................................................... 102
SystemEvent 37........................................................................... 103
SystemEvent 38........................................................................... 104
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SystemEvent 39 .......................................................................... 105

SystemEvent 40 .......................................................................... 106
SystemEvent 41 .......................................................................... 107
SystemEvent 42 .......................................................................... 108
SystemEvent 43 .......................................................................... 109
SystemEvent 44 .......................................................................... 110
SystemEvent 45 .......................................................................... 111
SystemEvent 46 .......................................................................... 112
SystemEvent 47 .......................................................................... 113
SystemEvent 48 .......................................................................... 114
SystemEvent 49 .......................................................................... 115
SystemEvent 50 .......................................................................... 116
SystemEvent 51 .......................................................................... 118
SystemEvent 52 .......................................................................... 119
SystemEvent 53 .......................................................................... 120
SystemEvent 54 .......................................................................... 121
SystemEvent 55 .......................................................................... 122
SystemEvent 56 .......................................................................... 123
SystemEvent 57 .......................................................................... 124
SystemEvent 58 .......................................................................... 125
SystemEvent 59 .......................................................................... 126
SystemEvent 60 .......................................................................... 127
SystemEvent 61 .......................................................................... 128
SystemEvent 62 .......................................................................... 129
SystemEvent 63 .......................................................................... 130
SystemEvent 64 .......................................................................... 132
SystemEvent 65 .......................................................................... 133
SystemEvent 66 .......................................................................... 134
SystemEvent 67 .......................................................................... 135
SystemEvent 68 .......................................................................... 136
SystemEvent 69 .......................................................................... 137
SystemEvent 70 .......................................................................... 138
SystemEvent 71 .......................................................................... 139
SystemEvent 72 .......................................................................... 140
SystemEvent 73 .......................................................................... 141
SystemEvent 74 .......................................................................... 142
SystemEvent 75 .......................................................................... 143
SystemEvent 76 .......................................................................... 144
SystemEvent 77 .......................................................................... 145
SystemEvent 78 .......................................................................... 146
SystemEvent 79 .......................................................................... 147
SystemEvent 80 .......................................................................... 148
SystemEvent 81 .......................................................................... 149
SystemEvent 82 .......................................................................... 150
SystemEvent 83 .......................................................................... 151
SystemEvent 84 .......................................................................... 152
SystemEvent 85 .......................................................................... 153
SystemEvent 86 .......................................................................... 154
SystemEvent 87 .......................................................................... 155
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SystemEvent 88........................................................................... 156

SystemEvent 89........................................................................... 157
SystemEvent 90........................................................................... 158
SystemEvent 91........................................................................... 159
SystemEvent 92........................................................................... 160
SystemEvent 93........................................................................... 161
SystemEvent 94........................................................................... 162
SystemEvent 95........................................................................... 163
SystemEvent 96........................................................................... 164
SystemEvent 97........................................................................... 165
SystemEvent 98........................................................................... 166
SystemEvent 99........................................................................... 167
SystemEvent 100......................................................................... 168
SystemEvent 101......................................................................... 169
SystemEvent 102......................................................................... 170
SystemEvent 103......................................................................... 171
SystemEvent 104......................................................................... 172
SystemEvent 105......................................................................... 173
SystemEvent 106......................................................................... 174
SystemEvent 107......................................................................... 175
SystemEvent 108......................................................................... 176
SystemEvent 109......................................................................... 177
SystemEvent 110......................................................................... 178
SystemEvent 111......................................................................... 179
SystemEvent 112......................................................................... 180
SystemEvent 113......................................................................... 181
SystemEvent 114......................................................................... 182
SystemEvent 115......................................................................... 183
SystemEvent 116......................................................................... 184
SystemEvent 117......................................................................... 185
SystemEvent 118......................................................................... 186
SystemEvent 119......................................................................... 187
SystemEvent 120......................................................................... 188
SystemEvent 121......................................................................... 189
SystemEvent 122......................................................................... 190
SystemEvent 123......................................................................... 191
SystemEvent 124......................................................................... 192
SystemEvent 125......................................................................... 193
SystemEvent 126......................................................................... 194
SystemEvent 127......................................................................... 195
SystemEvent 128......................................................................... 196
SystemEvent 129......................................................................... 197
SystemEvent 130......................................................................... 198
SystemEvent 131......................................................................... 199
SystemEvent 132......................................................................... 200
SystemEvent 133......................................................................... 201
SystemEvent 134......................................................................... 202
SystemEvent 135......................................................................... 203
SystemEvent 136......................................................................... 204
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SystemEvent 137 ........................................................................ 205

SystemEvent 138 ........................................................................ 206
SystemEvent 139 ........................................................................ 207
SystemEvent 140 ........................................................................ 208
SystemEvent 141 ........................................................................ 209
SystemEvent 142 ........................................................................ 210
SystemEvent 143 ........................................................................ 211
SystemEvent 144 ........................................................................ 213
SystemEvent 145 ........................................................................ 214
SystemEvent 146 ........................................................................ 215
SystemEvent 147 ........................................................................ 216
SystemEvent 148 ........................................................................ 217
SystemEvent 149 ........................................................................ 218
SystemEvent 150 ........................................................................ 219
SystemEvent 151 ........................................................................ 220
SystemEvent 152 ........................................................................ 221
SystemEvent 153 ........................................................................ 222
SystemEvent 154 ........................................................................ 223
SystemEvent 155 ........................................................................ 224
SystemEvent 156 ........................................................................ 225
SystemEvent 157 ........................................................................ 226
SystemEvent 158 ........................................................................ 227
SystemEvent 159 ........................................................................ 228
SystemEvent 160 ........................................................................ 229
SystemEvent 161 ........................................................................ 230
SystemEvent 162 ........................................................................ 231
SystemEvent 163 ........................................................................ 232
SystemEvent 164 ........................................................................ 234
SystemEvent 165 ........................................................................ 235
SystemEvent 166 ........................................................................ 236
SystemEvent 167 ........................................................................ 237
SystemEvent 168 ........................................................................ 238
SystemEvent 169 ........................................................................ 239
SystemEvent 170 ........................................................................ 240
SystemEvent 171 ........................................................................ 241
SystemEvent 172 ........................................................................ 242
SystemEvent 173 ........................................................................ 243
SystemEvent 174 ........................................................................ 244
SystemEvent 175 ........................................................................ 245
SystemEvent 176 ........................................................................ 246
SystemEvent 177 ........................................................................ 247
SystemEvent 178 ........................................................................ 248
SystemEvent 179 ........................................................................ 249
SystemEvent 180 ........................................................................ 250
SystemEvent 181 ........................................................................ 251
SystemEvent 182 ........................................................................ 252
SystemEvent 183 ........................................................................ 253
SystemEvent 184 ........................................................................ 254
SystemEvent 185 ........................................................................ 255
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SystemEvent 186......................................................................... 256

SystemEvent 187......................................................................... 257
SystemEvent 188......................................................................... 258
SystemEvent 189......................................................................... 259
SystemEvent 190......................................................................... 260
SystemEvent 191......................................................................... 261
SystemEvent 192......................................................................... 262
SystemEvent 193......................................................................... 263
SystemEvent 194......................................................................... 264
SystemEvent 195......................................................................... 265
SystemEvent 196......................................................................... 266
SystemEvent 197......................................................................... 267
SystemEvent 198......................................................................... 268
SystemEvent 199......................................................................... 269
SystemEvent 200......................................................................... 270
SystemEvent 201......................................................................... 271
SystemEvent 202......................................................................... 272
SystemEvent 203......................................................................... 273
SystemEvent 204......................................................................... 274
SystemEvent 205......................................................................... 275
SystemEvent 206......................................................................... 276
SystemEvent 207......................................................................... 277
SystemEvent 208......................................................................... 278
SystemEvent 209......................................................................... 279
SystemEvent 210......................................................................... 280
SystemEvent 211......................................................................... 281
SystemEvent 212......................................................................... 282
SystemEvent 213......................................................................... 283
SystemEvent 214......................................................................... 284
SystemEvent 215......................................................................... 285
SystemEvent 216......................................................................... 286
SystemEvent 217......................................................................... 287
SystemEvent 218......................................................................... 288
SystemEvent 219......................................................................... 289
SystemEvent 220......................................................................... 290
SystemEvent 221......................................................................... 291
SystemEvent 222......................................................................... 292
SystemEvent 223......................................................................... 293
SystemEvent 224......................................................................... 294
SystemEvent 225......................................................................... 295
SystemEvent 226......................................................................... 296
SystemEvent 227......................................................................... 297
SystemEvent 228......................................................................... 298
SystemEvent 229......................................................................... 299
SystemEvent 230......................................................................... 300
SystemEvent 231......................................................................... 301
SystemEvent 232......................................................................... 302
SystemEvent 233......................................................................... 303
SystemEvent 234......................................................................... 304
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SystemEvent 235 ........................................................................ 305

SystemEvent 236 ........................................................................ 306
SystemEvent 237 ........................................................................ 307
SystemEvent 238 ........................................................................ 308
SystemEvent 239 ........................................................................ 309
SystemEvent 240 ........................................................................ 310
SystemEvent 241 ........................................................................ 311
SystemEvent 242 ........................................................................ 312
SystemEvent 243 ........................................................................ 313
SystemEvent 244 ........................................................................ 314
UserEvent 10001 ......................................................................... 315
UserEvent 10002 ......................................................................... 316
UserEvent 10003 ......................................................................... 317
UserEvent 10004 ......................................................................... 318
UserEvent 10005 ......................................................................... 319
UserEvent 10006 ......................................................................... 320
UserEvent 10007 ......................................................................... 321
UserEvent 10008 ......................................................................... 322
UserEvent 10009 ......................................................................... 323
UserEvent 10010 ......................................................................... 324
UserEvent 10011 ......................................................................... 325
UserEvent 10012 ......................................................................... 326
UserEvent 10013 ......................................................................... 327
UserEvent 10014 ......................................................................... 328
UserEvent 10015 ......................................................................... 329
UserEvent 10016 ......................................................................... 330
UserEvent 10017 ......................................................................... 331
Sales and Service ....................................................................... 334
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1. EVENT CODES
SystemError 1
SEVERITY: Info
DISPLAYED AS
String: Cold start.
ID: CSTART
PARAMETERS
Parameter 1: NDC INTERNAL: iecode
Parameter 2: NDC INTERNAL: -
DESCRIPTION:
The unit has restarted and performed a cold start. Cold start means that no
information is saved from the situation preceeding the restart. Normally, the unit will
perform a cold start at operator request. However, it may happen that internal data is
found to be corrupted during a warm-start, resulting in a necessary cold start of the
unit. The unit will also make a coldstart if warmstart is disabled in the definition.
SITUATION:
Case 1: The operator has given the command to make a cold start.
Normal: No action.
Case 2: The operator has given the command to make a warm start.
Possible reasons:
a) The battery backup is not enabled.
b) The backup battery level is to low.
c) The unit was in the middle of a complex computation when the command was
given, resulting in corrupted internal data.
d) Warmstart is disabled.
Case 3: The power was turned on to the unit.
Possible reasons:
a) The battery backup is not enabled.
b) The backup battery level is to low.
c) The unit was in the middle of a complex computation when the power was turned
off, resulting in corrupted internal data.
Case 4: There was a unit hardware failure, or severe software failure which resulted
in a CPU reset. This will be displayed on the Console Terminal, e.g."***BUS
TRAP***".
ACTION:
If there is a message of the type "***BUS TRAP***" or similar, then:
a) Save the error message and all its parameters.
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b) Write down all information that could be relevant to the situation when the error
was generated.
C) Save the current definitions.
D) Please notify Kollmorgen support. If there is NO message of the type "***BUS
TRAP***", no action is required.
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SystemError 2
SEVERITY: Info
DISPLAYED AS
String: Warm start.
ID: WSTART
PARAMETERS
Parameter 1: NDC INTERNAL: 0
DESCRIPTION:
The unit has restarted and performed a warm start.
SITUATION:
The operator has given the command to make a warm start or the power to the unit
was turned on.
ACTION:
No action required.
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SystemError 3
SEVERITY: Fatal
DISPLAYED AS
String: Get memory block.
ID: GMEMBLK
PARAMETERS
Parameter 1: NDC INTERNAL: blockid
Parameter 2: NDC INTERNAL: err
DESCRIPTION:
The operating system has run out of memory blocks. Memory blocks are used for
distributing information internally in the unit. This is a fatal error from which the
system 'normally' will not be able to continue.
SITUATION:
This is an abnormal situation, and should never appear during normal system usage.
ACTION:
a) Save the error message and its parameters.
was generated.
c) Restart the system.
d) Save the current definitions.
E) Please notify Kollmorgen support.
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SystemError 4
SEVERITY: Fatal
DISPLAYED AS
String: Release memory block.
ID: RMEMBLK
PARAMETERS
Parameter 1: NDC INTERNAL: blockid
Parameter 3: NDC INTERNAL: txid
DESCRIPTION:
The operating system has failed to release a memory block. Memory blocks are used
for distributing information internally in the unit. This is a fatal error from which the
system 'normally' will not be able to continue.
SITUATION:
This is an abnormal situation and should never appear during normal system usage.
ACTION:
was generated.
e) Please notify Kollmorgen support.
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SystemError 5
SEVERITY: Fatal
DISPLAYED AS
String: Post message in mail box.
ID: POSTMB
PARAMETERS
Parameter 1: NDC INTERNAL: address
DESCRIPTION:
The operating system has failed to put a message in a mailbox. Mailboxes are used
internally in the system to notify processes of different types of event that have
occurred. This is a fatal error from which the system 'normally' will not be able to
continue.
SITUATION:
ACTION:
was generated.
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SystemError 6
SEVERITY: Fatal
DISPLAYED AS
String: Pend for message from queue.
ID: QPEND
PARAMETERS
Parameter 1: NDC INTERNAL: qid
DESCRIPTION:
The operating system has failed to receive a message from a message queue.
Queues are used for sending different kind of information between processes in the
system. This is a fatal error from which the system 'normally' will not be able to
continue.
SITUATION:
ACTION:
was generated.
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SystemError 7
SEVERITY: Fatal
DISPLAYED AS
String: Send message to queue.
ID: QPOST
PARAMETERS
DESCRIPTION:
The operating system has failed to send a message to a message queue. Queues
are used for sending different kinds of information between processes in the system.
This is a fatal error from which the system 'normally' will not be able to continue.
SITUATION:
ACTION:
was generated.
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SystemError 8
SEVERITY: Fatal
DISPLAYED AS
String: Accepting message from queue.
ID: QACCEPT
PARAMETERS
DESCRIPTION:
The operating system has failed to receive a message from a message queue.
Queues are used for sending different kinds of information between processes in the
system. This is a fatal error from which the system 'normally' will not be able to
continue.
SITUATION:
ACTION:
was generated.
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SystemError 9
SEVERITY: Error
DISPLAYED AS
String: Communication FIFO error on line %lu.
ID: FIFOER
PARAMETERS
Parameter 1: Physical line number
Parameter 2: NDC INTERNAL: msgtype
Parameter 3: NDC INTERNAL: state
DESCRIPTION:
An error is detected in a communication FIFO.
SITUATION:
This error is 'normally' handled automatically by the system. If the error message is
not repeated every 10 seconds the system has succeeded to correct the error.
ACTION:
If the error is repeated every 10 seconds the system will not be able to correct the
problem automatically. The operator must then manually restart the unit. A warm start
will correct the problem. If the error continues to appear after a warm start, it could
indicate a hardware problem.
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SystemError 10
SEVERITY: Error
DISPLAYED AS
String: Communication board %lu, dead.
ID: CBOARDER
PARAMETERS
Parameter 1: Communication processor number.
Parameter 2: NDC INTERNAL: cmd09
Parameter 3: NDC INTERNAL: stat09
DESCRIPTION:
A communication processor does not respond at all to given commands.
SITUATION:
This could happen when the communication parameters are changed "on the run"
(table transfer). Normally, the main processor is able to correct this type of error, in
which case the error will not be repeated.
ACTION:
If the error is repeated every 10 seconds, indicating that the communication
processor is unaccessable, the unit must be restarted (warm start).
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SystemError 11
SEVERITY: Error
DISPLAYED AS
String: Communication board %lu, not OK.
ID: CBOARDER
PARAMETERS
Parameter 1: Communication processor id.
Parameter 2: NDC INTERNAL: cmd09
DESCRIPTION:
A communication processor does not respond correctly to given commands.
SITUATION:
ACTION:
processor is not OK, the unit must be restarted (warm start).
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SystemError 12
SEVERITY: Error
DISPLAYED AS
String: Communication board %lu, WATCHDOG timeout.
ID: CBOARDER
PARAMETERS
Parameter 2: NDC INTERNAL: wd_value
DESCRIPTION:
A communication processor does not respond to a WATCHDOG command within the
allotted time span. The WATCHDOG command is used to make sure that the
communication processor is still working and responding to given commands.
SITUATION:
ACTION:
processor is unaccessable, the unit must be restarted (warm start).
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SystemError 13
SEVERITY: Error
DISPLAYED AS
String: Communication board %lu channel %lu status error.
ID: CBOARDER
PARAMETERS
Parameter 2: Communication line number.
DESCRIPTION:
A communication processor indicates a status error.
SITUATION:
This could happen if the communication processor has detected a local hardware
problem.
ACTION:
processor is faulty, the communication processor board must be replaced.
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SystemError 14
SEVERITY: Error
DISPLAYED AS
String: Communication board %lu channel %lu protocol error.
ID: CBOARDER
PARAMETERS
Parameter 2: Communication line number.
Parameter 3: NDC INTERNAL: statp09
DESCRIPTION:
A communication processor indicates a protocol error.
SITUATION:
This could happen if the communication parameters define a protocol, that is not
supported by the communication processor software.
ACTION:
Check communication definitions and communication processor software for
compatibility.
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SystemError 15
SEVERITY: Error
DISPLAYED AS
String: Invalid message type for $%02lX for task.
ID: INVMSGT
PARAMETERS
Parameter 1: NDC INTERNAL: msg type
Parameter 3: NDC INTERNAL: blkid
DESCRIPTION:
A program in the unit has received a message of unknown type.
SITUATION:
This could indicate incompatible software versions in the system.
ACTION:
was generated.
c) Write down all software product numbers and versions for all units in the system.
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SystemError 16
SEVERITY: Error
DISPLAYED AS
String: Invalid command in mailbox.
ID: INVMBCMD
PARAMETERS
Parameter 1: NDC INTERNAL: address
Parameter 2: NDC INTERNAL: cmd
DESCRIPTION:
An unknown command was placed in a mailbox. Mailboxes are used for internal
communication.
SITUATION:
ACTION:
was generated.
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SystemError 17
SEVERITY: Warning
DISPLAYED AS
String: Invalid code $%lX, in message $%02lX.
ID: INVCODE
PARAMETERS
Parameter 1: Message type.
Parameter 2: Parameter value.
DESCRIPTION:
An unknown parameter was received in a message.
SITUATION:
This could indicate incompatible software versions in the system. If the
communication setup defines communication lines running without handshake, it
could result in this kind of problems.
ACTION:
b) Check above conditions.
F) Check noise levels, cable quality, cable length, connectors etc. On lines without
handshake.
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SystemError 18
SEVERITY: Fatal
DISPLAYED AS
String: Error in linked list.
ID: LINKER
PARAMETERS
Parameter 1: NDC INTERNAL: buffer
Parameter 2: NDC INTERNAL: object
DESCRIPTION:
An error is detected in a linked list in the unit. Linked lists are used to keep track of
different types of objects in the system. This is a fatal error from which the system
'normally' will not be able to continue.
SITUATION:
ACTION:
was generated.
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SystemError 19
SEVERITY: Error
DISPLAYED AS
String: Invalid switch command.
ID: INVSW
PARAMETERS
Parameter 1: NDC INTERNAL: swcmd
DESCRIPTION:
An unknown code was detected in an internal command in the unit.
SITUATION:
ACTION:
was generated.
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SystemError 20
SEVERITY: Fatal
DISPLAYED AS
String: ACC70 MPMC, DP RAM error.
ID:
PARAMETERS
Parameter 1: DP RAM address where error was detected.
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Error detected in Dual Port RAM during initialization. This system error is only sent to
the PC.
SITUATION:
ACTION:
If this happens more than once the DPRAM should be changed. Send the MPMC to
Kollmorgen for repair.
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SystemError 21
SEVERITY: Error
DISPLAYED AS
String: ACC70 MPMC, "ROM" error. Block #: %lu
ID:
PARAMETERS
Parameter 1: MPM block number
Parameter 2: Error code. See description.
Parameter 3:
Parameter 4:
DESCRIPTION:
Error detected in one of the MPM "ROM" blocks during initialization. This system error
is only sent to the PC.
Error codes:
1 = Error in key value
2 = Blockcheck error
3 = Header parity error
4 = BLK255 MPM configuration error
SITUATION:
ACTION:
Reload that particular block or the whole definition.
For MPMC if the problem occurs again it might be necessary to change the battery
RAMs.
For MPMCII, check for System Error 48. It indicates low battery level for the on-board
battery backup on the MPMCII card. It might be necessary to replace the battery.
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SystemError 22
SEVERITY: Fatal
DISPLAYED AS
String: ACC70 MPMC, RAM error.
ID:
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Not Used.
SITUATION:
ACTION:
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SystemError 23
SEVERITY: Error
DISPLAYED AS
String: SSIO hardware error on line %lu unit %lu.
ID: SSIOHW
PARAMETERS
Parameter 1: Logical SSIO line number.
Parameter 2: Logical SSIO unit number.
DESCRIPTION:
A hardware error is detected in an SSIO unit.
SITUATION:
Case 1: The power is lost in the SSIO unit. The main power fuse has blown.
Case 2: The communication link is broken to the SSIO unit.
Case 3: The SSIO unit is faulty.
ACTION:
Check and correct the above conditions.
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SystemError 24
SEVERITY: Warning
DISPLAYED AS
String: Message size error #%lu in message $%02lX.
ID: MSGSIZE
PARAMETERS
Parameter 1: NDC INTERNAL: nbytes
DESCRIPTION:
A message has been received that is too short according to its minimum length.
SITUATION:
ACTION:
b) Check above conditions.
d) Check noise level, cable quality, cable length, connectors etc. on lines without
handshake.
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SystemError 25
SEVERITY: Error
DISPLAYED AS
String: Evaluation error in CMI.
ID: EVALCMI
PARAMETERS
Parameter 1: NDC INTERNAL: carid
Parameter 2: NDC INTERNAL: node
Parameter 3: NDC INTERNAL: func
DESCRIPTION:
An evaluation error has occurred in the Carrier Manager Interface module in the
master unit. This message is used to diagnose different situations that were not
foreseen in the program.
SITUATION:
ACTION:
was generated.
D4-35000-610_ Kollmorgen │ 06/2020 35

SystemError 26
SEVERITY: Error
DISPLAYED AS
String: Invalid code %lu in message $%02lX.
ID: INVMSGC
PARAMETERS
Parameter 1: NDC INTERNAL: code
DESCRIPTION:
A program module in the unit has received an unknown code in a message.
SITUATION:
ACTION:
was generated.
F) Check noise level, cable quality, cable length, connectors etc. On lines without
handshake.
36 Kollmorgen │ 06/2020 D4-35000-610_

SystemError 27
SEVERITY: Error
DISPLAYED AS
String: Evaluation error in CM.
ID: EVALCM
PARAMETERS
Parameter 1: NDC INTERNAL: node
Parameter 2: NDC INTERNAL: carid
DESCRIPTION:
An evaluation error has occurred in the Carrier Manager module in the master unit.
This message is used to diagnose different situations that were not foreseen in the
program.
SITUATION:
ACTION:
was generated.
c) Write down all software product numbers and versions for the units in the system.
D4-35000-610_ Kollmorgen │ 06/2020 37

SystemError 28
SEVERITY: Error
DISPLAYED AS
String: Network error, line/link %lu.
ID: NETER
PARAMETERS
Parameter 1: Line / link number
DESCRIPTION:
An error has occured on a network connection.
SITUATION:
ACTION:
Check the line setup in the communication table for the corresponding line.
Refer to the Master Controller Reference Manual/System Application Designer for
more information.
38 Kollmorgen │ 06/2020 D4-35000-610_

SystemError 32
SEVERITY: Error
DISPLAYED AS
String: Module not running or Watch-Dog timeout. Module %lu.
ID: WATCHDT
PARAMETERS
Parameter 1: Module number
Parameter 2: 0=WD timeout, 1=Not running
Parameter 3:
Parameter 4:
DESCRIPTION:
Module not running or the module has failed to update its software watch dog within
250 ms. The system error is created by the MPMC.
SITUATION:
This indicates either a hardware or a software problem. It can also be an external
disturbance.
ACTION:
If the error is persistant send the board to Kollmorgen for examination and repair.
D4-35000-610_ Kollmorgen │ 06/2020 39

SystemError 35
SEVERITY: Error
DISPLAYED AS
String: Error in PLC block.
ID: PLCBERR
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The PLC has detected an invalid table type on startup. The table type must be either
Normal or Startup. The ACC70 will not start until this is corrected.
SITUATION:
ACTION:
Transfer the tables again.
40 Kollmorgen │ 06/2020 D4-35000-610_

SystemError 36
SEVERITY: Error
DISPLAYED AS
String: Internal Watch-Dog timeout. Location %lu.
ID: WATCHDT
PARAMETERS
Parameter 1: Location code.
Parameter 2: Timeout value (not reported by SysCon)
Parameter 3: Timeout in ms (not reported by SysCon)
Parameter 4:
DESCRIPTION:
An internal watch-dog on a module has timed out.
Location codes used by S/D, CIO, and RegCom cards:
20 CPU WatchDog
21 Mainloop
22 Software timer 1
23 Software timer 2
The System Controller uses location codes 0-10.

Location code 10 is the PLC. If there is a missing Wait in one of the PLCs, this will be
the result.
In that case Par 2 indicates the physical block number of the NPL tables and Par 3
indicates which table in that block that caused the problem.
SITUATION:
The card supervises all internal tasks and sends this error when a task fails to update
in time. This is an indication that the failing task is overloaded.
ACTION:
All ACC70 cards except SysII cards prior to Release XI will stop updating the MPMC
watch-dog. This will make sure that the ACC70 will restart.
Exceptions:
The CIO card (41399 3.10 or later) and the SD/ Laser II card (41380) will not cause a
restart if the location code is 22.
D4-35000-610_ Kollmorgen │ 06/2020 41

SystemError 37
SEVERITY: Error
DISPLAYED AS
String: MPM remapping error.
ID: MPMER
PARAMETERS
Parameter 1: Physical block number of first block in request
Parameter 2: Physical block number of second block in request, or 0
Parameter 3: Physical block number of third block in request, or 0
Parameter 4:
DESCRIPTION:
An MPM remap request from a module was in error.
SITUATION:
This event is sent when the MPMC fails to acknowledge a remap request from a
module. This is either because of incompatibility between the module and the MPMC
or a software problem in one of them.
ACTION:
If the problem persists, note the circumstances and contact Kollmorgen support. Also
note program versions involved.
42 Kollmorgen │ 06/2020 D4-35000-610_

SystemError 38
SEVERITY: Error
DISPLAYED AS
String: MPM write error..
ID: MPMER
PARAMETERS
Parameter 1: Block number
Parameter 2: Offset
Parameter 3: Value
Parameter 4:
DESCRIPTION:
A write request using block 0 was in error.
SITUATION:
This function is used by the System Controller when using Parameter Mode on the
operator terminal. An error indicates: Incompatibility between the SysII module and
the MPMC, or a software problem in one of them, or an incorrect address information
in the Symbol Download list.
ACTION:
If the problem persists, note the circumstances and contact Kollmorgen support. Also
note program versions involved.
D4-35000-610_ Kollmorgen │ 06/2020 43

SystemError 39
SEVERITY: Error
DISPLAYED AS
String: Invalid message type. Type=$%02lX, size=%lu.
ID: INVMSGT
PARAMETERS
Parameter 2: Message size, number of parameters.
Parameter 3:
Parameter 4:
DESCRIPTION:
A message with an invalid type was received by the unit.
SITUATION:
ACTION:
was generated.
44 Kollmorgen │ 06/2020 D4-35000-610_

SystemError 40
SEVERITY: Fatal
DISPLAYED AS
String: VRTX post error.
ID: POSTMB
PARAMETERS
Parameter 1: Error code
Parameter 2: Routine ID
Parameter 3:
Parameter 4:
DESCRIPTION:
A VRTX post error has occurred in the unit.
SITUATION:
This indicates a software problem in the interface between the real-time kernel
(VRTX) and other modules.
ACTION:
The unit should be restarted.
was generated.
D4-35000-610_ Kollmorgen │ 06/2020 45

SystemError 41
SEVERITY: Error
DISPLAYED AS
String: PLC operation code error.
ID: PLCER
PARAMETERS
Parameter 1: Program pointer
Parameter 2: Table number
Parameter 3:
Parameter 4:
DESCRIPTION:
An invalid op-code has been detected by the PLC.
Program pointer corresponds to the "Offset" that can be found in the NPL editor when
in Object display mode (press F3).
Table number corresponds to the order in which they are defined in the PLC handler
list in the definition program.
For IO15/14 cards version 2.1x and lower:

Parameter 2 contains the logical block number of the PLC table.
Parameter 3 contains the actual to the op-code offset in the NPL block.
SITUATION:
This indicates either: The PLC table block is corrupt. A programming error is made in
the definition. BRA or RTS missing at the end. Incompatible versions (definition
program and module).
ACTION:
Restart the unit to check if the table is corrupt (checked on startup). Transfer again if
corrupt. Check definition. Note parameters and contact Kollmorgen if these actions do
not help.
46 Kollmorgen │ 06/2020 D4-35000-610_

SystemError 42
SEVERITY: Error
DISPLAYED AS
String: PLC lock override. Block:%lu.
ID: PLCLOCK
PARAMETERS
Parameter 1: Logical block number.
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The PLC lock between two cards is overridden.
SITUATION:
The PLC locks each block during the last part of the PLC loop, the so-called flush (the
internal cache is written to MPM). When a card has waited too long for another card
to release the lock, then the lock is overridden. This can also indicate that old
versions of software is in use:
I30 versions prior to 1.63
Wire CIO I versions prior to 1.93
Wire SysII versions prior to 1.6
ACTION:
Check program versions. Note the circumstances and contact Kollmorgen support.
D4-35000-610_ Kollmorgen │ 06/2020 47

SystemError 43
SEVERITY: Error
DISPLAYED AS
String: PLC lock broken. Block:%lu.
ID: PLCLOCK
PARAMETERS
Parameter 1: Logical block number.
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The PLC lock between two cards is broken.
SITUATION:
The PLC locks each block during the last part of the PLC loop, the so-called flush (the
internal cache is written to MPM). When a card has waited too long for another card
to release the lock, then the lock is overridden. This is detected by the other card as a
broken lock. This can also indicate that old versions of software is in use:
I30 versions prior to 1.63
Wire CIO I versions prior to 1.93
Wire SysII versions prior to 1.6
ACTION:
Check program versions. Note the circumstances and contact Kollmorgen support.
48 Kollmorgen │ 06/2020 D4-35000-610_

SystemError 44
SEVERITY: Error
DISPLAYED AS
String: Unknown startup code from MPMC, code %lu.
ID: SCODER
PARAMETERS
Parameter 1: Read code
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
An unknown start up code was given by the MPMC.
SITUATION:
The MPMC indicates to the module what type of startup that should be made, either
Warmstart, Coldstart, or Idle start. Probably a card that has restarted by itself due to
external disturbances. It can also be caused by incompatible program versions. This
event is usually followed by or following a System Error 32, watch-dog timeout.
ACTION:
Check for ESD problems. Check for other disturbances. Check program versions.
Note the circumstances and contact Kollmorgen support.
D4-35000-610_ Kollmorgen │ 06/2020 49

SystemError 45
SEVERITY: Error
DISPLAYED AS
String: Missing essential block. Resource type %lu.
ID: MISBLK
PARAMETERS
Parameter 1: Missing resource type number
Parameter 2: Logical block number
Parameter 3:
Parameter 4:
DESCRIPTION:
An essential block is missing for a module.
SITUATION:
ACTION:
Refer to the ACC70 Definition Program manual for information on resource types.
50 Kollmorgen │ 06/2020 D4-35000-610_

SystemError 46
SEVERITY: Error
DISPLAYED AS
String: Navigator error. Code %lu, parameter 1 %lu, parameter 2 %lu.
ID: AN1ERR
PARAMETERS
Parameter 1: Error code.
Parameter 2: Error parameter 1
Parameter 4:
DESCRIPTION:
An error was detected in the Laser Guidance equipment.
Error codes:
1 AN-1 has made a restart.
Parameter 1 (NDC Internal)
5 Error in the angle meter.
Parameter 1 values:
1 Temperature to high.
2 Voltage out of range.
3 Voltage drop in return cable out of range.
4 Current to high.
5 Laser diod current to high.
6 Rotation error.
7 No pulses from inductive sensor. (Drive belt broken).
8 Angle meter restart.
9 No communication with angle meter.
10 Angle meter parameter read/write error.
11 Temperature to low.
Parameter 2: Angle meter identity.
6 Error in the encoder values reported by ACC70 on the regulator channel.
Parameter 1: 1=Drive encoder, 2=Steer encoder.
Parameter 2: Acc/Dec value in mm/s2.
SITUATION:
ACTION:
D4-35000-610_ Kollmorgen │ 06/2020 51

SystemError 47
SEVERITY: Error
DISPLAYED AS
String: Radio communication error. Line/Port %lu, error code %lu
($%lX)
ID: RADIOERR
PARAMETERS
Parameter 1: Line/Port id
Parameter 3: NDC INTERNAL: MSB: Group, LSB: Code
Parameter 4:
DESCRIPTION:
An error is detected in the Radio communication. Error codes:
12. Radio error.
a. Caused by missing connection of the CTS or the RTS cables.
b. The radio does not support RTS/CTS handshake.
c. Wrong "medium" definition in the communication definition.
13. RCU radio setup error.

The Parameter 3 defines the possible errors:
Code 0: NDC internal software error.
Code 1: Invalid channel ID value.
Code 2: Number of retries out.
Code 3-6: NDC Internal software error.
Code 7: RCU modem error. Internal problem in the RCU unit.
SITUATION:
This indicates that there is a problem in the communication between the
communication processor and the radio modem on the line defined by parameter 1.
ACTION:
A) Check connections and cables.
B) Restart/reset the modem.
C) Replace the modem.
D) Delete the line definition and redefine it.
If these actions does not solve the problem please contact Kollmorgen support.
52 Kollmorgen │ 06/2020 D4-35000-610_

SystemError 48
SEVERITY: Error
DISPLAYED AS
String: Memory backup battery low.
ID: BATTLOW
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The memory backup battery level has dropped below the trigger level.
SITUATION:
This error is reported if the battery level falls below the acceptance level 2 volts. The
error is sent once after each restart if the condition remains.
ACTION:
Check the battery level and replace the battery if necessary. The battery is located on
the MPMC II card. If these actions does not solve the problem please contact
Kollmorgen support.
D4-35000-610_ Kollmorgen │ 06/2020 53

SystemError 49
SEVERITY: Error
DISPLAYED AS
String: Connection broken on line %lu.
ID: LINEBRK
PARAMETERS
Parameter 1: Line number
Parameter 2: NDC INTERNAL: Protcmd | protstat
Parameter 4:
DESCRIPTION:
A "Line Break" is detected by the communication card.
A Line Break is detected by checking the electrical state of the communication line. In
the idle time between messages the line should be in the "mark" state, if this is not
the case for a certain time this error will be issued.
SITUATION:
This indicates that there is a cable/connector or electrical problem with the
communication line.
ACTION:
Check connections and cables. If these actions does not solve the problem please
contact Kollmorgen support.
If this error is frequently reported from a line connected to a PLD7 or PLD700 and if
an NDC PC Comm Processor is used then check the software version of the comm
processor, it should be 41194 1.74 or later.
54 Kollmorgen │ 06/2020 D4-35000-610_

SystemError 50
SEVERITY: Warning
DISPLAYED AS
String: MPM Bus Error. Module %lu
ID: MPMBUSERR
PARAMETERS
Parameter 1: Module that caused the error.
Parameter 2: NDC Internal: Error code.
Parameter 3: NDC Internal: The value from the Error-Port.
Parameter 4:
DESCRIPTION:
The MPMCII card has detected an MPM bus error. The module (slot number) of the
card that caused it is reported.
Error codes:
1 Using unallocated MPM memory (Multiple transfer)
2 Using write protected MPM memory (Multiple transfer)
3 Using unallocated and write protected MPM memory (Multiple transfer)
5 Using unallocated MPM memory
6 Using write protected MPM memory
7 Using unallocated and write protected MPM memory
Error port bits description:

Bit Signal
0 Module select bit 0
3 MPM Read signal (active low)
4 MPM RAM not allocated (active high)
5 MPM RAM write protect (active high)
6 MPM Multiple transfer (active low)
7 MPM Write signal (active low)
SITUATION:
ACTION:
D4-35000-610_ Kollmorgen │ 06/2020 55

SystemError 51
SEVERITY: Fatal
DISPLAYED AS
String: ACC70 card stuck in boot mode. Card position %lu
ID: STUCKBOOT
PARAMETERS
Parameter 1: Module number
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
One of the cards in the ACC70 is stuck in boot mode. This is most probably due to a
missing or damaged application program in the Flash EEPROM.
SITUATION:
ACTION:
Replace the card in question or reprogram the Flash EEPROM if the necessary
software is avaliable.
56 Kollmorgen │ 06/2020 D4-35000-610_

SystemError 52
SEVERITY: Fatal
DISPLAYED AS
String: Fatal Processor Trap.
ID: ACC70TRAP
PARAMETERS
Parameter 1: NDC Internal
Parameter 4:
DESCRIPTION:
A processor trap has occured on the card.
SITUATION:
An internal software or hardware error has occured.
This is an abnormal situation, and should never appear during normal system usage.
ACTION:
was generated.
c) Save the current definitions.
d) Please notify Kollmorgen support.
D4-35000-610_ Kollmorgen │ 06/2020 57

SystemError 53
SEVERITY: Fatal
DISPLAYED AS
String: AGVD-CM interface failure, carrier %lu
ID: CMIIAGVD
PARAMETERS
Parameter 1: Carrier number
Parameter 2: 'f' code
Parameter 3: Move state
Parameter 4:
DESCRIPTION:
Only CM II systems.
The Agv Driver has reported an interface error that the Carrier manager can't recover.
SITUATION:
The carrier stops on a point and this error is displayed. The problem can be caused
by that the Vehicle Controller if it is an ACC70 not is defined as CMII or other
interface problems between the Agv Driver, the Carrier Manager or the Vehicle
Controller in the carrier.
ACTION:
1. Verify that the Vehicle Controller is correctly defined.
2. Save the error message and its parameters.
3. Write down all information that could be relevant to the situation when the error
was generated.
4. Write down all software product numbers and versions for the units in the system.
5. Save the current definitions.
6. Please notify Kollmorgen support.
7. Try to cancel the carrier from CWay. If the problem still appear, set the carrier in
manual mode and insert it on an other position. If this not help, try to warm start the
Stationary System.
58 Kollmorgen │ 06/2020 D4-35000-610_

SystemError 54
SEVERITY: Error
DISPLAYED AS
String: Black Box error. Error code:%lu
ID: BBOXERROR
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
An error has occured in the Black Box handler.
Possible error codes:
1 Memory allocation init failure.
2 Memory allocation failed.
3 Queue init failed.
4 Re-init active Black Box failed.
5 Black Box event entry in active queue failed.
6 Less than Minimum allowed memory in MPM. Black Box disabled.
7 Failed to allocate a Block 0 for MPMC itself.
SITUATION:
ACTION:
D4-35000-610_ Kollmorgen │ 06/2020 59

SystemError 55
SEVERITY: Error
DISPLAYED AS
String: COMx line %lu, protocol error
ID: COMX_PER
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The protocol defined is not accepted for a COMx line.
SITUATION:
At system startup or reload of the system parameters.
ACTION:
Check the WINC7/System Application Designer communication defintion.
60 Kollmorgen │ 06/2020 D4-35000-610_

SystemError 56
SEVERITY: Error
DISPLAYED AS
String: COMx line %lu, SCC start failed
ID: SCCSTART
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The communication for a COMx line is not started.
SITUATION:
ACTION:
was generated.
D4-35000-610_ Kollmorgen │ 06/2020 61

SystemError 57
SEVERITY: Error
DISPLAYED AS
String: COMx line %lu, SCC error
ID: SCCOTHER
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
An error was reported from the serial communication software.
SITUATION:
Corrupted or wrong software versions.
ACTION:
was generated.
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SystemError 58
SEVERITY: Error
DISPLAYED AS
String: Sensor, Antenna or DSP handler error. Error code: %lu
ID: SensorErr
PARAMETERS
Parameter 4:
DESCRIPTION:
An error is detected in the Sensor/Antenna/DSP handling.
Par1: Error code
1=DSP WD timeout
2=DSP failed to boot
3=Internal sensor type inconsistency
Par2:
If par1=1: WD timeout time (ms)
If par1=2: Boot response code
If par1=3: Expected sensor type
Par3:
If par1=3: Antenna handler sensor type
SITUATION:
This error may be caused by either an internal error or use of incompatible SW
versions.
ACTION:
Trigger and Upload a blackbox log file and contact Kollmorgen support for trouble-
shooting help.
D4-35000-610_ Kollmorgen │ 06/2020 63

SystemError 59
SEVERITY: Error
DISPLAYED AS
String: OPC server shutdown, line %lu
ID: OPCSDOWN
PARAMETERS
Parameter 1: Logical line
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The OPC server has shutdown.
SITUATION:
This is a information that an OPC server has shutdown. The shutdown reason is not
known.
ACTION:
Check the status of the OPC server associated with this communication line.
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SystemError 60
SEVERITY: Error
DISPLAYED AS
String: OPC value bad quality, line %ld, unit %ld, ID %ld
ID: OPCBADQ
PARAMETERS
Parameter 1: Lline
Parameter 2: Unit
Parameter 3: ID
Parameter 4: OPC_ECODE
DESCRIPTION:
The quality attribute of an OPC item is "bad" or "uncertain".
SITUATION:
The corresponding hardware module may be malfunctioning or disconnected.
ACTION:
Check the status of the OPC server and I/O device.
D4-35000-610_ Kollmorgen │ 06/2020 65

SystemError 61
SEVERITY: Error
DISPLAYED AS
String: Failed to allocate memory, %lu KiB
ID: MEMALLOC
PARAMETERS
Parameter 1: Memory size in KiB
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Faild to allocate memory.
SITUATION:
-
ACTION:
-
66 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 1
SEVERITY: Info
DISPLAYED AS
String: Communication FIFO full on line# %lu, message type $%02lX.
ID: FIFOFULL
PARAMETERS
Parameter 1: Physical line #.
Parameter 3: INTERNAL NDC: -
DESCRIPTION:
A communication line FIFO has been full and messages are lost.
SITUATION:
This should normally not happen in a running system. It could happen at system
startup, that some FIFO:s become full but all important information will be repeated. If
this happen when the system is up and running it could indicate that a unit has
ceased to communicate. In this situation the unit connected on the reported
communication line must be checked.
ACTION:
Case 1: At startup, lost messages will be repeated. No action.
Case 2: Error from a DEBUG line in a running system. No important data is
transmitted on a DEBUG line. No action.
Case 3: Error from a GI7/CWay line in a running system. Check if the GI7/CWay
program is running on the PC at the moment. No action.
Case 4: Error from a non-DEBUG line in a running system. Check connected unit on
reported line.
D4-35000-610_ Kollmorgen │ 06/2020 67

SystemEvent 2
SEVERITY: Warning
DISPLAYED AS
String: Invalid carrier ID %lu, message type $%02lX.
ID: INVCARID
PARAMETERS
Parameter 2: Message type
Parameter 3: INTERNAL NDC: txid
DESCRIPTION:
A message is received which contains a carrier number that is not valid for the unit.
SITUATION:
This could happen if the carrier number and/or type are not correct in the General
Parameter definition of the unit. This could happen if the OM instruction "Cstate" is
issued for a nonexisting carrier.
ACTION:
Check used carrier numbers and type in the General Parameters. If the system
consists of more than one unit with General Parameter definitions, make sure they
are equal regarding carrier number(s) and carrier type(s). Check the Transport
Structure definitions.
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SystemEvent 3
SEVERITY: Warning
DISPLAYED AS
String: Invalid segment ID %lu, message type $%02lX.
ID: INVSEGID
PARAMETERS
Parameter 1: Segment number.
Parameter 4: INTERNAL NDC: carrier ID
DESCRIPTION:
A message is received which contains a segment number that is not valid for the unit.
Valid segment numbers are found in the layout definition of the unit.
SITUATION:
This could happen if the layout definitions are not identical in the unit and all carriers.
ACTION:
Make sure all units are using the same layout definition.
D4-35000-610_ Kollmorgen │ 06/2020 69

SystemEvent 4
SEVERITY: Warning
DISPLAYED AS
String: Invalid point ID %lu, message type $%02lX.
ID: INVPNTID
PARAMETERS
Parameter 1: Point number.
DESCRIPTION:
A message is received which contains a point number that is not valid for the unit.
Valid point numbers are found in the layout definition of the unit.
SITUATION:
This could happen if the layout definitions are not identical in the unit and all carriers.
ACTION:
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SystemEvent 5
SEVERITY: Warning
DISPLAYED AS
String: Layout violation. Segment ID %lu, carrier ID %lu, message type
$%02lX.
ID: LAYOUTV
PARAMETERS
Parameter 1: Segment number.
Parameter 2: Carrier number.
DESCRIPTION:
A message is received from the carrier which includes a segment or point that does
not match the current position of the carrier, or other segments in the message, or
previously requested segments.
SITUATION:
This can happen - if a carrier was allocated a segment to a "NoCom" point before a
coldstart of the unit was made. - right after a unit coldstart if the TAKEOFF time in
the General Parameters is too short. - if a carrier was emergency stopped when the
unit was cold started. - if the layout definitions are not identical in the unit and all
carriers. - if the carrier has problems with a warmstart. - if there are two carriers in
the system with the same ID.
ACTION:
If a coldstart was made recently, restart the carrier. Check the specified TAKEOFF
time in the General Parameters. Make sure all units are using the same layout
definition. Check the ID for the carriers close to the segment.
D4-35000-610_ Kollmorgen │ 06/2020 71

SystemEvent 6
SEVERITY: Warning
DISPLAYED AS
String: Invalid code in message. Code $%lX , message type $%02lX.
ID: INVMSGC
PARAMETERS
Parameter 1: Code.
DESCRIPTION:
A program in the unit has received an unknown code in a message.
SITUATION:
ACTION:
was generated.
f) Check noise level, cable quality, cable length, connectors etc. on lines without
handshake.
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SystemEvent 7
SEVERITY: Warning
DISPLAYED AS
String: Bad parameter in message. Parameter %lX, message type
$%02lX.
ID: BADMSGP
PARAMETERS
Parameter 1: Parameter.
DESCRIPTION:
A program module in the unit has received an unknown parameter in a message.
SITUATION:
communication setup defines communication lines running without handshake it could
result in this kind of problems.
ACTION:
was generated.
f) Check noise level, cable quality, cable length, connectors etc. on lines without
handshake.
D4-35000-610_ Kollmorgen │ 06/2020 73

SystemEvent 8
SEVERITY: Warning
DISPLAYED AS
String: Bad message size. Number of bytes %lu, message type
$%02lX.
ID: BADMSGS
PARAMETERS
Parameter 1: Number of bytes in message.
DESCRIPTION:
A message has been received that is too short according to its minimum length.
SITUATION:
If the communication setup defines communication lines running without handshake,
it could result in these kind of problems.
ACTION:
Check noise, cable quality, cable length, connectors etc. on lines without handshake.
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SystemEvent 9
SEVERITY: Info
DISPLAYED AS
String: Unknown Event code.
ID: SE_00009
PARAMETERS
DESCRIPTION:
This is a general event message used when no other event was applicable.
SITUATION:
This should normally not happen.
ACTION:
was generated.
D4-35000-610_ Kollmorgen │ 06/2020 75

SystemEvent 10
SEVERITY: Warning
DISPLAYED AS
String: OM evaluation error. Index %lu, TransStruct# %lu, Row %lu,
ecode $%lX.
ID: TRPSTRUC
PARAMETERS
Parameter 1: Order index.
Parameter 2: Transport structure number.
Parameter 3: Row in transport structure.
DESCRIPTION:
The Order Manager has failed to evaluate a transport structure instruction. This error
will terminate the order.
SITUATION:
This will happen when there is an error condition in an order that is not correctly
handled by the transport structure.
ACTION:
Write down the parameters and check the transport structure.
76 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 11
SEVERITY: Warning
DISPLAYED AS
String: OMI evaluation error. IO %lu, logical unit %lu, message type
$%02lX.
ID: OMIINFO
PARAMETERS
Parameter 1: IO type: DEBUG=2, ACI=3, GI7/CWay=4
Parameter 2: Logical unit of this type.
DESCRIPTION:
The Order Manager Interface has failed to evaluate an external message sent to the
unit.
SITUATION:
This may be caused by incompatible software versions in the system.
ACTION:
Check messages sent from external units. Check software versions in the system.
D4-35000-610_ Kollmorgen │ 06/2020 77

SystemEvent 12
SEVERITY: Info
DISPLAYED AS
String: IOH evaluation error. Index %lu, input %lu, erpos %lu.
ID: IOHINFO
PARAMETERS
DESCRIPTION:
The Input/Output Handler has failed to evaluate an external message sent to the unit.
SITUATION:
This indicate that external units does not follow the message specification.
ACTION:
Check messages sent from external units.
78 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 13
SEVERITY: Warning
DISPLAYED AS
String: CM evaluation error. Node# %lu, carrier ID %lu.
ID: CMINFO
PARAMETERS
Parameter 1: Node number.
Parameter 2: Carrier number.
DESCRIPTION:
An evaluation error has occurred in the Carrier Manager module in the master unit.
This message is used to diagnose different situations that were not foreseen in the
program.
SITUATION:
ACTION:
was generated.
D4-35000-610_ Kollmorgen │ 06/2020 79

SystemEvent 14
SEVERITY: Warning
DISPLAYED AS
String: CMI evaluation error. Carrier ID %lu, node %lu, function %lu.
ID: CMIINFO
PARAMETERS
Parameter 1: Carrier id.
Parameter 2: Node id.
Parameter 3: Function id.
DESCRIPTION:
An evaluation error has occurred in the Carrier Manager Interface module in the
master unit. This message is used to diagnose different situations that were not
foreseen in the program.
SITUATION:
ACTION:
was generated.
d) Save the current definition.
80 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 15
SEVERITY: Warning
DISPLAYED AS
String: Node table error. Node# %lu, function %lu, carrier ID %lu.
ID: NODEER
PARAMETERS
Parameter 2: Node function id.
DESCRIPTION:
An error is detected in the node table definition.
SITUATION:
ACTION:
was generated.
D4-35000-610_ Kollmorgen │ 06/2020 81

SystemEvent 16
SEVERITY: Info
DISPLAYED AS
String: Operator block release. Code %lu, par[0] %lu, par[1] %lu, magic
$%04lX.
ID: BLOCKREL
PARAMETERS
Parameter 1: Release code.
Parameter 2: Carrier id or Segment id or Point id or 0.
Parameter 3: Carrier id or Segment id or Point id or 0.
Parameter 4: NDC INTERNAL: magic
DESCRIPTION:
The operator has manually released a blocking in the system, or a carrier has been
cancelled. There are different types of releases, indicated with a code:
1 = Removal of all Traffic Manager data for specified carrier(s). The carrier(s) become
UNKNOWN and do not occupy any points or segments. Parameters are carrier id(s).
2 = Removal of all Traffic Manager data for all LOST carriers. The carriers become
UNKNOWN and do not occupy any points or segments. Parameters are carrier id(s).
3 = Make specified segment(s) unoccupied. Parameters are segment id(s).
4 = Make specified point(s) unoccupied. Parameters are point id(s).
5 = Allocate specified segment to specified carrier, even though it is blocked
(override). Parameters are carrier id and segment id.
6 = Make all forward segments and points unoccupied for the specified carrier(s).
Parameters are carrier id(s).
7 = Make all forward segments and points unoccupied for all LOST carriers.
Parameters are carrier id(s).
SITUATION:
This is a normal situation for a running system when a carrier is taken out of the
system and merely information to the operator. If two carriers crash it might be
explained by the operator block release.
ACTION:
None.
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SystemEvent 17
SEVERITY: Info
DISPLAYED AS
String: ACC70 MPMC error.
ID:
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Not Used.
SITUATION:
ACTION:
D4-35000-610_ Kollmorgen │ 06/2020 83

SystemEvent 18
SEVERITY: Info
DISPLAYED AS
String: ACC70 MPMC, block 255 in error.
ID:
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Not Used.
SITUATION:
ACTION:
84 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 19
SEVERITY: Error
DISPLAYED AS
String: ACC70 MPMC, configuration error. Used %lu, maximum allowed
%lu.
ID:
PARAMETERS
Parameter 1: Configuration of definition
Parameter 2: Max configuration allowed
Parameter 3:
Parameter 4:
DESCRIPTION:
The MPM configuration selected is not supported by the MPMC. This error is only
sent to the PC.
SITUATION:
An invalid MPM configuration is selected.
ACTION:
Choose a different MPM configuration or order an MPMC which supports the desired
configuration.
D4-35000-610_ Kollmorgen │ 06/2020 85

SystemEvent 20
SEVERITY: Error
DISPLAYED AS
String: ACC70 MPMC, module incorrect answer.
ID:
PARAMETERS
Parameter 1: Expected card type
Parameter 2: Type according to module
Parameter 3:
Parameter 4:
DESCRIPTION:
Module does not answer with correct card type. This message is only sent once
during a cold start.
Card type codes used:
0 MPMC card
1 System Controller card
2 S/D card
3 IO15/14 card
4 CIO card
5 I30 card
6 Navigation card
7 RegCom card
8 RCF card
SITUATION:
The card type in that position does not correspond to the one defined.
ACTION:
Check with the definition that all cards are in their correct positions.
86 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 21
SEVERITY: Error
DISPLAYED AS
String: ACC70 MPMC, wrong status.
ID:
PARAMETERS
Parameter 1: Expected status
Parameter 2: Status reply, if zero then module is incommunicado
Parameter 3:
Parameter 4:
DESCRIPTION:
Module does not answer with correct status. This message is only sent once during a
cold start.
SITUATION:
ACTION:
Check that the module is in the correct position. If the module can not warm start
check the definition. If there is no response send it to Kollmorgen for repair.
D4-35000-610_ Kollmorgen │ 06/2020 87

SystemEvent 22
SEVERITY: Warning
DISPLAYED AS
String: Invalid SSIO address. LLine %lu, LUnit %lu, ID %lu, status %lu.
ID: SSIOADR
PARAMETERS
Parameter 1: SSIO logical line.
Parameter 2: SSIO logical unit.
Parameter 3: SSIO logical id.
Parameter 4: Status of the SSIO.
DESCRIPTION:
An SSIO message refering to an invalid address was received in the unit.
This event can also be caused by a status that is not supported by SSIO.
SITUATION:
This indicates that messages sent to the unit do not follow the specification.
ACTION:
Check your Transport Structure definitions, especially the OM instructions Ron, Roff,
Rflash, Ipoll, Itrap, and Ibin.
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SystemEvent 23
SEVERITY: Error
DISPLAYED AS
String: ACC70 MPMC, PLC does not send startup done.
ID:
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Created by the MPMC if the start up PLC does not respond with "start up OK". This
telegram code is only sent during a cold start. During a warm start the system error
type 1 will be sent containing this information.
SITUATION:
The start up PLC does not have time to complete its task and set the "start up OK" bit
within 2 seconds
ACTION:
Check the PLC start up routine so that "start up OK" is really set.
D4-35000-610_ Kollmorgen │ 06/2020 89

SystemEvent 24
SEVERITY: Warning
DISPLAYED AS
String: Carrier %lu is using unallocated segment %lu previous segment
was %lu.
ID: UNALSEG
PARAMETERS
Parameter 1: Segment id.
Parameter 3: Old segment id or 0.
DESCRIPTION:
A carrier is found on a segment not allocated to that carrier.
SITUATION:
This may occur
- immediately after a unit coldstart if the TAKEOFF time in the General Parameters is
too short.
- if a carrier was emergency stopped when the unit was cold started.
- if an operator block release has been made prior to physically removing the carrier,
indicated by a previous event (SYSEV code 16).
- if the layout definition in the unit is different from that in the carrier(s).
- if the carrier has problems with a warmstart.
- if there are two carriers in the system with the same ID.
- if there is some problem with carrier "auto insert" function.
- if the carrier is running in "No TM" mode and the TM general parameters setting is
"Normal" and Extended Status is not used.
ACTION:
Check if the carrier was emergency stopped during cold start of the unit.
Check if there was an "operator block release" recently.
Check the specified TAKEOFF time in the General Parameters.
Check the carrier id(s), for the carrier(s) close to the offended segment.
Check if the carrier recently executed an "auto insert".
Check the carrier TM mode on it's operator panel.
Check the General Parameter setting for the carrier type that includes the offending
carrier.
90 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 25
SEVERITY: Info
DISPLAYED AS
String: Network error on line/link %lu.
ID: NETER
PARAMETERS
Parameter 1: Line/link number
DESCRIPTION:
An error has occured on a network connection.
SITUATION:
ACTION:
Check the line setup in the communication table for the corresponding line.
more information.
D4-35000-610_ Kollmorgen │ 06/2020 91

SystemEvent 26
SEVERITY: Info
DISPLAYED AS
String: Micro70, no table defined.
ID:
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
SITUATION:
ACTION:
92 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 27
SEVERITY: Info
DISPLAYED AS
String: Micro70, default table used.
ID:
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
SITUATION:
ACTION:
D4-35000-610_ Kollmorgen │ 06/2020 93

SystemEvent 28
SEVERITY: Error
DISPLAYED AS
String: Can't solve dead-lock involving carriers %lu, %lu (,%lu, %lu).
ID: DEADLOCK
PARAMETERS
Parameter 1: Carrier id
DESCRIPTION:
A deadlock situation is detected in the system and the system is unable to solve it
automatically. This event is replaced by event 56 in newer systems.
SITUATION:
One carrier wants to move on a segment/point that another carrier blocks. The other
carrier wants to move on a segment/point that the first carrier blocks and there exists
no alternative paths in the layout for either of the involved carriers.
ACTION:
Move one of the involved carriers manually to a position well away from the deadlock
area, thereby enabling the system to automatically solve the situation. If the manually
moved carrier is merely removed from the system, its blockings must be manually
released. Review the blocking/layout definitions to prevent the situation from
reappearing.
94 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 29
SEVERITY: Info
DISPLAYED AS
String: Carrier %lu, no known point.
ID: NOPOINT
PARAMETERS
DESCRIPTION:
This error occurs when the master issues a command to a carrier that does not
knows its present position (point id).
SITUATION:
The carrier has lost its position information, probably as a result of a restart.
ACTION:
Either Auto, Semi-insert the carrier using Magic Points if this is supported by the
system or enter the current position (point) of the carrier into the vehicle controller
(using the on-board terminal).
D4-35000-610_ Kollmorgen │ 06/2020 95

SystemEvent 30
SEVERITY: Error
DISPLAYED AS
String: Carrier %lu, invalid point %lu.
ID: INVPOINT
PARAMETERS
Parameter 2: Point id.
DESCRIPTION:
The carrier has received a command to move to a point unknown to the carrier.
SITUATION:
This indicates discrepancies between the node table in the master and the layout
definition in the carriers.
ACTION:
Check and correct node table and/or carrier layout.
96 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 31
SEVERITY: Error
DISPLAYED AS
String: Carrier %lu, semi, manual, or idle mode.
ID: MAN/SEMI
PARAMETERS
DESCRIPTION:
This error occurs when the master issues a command to a carrier that is in MANUAL
or SEMI-AUTOMATIC mode.
SITUATION:
The carrier is not in AUTO mode.
ACTION:
Set carrier in AUTO mode.
D4-35000-610_ Kollmorgen │ 06/2020 97

SystemEvent 32
SEVERITY: Error
DISPLAYED AS
String: Carrier %lu, point %lu not in node table.
ID: NODEER
PARAMETERS
DESCRIPTION:
A carrier reports a point unknown to the master. All points in the system must be
defined and connected to a node in the node table.
SITUATION:
ACTION:
Check point id and make sure that this point is defined in the master node table.
98 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 33
SEVERITY: Info
DISPLAYED AS
String: Can't cancel carrier %lu, connected.
ID: ACTIVE
PARAMETERS
DESCRIPTION:
The operator has issued a carrier cancel request. The carrier is connected to an
order and thus can not be cancelled.
SITUATION:
This carrier was connected to an order when the carrier cancel command was
received.
ACTION:
If the "cancel carrier" can not be postponed until the order has been finished, first
cancel the order then the carrier and reinitiate the order.
D4-35000-610_ Kollmorgen │ 06/2020 99

SystemEvent 34
SEVERITY: Error
DISPLAYED AS
String: Carrier %lu introduced, node %lu invalid type.
ID: NODEINV
PARAMETERS
DESCRIPTION:
A carrier has been introduced on a node that is not valid for that carrier type.
SITUATION:
ACTION:
Move carrier to a valid node.
100 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 35
SEVERITY: Error
DISPLAYED AS
String: Carrier %lu introduced, node %lu blocked.
ID: NODEBLK
PARAMETERS
Parameter 4:
DESCRIPTION:
A carrier has been introduced on a node that is momentarily blocked.
SITUATION:
ACTION:
Case 1: The blocking is correct. Action: move carrier to a node that is not blocked.
Case 2: The blocking is not correct. Action: Unblock the node.
D4-35000-610_ Kollmorgen │ 06/2020 101

SystemEvent 36
SEVERITY: Error
DISPLAYED AS
String: To many MPM blocks used. Code=%lu, max=%lu.
ID: TMBLOCK
PARAMETERS
Parameter 1: Block type code.
Parameter 2: Maximum number of blocks allowed.
Parameter 3:
Parameter 4:
DESCRIPTION:
The definition uses more blocks than the unit supports.
SITUATION:
This event is sent on startup when the module checks the blocks connected to it.
Block type codes used:
20 To many point blocks (layout).
21 To many segment blocks (layout).
22 To many segment class blocks (layout).
25 To many control loop blocks.
32 To many offwire blocks.
1001 To many logical blocks.
1002 To many PLC tables. Also used when CIO II detects PLC which it does not
support.
1003 More than one Startup PLC table.
1004 Both ELOG and EVLOG log types at the same time.
ACTION:
Check block type and the corresponding definition. Reduce the number of blocks. For
the layout make sure that as many 4096 bytes blocks as possible are available,
otherwise smaller blocks will be used.
102 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 37
SEVERITY: Error
DISPLAYED AS
String: Definition ID to high. Code=%lu, id=%lu, max=%lu.
ID: IDTOHIGH
PARAMETERS
Parameter 1: Code.
Parameter 2: Used ID
Parameter 3: Correct ID
Parameter 4:
DESCRIPTION:
An ID in the definition is higher than maximum allowed. This ID can be an element in
the layout. For example: points, segments, segment classes, offwire curves, or Magic
point ID.
SITUATION:
Codes used:
20 Point ID to high.
21 Segment ID to high.
32 Offwire curve number to high.
1005 Magic Point ID to high.
1006 AN70 parameter ID to high.
ACTION:
Check the code and the corresponding definition. Correct the definition.
D4-35000-610_ Kollmorgen │ 06/2020 103

SystemEvent 38
SEVERITY: Error
DISPLAYED AS
String: To many entries. Code=%lu, max=%lu.
ID: TOMANYET
PARAMETERS
Parameter 1: Type code.
Parameter 2: Maximum number of entries supported.
Parameter 3:
Parameter 4:
DESCRIPTION:
A definition contains to many entries.
SITUATION:
Type codes used:
34 To many Event definitions.
35 To many Status Monitor definitions.
1001 To many Control Loop elements in one loop.
1002 The total number of control loop elements is too high.
1003 To many Control Modes defined.
ACTION:
Reduce the definitions below the maximum supported.
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SystemEvent 39
SEVERITY: Error
DISPLAYED AS
String: Wrong MPM block size used. Code=%lu, OK=%lu.
ID: BLKSIZER
PARAMETERS
Parameter 1: Type code.
Parameter 2: Correct block size in bytes.
Parameter 3:
Parameter 4:
DESCRIPTION:
A block uses the wrong block size.
SITUATION:
Type codes used:
23 Routing block has incorrect size. This is probably depending on incompatible
SysII and definition programs.
14 S/D parameter block has incorrect size. This is probably depending on
incompatible S/D and definition programs.
ACTION:
Check program versions.
D4-35000-610_ Kollmorgen │ 06/2020 105

SystemEvent 40
SEVERITY: Error
DISPLAYED AS
String: Magic Point error. Seg=%lu, def=%lu, got=%lu.
ID: MPERROR
PARAMETERS
Parameter 1: Correct number
Parameter 2: Number read
Parameter 3: Segment number
Parameter 4:
DESCRIPTION:
A Magic Point error has occured.
SITUATION:
One of:
The defined Magic Point has not been found on a segment. Non-existant or has
reading problem. The Magic Point is to close to the end of the segment.
Magic Points exists in the floor but not in the definition.
The vehicle is on the wrong segment.
ACTION:
Check definitions against parameters to find out the type of problem. Correct
definition, reader, or installation in the floor.
106 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 41
SEVERITY: Error
DISPLAYED AS
String: PLC Point definition error. Point %lu.
ID: LAYOUTER
PARAMETERS
Parameter 1: Layout point number
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
A PLC point is defined without sensor.
SITUATION:
This event is sent when a PLC point (in the layout) is to be used and the PLC sensor
is not defined.
ACTION:
Correct the definition.
D4-35000-610_ Kollmorgen │ 06/2020 107

SystemEvent 42
SEVERITY: Error
DISPLAYED AS
String: Insert error. Magic Point not defined, MP ID=%lu.
ID: INSRTERR
PARAMETERS
Parameter 1: Magic point ID
Parameter 2: 0 - automatic, 1 - semi
Parameter 3:
Parameter 4:
DESCRIPTION:
Magic Point not defined. An auto or semi insert of the vehicle can not be made.
SITUATION:
The insert function accepts a Magic Point ID from the reader. If this ID can not be
found in the layout (on a segment) then the insert fails.
ACTION:
Correct the definition or the floor installation.
108 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 43
SEVERITY: Error
DISPLAYED AS
String: User Event error. Code %lu.
ID: USREVTER
PARAMETERS
Parameter 1: Event code
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
A User Event lacks event code in the definition.
SITUATION:
ACTION:
Correct the event definition.
D4-35000-610_ Kollmorgen │ 06/2020 109

SystemEvent 44
SEVERITY: Info
DISPLAYED AS
String: Transmit queue full.
ID: TXQFULL
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The transmit queue is full.
SITUATION:
If the unit has no possibility to send messages (no communication) it will after a while
fill the transmit buffer. This event is an indication of a filled transmit buffer. At least
one message will be dropped when this happens, all vital messages are however
repeated. This situation can happen if the vehicle is "offwire" too long.
ACTION:
Check the communication.
110 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 45
SEVERITY: Info
DISPLAYED AS
String: Operator restart.
ID: MARKPRST
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The ACC70 has been requested to restart from the operator terminal.
SITUATION:
ACTION:
D4-35000-610_ Kollmorgen │ 06/2020 111

SystemEvent 46
SEVERITY: Error
DISPLAYED AS
String: Incorrected auxiliary communication parameters.
ID: AUXCMERR
PARAMETERS
Parameter 1: Protocol type
Parameter 2: Port number
Parameter 3:
Parameter 4:
DESCRIPTION:
The auxiliary communication parameters have not been setup properly.
SITUATION:
ACTION:
112 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 47
SEVERITY: Error
DISPLAYED AS
String: Protocol not supported.
ID: AUXCMERR
PARAMETERS
Parameter 1: Protocol type
Parameter 2: Port number
Parameter 3:
Parameter 4:
DESCRIPTION:
The selected protocol is not supported by the auxiliary communication.
SITUATION:
ACTION:
D4-35000-610_ Kollmorgen │ 06/2020 113

SystemEvent 48
SEVERITY: Info
DISPLAYED AS
String: Debug mode %lu entered.
ID: DEBUG
PARAMETERS
Parameter 1: Mode type
Parameter 2: Trim mode type
Parameter 3:
Parameter 4:
DESCRIPTION:
One of the debug modes has been entered. Debug modes:
1 = HW debug mode
2 = SW debug mode
3 = Simulation mode
4 = Trim mode
5 = Blind navigation
6 = Simulated AGV
SITUATION:
ACTION:
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SystemEvent 49
SEVERITY: Error
DISPLAYED AS
String: Multidrop communication error.
ID: MULDRPER
PARAMETERS
Parameter 1: Code 1 2 3 4
Parameter 2: Number of units Unit type Address Address
Parameter 3: Max number of units Unit number Max address Unit #A
Parameter 4: Unit number Unit #B
DESCRIPTION:
The multidrop communication is not setup properly. Error code (parameter 1)
1. To many slave units
2. Slave type not supported
3. Slave units address to high
4. Duplicate addresses
5. Message errors
Description for code 5:

Par 2: Unit index
Par 3 Par 4
10=Unknown message type MsgType
11=Wrong message size MsgType
12=Logical unit id mismatch MsgType
13=Unknown input id Input ID
14=Unknown input status code StatusCode
15=Unknown output id OutputID
SITUATION:
This event is sent on startup of the unit.
ACTION:
Correct the definition for the multidrop communication.
D4-35000-610_ Kollmorgen │ 06/2020 115

SystemEvent 50
SEVERITY: Error
DISPLAYED AS
String: Navigator error. Code %lu, param 1 %lu, param 2 %lu, param 3
%lu
ID: AN1ERR
PARAMETERS
Parameter 2: Parameter 1
DESCRIPTION:
An error is detected in the Laser Guidance Equipment. Error codes:
3. Missing map(s). Sent on startup. Parameters indicates Map ID.
4. Missing map table. Sent on startup.
7. Missing parameter list. Sent on startup. Parameter 1 indicates list ID.
10. Erroneous parameter ID. Parameter 1 indicates par ID.
11. Invalid value for parameter. Parameter ID in par 1, erroneous value in par 2 , min
value in par 3, and max value in par 4.
15. Invalid number of reflectors in a reflecftor list. List ID in par 1.
16. Reflector definition missing. Reflector ID in par 1.
17 Invalid reflector list definition. List ID in parameter 1.
19 Invalid Software Protection Key. Card ID in parameter 1-3.
20 Software Protection device error. Can not read Card ID.
21 Outside navigation area (System Event 73)
23 Stop position accuracy (System Event 74)
24 Reflector deviation (System Event 85)
25 False reflector (System Event 86)
26 Ignore false reflector (System Event 89)
27 Ignore sector reflector (System Event 90)
28 Double reflector (System Event 87)
29 Double angle reflector (System Event 88)
30 Outside all defined nav area (System Event 73)
31 No good deviation alert (System Event 100)
32 Skip reflector deviation (System Event 101)
33 Reflector list full (System Event 72)
34 Navigation level warning (System Event 99)
35 Zero speed wait (System Event 102)
36 Waiting for correct steering angle front (System Event 103)
37 Waiting for correct steering angle rear (System Event 103)
38 False Reflection Detected (System Event 122)
SITUATION:
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This event is normally not sent in Laser II systems, where it is replaced by unique
events for each type of error.
If it is sent in Laser II systems, it is usually because the Navigation card software is
more recent than the System Controller software. The System Controller is
responsible for conversion of the error codes received from the navigation card. If
there are new codes not known by the System Controller they will result in this event.
ACTION:
3,4 Resend maps.
7 Enter the parameters in the Navigator handler definition.
10 Probably incompatible software versions.
11 Correct the value.
17 Check area. Check list ID.
19 Enter the correct Software Protection Key in the carrier parameter for the vehicle.
21- Refer to respective System Event
D4-35000-610_ Kollmorgen │ 06/2020 117

SystemEvent 51
SEVERITY: Error
DISPLAYED AS
String: No PLC respons to a segment length request on segment %lu
ID: PLCREQ
PARAMETERS
Parameter 1: Segment ID.
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The PLC has not responded to a request from the Routing for the length of a Flexible
/ PLC controlled segment.
The function Flexible segment introduced in 98R1 includes both the PLC controlled
and Variable segment functionality in previous releases.
SITUATION:
The Routing module requests a segment length from the PLC when entering a
segment that is marked Flexible / PLC controlled.
ACTION:
Correct the PLC function that handles the segment length request.
118 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 52
SEVERITY: Warning
DISPLAYED AS
String: CPU overload warning. Current cycle time %lu ms, watch-dog
timeout %lu ms
ID: CPULOAD
PARAMETERS
Parameter 1: Current time in ms.
Parameter 2: Limit in ms.
Parameter 3: Code
Parameter 4:
DESCRIPTION:
Code:
0 Watch Dog timeout. The cycle time of the CPU is close to the watch-dog timeout
which indicates probable overload of the CPU.
1 Internal timer. An internal timer interval has exceeded the normal limit.
SITUATION:
Watch Dog timeout: This can either be an indication of a short period of high load
which is not very dangerous but it can also indicate that the module is constantly
running close to the watch-dog limit.
ACTION:
If this is a frequent event from a module, try to reduce the load by changing the
definition.
D4-35000-610_ Kollmorgen │ 06/2020 119

SystemEvent 53
SEVERITY: Info
DISPLAYED AS
String: Segment: %lu Length: %lu mm (length 2: %lu, length 3: %lu)
ID: SEGLEN
PARAMETERS
Parameter 1: Segment ID
Parameter 2: Length of segment
Parameter 3: Length of second part if offwire segment (offwire part)
Parameter 4: Length of third part if offwire segment (wire part)
DESCRIPTION:
Segment length event sent after each segment is finished. This event is only sent if
the S/D Seg Log trim mode is enabled.
SITUATION:
ACTION:
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SystemEvent 54
SEVERITY: Warning
DISPLAYED AS
String: Segment path seek failed for carrier %lu, from point %lu to point
%lu
ID: SEEKERR
PARAMETERS
Parameter 2: Start point
Parameter 3: End point
Parameter 4: INTERNAL NDC: maxpnt
DESCRIPTION:
A segment path between the two points could not be found.
SITUATION:
This could happen if the layout is not complete, a node point is missing in the layout,
an old version of the definition program C7 has been used, if the unit is out of
memory. It could also happen if the layout is extremely complex.
ACTION:
Check that the two points are part of the layout. Check that there is a segment path
between the two points. Check the revision of the definition program C7. Do a
warmstart of the unit and look for warning messages during restart.
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SystemEvent 55
SEVERITY: Info
DISPLAYED AS
String: Carrier %lu, unknown for RM. Node %lu, function %lu
ID: RMUNKNOW
PARAMETERS
DESCRIPTION:
This error occurs when the master issues a command to a carrier and the carrier is
unknown for the Route Manager (RM).
SITUATION:
The carrier might not be in AUTO mode. Someone may have made a RM reset for
that carrier.
ACTION:
Make sure the carrier is in AUTO mode with a know position. Check if there are any
other system events regarding the carrier. Check that the carrier is not doing an
operation, and that it can communicate (not LOST). If the vehicle controller is an
ACC70, check the definitions.
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SystemEvent 56
SEVERITY: Error
DISPLAYED AS
String: Can not solve deadlock, carrier %lu, node %lu, current point %lu
ID: DEADLOCK
PARAMETERS
Parameter 2: Carrier node id.
Parameter 3: Carrier current point id.
DESCRIPTION:
automatically. One system event is sent for each of the involved carriers. This event
replaces event 28 in newer systems.
SITUATION:
carrier wants to move on a segment/point that the first carrier blocks, and there exists
no alternative paths in the layout for either of the involved carriers.
ACTION:
reappearing.
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SystemEvent 57
SEVERITY: Info
DISPLAYED AS
String: Deadlock information, carrier %lu, current point %lu
ID: DEADLOCK
PARAMETERS
Parameter 2: Carrier current point id.
DESCRIPTION:
Sent as an application info if the system blockings are designed to avoid deadlock,
but a deadlock situation still occurs. This event is normally followed by event 58,
which informs of how the deadlock was solved.
SITUATION:
TM reports a deadlock situation to CM for solution. CM sends this event for each of
the involved carriers.
ACTION:
Use as info when redesigning the blocking/layout definitions to prevent the situation.
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SystemEvent 58
SEVERITY: Info
DISPLAYED AS
String: Deadlock information, carrier %lu, re-route node %lu, exit node
%lu
ID: DEADLOCK
PARAMETERS
Parameter 1: Rerouted carrier id.
Parameter 2: Reroute node id.
Parameter 3: Exit node id.
DESCRIPTION:
Sent as an application info if the system blockings is designed to avoid deadlock, but
a deadlock situation still occurs. This event is normally preceded by event 57.
SITUATION:
A deadlock situation has been solved. The system checks which carrier that can be
rerouted by use of the parameters TM has sent. The reroute node is the node the
carrier was on the way to. The exit node is one of the post nodes of the reroute node
to where the carrier is moved to solve the deadlock.
ACTION:
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SystemEvent 59
SEVERITY: Error
DISPLAYED AS
String: PLC divide by Zero, table ID %lu, program counter %lu
ID: PLCDIV0
PARAMETERS
Parameter 1: Program counter
Parameter 2: Table number
Parameter 3:
Parameter 4:
DESCRIPTION:
The PLC has detected a divide by zero
SITUATION:
ACTION:
Check the denominator value used for the division, it must not be zero. If there is a
possibility for a zero denominator then the PLC must check the value before the
division and handle it in another way.
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SystemEvent 60
SEVERITY: Warning
DISPLAYED AS
String: Unexpected cmd-status, vehicle %lu, code %lu, segment %lu
ID: UNEXM70
PARAMETERS
Parameter 1: Vehicle id.
Parameter 2: Message code.
Parameter 3: Segment id in message.
DESCRIPTION:
The Route Manager module has received a carrier command status message (type
'7'), which was unexpected in the situation. A reset has been done for the vehicle, i.e.
the Route Manager buffer for the vehicle has been cleared.
SITUATION:
This could happen if the layout definitions are not identical in the Master and all
vehicles, e.g. there are two vehicles with the same ID. It could indicate incompatible
software versions in the system. If the communication setup defines communication
lines running without handshake, it could result in this kind of problem.
ACTION:
Check if there are any other system events regarding the vehicle. Write down
information about the event.
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SystemEvent 61
SEVERITY: Error
DISPLAYED AS
String: Segment definition error, segment %lu, error type %lu, param
%lu
ID: SEGDEFERR
PARAMETERS
Parameter 2: Error type
Parameter 3: Error parameter
Parameter 4:
DESCRIPTION:
A segment is not correctly defined in the layout. The error types defined are:
1. The used offwire curve used is not defined in the offwire module. The error
parameter indicates the offending curve ID.
2. Incompatible segment definition (Laser systems).
3. Command not accepted by AN70, navigation area missing.
4. Command not accepted by AN70, definition error in segment.
SITUATION:
The event is sent when the S/D supervisor tries to create the segment command. The
vehicle must be switched to manual mode to be able to continue.
ACTION:
Correct the segment or offwire definition. Switch the vehicle to manual to reset the
condition, it will not accept any more commands in automatic until this is done.
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SystemEvent 62
SEVERITY: Error
DISPLAYED AS
String: Invalid Control Mode selected, mode ID selected %lu.
ID: CTRMODERR
PARAMETERS
Parameter 1: Control Mode ID
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
An invalid (undefined) control mode has been selected by the PLC in manual mode.
The mode ID indicates the value received from the PLC.
SITUATION:
The event is sent when the S/D supervisor detects a control mode change from the
PLC and the new mode is not valid. The old mode will still be in operation. A Control
Mode ID of zero can indicate that the control mode for a certain steering mode is not
defined (this applies to Laser II systems).
ACTION:
Correct the PLC that commands the control mode in manual or semi-automatic or
correct the control mode definition.
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SystemEvent 63
SEVERITY: Warning
DISPLAYED AS
String: Missing Software Option: %lu-%lu.
ID: OPTION
PARAMETERS
Parameter 1: Main number of option
Parameter 2: Running number of option
Parameter 3: NDC INTERNAL: option id.
Parameter 4: NDC INTERNAL: for numeric option, number needed.
DESCRIPTION:
A software option is missing.
For ACC70 SC the following options products apply:
42097-01 Number of vehicles.
42097-02 Navigation Area. In units of 10 meters in X direction.
42097-03 Navigation Area. In units of 10 meters in Y direction.
42097-04 Maximum speed (in 100:th mm/s).
42097-05 Number of auxiliary encoders.
42097-06 Number of digital I/O and analog inputs.
42097-09 Laser vehicle.
42097-11 Diff drive vehicle.
42097-12 2*S/D or Quad vehicle.
42097-14 Radio communication other than RCU.
42097-15 Auxiliary communication (serial interface).
42097-16 Rotation used.
42097-17 Free orientation support used.
42097-18 Reverse travel direction used.
42097-19 X4Y4 curves used.
42097-20 Quad movements used.
SITUATION:
The definitions for the system contain something which is not supported by the
software, unless the specified option is included. Example: When the general
parameters for an NT7000 specifies "Carrier Type I" as 1-10, and the "NDC
SOFTWARE PROTECTION KEY" only include support for 2 carriers, then the event
"Missing software option 42054-01" is generated at startup.
ACTION:
Make sure You are using the correct codes from the "NDC SOFTWARE
PROTECTION KEY". Check the NDC buyers guide for the meaning of the option
product number, e.g. "Max carrier ID". Check the definitions for the usage of the
specific option, e.g. carrier types in the General Parameters. Buy the new option from
Kollmorgen, or exclude the part from the definition.
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For ACC70 SC options, check the option report presented in the ACC70 definition
program after the compilation to find out the necessary options.
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SystemEvent 64
SEVERITY: Warning
DISPLAYED AS
String: Invalid message type %lu ($%02lX) from line %lu (message
length %lu).
ID: INVMSGT
PARAMETERS
Parameter 1: Message type
Parameter 2: Communication line number (physical).
Parameter 3: NDC INTERNAL: message length
DESCRIPTION:
A message of invalid type has been received by the unit.
SITUATION:
Some external unit has sent a message of a type which can not be accepted.
ACTION:
Check the communication definition for the specified physical line. Check the unit
connected to the physical line.
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SystemEvent 65
SEVERITY: Error
DISPLAYED AS
String: Physical vehicle type is not supported. Selected type %lu.
ID: INVVEHTP
PARAMETERS
Parameter 1: Selected vehicle type.
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
An invalid vehicle type is selected. Check if the defined type is supported by the
software used. Examples of vehicle types are: S/D, Diff, Quad. Type codes used as
parameter 1:
1 S/D
2 Diff
4 Quad
SITUATION:
The card that issues the event has detected a vehicle type that it does not support.
ACTION:
Upgrade the software to support the required vehicle type.
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SystemEvent 66
SEVERITY: Error
DISPLAYED AS
String: Control loop element type is not supported. Type %lu, block #
%lu, ID %lu
ID: INVELEM
PARAMETERS
Parameter 1: Element type code
Parameter 2: Control loop physical block number
Parameter 3: Element ID
Parameter 4:
DESCRIPTION:
An unsupported control loop element type is used in one of the control loop
definitions. This loop will not be executed. Element type codes used in parameter 1:
0 Summator
1 Regulator
2 Switch
3 Comparator
4 Maxlock
5 Sumregulator
8 Ramp generator
9 Drive regulator
SITUATION:
The control loop definition specifies an element type that is not supported by the S/D
software.
ACTION:
Upgrade the S/D software or change the control loop so that the element type is not
used.
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SystemEvent 67
SEVERITY: Error
DISPLAYED AS
String: Steering mode is not supported. Mode %lu
ID: INVSTRMD
PARAMETERS
Parameter 1: Selected steering mode.
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
An unsupported steering mode is selected. Steering mode codes used in parameter
1:
1 S/D
2 Diff
3 2*S/D
SITUATION:
The S/D card is commanded to use a steering mode that it does not support.
ACTION:
Upgrade the S/D software to support the required steering mode.
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SystemEvent 68
SEVERITY: Info
DISPLAYED AS
String: Angle meter error. Code %lu, ID %lu
ID: ANGLMTR
PARAMETERS
Parameter 1: Code
Parameter 2: Angle meter ID
Parameter 3:
Parameter 4:
DESCRIPTION:
The angle meter reports a problem of some kind. Possible codes:
1 Temperature to high.
2 Voltage out of range.
3 Voltage drop in return cable out of range.
4 Current to high.
5 Laser diod current to high.
6 Rotation error.
7 No pulses from inductive sensor. (Drive belt broken).
8 Angle meter restart.
9 No communication with angle meter.
10 Angle meter parameter read/write error.
11 Temperature to low.
12 Scanner start failed on command start.
NOTE ! This event was prior to R12 improperly reported. Par1 was always = 5, and
Par2 was the actual error code.
This event is no longer reported in Simulation mode (from 98R1).
SITUATION:
ACTION:
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SystemEvent 69
SEVERITY: Warning
DISPLAYED AS
String: Impossible encoder value. Code %lu, value %lu
ID: IMPVAL
PARAMETERS
Parameter 1: Code
Parameter 2: Value
Parameter 3:
Parameter 4:
DESCRIPTION:
A reported value from the encoder is not within the possible range due to the physical
capabilities of the vehicle. Code:
1 Speed encoder for the front wheel.
2 Steering encoder for the front wheel.
3 Speed encoder for the rear wheel.
4 Steering encoder for the rear wheel.
SITUATION:
This can indicate that the encoder inputs are subjected to some kind of disturbance.
ACTION:
Check for disturbances on the encoder inputs.
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SystemEvent 70
SEVERITY: Error
DISPLAYED AS
String: Illegal value for parameter %lu, value %lu, min %lu, max %lu
ID: ILLVALUE
PARAMETERS
Parameter 1: Parameter ID
Parameter 2: Used value
Parameter 3: Minimum allowed value (signed)
Parameter 4: Maximum allowed value (unsigned)
DESCRIPTION:
An illegal value is defined for a Navigation parameter.
Refer to the ACC70 Application Manual for descriptions of the different parameters.
SITUATION:
ACTION:
Enter a parameter value within the allowed range.
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SystemEvent 71
SEVERITY: Info
DISPLAYED AS
String: Navigation Parameter changed. ID %lu, new value %lu
ID: CHGVALUE
PARAMETERS
Parameter 1: Parameter ID
Parameter 2: New value
Parameter 3:
Parameter 4:
DESCRIPTION:
The value for a Navigation parameter is changed by the operator.
Parameter ID is the ID used by the AN70 for this parameter.
Refer to the ACC70 Application Manual for descriptions of the different parameters.
SITUATION:
ACTION:
No action.
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SystemEvent 72
SEVERITY: Error
DISPLAYED AS
String: Reflector List error. List ID %lu, code %lu, par1 %lu, par2 %lu
ID: REFLERR
PARAMETERS
Parameter 1: Code
Parameter 2: Reflector List ID
Parameter 3: Parameter A
Parameter 4: Parameter B
DESCRIPTION:
An error is detected in one of the reflector list definitions used by the laser navigation.
Codes:
1 To few reflectors defined in the list. Parameter B indicates the minimum. Parameter
A indicates defined number of reflectors.
2 To many reflectors defined in the list. Parameter B indicates the maximum.
Parameter A indicates defined number of reflectors.
3 Listed reflector is missing in definition. The used reflector ID can not be found in
the list of reflectors. Parameter A indicates the missing ID of the missing reflector.
4 The reflector list definition is not valid.
5 The reflector list is full during auto-include of reflectors. Parameter A indicates how
many reflectors that was needed. Parameter B indicates the maximum allowed
number.
NOTE ! Prior to R12 codes 1,3, and 4 was improperly reported.
Code 1 was reported as code 15.
SITUATION:
This is reported on ACC70 startup if an erroneous definition is found.
Code = 5 can also be reported during operation.
ACTION:
Correct the definition in the layout.
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SystemEvent 73
SEVERITY: Error
DISPLAYED AS
String: Outside navigation area. Code %lu, X %lu m, Y %lu m, area %lu
ID: OUTOFBND
PARAMETERS
Parameter 1: Code
Parameter 2: X coordinate in meters (code 1 only)
Parameter 3: Y coordinate in meters (code 1 only)
Parameter 4: Navigation area ID (if applicable, code 2 only)
DESCRIPTION:
Code:
1 The vehicle has moved outside the limits of the allowed navigation area, "option"
area.
2 The vehicle has moved outside the defined navigation areas.
NOTE ! Outside "option" area was reported as code 21 prior to R12.
SITUATION:
ACTION:
If this is a path that the vehicle is supposed to use then the definition must be
corrected to allow this movement.
For outside "option" area check dongle key code.
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SystemEvent 74
SEVERITY: Info
DISPLAYED AS
String: Stop position difference. Segment %lu, dLen %lu, dSide %lu,
dAng %lu
ID: STOPACC
PARAMETERS
Parameter 2: Delta distance in mm, lengthwise.
Parameter 3: Delta offset in mm, sideways.
Parameter 4: Delta angle in mrad.
DESCRIPTION:
This event is sent when the vehicle has stopped on a stop point and calculated the
difference from the defined stop coordinate and angle. The deviation is calculated as
the mean value during 40 samples (appr 2 seconds). This function must be enabled
in the ACC70. Delta distance is positive after the defined stop pos. Delta offset is
positive to the left. Delta angle is positive counter-clockwise.
SITUATION:
ACTION:
No action.
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SystemEvent 75
SEVERITY: Info
DISPLAYED AS
String: Lorry error. Code %lu, par1 %lu, par2 %lu, par3 %lu
ID: LORRY
PARAMETERS
Parameter 2: NDC INTERNAL: par 1
DESCRIPTION:
Error codes:
1 Lorry list or dock list missing.
2 Base point missing.
3 Operation point missing.
4 Time-out, the flag FIRST ORDER is not reset.
5 Wrong answer on measuring.
6 Wrong answer on calculation.
7 Invalid KS segment, has breakpoints.
8 Time-out, the flag NEW DELTA has not been reset.
9 The vehicle wants to move on a KS segment without the flag LORRY ORDER set.
10 The vehicle wants to move on a KS segment with the flag LORRY ORDER set but
without one of the flags FIRST ORDER or NEW DELTA set.
11 Delta values to large when measuring lorry position.
12 Entered delta values to large.
13 Time-out, no respons to K message.
SITUATION:
ACTION:
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SystemEvent 76
SEVERITY: Info
DISPLAYED AS
String: Radio communication diagnostics. Line/port %lu, ($%lX)
ID: RADIODIA
PARAMETERS
Parameter 1: Line/Port id
Parameter 2: NDC INTERNAL: MSB: group, LSB: code
Parameter 3:
Parameter 4:
DESCRIPTION:
An error is detected in the Radio communication. This event is only sent when the
communication runs in debug/diagnostic mode.
SITUATION:
This indicates that there is a problem in the communication between the radio
modems or between one of the radio modems and its external device (communication
processor).
ACTION:
No action. Only for debug purpose.
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SystemEvent 77
SEVERITY: Info
DISPLAYED AS
String: Nav feedback speed acc/dec limit exceeded. Speed %lu,
PrevSpeed %lu, dT %lu
ID: RGACCDEC
PARAMETERS
Parameter 1: Current encoder distance (Odd=Front, Even=Rear)
Parameter 2: Current speed
Parameter 3: Last speed
Parameter 4: Delta time (1/10 ms)
DESCRIPTION:
A too big acceleration or deceleration is calculated for the vehicle. This calculation is
for the speed feedback to the laser navigator. This event is only sent if the function
debug events is activated in the definition.
SITUATION:
Indicates disturbances.
ACTION:
Check for disturbances.
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SystemEvent 78
SEVERITY: Info
DISPLAYED AS
String: Regulator fb speed acc/dec limit exceeded. Speed %lu,
PrevSpeed %lu, dT %lu
ID: SPACCDEC
PARAMETERS
Parameter 1: Current encoder distance (Odd=Front, Even=Rear)
Parameter 2: Current speed
Parameter 3: Last speed
Parameter 4: Delta time (1/10 ms)
DESCRIPTION:
A too big acceleration or deceleration is calculated for the vehicle. This calculation is
for the speed feedback to the control loop. This event is only sent if the function,
debug events is activated in the definition.
SITUATION:
Indicates disturbances.
ACTION:
Check for disturbances.
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SystemEvent 79
SEVERITY: Warning
DISPLAYED AS
String: Auto-insert error. Error code %lu (1=To many segments found)
ID: AUTOINS
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Code: 1 To many segments were found in the search area.
SITUATION:
This event is sent if the auto-insert function fails due to the parameter setup and
layout. It is not sent if the insert fails for "normal" reason, for instance that a segment
can not be found.
ACTION:
Code: 1 Reduce the search area.
This is controlled by the following parameters in the Routing setup:
On segment forw/backw.
Cross segment forwards.
Cross segment sideways.
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SystemEvent 80
SEVERITY: Error
DISPLAYED AS
String: Navigator interface error. Code %lu, param1 %lu, param2 %lu,
param3 %lu
ID: NAVIFERR
PARAMETERS
DESCRIPTION:
An error was detected in the navigator interface. Error Codes:
1 An unknown speed select code from the navigator to the S/D card. Error parameter
1 = speed select code.
SITUATION:
ACTION:
Check that compatible software is used for the navigator and the S/D card.
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SystemEvent 81
SEVERITY: Info
DISPLAYED AS
String: Time difference detected on real-time sync. Difference %lu
seconds.
ID: TIMESYNC
PARAMETERS
Parameter 1: Time difference
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
A difference of at least 1 minute between the old and the new time setting was
detected when the time was synchronized in a unit. A difference larger than 65535
seconds will be reported as 65535.
SITUATION:
ACTION:
No action necessary.
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SystemEvent 82
SEVERITY: Error
DISPLAYED AS
String: Invalid GI-object. Code %lu, object ID %lu, object max %lu
ID: INVGIOBJ
PARAMETERS
Parameter 2: Object ID
Parameter 3: Object maximum
Parameter 4:
DESCRIPTION:
A definition error concerning maximum number of GI-objects or a received message
with an invalid GI-object is detected. Error code:
1 The defined number of GI-objects in GI7 is higher than the supported number in
the master.
2 The received GI-object ID is higher than the defined max in GI7.
SITUATION:
Error code 1 is issued during the connect phase with the master.
Error code 2 is issued on each received message.
ACTION:
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SystemEvent 83
SEVERITY: Error
DISPLAYED AS
String: Invalid GI-symbol ID %lu, ObjType %lu (1=carrier/2=GI-object),
ObjID %lu
ID: INVGISYM
PARAMETERS
Parameter 1: Symbol ID
Parameter 3: Object type
Parameter 4:
DESCRIPTION:
A received message with an invalid GI-symbol ID is detected.
Object type 1 indicates that the message concerns a carrier (object ID = carrier ID)
and type 2 that it concerns a GI-object.
SITUATION:
This is probably caused by an OM instruction, O_stat for GI-objects or CO_stat for
carriers. Correct the symbol ID parameter.
It can also be that the symbol ID is not correctly defined in the GI7 definition program.
ACTION:
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SystemEvent 84
SEVERITY: Error
DISPLAYED AS
String: Invalid GI-point ID %lu, ObjType %lu (1=carrier/2=GI-object),
ObjID %lu
ID: INVGIPNT
PARAMETERS
Parameter 1: GI-point ID
Parameter 3: Object type
Parameter 4:
DESCRIPTION:
A received message with an invalid GI-point ID is detected.
Object type 1 indicates that the message concerns a carrier (object ID = carrier ID)
and type 2 that it concerns a GI-object.
SITUATION:
This is probably caused by the OM instruction O_pos. Correct the GI-point ID
parameter.
It can also be that the GI-point ID is not correctly defined in the GI7 definition
program.
ACTION:
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SystemEvent 85
SEVERITY: Info
DISPLAYED AS
String: Reflector Deviation Alert. Segment %lu, Refl ID %lu, Deviation
%lu mrad
ID: REFLDEV
PARAMETERS
Parameter 2: Reflector ID
Parameter 3: Deviation
Parameter 4:
DESCRIPTION:
This event will be sent for good associated reflectors with a deviation greater than a
limit value after stopping on the last point of a command. The deviation is the
difference between the expected bearing and the measured bearing to a reflector.
The limit value is defined by the navigator parameter "Reflector Deviation Limit" in
mrad, the default value is 2 mrad. The absolute value of the deviation will be sent.
NOTE ! This event has to be enabled in the ACC70 in order to be sent.
This can be done:
In CWay, using the function "Diagnostic events". This requires CWay S or CWay
Total version 2.10 or later.
In the GI7, using the function "Diagnostic events enable" (Shift-F5). This requires
version 4.0 or later of the GI7.
Using the PLC in the ACC70.
SITUATION:
This event will be sent for good associated reflectors with a deviation greater than a
limit value after stopping on the last point of a command. The event must also be
enabled in the ACC70.
ACTION:
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SystemEvent 86
SEVERITY: Info
DISPLAYED AS
String: False Reflector Detected. Veh. Pos X %lu cm Y %lu cm, bearing
%lu 1/100°, dist %lu dm
ID: FALSEREF
PARAMETERS
Parameter 1: Position X (cm)
Parameter 2: Position Y (cm)
Parameter 3: Bearing (1/100 degrees)
Parameter 4: Distance (dm)
DESCRIPTION:
This event will be sent when a false associated reflector is detected. The position of
the scanner when the false association was done as well as the direction to the false
reflector will be sent. There are 3 or 4 parameters in the event.
Introduced in 97R1 using LS 2.0 or later, parameter 4 will contain the estimated
distance to the reflection. Also, only reflections with status 0 or 1 will be reported in
this event.
Status 0 or 1 indicates a probable true retro reflector found outside defined position
tolerance.
Also see System Event 122.
SITUATION:
x (cm), y (cm) and direction in the global coordinate system (positive counter
clockwise).
This can be done:
ACTION:
When the message is sent spontaneously a filter will be implemented that prevent the
same false reflector to be reported too often. If the vehicle is standing still, each
FALSE associated bearing will be checked against the FALSE and IGNORE FALSE
associated bearings in the local false buffer log. The bearing must differ more than
±1° from any buffered bearings (from that position) to be sent. When the vehicle
moves there must be at least 1000 mm between positions to report a new false
reflection.
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SystemEvent 87
SEVERITY: Info
DISPLAYED AS
String: Double reflector at stop point. Segment %lu, Refl 1 %lu, Refl 2
%lu
ID: DBLREF
PARAMETERS
Parameter 2: Reflector ID 1
Parameter 4:
DESCRIPTION:
This event is sent for double associated reflectors. A double reflector association
implies that more than one known reflector can be associated to the same bearing.
This event can be sent after stop on last command.
This can be done:
SITUATION:
ACTION:
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SystemEvent 88
SEVERITY: Info
DISPLAYED AS
String: Double angle at stop point. Segment %lu, Reflector ID %lu
ID: DBLANG
PARAMETERS
Parameter 3:
Parameter 4:
DESCRIPTION:
This event is sent for double associated angles. A double angle association implies
that more than one bearing can be associated to the same reflector. This event can
be sent after stop on last command.
This can be done:
SITUATION:
ACTION:
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SystemEvent 89
SEVERITY: Info
DISPLAYED AS
String: Ignore False Detected. Veh. Pos X %lu cm Y %lu cm, bearing
%lu 1/100°
ID: IGNFALSE
PARAMETERS
Parameter 4:
DESCRIPTION:
This event will be sent when a false associated reflector is detected. It can be sent
either after stop on last command or spontaneous. The bearing associated as false
crosses an Ignore False line. The position of the scanner when the false association
was done as well as the direction to the false reflector will be sent. There are 3
parameters in the event
SITUATION:
clockwise).
This can be done:
ACTION:
reflection.
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SystemEvent 90
SEVERITY: Info
DISPLAYED AS
String: Ignore False Sector. Veh. Pos X %lu cm Y %lu cm, angle %lu
1/100°
ID: IGNSECT
PARAMETERS
Parameter 3: Angle (1/100 degrees)
Parameter 4:
DESCRIPTION:
either after stop on last command or spontaneous. The measured bearing is within a
sector ignore. The reported bearing is relative the vehicle and not relative the global
coordinate system. The position of the scanner when the false association was done
as well as the direction to the false reflector will be sent. There are 3 parameters in
the event
SITUATION:
x (cm), y (cm) and direction relative the vehicle.
This can be done:
ACTION:
same false reflector to be reported too often. Each IGNORE SECTOR associated
bearings will only be checked against other IGNORE SECTOR associated bearings in
the false buffer. Only bearing differences will be checked since the position is of little
relevance. An IGNORE SECTOR associated bearing is most likely to originate from
the vehicle itself. The check is the same even if the vehicle moves.
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SystemEvent 91
SEVERITY: Error
DISPLAYED AS
String: Definition mismatch, max carrier #. Master %lu, GI7 %lu
ID: DEFMXCAR
PARAMETERS
Parameter 1: Master max ID
Parameter 2: GI7 max ID
Parameter 3:
Parameter 4:
DESCRIPTION:
A definition mismatch is detected during the connect phase to the master. The
defined maximum carrier ID in the GI7 does not match the definition in the master.
SITUATION:
ACTION:
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SystemEvent 92
SEVERITY: Error
DISPLAYED AS
String: Mismatch, carrier type. Min(1)/Max(2) %lu, Ctype %lu, Master
%lu, GI7 %lu
ID: DEFCTYPE
PARAMETERS
Parameter 1: Min/max
Parameter 2: Carrier type ID
Parameter 3: Master value
Parameter 4: GI7 value
DESCRIPTION:
A definition mismatch is detected during the connect phase to the master. The
definition of the carrier types does not match between the GI7 and the master. A
min/max parameter value of 1 indicates that the start value (first carrier #) for the type
range is in error and a value of 2 indicates that it is the end value (last carrier #) for
the range.
SITUATION:
ACTION:
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SystemEvent 93
SEVERITY: Warning
DISPLAYED AS
String: To many clusters. Defined %lu, maximum %lu, last used ID %lu
ID: NUMCLUST
PARAMETERS
Parameter 1: Number of clusters in definition table
Parameter 2: Max number of clusters accepted by the product.
Parameter 3: The id of the last accepted cluster.
DESCRIPTION:
The cluster table contains to many clusters for the product.
SITUATION:
There are to many clusters in the cluster definition table. The product only allows a
limited number of clusters. The extra clusters at the end are treated as if they don't
exist.
ACTION:
Delete clusters which are obsolete, or change the product to one which allows more
clusters
D4-35000-610_ Kollmorgen │ 06/2020 161

SystemEvent 94
SEVERITY: Info
DISPLAYED AS
String: New definition table of type %lu loaded, revision %lu
ID: NEWTABLE
PARAMETERS
Parameter 1: Definition table id (individual for each source).
Parameter 2: Table revision
Parameter 3: Spare 2
Parameter 4: Spare 3
DESCRIPTION:
This is a diagnostic event. It is an information that could be used to relate other
events to the fact that a new definition table is loaded.
SITUATION:
Sent for each new definition table that is loaded into the system.
ACTION:
No action needed.
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SystemEvent 95
SEVERITY: Warning
DISPLAYED AS
String: Free vehicle %lu reports Load Operation error code %lu on
Node %lu
ID:
PARAMETERS
Parameter 1: Vehicle number
Parameter 3: Node number
Parameter 4: Node function
DESCRIPTION:
A free vehicle has reported Load Operation failed. This can be caused by an
"attribute function" on the node.
SITUATION:
ACTION:
Check the definition to make sure that the vehicle does not report load operation
failed on operations used as "attribute functions".
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SystemEvent 96
SEVERITY: Error
DISPLAYED AS
String: HC Routing seek deep error. From point %lu to point %lu.
ID:
PARAMETERS
Parameter 1: From point
Parameter 2: To point
Parameter 3:
Parameter 4:
DESCRIPTION:
The seek depth is exceeded.
SITUATION:
ACTION:
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SystemEvent 97
SEVERITY: Warning
DISPLAYED AS
String: SSIO line duplicate. Virtual SSIO line %lu, also defined as
physical line %lu.
ID: SSIOMULT
PARAMETERS
Parameter 1: SSIO line number (Logical line)
Parameter 3:
Parameter 4:
DESCRIPTION:
The SSIO line is defined as both a physical line (in the communication table) and also
as a Virtual line (in the general parameters).
SITUATION:
ACTION:
Check the definition.
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SystemEvent 98
SEVERITY: Error
DISPLAYED AS
String: Encoder sync pulse error on channel %lu, code %lu
ID: ENCERR
PARAMETERS
Parameter 1: Encoder channel on the card, 0 - 3
Parameter 3:
Parameter 4:
DESCRIPTION:
The encoder interface has detected a sync pulse problem.
0 = False sync pulse was detected.
1 = The Sync pulse was missing
NOTE ! This event has to be enabled in the ACC70 in order to be sent. It is controlled
by the "Encoder events" flag in the MPMC setup.
SITUATION:
ACTION:
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SystemEvent 99
SEVERITY: Info
DISPLAYED AS
String: Navigation level report. Current level %lu, segment %lu.
ID: NAVLVL
PARAMETERS
Parameter 1: Current navigation level, 0-100 %
Parameter 2: Current segment
Parameter 3: Scanner position X in cm
Parameter 4: Scanner position Y in cm
DESCRIPTION:
This event is sent when the navigation level drops below the warning limit.
The warning limit is by default set to 50 %.
It can be set using parameter 67 in the navigation handler.
SITUATION:
ACTION:
This event can be used to check for areas in the layout with a bad reflector
environment.
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SystemEvent 100
SEVERITY: Info
DISPLAYED AS
String: NoGood Reflector Deviation Alert. Segment %lu, Refl ID %lu,
Deviation %lu mrad
ID: NGREFDEV
PARAMETERS
Parameter 3: Deviation (mrad)
Parameter 4:
DESCRIPTION:
This event will be sent for "NoGood" associated reflectors after stopping on the last
point of a command. The deviation is the difference between the expected bearing
and the measured bearing to a reflector. The absolute value of the deviation will be
sent in mrad.
This can be done:
SITUATION:
This event will be sent for "NoGood" associated reflectors after stopping on the last
point of a command. The event must also be enabled in the ACC70.
ACTION:
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SystemEvent 101
SEVERITY: Info
DISPLAYED AS
String: "Skip" Reflector Deviation Alert. Segment %lu, Refl ID %lu,
Deviation %lu mrad
ID: SKREFDEV
PARAMETERS
Parameter 3: Deviation (mrad)
Parameter 4:
DESCRIPTION:
This event will be sent for "skip" associated reflectors with a deviation greater than a
limit value after stopping on the last point of a command. The deviation is the
difference between the expected bearing and the measured bearing to a reflector.
The limit value is defined by the navigator parameter "Reflector Deviation Limit" in
mrad, the default value is 2 mrad. The absolute value of the deviation will be sent.
This can be done:
SITUATION:
This event will be sent for "Skip" associated reflectors after stopping on the last point
of a command. The event must also be enabled in the ACC70.
ACTION:
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SystemEvent 102
SEVERITY: Error
DISPLAYED AS
String: Waiting for "zero" speed. Current speed front/right %lu, rear/left
%lu
ID: WAIT0SPD
PARAMETERS
Parameter 1: Limit for "zero" speed in mm/s
Parameter 2: Current speed on front/right wheel
Parameter 3: Current speed on rear/left wheel
Parameter 4:
DESCRIPTION:
The Laser guidance has commanded the vehicle to stop and is waiting for the speed
to go below the limit for "zero" speed. When the waiting timeout expires this event is
sent.
SITUATION:
ACTION:
This event can indicate problems with the current speed report from the encoders.
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SystemEvent 103
SEVERITY: Error
DISPLAYED AS
String: Waiting for correct steering angle. Wheel %lu, set angle %lu,
current %lu
ID: WAITSANG
PARAMETERS
Parameter 1: Which wheel. 1 = front, 2 = rear
Parameter 2: Maximum allowed angle difference in 1/100 degrees
Parameter 3: Set angle (1/100 degrees)
Parameter 4: Current angle (1/100 degrees)
DESCRIPTION:
The Laser guidance has commanded a steering angle and is waiting for the angle to
get within the accepted window. This check is performed on the start of a new move
command. When the waiting timeout expires, this event is sent. The timeout is 10
seconds.
SITUATION:
NOTE ! If the vehicle is emergency stopped (steering inhibit) this will be sent if the
vehicle is trying to start.
ACTION:
Check if the vehicle is stopped or emergency stopped, if that is the case then you can
ignore this event. Otherwise check if there is any output to the FSA to turn the wheel.
Also check that the FSA is not disabled.
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SystemEvent 104
SEVERITY: Warning
DISPLAYED AS
String: Orientation error, carrier %lu, segment %lu
ID: ORIENT
PARAMETERS
Parameter 1: Carrier ID
Parameter 3: NDC Internal: msg type
Parameter 4: NDC Internal: txid
DESCRIPTION:
The AGVD (AGV Driver) has detected an orientation error.
SITUATION:
ACTION:
Check the layout, make sure the vehicle controller and the Master has the same
version of the layout.
Check the orientation definition (Fixed/Free) in the general parameters, for the
master.
Verify that the software versions are compatible.
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SystemEvent 105
SEVERITY: Error
DISPLAYED AS
String: Illegal setup for I/O, ID: %lu
ID: ILLIOSETUP
PARAMETERS
Parameter 1: I/O ID/Channel
Parameter 2: Parameter ID (if applicable)
Parameter 3: Minimum allowed value (if applicable)
Parameter 4: Maximum allowed value (if applicable)
DESCRIPTION:
An illegal setup is defined for an I/O channel (pin)
Check the logical module for I/O type.
SITUATION:
ACTION:
Correct the I/O setup. Add a value for the parameter within the allowed range (if
applicable).
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SystemEvent 106
SEVERITY: Warning
DISPLAYED AS
String: Software protection device expires in %lu hours
ID: DONGLTIME
PARAMETERS
Parameter 1: Number of hours left
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
This event is sent every hour during the last 7 days before the dongle expires.
SITUATION:
ACTION:
Install a new dongle as soon as possible.
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SystemEvent 107
SEVERITY: Warning
DISPLAYED AS
String: Can not introduce carrier %lu. Software key limit = %lu
ID: DNGLIMIT
PARAMETERS
Parameter 2: Maximum allowed number of vehicles in system
Parameter 3:
Parameter 4:
DESCRIPTION:
This event is sent when the maximum number of vehicles are already used in the
system and the user tries to install additional vehicles.
SITUATION:
ACTION:
A new Software Key Code must be used to allow more vehicles in the system.
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SystemEvent 108
SEVERITY: Error
DISPLAYED AS
String: Can not solve deadlock, carrier %lu, ack segment %lu, TM
segment %lu
ID: DEADLOCK
PARAMETERS
Parameter 2: Acknowledged segment
Parameter 3: TM suggested segment
Parameter 4: Deadlock Situation ID
DESCRIPTION:
automatically. One system event is sent for each of the involved carriers.
Par2: Acknowledged segment:

The last segment that TM has acknowledged for the carrier. The carrier is normally
standing at the end point of this segment in the deadlock situation.
Par3: TM suggested segment:

The by TM suggested segment for a solution of the deadlock. The segment has been
used when trying to solve the deadlock situation without success. If TM does not have
any segments to suggest, the segment will be equal to the acknowledged segment.
Par4: Deadlock Situation ID:

An ID of the situation that can be used as a reference when the Deadlock situation
not exists any more (Ref. to System Event 142).
Supported from NT7000 S (41442) version 2.30
SITUATION:
carrier wants to move on a segment/point that the first carrier blocks and there exists
no alternative paths in the layout for either of the involved carriers. The deadlock can
also involve more than two carriers that block each other in a "circle".
ACTION:
reappearing.
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SystemEvent 109
SEVERITY: Info
DISPLAYED AS
String: Deadlock information, carrier %lu, current segment %lu
ID: DEADLOCK
PARAMETERS
Parameter 4: Escape segment
DESCRIPTION:
Sent as an application info if the system blockings are designed to avoid deadlock,
but a deadlock situation still occur. This event is normally followed by event 110,
which informs of how the deadlock was solved.

The last segment TM has acknowledged for the carrier when the deadlock situation
appears. The carrier is normally standing at the end point of this segment in the
deadlock situation.

The by TM suggested segment that might solve the deadlock. It is possible to move
the carrier on this segment without causing the deadlock situation again.
Par4: Escape segment:

A user defined segment was found, either on the Acknowledged segment, or on the
by TM suggested segment. This segment will be used after the carrier has been
commanded to move the TM suggested segment.
SITUATION:
TM reports a deadlock situation to CM for solution. CM sends this event for each of
the involved carriers.
ACTION:
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SystemEvent 110
SEVERITY: Info
DISPLAYED AS
String: Deadlock information, carrier %lu, old segment %lu, new
segment %lu
ID: DEADLOCK
PARAMETERS
Parameter 1: Rerouted carrier ID
Parameter 4: Escape segment
DESCRIPTION:
Sent as an application info if the system blockings is designed to avoid deadlock, but
a deadlock situation still occur. This event follows normally on event 109.

The last segment TM had acknowledged for the carrier when the deadlock situation
appeared. The carrier was standing on this segment when it was rerouted via the TM
suggested segment to solve the deadlock.

The by TM suggested segment that was used to solve the deadlock.
Par4: Escape segment:

The user definable escape segment to which the carrier was commanded after it had
passed via the TM suggested segment. After the escape segment has been passed
the carrier has continued to move to it's original destination.
In no escape definition exist, this segment will be equal to the TM suggested
segment. The carrier did then continue to move to it's original destination directly after
it passed the TM suggested segment.
SITUATION:
A deadlock situation has been solved. The system checks which carrier that can be
rerouted by use of the parameters TM has sent.
ACTION:
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SystemEvent 111
SEVERITY: Error
DISPLAYED AS
String: Memory allocation error. Code=%lu, required=%lu,
available=%lu.
ID: IDMALLOC
PARAMETERS
Parameter 1: Code
Parameter 2: Required memory (KB)
Parameter 3: Available memory (KB)
Parameter 4:
DESCRIPTION:
Memory allocation failed. Memory is allocated for variable size items such as
segments and points.
SITUATION:
Codes used:
20 Point memory allocation error.
21 Segment memory allocation error.
ACTION:
Check the code and the corresponding definition. Decrease the memory requirements
of the definition or, when possible, upgrade the hardware.
D4-35000-610_ Kollmorgen │ 06/2020 179

SystemEvent 112
SEVERITY: Warning
DISPLAYED AS
String: AGV simulator overloaded. Lagging behind %lu seconds.
ID: AGVSLOAD
PARAMETERS
Parameter 1: Simulated time lagging behind in seconds.
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The internal AGV simulator has to much to do. The simulated time is lagging behind
too much.
This is caused by CPU overload.
SITUATION:
This happens when there is to much to do for the CPU. The AGV simulator module
can not keep up the simulation rate.
This frequently happens when the Carrier Manager has to reallocate AGVs very
often, as that is very CPU consuming.
This event will not be generated during TAKEOFF.
ACTION:
If this is frequent, try to reduce the overall CPU load. Suggested actions:
- Reduce the simulation rate.
- Reduce the number of simulated AGVs.
- Run the program on a faster machine.
- Stop other high priority programs on the machine.
- Reduce trace to file / screen.
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SystemEvent 113
SEVERITY: Info
DISPLAYED AS
String: Stand-In PID Control Loop running. Code: %lu
ID: STANDINLOOP
PARAMETERS
Parameter 1: Code
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
A Stand-In PID control loop with default parameters is running instead of the inherent
PolReg control loop. This is done due to a none-adjusted PolReg control loop.
Codes used:
1=Steering control loop
2=Driving control loop
SITUATION:
This event is issued as soon as the control loop starts to execute, regardless if the
vehicle is in manual, semi, or automatic mode, and also regardless if the vehicle is
about to move or not.
ACTION:
Calibrate the vehicle using the Vehicle Maintenance Program or define a User
Defined control loop.
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SystemEvent 114
SEVERITY: Warning
DISPLAYED AS
String: Invalid Control Mode change. Old mode %lu, new mode %lu
ID: INVMODECHG
PARAMETERS
Parameter 1: Old Control mode
Parameter 2: New control mode
Parameter 3:
Parameter 4:
DESCRIPTION:
A control mode change was requested causing a change to or from a PolReg type
control loop while the vehicle is running. This is not allowed, the change will be
delayed until the vehicle has stopped.
SITUATION:
The event is issued once each time an invalid mode change is requested.
ACTION:
Change the definition to avoid the control mode change. Check that the control loops
for Driving and Steering are the same for the different control modes. If this for some
reason is not possible then make sure the vehicle is stopped when the mode is
changed.
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SystemEvent 115
SEVERITY: Error
DISPLAYED AS
String: Can not load Station table. Error $%lX , case %lu.
ID: INVSTNTAB
PARAMETERS
Parameter 1: NDC INTERNAL: Error code from Layout manager
Parameter 2: NDC INTERNAL: Case code
Parameter 3: 0
Parameter 4:
DESCRIPTION:
Only CM II systems.
The Station table could not be loaded.
SITUATION:
The Station table is not valid. The Case code defines what reason that caused the
table to be reloaded.
ACTION:
1. Save the error message and its parameters.
2. Write down all information that could be relevant to the situation when the error
was generated.
3. Write down all software product numbers and versions for the units in the system.
4. Save the current definitions.
5. Please notify Kollmorgen.
6. Try to re-compile the station table and reload the definitions to recover the problem.
D4-35000-610_ Kollmorgen │ 06/2020 183

SystemEvent 116
SEVERITY: Error
DISPLAYED AS
String: Exit can't be reached, Car. %lu, Ex. seg %lu
ID: EXITERR
PARAMETERS
Parameter 2: Station ID
Parameter 3: Ack segment ID
Parameter 4: Exit segment ID
DESCRIPTION:
Only CMII systems.
The exit segment could not be reached.
SITUATION:
The carrier stops on a Station but has a command to move to the defined Exit.
This error can be caused by:
1, There are too many NoComm points in the segment path. The Traffic Manager can
only acknowledge a limited number of segments through NoComm points.
2. The Exit path ends on a Route blocked segment so that the Route dependent
rules can't be evaluated by the Traffic Manager.
ACTION:
Change the Exit definition, the blocking rules, or the NoComm definition to avoid the
situation.
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SystemEvent 117
SEVERITY: Info
DISPLAYED AS
String: Black Box triggered. Trigger ID: %lu.
ID: BBOXTRIG
PARAMETERS
Parameter 1: Trigger ID
Parameter 2: Queue ID
Parameter 3: File ID
Parameter 4: Compressed size in KB
DESCRIPTION:
This System Event is sent when a Black Box output has been triggered and stored.
Trigger IDs:
1 Lost position when in system
2 Outside safety zone when in system.
3 Triggered by SSCC request (for example the BlackBox upload program)
4 Triggered by PLC request
5 Triggered by a watch-dog time-out on a module
Queue IDs:
1 Restart queue
2 Normal queue
3 User queue
File ID is a running number identifying the different Black Box outputs stored in the
ACC70.
SITUATION:
A Black Box output is triggered when the background programs in the ACC70 detect
something unusual. It can also be triggered by the PLC as programmed in the
application or via an SSCC request.
ACTION:
Unless the cause of the Black Box trigger is already known or found using other tools,
use the Black Box upload program (41494) to upload the Black Box output to the PC.
When sending a Black Box file to Kollmorgen support it is important to also include a
copy of the definition used in the ACC70, together with a detailed description about
the problem at hand. To simplify this the 97R1 version of the ACC70 Definition
program (version 6.20) has a new function that will automatically save a "zipped"
version of the definition for each compilation.
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SystemEvent 118
SEVERITY: Info
DISPLAYED AS
String: Information: Black Box re-initialised.
ID: BBOXINIT
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
This event is sent if the MPMC is forced to do a re-init. of the Black Box. This can
occur when downloaded definition occupies more space than what is allocated in
MPM, i.e. it uses MPM space, allocated by the Black Box.
The event is also sent if the MPMC detects that the Black Box memory has been
corrupted in some way.
SITUATION:
ACTION:
This is a normal event and will usually occur after a transfer.
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SystemEvent 119
SEVERITY: Warning
DISPLAYED AS
String: Order start failed, TS %lu, status %lu
ID: ORDSTFAIL
PARAMETERS
Parameter 1: Transport structure number
Parameter 2: Order fail status
Parameter 3: Carrier Id
Parameter 4:
DESCRIPTION:
This event is sent when the Carrier Manager fails to start a internal order, such as
CarWash or CarCharge.
SITUATION:
The defined CarWash / CarCharge transport structure does not exist in the TS
definition table, the order queue is full, etc.
ACTION:
Look up the parameter 2 (order status) in the Order Manager manual, the ACI part
"Order Acnowledge message - b"
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SystemEvent 120
SEVERITY: Error
DISPLAYED AS
String: PLC distance error on segment %lu
ID: PLCDIST
PARAMETERS
Parameter 2: Requested distance
Parameter 3: Minimum distance allowed
Parameter 4: Maximum distance allowed
DESCRIPTION:
The PLC has responded to a request from the Routing for the distance indicating
where to the vehicle shall move, on a PLC controlled segment, but given a too short
(only if already on the segment) or a too long distance (beyond the segment end).
SITUATION:
The Routing module requests a distance from the PLC when entering a segment that
is marked flexible (PLC controlled).
ACTION:
Correct the PLC function that handles the segment length request.
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SystemEvent 121
SEVERITY: Warning
DISPLAYED AS
String: Station %lu, Entry segment %lu is NoComm or NoStop
ID: ESEGNCM
PARAMETERS
Parameter 1: Station ID
Parameter 2: Entry Segment ID
Parameter 3:
Parameter 4:
DESCRIPTION:
This event is sent if any of these situations occur:
1. If the start point of a defined entry segment on a Station is not a communication
point (NoComm is set).
2. In the case the entry is defined as a distance, and CM fails to find a segment
"outside" the distance which has communication on the start point.
SITUATION:
ACTION:
Change the definition of the entry segment.
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SystemEvent 122
SEVERITY: Info
DISPLAYED AS
String: False Reflection Detected. Veh. Pos X %lu cm Y %lu cm,
bearing %lu 1/100°, dist %lu dm
ID: FALSEREF
PARAMETERS
DESCRIPTION:
either after stop on last command or spontaneous. The position of the scanner when
the false association was done as well as the direction to the false reflector will be
sent. There are 4 parameters in the event.
Introduced in 97R1 using LS 2.0 or later, parameter 4 will contain the estimated
distance to the reflection. Also, only reflections with status 2 or 3 will be reported in
this event.
Status 2 or 3 indicates a probable reflection from a reflecting object other than a retro
reflector. Also see System Event 86.
SITUATION:
clockwise). NOTE ! This event has to be enabled in the ACC70 in order to be sent.
This is done using the GI7, by the PLC in the ACC70, in CWay 2.10 (or later), or
CWay S.
ACTION:
reflection.
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SystemEvent 123
SEVERITY: Error
DISPLAYED AS
String: Duplicate local name on line# %lu.
ID: DUPNAME
PARAMETERS
Parameter 1: Physical line#
DESCRIPTION:
A name already active in the network environment is used for a second time.
SITUATION:
Happens in NetBIOS network on multiple use of node names.
ACTION:
Check the setup in the communication table for the corresponding line.
Also check external clients and servers for multiple use on node names.
more information.
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SystemEvent 124
SEVERITY: Error
DISPLAYED AS
String: No valid port or service on line# %lu.
ID: NOPORT
PARAMETERS
Parameter 1: Physical line#.
DESCRIPTION:
No valid port or service has been found for this line.
SITUATION:
Happens for TCP/IP lines where no corresponding port or service has been found
from the communication table data.
ACTION:
information on this subject.
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SystemEvent 125
SEVERITY: Error
DISPLAYED AS
String: No valid LANA or service on line# %lu.
ID: NOLANA
PARAMETERS
DESCRIPTION:
No valid LANA has been found for this line.
SITUATION:
Happens for NetBIOS lines where no corresponding LANA number has been found
from the communication table data.
ACTION:
Check the communication table setup for the line. If a LANA number is given, check if
this exist in your operating system. If a transport is given, check if it is installed on
your computer.
more information.
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SystemEvent 126
SEVERITY: Error
DISPLAYED AS
String: No TCP/IP installed ,line# %lu.
ID: NOTCP
PARAMETERS
DESCRIPTION:
Protocol TCP/IP is not installed on this computer.
SITUATION:
ACTION:
Install TCP/IP.
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SystemEvent 127
SEVERITY: Error
DISPLAYED AS
String: No NetBios installed, line# %lu.
ID: NONETBIOS
PARAMETERS
DESCRIPTION:
Protocol NetBIOS is not installed on this computer.
SITUATION:
ACTION:
Install NetBIOS.
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SystemEvent 128
SEVERITY: Error
DISPLAYED AS
String: COMx line %lu, invalid port
ID: SCCOPEN
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The system tries to start serial communication on a nonexisting COMx port.
SITUATION:
ACTION:
Check the number of the COMx ports in your OS. Check the WINC7/System
Application Designer communication definition.
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SystemEvent 129
SEVERITY: Error
DISPLAYED AS
String: COMx line %lu, setup parameter error
ID: SCCSetup
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
One or more of the communication parameters defined for the COMx line is not
accepted.
SITUATION:
ACTION:
Check the WINC7/System Application Designer communication definition.
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SystemEvent 130
SEVERITY: Error
DISPLAYED AS
String: Antenna definition error (%lu) for antenna index %lu
ID: SensorErr
PARAMETERS
Parameter 1: Type of definition error
Parameter 2: Antenna/Sensor index
Parameter 3: Antenna/Sensor type
DESCRIPTION:
An error is detected in the Sensor/Antenna/DSP handling.
Par1: Code for type of definition error
1=Unknown type of antenna
2=Illegal antenna pin definition
3=Unknown type of analogue sensor
4=Antenna handler block not found
5=Illegal physical antenna id for analogue sensor
6=Unknown type of digital sensor
7=Internal error
SITUATION:
This event may be caused by use of incompatible SW versions.
ACTION:
Trigger and Upload a blackbox log file and contact Kollmorgen for trouble-shooting
help.
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SystemEvent 131
SEVERITY: Error
DISPLAYED AS
String: Distance error detected by carrier %lu on segment %lu, part
%lu, part distance %lu
ID: DISTERR
PARAMETERS
Parameter 2: Part ID
Parameter 3: Part distance when the error was detected
Parameter 4: Current detect window size
DESCRIPTION:
The end point condition of the indicated segment part was not found inside the
Association window.
SITUATION:
The vehicle has driven the part distance + half the Association window and not found
the specified endpoint condition.
ACTION:
Take the vehicle in manual and insert it into the system again. Check for a possible
sensor malfunction or check and adjust the part distance in Winlay so that it
corresponds to the distance in the system. The distance adjust can be done
automatically with the Wire surveyor function.
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SystemEvent 132
SEVERITY: Error
DISPLAYED AS
String: Faulty encoder on channel %lu connected to card in position
%lu.
ID: ENCERROR
PARAMETERS
Parameter 1: Encoder channel number (1-4)
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The distance encoder input does not pick up any pulses (speed) despite a non-zero
set speed.
This applies only to distance encoders used for driving.
The fault is also indicated by the error symbol that can be defined for each encoder
input.
SITUATION:
This event may be caused by a broken encoder or a broken encoder cable.
ACTION:
Check the encoder and the cabling and fix the faulty part.
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SystemEvent 133
SEVERITY: Info
DISPLAYED AS
String: Time on segment %lu: %lu ms, diff %ld. Accumulated diff: %ld
ID: Pos@Time
PARAMETERS
Parameter 2: Measured time on segment in ms
Parameter 3: Time difference on segment
Parameter 4: Accumulated time difference
DESCRIPTION:
This event contains timing information for a segment.
The parameters containing the difference (par 3 and 4) are only valid for B-Spline
type segments.
The event is enabled by setting bit 8 in the Diagnostic Events word.
Refer to the ACC70 Definition Program, MPMCII definition.
SITUATION:
This event is sent after execution of a segment when enabled in the Diagnostic
Events mask.
This is not a standard event, it is only used in a special version of ACC70 Laser Nav
(61040).
ACTION:
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SystemEvent 134
SEVERITY: Error
DISPLAYED AS
String: Incompatible product of Laser Scanner. Version %lu
ID: PallAisleErr
PARAMETERS
Parameter 1: Current scanner software version
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The application tries to execute the Pallet Aisle option without proper Laser Scanner.
To utilize the Pallet Aisle option Laser Scanner with software version 7.00 or later is
required.
Note! The version, for instance 7.00 is presented as the value 70.
SITUATION:
This indicates incompatible software versions in the system.
ACTION:
Replace the Laser Scanner.
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SystemEvent 135
SEVERITY: Error
DISPLAYED AS
String: Bad Pallet Aisle reflector layout at position X:%lu (dm), Y:%lu
(dm)
ID: PallAisleErr
PARAMETERS
Parameter 1: Position X (dm)
Parameter 2: Position Y (dm)
Parameter 3: Vehicle angle (1/100 degrees)
Parameter 4:
DESCRIPTION:
There are specific requirements on the reflector layout when using the Pallet Aisle
function. These requirements are described in the Pallet Aisle application manual.
SITUATION:
This indicates a bad reflector layout which is not suitable for the Pallet Aisle function.
ACTION:
Correct the reflector layout according to the Pallet Aisle application manual.
D4-35000-610_ Kollmorgen │ 06/2020 203

SystemEvent 136
SEVERITY: Error
DISPLAYED AS
String: Too deep Pallet Aisle due to reflector layout. Current depth %lu,
max %lu
ID: PallAisleErr
PARAMETERS
Parameter 1: Current depth (dm)
Parameter 2: Maximum depth (dm)
Parameter 3:
Parameter 4:
DESCRIPTION:
The requirement on the Pallet Aisle reflector layout sets a certain aisle depth limit that
must not be exceeded.
SITUATION:
This indicates too deep Pallet Aisle due to reflector layout.
ACTION:
Correct the layout to prevent the vehicle from traveling to deep into an aisle.
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SystemEvent 137
SEVERITY: Error
DISPLAYED AS
String: To large Laser Scanner displacement for Pallet Aisle option.
ID: PallAisleErr
PARAMETERS
Parameter 1: Laser Scanner displacement (mm)
Parameter 2: Maximum Laser Scanner displacement (mm)
Parameter 3:
Parameter 4:
DESCRIPTION:
For the Pallet Aisle option it is important that the Laser Scanner is mounted close to
the vehicle reference line. If the displacement is to large the Laser Scanner will not be
able to see all Pallet Aisle reflectors.
SITUATION:
This indicates that the Laser Scanner is improperly mounted for Pallet Aisle option.
ACTION:
Correct the mounting of the Laser Scanner.
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SystemEvent 138
SEVERITY: Error
DISPLAYED AS
String: Wrong ACC70 definition type detected. Expected type is ACC70
SC
ID: SCOptErr
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
This indicates that a definition of a wrong type is used.
Using a definition for an ACC70 S in an ACC70 SC unit is not possible.
SITUATION:
This can happen if an old definition program version that does not support ACC70 SC
is used.
ACC70 SC requires definition program 41516 version 2.10 or later.
ACTION:
Correct the definition, replace the definition program, or replace the ACC70 with a unit
of the correct type.
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SystemEvent 139
SEVERITY: Error
DISPLAYED AS
String: ACC70 SC option error. Error code: %lu
ID: SCOptErr
PARAMETERS
Parameter 1: Option product number
Parameter 3:
Parameter 4:
DESCRIPTION:
This event indicates one of a number of different errors in the handling of options.
1: Options invalid
3: Option timer expired. Automatic driving in local mode is inhibited.
4: Option set key (checksum) does not match options in the ACC70 definition.
6: No connection to NT7000 or key code from NT7000 does not match the option set
from the ACC70 definition program.
7: Options missing.
SITUATION:
This event is sent when an error in the handling of options is detected.
ACTION:
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SystemEvent 140
SEVERITY: Error
DISPLAYED AS
String: ACC70 SC general option errors. Error code: %lu
ID: SCOptErr
PARAMETERS
Parameter 1: Option product number
Parameter 3:
Parameter 4:
DESCRIPTION:
This event indicates a general error in the handling of options for an ACC70 SC.
1 Options invalid, the transport order is inhibited. Issued when an order is received
and rejected due to invalid options.
SITUATION:
This event is sent when something that requires an option has been rejected due to
invalid options or that the option timer has expired.
ACTION:
Make sure that the options are setup properly.
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SystemEvent 141
SEVERITY: Info
DISPLAYED AS
String: Spot Deviation Alert. Spot ID %lu, dev-X %ld, dev-Y %ld,
antenna %lu
ID: SpotDev
PARAMETERS
Parameter 1: Antenna ID
Parameter 2: Spot ID
Parameter 3: Deviation X-wise in mm
Parameter 4: Deviation Y-wise in mm
DESCRIPTION:
A spot is detected that is outside the limit for a "good spot".
The limit is set by the Navigation Parameter "Spot Deviation Limit".
The default value is 50 mm.
SITUATION:
A spot has been detected in a position that deviates more than a predefined distance
from the expected position.
Possible reasons:
- The vehicle has not been driving as it should along the path
- The detecting antenna is misplaced
- An erroneous position has been defined for the spot
- The spot is misplaced
- The magnetic field of the spot is being disturbed
ACTION:
If this situation occurs on several places in the layout, and is reported from more than
one antenna, you should start with checking the tuning of the vehicle so that it drives
as it should.
If the vehicle has 2 antennas used in the same steer mode pay attention to whether
they are both reporting deviating spots. If not check the position and the function of
the antenna reporting the errors.
If the situation is connected to a certain spot - measure against some spots close by
and compare the distances with the ones in the WinLay drawing to make sure that the
position given is correct. Also make sure that the spot is not damaged, moved or
placed close to metal or other magnetic fields.
D4-35000-610_ Kollmorgen │ 06/2020 209

SystemEvent 142
SEVERITY: Info
DISPLAYED AS
String: Deadlock situation %lu does no longer exist, Carrier ID %lu
ID:
PARAMETERS
Parameter 1: Deadlock Situation ID
Parameter 3:
Parameter 4:
DESCRIPTION:
A earlier detected deadlock situation that was reported as Can't solve Deadlock
(System event 108) appears to have been solved.
One system event is sent for each of the involved carriers.
Par1: Deadlock situation ID according to parameter 4 in System Event 108.

Par2: ID of Carrier that was involved in the deadlock situation.
Par3: Not used.
Par4: Not used.
Supported from NT7000 S (41442) version 2.30
SITUATION:
This is information that an earlier unsolved deadlock now has been solved, probably
by moving one of the carriers manually from the situation.
ACTION:
None.
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SystemEvent 143
SEVERITY: Error
DISPLAYED AS
String: CAN communication setup error. Error code %lu.
ID: CANSetErr
PARAMETERS
Parameter 1: Error Code
Parameter 2: Protocol, Baudrate, NodeType, MaxNumNodes, Node ID
Parameter 3: NumNodes, Max Node ID
Parameter 4:
DESCRIPTION:
The CAN communication is not setup properly. Error code (parameter 1)
1. Protocol not supported
2. Baudrate not supported
3. Node type not supported
4. To many nodes
5. No nodes defined
6. Wrong node id
7. CAN Application not supported
8. Illegal duplication of node id
9. CAN Application and remote node incompatible
Description for error code 1:

Par 2: Protocol code

Par 2: Baudrate

Par 2: Node type code

Par 2: Max number of nodes supported
Par 3: Number of nodes defined

Par 2: Node id
Par 3: Max Node id

Par 2: Application code
D4-35000-610_ Kollmorgen │ 06/2020 211

Par 2: Node id

Par 2: Error code (1=To few Inputs provided by remote node, 2=To few Outputs
provided by remote node)
Par 3: Internal
Par 4: Internal
SITUATION:
This event is sent on startup of the CAN communication interface if an error is
detected in the setup.
ACTION:
Correct the definition for the CAN communication.
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SystemEvent 144
SEVERITY: Warning
DISPLAYED AS
String: Bad comm. response time, Line %ld, AgvId %ld, Time %ld
ID: BadCommResp
PARAMETERS
Parameter 2: Vehicle Id
Parameter 3: Time
Parameter 4:
DESCRIPTION:
Par1: Physical communication line number
Par2: Vehicle Id
Par3: Response time in msec
SITUATION:
This is an information that the vehicle communication does not fullfill the
requirements. The response time through the communication is too long. There is a
risk that the vehicles will stop and start (so called "Hick-up") due to the long response
time.
If WLAN is used this can indicate an overload of the communication in the WLAN.
ACTION:
Check the statistic values of the communication to find out if it is related to a specific
vehicle, or if the communication performance is low in general.
If a specific vehicle; Check cables, modem , antenna, cover area (if radio / WLAN)
etc.
If bad performance in general: Check base stations (AP's), antennas etc.
If WLAN is used, check the load of the WLAN (number of WLAN users), other
communication using WLAN, load of the wired network, etc.
D4-35000-610_ Kollmorgen │ 06/2020 213

SystemEvent 145
SEVERITY: Error
DISPLAYED AS
String: VMP (Vehicle Maintenance Program) command error. Error
code %lu
ID: VMP_Error
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Error in a Vehicle Maintenance Program command.
Error code (parameter 1)
1. Steering and Driving Control Adjust not supported when a remote S/D handler is
enabled
SITUATION:
This event is sent on an erroneous VMP command.
ACTION:
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SystemEvent 146
SEVERITY: Info
DISPLAYED AS
String: False Reflector Detected. Veh. Pos X %lu mm Y %lu mm,
ID: FALSEREF
PARAMETERS
Parameter 1: Position X (mm)
Parameter 2: Position Y (mm)
DESCRIPTION:
This event will be sent when a false associated reflector is detected and used in
calculating the vehicle position. The position of the scanner when the false
association was done as well as the direction to the false reflector will be sent.
Parameter 4 contains the estimated distance to the reflection. Also, only reflections
with status 0 or 1 will be reported in this event.
Status 0 or 1 indicates a probable true retro reflector found outside defined position
tolerance.
Also see System Event 147.
SITUATION:
x (mm), y (mm) and direction in the global coordinate system (positive counter
clockwise).
NOTE ! This event has to be enabled in the vehicle in order to be sent.
This can be done:
In CWay, using the function "Diagnostic events".
Using the PLC parameter LaserNavigator/FalseReflEvent in the vehicle.
ACTION:
When the event is enabled this event will be sent for:
- A reflector with position (x/y coordinate) significantly distant from all previously
reported reflectors.
- A reflector with any position tha has not been reported during the last 0.5m of
vehicle movement.
- A reflector with any positionthat has not been reported during the last 20
seconds.
Above demands can be configured using the PLC parameters SameReflMaxDist,
MaxEventTimeSilence and MaxEventDistSilence in component LaserNavigator.
D4-35000-610_ Kollmorgen │ 06/2020 215

SystemEvent 147
SEVERITY: Info
DISPLAYED AS
String: False Reflection Detected. Veh. Pos X %lu mm Y %lu mm,
ID: FALSEREF
PARAMETERS
DESCRIPTION:
calculating the vehicle position. The position of the scanner when the false
association was done as well as the direction to the false reflector will be sent.
Parameter 4 contains the estimated distance to the reflection. Also, only reflections
with status 2 or 3 will be reported in this event.
Status 2 or 3 indicates a probable reflection from a reflecting object other than a retro
reflector. Also see System Event 146.
SITUATION:
clockwise).
This can be done:
Using the PLC parameter LaserNavigator/FalseReflEvent in the vehicle.
ACTION:
- A reflector with any position thathas not been reported during the last 0.5m of
vehicle movement.
- A reflector with any position thathas not been reported during the last 20
seconds.
Above demands can be configured the PLC parameters SameReflMaxDist,
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SystemEvent 148
SEVERITY: Info
DISPLAYED AS
String: Ignore False Detected. Veh. Pos X %lu mm Y %lu mm, bearing
%lu 1/100°
ID: IGNFALSE
PARAMETERS
Parameter 4:
DESCRIPTION:
calculating the vehicle position. The bearing associated as false crosses an Ignore
False line. The position of the scanner when the false association was done as well
as the direction to the false reflector will be sent. There are 3 parameters in the event
SITUATION:
clockwise).
This can be done:
Using the PLC in the vehicle.
ACTION:
- A reflector with any position that has not been reported during the last 0.5m of
vehicle movement.
- A reflector with any position that has not been reported during the last 20
seconds.
Above demands can be configured the PLC parameters SameReflMaxDist,
D4-35000-610_ Kollmorgen │ 06/2020 217

SystemEvent 149
SEVERITY: Info
DISPLAYED AS
String: Spot detected. Spot ID %lu, Antenna %lu, DetectTime %lu,
DetectVelocity %lu
ID: SpotDetect
PARAMETERS
Parameter 1: Spot ID
Parameter 2: Antenna ID
Parameter 3: Detect time (ms)
Parameter 4: Detect velocity (mm/s)
DESCRIPTION:
SITUATION:
ACTION:
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SystemEvent 150
SEVERITY: Info
DISPLAYED AS
String: WGU controller error. Error Code %ld, segment %ld, dist %ld,
antenna status %ld.
ID: WGUError
PARAMETERS
Parameter 3: Segment Distance
Parameter 4: Antenna Status
DESCRIPTION:
Error code:
1: WGU lost wire signal with fork and/or steer antenna.
2: Wire "pickup" timeout expired.
3: WGU error, see CANopen EMCY event for details.
4: WGU Controller failed to control Navigation mode.
Antenna Status:
bit 0: fork (rear) antenna, 0=no signal, 1=wire signal OK
bit 1: steer (front) antenna, 0=no signal, 1=wire signal OK
SITUATION:
Code 1 and 2:
This indicates that vehicle has failed to catch or failed to follow the wire. Usually
corrected by vehicle tuning and/or layout adjustment.
Code 3:
This indicates that the WGU has detected an internal error of some sort. For more
details, see the specific CAN Open Emergency event that also should be present in
the event log.
Code 4:
Internal SW error indicating failure or internal communication delay.
ACTION:
D4-35000-610_ Kollmorgen │ 06/2020 219

SystemEvent 151
SEVERITY: Error
DISPLAYED AS
String: Failed to read readme.xml. Error Code %ld
ID: CANMasterDefError
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Error Code 1:
Failed to read definition file "readme.xml"
Error Code 2:
Failed to find ".vc" file in definition file "readme.xml".
SITUATION:
Definition files are either invalid or missing.
ACTION:
Verify definition.
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SystemEvent 152
SEVERITY: Error
DISPLAYED AS
String: Failed to read configuration for CAN node %ld. Error Code %ld.
ID: CANNodeDefError
PARAMETERS
Parameter 1: CAN Node ID
Parameter 3:
Parameter 4:
DESCRIPTION:
Error Code 1:
Could not load or read CAN node object dictionary file (od extension).
Error Code 2:
Could not load or read CAN node configuration file (dc extension).
Error Code 3:
Encoder sync handling is missing or has a fault symbol.
SITUATION:
Definition file in vehicle controller is either invalid or missing.
ACTION:
Verify definition.
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SystemEvent 153
SEVERITY: Error
DISPLAYED AS
String: CAN Master configuration error. Error Code %ld
ID: CANMasterConfigError
PARAMETERS
Parameter 1: INTERNAL Error Code
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
CAN Master configuration error.
SITUATION:
Definition is invalid.
ACTION:
Verify definition.
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SystemEvent 154
SEVERITY: Error
DISPLAYED AS
String: CAN Node configuration error, node ID %ld, code %ld
ID: CANNodeConfigError
PARAMETERS
Parameter 2: INTERNAL Error Code
Parameter 3:
Parameter 4:
DESCRIPTION:
CAN Node configuration error.
SITUATION:
Definition is invalid.
ACTION:
Verify definition.
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SystemEvent 155
SEVERITY: Error
DISPLAYED AS
String: CANopen EMCY received from node %ld, code %lX, error
registry %ld
ID: CANOpenEMCY
PARAMETERS
Parameter 2: EMCY Code
Parameter 3: Error Registry
Parameter 4:
DESCRIPTION:
CANopen Emergency message received. For more information see documentation of
remote node. Manufacture specific fields can be found in the blackbox.
SITUATION:
ACTION:
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SystemEvent 156
SEVERITY: Error
DISPLAYED AS
String: SDIO, node ID %ld. Missing sync-pulse on encoder %ld
ID: SDIOSyncLost
PARAMETERS
Parameter 2: Encoder ID
Parameter 3:
Parameter 4:
DESCRIPTION:
SDIO has detected missing sync pulse on a position encoder.
SITUATION:
The encoder has passed the sync window without receiving a sync pulse. The most
probable cause is a faulty encoder and/or disturbances on the encoder cable.
ACTION:
Check encoder and encoder cable.
D4-35000-610_ Kollmorgen │ 06/2020 225

SystemEvent 157
SEVERITY: Error
DISPLAYED AS
String: SDIO, node ID %ld. Data overflow on encoder %ld
ID: SDIOEncOverflow
PARAMETERS
Parameter 2: Encoder ID
Parameter 3:
Parameter 4:
DESCRIPTION:
SDIO has reported overflow on a position encoder.
SITUATION:
Current encoder configuration (encoder scaling) generates feedback values out of
range for data type INTEGER16.
ACTION:
Change encoder scaling.
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SystemEvent 158
SEVERITY: Error
DISPLAYED AS
String: SDIO, node ID %ld. Regulator %ld feedback configuration error.
ID: SDIOFeedbackConfig
PARAMETERS
Parameter 2: Regulator ID
Parameter 3:
Parameter 4:
DESCRIPTION:
SDIO has reported that current regulator configuration is invalid.
SITUATION:
Probably caused by having zero scaling on encoder feedback for the specific
regulator.
ACTION:
Verify definition.
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SystemEvent 159
SEVERITY: Error
DISPLAYED AS
String: SDIO, node ID %ld. Encoder feedback failure on regulator %ld.
ID: SDIOFeedbackError
PARAMETERS
Parameter 2: Regulator ID
Parameter 3:
Parameter 4:
DESCRIPTION:
SDIO has detected a feedback failure on a regulator.
Regulator 1 is normally Steer and regulator 2 is normally Drive.
SITUATION:
Encoder feedback does not respond to regulator output within the required time. The
path from Regulator in SDIO -> Servo (e.g. FSA) -> Motor -> Encoder -> Encoder
input for SDIO does not respond correctly according to parameters.
Possible cause:
* Vehicle is physically blocked by incorrectly positioned load/station or debris on floor.
* Trying to turn the steering of a heavily loaded vehicle standing still.
* Trying to move too steep uphill with heavy load.
* Regulator Check Out Hysteres parameter too small.
* The mechanical connection from the motor to the encoder is broken.
* The motor is defective, e.g. brushes worn out.
* A cable from the encoder is broken.
* There is no power to the motor.
ACTION:
If the vehicle is blocked, remove the obstacle.
If this is a problem in only one of the vehicles, check cables, mechanics etc. in this
vehicle.
If this is a problem in more than one vehicle, check the application. Check
parameters, check station/load position, check brake handling.
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SystemEvent 160
SEVERITY: Error
DISPLAYED AS
String: SDIO, node ID %ld. Short circuit detected on an output.
ID: SDIOShortCircuit
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
SITUATION:
ACTION:
Check output connections.
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SystemEvent 161
SEVERITY: Error
DISPLAYED AS
String: SDIO, node ID %ld detected guard timeout on receive PDO nr
%ld.
ID: SDIOGuardTimeout
PARAMETERS
Parameter 2: RPDO Number
Parameter 3:
Parameter 4:
DESCRIPTION:
SDIO has detected CAN communication timeout.
RPDO Number:
0: CANopen node guard timeout
1, ..., n: Guard timeout on receive PDO
SITUATION:
Bad CAN communication and/or SW version mismatch between definition and remote
device.
ACTION:
- Verify matching SW version on remote device and definition.
- Check CAN bus for bad contacts or cables.
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SystemEvent 162
SEVERITY: Error
DISPLAYED AS
String: CAN Master detected guard timeout on node %ld, timeout %ld.
Remote TPDO nbr %ld
ID: NodeGuardTimeout
PARAMETERS
Parameter 2: Timeout [ms]
Parameter 3: Remote transmit PDO Number
Parameter 4:
DESCRIPTION:
CAN Master has detected CAN communication timeout on remote node.
Remote TPDO Number:

0: CANopen node guard timeout
1, .. , n: Guard timeout on remote transmit PDO
SITUATION:
Bad CAN communication and/or SW version mismatch between definition and remote
device.
ACTION:
- Verify matching SW version on remote device and definition.
- Check CAN bus for bad contacts or cables.
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SystemEvent 163
SEVERITY: Error
DISPLAYED AS
String: Parameter read/write failure. Remote node %ld, %lX:%ld, Error
Code %lX
ID: SDOClientFailure
PARAMETERS
Parameter 2: Object Index
Parameter 3: Sub Index
DESCRIPTION:
An SDO read/write operation from the vehicle controller to specified CAN device has
failed.
Depening on vehicle configuration and PLC application the vehicle controller performs
SDO read/write operations during vehicle operation (SDO is a CANopen protocol for
parameter access over the CAN-bus). This event indicates that one of these
operations has failed. This is most likely due to a logical error and not a disturbance
problem on the CAN-bus.
The event parameters contain information about CAN ID, object index, sub index and
error code. CAN ID, object index and sub index specifies which parameter the vehicle
controller tried to access and the error code specifies the reason for failure. See
CANopen documentation for more information about error codes, CiA Draft Standard
301.
More information and documents about CANopen can be found on www.can-cia.org.
SITUATION:
Common situations when this can occur for NDC8 CAN devices are:
* The CAN device SW does not match the vehicle controller definition, The vehicle
controller tries to access parameter that does not exist.
* Violation of parameter limitations, trying to write a value that is outside value range.
Common situations when this can occur for customer defined devices (EDS-import
devices):
* The EDS-file does not comply with current SW version of the CAN device, trying to
access a parameter that does not exist.
* Violation of parameter limitations, trying to write a value that is outside value range.
* Violation of access rights, trying to write to read-only parameter.
ACTION:
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The error code is usually specific for each individual situation. Look up the error code
in the CANopen documentation and correct the problem.
D4-35000-610_ Kollmorgen │ 06/2020 233

SystemEvent 164
SEVERITY: Error
DISPLAYED AS
String: At least one of %ld defined slave CAN nodes does not respond
at startup. Node ID %ld failed.
ID: NodeCollectFailure
PARAMETERS
Parameter 1: Number of nodes in definition
Parameter 2: Node ID for failed slave node
Parameter 3:
Parameter 4:
DESCRIPTION:
At least one of the defined slave CAN nodes does not respond correctly during
vehicle startup.
Parameter 2 contains the node ID of the failed node. This is only supported from
release NDC8 1.3.
SITUATION:
Common situations:
- There are CAN devices defined in the definition that are not connected to the CAN
bus.
- Node ID mismatch between definition and devices on the CAN bus.
ACTION:
- Verify that the number of nodes on the CAN bus matches the definition.
- Verify CAN node ID's.
- Check CAN and power cables.
234 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 165
SEVERITY: Error
DISPLAYED AS
String: Emergency stop input symbol error. Error Code %ld
ID: EstopDefError
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Error Code 0:
The symbol for the emergency stop input signal is not defined.
Error Code 1:
The symbol for the emergency stop input signal could not be resolved.
SITUATION:
ACTION:
Verify definition.
D4-35000-610_ Kollmorgen │ 06/2020 235

SystemEvent 166
SEVERITY: Error
DISPLAYED AS
String: Brake output symbol error. Error Code %ld
ID: BrakeDefError
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Error Code 0:
The symbol for the brake output signal is not defined.
Error Code 1:
The symbol for the brake output signal could not be resolved.
SITUATION:
ACTION:
Verify definition.
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SystemEvent 167
SEVERITY: Error
DISPLAYED AS
String: Vehicle guidance timeout %ld [ms] expired.
ID: GuideSetvalusTimeout
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Internal SW error.
SITUATION:
ACTION:
D4-35000-610_ Kollmorgen │ 06/2020 237

SystemEvent 168
SEVERITY: Error
DISPLAYED AS
String: Waiting for steering angle timeout %ld [ms] expired.
ID: SteerAngleTimeout
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Commanded steering angle was not reached within timeout.
SITUATION:
Possible cause:
- Steering motor does not work properly.
- Current tuning of the steering regulator can not perform steering as defined in max
steer angle speed in definition.
ACTION:
- Check power cables to steering motor and steering servo.
- Check tuning of steering regulator.
238 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 169
SEVERITY: Error
DISPLAYED AS
String: Refused segment request in local mode with TM, segment: %lu
ID: RefusedSegment
PARAMETERS
Parameter 1: Segment ID of refused segment
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The traffic manager (TM) has refused a segment request from the vehicle when it
runs in local mode with TM.
SITUATION:
This is probably due to different layout versions in the master and in the vehicle.
ACTION:
Check that the layout versions are the same in the master and in the vehicle.
D4-35000-610_ Kollmorgen │ 06/2020 239

SystemEvent 170
SEVERITY: Error
DISPLAYED AS
String: Write access to read-only parameter.
ID: WriteToReadOnly
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The background program has detected that there has been a write to a read-only
parameter.
Information regarding the parameter in question is stored in the System Log. The
System Log is saved in the Black Box and it is also available on the web interface of
the vehicle controller.
SITUATION:
The write is most probably caused by the PLC. The OPT10 is also a possibility.
ACTION:
Check the system log to find out the exact cause of the error.
240 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 171
SEVERITY: Error
DISPLAYED AS
String: Error while loading PLC symbol table. Error Code %ld
ID: LoadPlcError
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
An error has occured when loading the symbol table for the PLC.
Error codes:
1. The symbol table is corrupt, could not be loaded.
2. A PLC symbol name is repeated.
3. Type error. The type of the PLC variable does not match with the type defined in
the product file.
4. PLC Symbol not defined in the product files.
SITUATION:
ACTION:
Error codes:
1. Contact support
2. This error can be triggered by having no code in the PLC. A workaround is to add
a line of PLC-code.
3 and 4. Make sure that the PLC is compiled with the correct product files.
When this event occur the VMC500 will fail to operate correctly. If none of the
suggested actions solves the problem please contact support.
D4-35000-610_ Kollmorgen │ 06/2020 241

SystemEvent 172
SEVERITY: Error
DISPLAYED AS
String: Overflow on the scaling. ScaledValue=%ld, RawValue=%ld,
Scale=%ld, Offset=%ld.
ID:
PARAMETERS
Parameter 1: Scaled value
Parameter 2: Raw value
Parameter 3: Scale
Parameter 4: Offset
DESCRIPTION:
This event is sent if the scaling function (Analogue I/O, CAN encoders) causes an
overflow.
This can happen if the scaling and/or offset is changed so that the result of the
scaling calculation does not fit in the result variable.
The event is only sent once, or when the user changes scale or offset.
SITUATION:
ACTION:
Check the application to make sure that the scale and offset does not cause an
overflow.
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SystemEvent 173
SEVERITY: Warning
DISPLAYED AS
String: Invalid combination in status. Carrier %ld, segment %ld, sysstat
$%lX , code $%lX.
ID:
PARAMETERS
Parameter 1: Vehicle ID
Parameter 2: Segment ID in message
Parameter 3: System status
Parameter 4: Code
DESCRIPTION:
This event is sent if a status message has an invalid combination of segment,
distance and system status bits.
SITUATION:
ACTION:
Check if the agv controller and the System Manager are of compatible versions.
D4-35000-610_ Kollmorgen │ 06/2020 243

SystemEvent 174
SEVERITY: Warning
DISPLAYED AS
String: Cluster definition error.Cluster id %ld, type %ld, size %ld.
ID:
PARAMETERS
Parameter 1: Cluster ID
Parameter 2: Cluster type
Parameter 3: Size
Parameter 4:
DESCRIPTION:
The layout definition includes a cluster that is not supported.
Cluster type is one of Occupied=0, Position=1, AckPoint=2.
Size is the number of vehicles that makes a cluster full.
SITUATION:
ACTION:
Check if the System Manager and WinLay 8 are of compatible versions.
Check documentation for limitations regarding clusters.
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SystemEvent 175
SEVERITY: Error
DISPLAYED AS
String: Illegal modification of a NDC8 parameter. Error: %ld, offender:
%ld.
ID: NDC8ParameterError
PARAMETERS
Parameter 2: Offender ID
Parameter 3:
Parameter 4:
DESCRIPTION:
An illegal modification of an NDC8 symbol was detected and discarded. More
information can be found in the System Log.
The System Log is saved in the Black Box and it is also available on the web
interface of the vehicle controller.
Parameter 1: Error (1 = Write to read-only symbol, 2 = value outside boundary

values)
Parameter 2: Offender (1 = PLC program, 2 = CAN device, 3 = Background program)
SITUATION:
ACTION:
Depending on the offender:
The offender is the PLC program. Locate the offending code in the PLC using
information from the System Log and remove or modify the code.
The offender is a CAN device. Identify the offending device using information from the
System Log. Consider programming the device to validate data sent.
The offender is the background program. This is a bug in the background program.
Please send email to Kollmorgen support about the event and include a Black Box
from the vehicle.
D4-35000-610_ Kollmorgen │ 06/2020 245

SystemEvent 176
SEVERITY: Fatal
DISPLAYED AS
String: Failed to load PLC resource file, error code: %ld.
ID: PlcResourceError
PARAMETERS
Parameter 1: Error code from PLC-engine
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The software PLC-engine failed to load the resource file containing the PLC-program.
SITUATION:
The error occurs at restart of vehicle after download of an application. The most likely
reason is that the PLC-program was compiled with an OpenPCS that is not
compatible with the engine in the VMC500 or compiled with wrong hardware module.
This is indicated with an error code 239 (invalid program).
ACTION:
Make sure that the PLC-program is compiled with correct version of OpenPCS and
with the correct hardware module type selected for the resource.
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SystemEvent 177
SEVERITY: Info
DISPLAYED AS
String: Black Box triggered. Task id: %lu
ID: BlackBox
PARAMETERS
Parameter 1: Trigger Task ID
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
This System Event is sent when a Black Box has been triggered. It may take some
time for the black box ZIP file to be written.
Trigger Task IDs in System Manager:

5: Console, operator.
28: ComX, external trigger.
26: XcomTCP, external trigger.
27: XcomNETB, external trigger.
28: ComX, external trigger.
47: OM, transport instruction FBBTrig
SITUATION:
A Black Box ZIP file is triggered from a transport structure, or by an operator at the
console.
It can also be triggered via an SSCC request.
ACTION:
Locate the ZIP file, normally in 'C:\Base8\{system}.p8k\Trace' with date and time in
the filename. Try to note information about the situation, for further analysis.
D4-35000-610_ Kollmorgen │ 06/2020 247

SystemEvent 178
SEVERITY: Warning
DISPLAYED AS
String: Unknown wire. Antenna = %ld, position = %ld, %ld.
ID: UnknownWire
PARAMETERS
Parameter 1: antenna id (0, 1, ...)
Parameter 2: x-coordinate in mm
Parameter 3: y-coordinate in mm
Parameter 4:
DESCRIPTION:
The antenna is sensing a wire that is not in the layout.
SITUATION:
There are three possible reason for this to happen :
1. The antenna is sensing some non-wire object.
2. The vehicle's estimate of its position is wrong.
3. The layout does not correspond to the real world.
ACTION:
Check for disturbing objects.
Check if the current position is reasonable.
Check tuning of the vehicle and position of navigation wires in the layout.
Consider increasing values for WireNavigator.GoodX and WireNavigator.GoodY.
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SystemEvent 179
SEVERITY: Warning
DISPLAYED AS
String: Missed wire. Antenna = %ld, wire = %ld, position = %ld, %ld.
ID: MissedWire
PARAMETERS
Parameter 1: antenna id (0, 1, ...)
Parameter 2: wire id (1, 2, ...)
DESCRIPTION:
The antenna did not sense a wire as expected.
SITUATION:
There are two possible reason for this to happen:
1. The vehicles estimate of its position is wrong.
ACTION:
Consider decreasing values for WireNavigator.ExpectX and WireNavigator.ExpectY.
Consider increasing values for WireNavigator.MissingWireDistance.
D4-35000-610_ Kollmorgen │ 06/2020 249

SystemEvent 180
SEVERITY: Warning
DISPLAYED AS
String: Unknown distance marker. Sensor = %ld, position = %ld, %ld.
ID: UnknownDistMarker
PARAMETERS
Parameter 1: digital sensor id (0, 1, ...)
Parameter 4:
DESCRIPTION:
The digital sensor is sensing a distance marker that is not in the layout.
SITUATION:
There are three possible reason for this to happen :
1. The digital sensor is sensing something that is not a distance marker.
2. The vehicles estimate of its position is wrong
ACTION:
Check for disturbing objects.
Consider increasing values for WireNavigator.GoodMarkerWindow.
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SystemEvent 181
SEVERITY: Warning
DISPLAYED AS
String: Missed distance marker. Antenna = %ld, distance marker = %ld,
position = %ld, %ld.
ID: MissedDistMarker
PARAMETERS
Parameter 1: digital sensor id (0, 1, ...)
Parameter 2: distance marker id (1, 2, ...)
DESCRIPTION:
The digital sensor did not detect a distance marker as expected.
SITUATION:
There are two possible reason for this to happen :
1. The vehicles estimate of its position is wrong
ACTION:
Consider decreasing values for WireNavigator.ExpectMarkerWindow.
Consider increasing values for WireNavigator.MissingMarkerDistance.
D4-35000-610_ Kollmorgen │ 06/2020 251

SystemEvent 182
SEVERITY: Error
DISPLAYED AS
String: Wire navigation failure. Error %ld
ID: WireNavFailure
PARAMETERS
Parameter 1: error code
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Wire navigation system can not deliver a reliable position estimate.
(1 = unknown wire, 2 = no wire, 3 = missed wire, 4 = unknown distance marker 5 =
missed distance marker).
SITUATION:
Wire navigation fails due to poor wire navigation environment or poor trimmed
physical parameters.
ACTION:
In case of error code 2 (No wire):
Consider increasing values for WireNavigator.NoWireDistance.
Otherwise, check for additional system event 178-181.
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SystemEvent 183
SEVERITY: Warning
DISPLAYED AS
String: OPC item in manual override, line %ld, unit %ld, ID %ld
ID: OpcItemManual
PARAMETERS
Parameter 2: SSIO Unit
Parameter 3: SSIO ID
Parameter 4: OPC error code as defined in the OPC DA standard
DESCRIPTION:
The quality attribute of an OPC item is "manual override".
SITUATION:
The OPC server is set to use "manual override" for this OPC item and the value
indicated may not reflect the physical state of the I/O.
ACTION:
Check the manual override status of the OPC server associated with this SSIO item.
D4-35000-610_ Kollmorgen │ 06/2020 253

SystemEvent 184
SEVERITY: Error
DISPLAYED AS
String: OPC server not available, line %ld
ID: OpcServerNotFound
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The OPC server referenced in the NDC8 definition could not be opened.
SITUATION:
Encountered during startup of System Manager or when trying to restart a OPC
server that has shut down. The OPC server software may be improperly installed or
setup.
ACTION:
Check the NDC8 definition and OPC server configuration.
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SystemEvent 185
SEVERITY: Error
DISPLAYED AS
String: The OPC item referenced in the definition could not be resolved,
line %ld, unit %ld, ID %ld
ID: OpcItemNotFound
PARAMETERS
Parameter 2: SSIO Unit
Parameter 3: SSIO ID
Parameter 4:
DESCRIPTION:
The OPC item referenced in the NDC8 definition could not be resolved.
SITUATION:
Encountered during startup of System Manager or when trying to reconnect to an
OPC server that has shut down. The OPC server has not published an item with the
name defined in the System Manager OPC definition.
ACTION:
Check the NDC8 definition and OPC server configuration.
D4-35000-610_ Kollmorgen │ 06/2020 255

SystemEvent 186
SEVERITY: Error
DISPLAYED AS
String: Too many OPC servers used on line %ld (limit: %ld)
ID: OpcServerLimit
PARAMETERS
Parameter 2: Limit
Parameter 3:
Parameter 4:
DESCRIPTION:
The definition contains more OPC server lines than allowed.
SITUATION:
Encountered during startup of System Manager.
ACTION:
Try to move I/O signals to an other OPC server.
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SystemEvent 187
SEVERITY: Error
DISPLAYED AS
String: Too many OPC items used
ID: OpcItemLimit
PARAMETERS
Parameter 2: Limit
Parameter 3:
Parameter 4:
DESCRIPTION:
The definition contains more OPC items than allowed.
SITUATION:
Encountered during startup of System Manager.
ACTION:
Try to limit the number of I/O signals used.
D4-35000-610_ Kollmorgen │ 06/2020 257

SystemEvent 188
SEVERITY: Info
DISPLAYED AS
String: Double reflector Detected. Veh. Pos X %lu mm Y %lu mm, Refl
1 %lu Refl 2 %lu.
ID: DoublRefDet
PARAMETERS
DESCRIPTION:
This event will be sent for double associated reflectors when the reflector is used in
calculating the vehicle position. A double reflector association implies that more than
one known reflector can be associated to the same bearing. The position of the
scanner when the false association was done as well as the reflectors ID will be sent.
SITUATION:
clockwise).
This can be done:
Using the PLC parameter LaserNavigator/DoubleReflEvent in the vehicle.
ACTION:
- A reflector with any position that has not been reported during the last 0.5m of
vehicle movement.
- A reflector with any position that has not been reported during the last 20
seconds.
Above demands can be configured using the PLC parameters SameReflMaxDist,
258 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 189
SEVERITY: Warning
DISPLAYED AS
String: Missing Software Option: %lu-%lu.
ID: OptionNDC8
PARAMETERS
Parameter 1: Main number of option
Parameter 2: Running number of option
Parameter 3: NDC INTERNAL: option id.
Parameter 4: For numeric option, number needed.
DESCRIPTION:
A software option is missing.
SITUATION:
The system application uses a protected feature that is currently not enabled.
To enable the feature, the software option KEY CODE must be extended to include
the missing feature/option.
ACTION:
- Make sure to use the correct software option from the "NDC SOFTWARE
PROTECTION KEY".
- Check the appropriate Buyers guide for the missing option (product number 42054-
01 / feature "Max carrier ID").
- Buy the missing feature, or exclude the feature from the application.
- Each product that include protected features are able to report current feature/option
status. Refer to appropriate product documentation.
D4-35000-610_ Kollmorgen │ 06/2020 259

SystemEvent 190
SEVERITY: Error
DISPLAYED AS
String: One of the CAN devices has not powered up correctly, AllOK will
not be set.
ID: ExtAllOKNotSet
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
One of the AC units has not been powered up correctly within 60 sec.
SITUATION:
The unit is not ready to be switched on.
ACTION:
Verify power to the AC unit.
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SystemEvent 191
SEVERITY: Error
DISPLAYED AS
String: PLC timeout
ID: PLCTimeOut
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
This event will be sent if it takes more than 2 seconds to execute one PLC loop. This
can happen if, for example, the PLC application contains an infinite loop. In this case
the PLC will be shut down and the VMC needs to be restarted for the PLC to start
executing again.
SITUATION:
An infinite loop in the PLC application.
ACTION:
Fix PLC application and download to vehicle. The vehicle must be restarted to
recover even if the application is downloaded from the OpenPCS tool.
D4-35000-610_ Kollmorgen │ 06/2020 261

SystemEvent 192
SEVERITY: Error
DISPLAYED AS
String: Vehicle option request failed. Missing config. AgvId %ld, Class
%ld, Code $%lX.
ID: VehOptConfig
PARAMETERS
Parameter 2: Vehicle option class.
Parameter 3: Code
Parameter 4:
DESCRIPTION:
The vehicle requests options, but the Master can not respond. The problem is that the
vehicle options are missing in the config file for the Master.
SITUATION:
The vehicle requests options from the Master, but the request can not be satisfied.
The problem is that the vehicle options are missing in the config file.
ACTION:
Check that the vehicle options are included in the config file sysname.CNF .
Make sure the vehicle options VEH_KEY_K_?, VEH_KEY_O_?, VEH_KEY_N_?,
VEH_KEY_S_? are filled in for the vehicle option class in question.
Make sure the config file is not terminated prematurely by END.
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SystemEvent 193
SEVERITY: Error
DISPLAYED AS
String: Vehicle option request failed. Mismatch. AgvId %ld, Class %ld,
Code $%lX.
ID: VehOptMismat
PARAMETERS
Parameter 3: Code
Parameter 4:
DESCRIPTION:
vehicle options in the config file does not match the dongle id.
SITUATION:
The problem is that there is a mismatch between the vehicle options and the dongle
id.
ACTION:
Check that the vehicle options are written correctly in the config file sysname.CNF .
Check that the correct dongle is used.
D4-35000-610_ Kollmorgen │ 06/2020 263

SystemEvent 194
SEVERITY: Error
DISPLAYED AS
String: Vehicle option request failed. Dongle problem. AgvId %ld, Class
%ld, Code $%lX.
ID: VehOptDongle
PARAMETERS
Parameter 3: Code
Parameter 4:
DESCRIPTION:
software protection device in the Master can not be accessed.
SITUATION:
The problem is that the software protection device in the Master can not be accessed.
ACTION:
Check the software protection device (dongle) in the Master.
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SystemEvent 195
SEVERITY: Error
DISPLAYED AS
String: Vehicle option request failed. To many AGV. AgvId %ld, Class
%ld, Code $%lX.
ID: VehOptNumAgv
PARAMETERS
Parameter 3: Code
Parameter 4:
DESCRIPTION:
number of vehicles in the vehicle options class is exceeded.
SITUATION:
The problem is that there are more vehicles than allowed by the vehicles options, for
the option class in question.
ACTION:
Check how many vehicles are active.
Check if all vehicles are using the correct option class.
D4-35000-610_ Kollmorgen │ 06/2020 265

SystemEvent 196
SEVERITY: Error
DISPLAYED AS
String: Vehicle option request failed. Unexpected problem. AgvId %ld,
Class %ld, Code $%lX.
ID: VehOptOther
PARAMETERS
Parameter 3: Code
Parameter 4:
DESCRIPTION:
The vehicle requests options, but the Master can not respond. There is some
unexpected problem regarding vehicle options.
SITUATION:
ACTION:
Check the vehicle options in the configuration file sysname.CNF .
266 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 197
SEVERITY: Warning
DISPLAYED AS
String: Unexpected distance in status, AgvId %lu, distance %lu,
segment %lu, code %lu.
ID: UNEXPDI
PARAMETERS
Parameter 2: Distance
Parameter 4: Sub-code
DESCRIPTION:
The vehicle reports an invalid distance in the status message, type '1'.
Sub-code:
1: Unexpected distance for segment 0.
2: Distance change from odd (=arrived) to even(=moving).
3: Distance is odd (=arrived) and shorter than segment.
4: Distance is longer than segment.
5: Moving backward on segment.
SITUATION:
This may occur
- if the layout definition in the unit is different from that in the vehicle.
- if there are two carriers in the system with the same ID.
ACTION:
Verify that the layout is the same in System Manager and AGV.
Trig a BlackBox in System Manager and AGV.
D4-35000-610_ Kollmorgen │ 06/2020 267

SystemEvent 198
SEVERITY: Warning
DISPLAYED AS
String: WGU error, Error code %ld, antenna = %ld, position = %ld, %ld.
ID: WGUNDC8
PARAMETERS
Parameter 2: Antenna ID.
Parameter 3: X-coordinate in mm.
Parameter 4: Y-coordinate in mm.
DESCRIPTION:
Error code: 1:
Antenna overload. The antenna is picking a signal with too high amplitude most likely
because of it is picking a signal from several inductive wires with different
frequencies. Antenna measurements will not be used.
SITUATION:
This may occur
Error code:
1: If the amplitude threshold for the antenna is too high.
ACTION:
Error code:
1: Lower the amplitude threshold in the vehicle definition or lower the amplitude
threshold in that part of the layout in the vehicle application.
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SystemEvent 199
SEVERITY: Error
DISPLAYED AS
String: Vehicle application parameter error, error code %ld, value %ld.
ID: APPLPAR
PARAMETERS
Parameter 2: Parameter value.
Parameter 3:
Parameter 4:
DESCRIPTION:
Error code:
1: The parameter VehcielNavigator.StartupNavMethod has been configured to a
navigation method not supported by the vehicle application.
2: The IP address for a LAN COM port has been configured to a non valid IP address.
3: More than one reflector scanner (LaserScanner, LS2000) has the Attached flag
set.
4: More than two range scanners (Sick, LS2000) has the Attached flag set.
5: A wheel reference parameter is wrong or missing.
6. Several gyros are enabled. Only one or none are accepted.
7. To use safety scanners for navigation, two are required.
SITUATION:
This may occur when the vehicle application has been changed.
ACTION:
Verify the vehicle application.
D4-35000-610_ Kollmorgen │ 06/2020 269

SystemEvent 200
SEVERITY: Warning
DISPLAYED AS
String: Assert failed. AgvId %lu, Src-line %ld, ParA %ld, ParB %ld.
ID: ASSERT
PARAMETERS
Parameter 1: Agv ID
Parameter 2: Source code line
Parameter 3: NDC INTERNAL A
Parameter 4: NDC INTERNAL B
DESCRIPTION:
Assert failed.
An unexpected combination in internal data.
SITUATION:
This may occur when there is a combination of data that was not foreseen.
ACTION:
If this event is repeated, trig a System Manager BlackBox and report to Kollmorgen
support.
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SystemEvent 201
SEVERITY: Error
DISPLAYED AS
String: Failed to access the KPI database, db error %lu
ID: DBERROR
PARAMETERS
Parameter 1: DB error code
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
A problem has been detected when accessing the KPI database.
SITUATION:
This may happen when:
1) The connection information given is invalid
2) The database is currently off line
ACTION:
1) Verify and correct the connection string.
2) Verify the status of the used KPI database.
D4-35000-610_ Kollmorgen │ 06/2020 271

SystemEvent 202
SEVERITY: Warning
DISPLAYED AS
String: Too many KPI events in queue to the database, %lu events
flushed
ID: KPIEVTFLUSH
PARAMETERS
Parameter 1: Number of events flushed.
Parameter 2: Number of events in queue after the flush operation.
Parameter 3:
Parameter 4:
DESCRIPTION:
Too many KPI events was queued to the database.
The KPI event queue has a maximum size. When the database is unable to process
the amount of events generated, some events will be flushed.
SITUATION:
This may happen if the database is overloaded.
ACTION:
Verify and make sure that the database is able to handle the amount of events
generated.
272 Kollmorgen │ 06/2020 D4-35000-610_

SystemEvent 203
SEVERITY: Error
DISPLAYED AS
String: Steer encoder error on wheel %ld type %ld setangle %ld
feedback %ld
ID: STEERENCERR
PARAMETERS
Parameter 1: Wheel index
Parameter 3: Set angle
Parameter 4: Encoder angle
DESCRIPTION:
Steer encoder supervision for DD-wheels has detected an error. Feedback from the
encoder does not correspond to the set angle. Bit 1 in error code indicates missing or
wrong feedback, and bit 2 that the error between set angle and feedback is too large.
SITUATION:
Mechanical or electrical error in the steer encoder.
ACTION:
Check the steer encoder for the wheel.
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SystemEvent 204
SEVERITY: Warning
DISPLAYED AS
String: Too many events in queue to the database, %lu events flushed
ID: EVENTFLUSH
PARAMETERS
Parameter 3:
Parameter 4:
DESCRIPTION:
Too many events was queued to the database.
The event queues have a maximum size. When the database is unable to process
the amount of events generated, some events will be flushed.
SITUATION:
ACTION:
generated.
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SystemEvent 205
SEVERITY: Error
DISPLAYED AS
String: Failed to access the event database, db error %lu
ID: DBERROR
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
A problem has been detected when accessing the event database.
SITUATION:
ACTION:
2) Verify the status of the used event database.
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SystemEvent 206
SEVERITY: Error
DISPLAYED AS
String: Eyeway navigation failure %ld at %ld mm %d mm %ld deg.
ID: EYEWAYNAVERR
PARAMETERS
Parameter 2: X Position (mm)
Parameter 3: Y Position (mm)
Parameter 4: Angle (deg)
DESCRIPTION:
EyeWay navigation is no longer able to give a reliable position. Error codes; 1 = Max
dead reckoning distance exceeded, 2 = Camera read timeout, 3 = Large position
deviation
SITUATION:
Vehicle stops with position unknown when using navigation method EyeWay.
ACTION:
Move AGV to an area with EyeWay markers to reenter into system. In case of error
code 2 verify that camera is working and connection is ok. In case of error code 3
verify that EyeWay markers have correct coordinates in map.
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SystemEvent 207
SEVERITY: Warning
DISPLAYED AS
String: Unknown eyeway marker %ld at %ld mm %ld mm.
ID: EYEWAYUNKNOWN
PARAMETERS
Parameter 1: Marker identity
Parameter 2: X position of marker (mm)
Parameter 3: Y position of marker (mm)
Parameter 4:
DESCRIPTION:
The Eyeway navigation system has detected a marker that is not in the layout file.
SITUATION:
ACTION:
Add the marker to the map.
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SystemEvent 208
SEVERITY: Error
DISPLAYED AS
String: TCP/IP connection to eyeway camera failed, errno = %ld.
ID: EYEWAYCONNECT
PARAMETERS
Parameter 1: errno
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
VMC500 failed to connect to EyeWay camera.
SITUATION:
ACTION:
Verify that camera and connection is ok. Verify that the correct IP-address is listed in
the application.
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SystemEvent 209
SEVERITY: Error
DISPLAYED AS
String: To many NoStop points in a row. AgvId %ld, FrSeg %lu, ToSeg
%lu.
ID: SE_ManyNoStop
PARAMETERS
Parameter 4:
DESCRIPTION:
An AGV is requested to move on a path with to many NoStop/NoComm points in a
row.
SITUATION:
ACTION:
Change the layout.
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SystemEvent 210
SEVERITY: Warning
DISPLAYED AS
String: EyeWay marker %ld at unexpected position %ld mm %ld mm
%ld deg
ID: EYEWAYBADMARKER
PARAMETERS
Parameter 1: Marker identity
Parameter 2: X-coordinate of marker (mm)
Parameter 3: Y-coordinate of marker (mm)
Parameter 4: Angle of marker (deg)
DESCRIPTION:
VMC500 has detected an EyeWay marker at a position that differs too much from
position in the layout file. Acceptable limits for deviation are defined by the NDC8
configuration parameters EyeWayNavigator.MaxPositionDeviation and
EyeWayNavigator.
SITUATION:
The position and/or angle of the marker is not correct in the layout. The event may
also be generated when there is a navigation problem.
ACTION:
Verify that the marker has correct position and angle in the layout file.
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SystemEvent 211
SEVERITY: Error
DISPLAYED AS
String: None of the %ld defined slave CAN nodes on bus %ld did
respond at startup.
ID: BusCollectFailure
PARAMETERS
Parameter 1: Number of nodes in definition
Parameter 2: Bus ID for failed bus
Parameter 3:
Parameter 4:
DESCRIPTION:
None of the defined slave CAN nodes on a bus respond correctly during vehicle
startup. This indicates failure to communicate at all via that CAN bus.
SITUATION:
Common situations:
- The CAN bus is disconnected or not correctly terminated.
- Loss of power to slave devices due to broken fuse.
- Bitrate mismatch between devices on the CAN bus.
ACTION:
- Check power indication on slave devices.
- Check CAN cables and termination. There should be two termination resistors, one
in each end of the bus. Each should have a value of 120 Ohms and be connected
between CAN-H and CAN-L.
- Make sure all devices are set to the same bitrate.
D4-35000-610_ Kollmorgen │ 06/2020 281

SystemEvent 212
SEVERITY: Error
DISPLAYED AS
String: Failed to access the dongle code database, db error %lu
ID: DBERROR
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
A problem has been detected when accessing the dongle database.
SITUATION:
ACTION:
2) Verify the status of the used dongle database.
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SystemEvent 213
SEVERITY: Warning
DISPLAYED AS
String: Too many vehicle statuses in queue to the database, %lu
vehicle status flushed
ID: EVENTFLUSH
PARAMETERS
Parameter 3:
Parameter 4:
DESCRIPTION:
Too many vehicle statuses were queued to the vehicle status database.
The vehicle statuses' queues have a maximum size. When the database is unable to
process the amount of vehicle statuses generated, some vehicle statuses will be
flushed.
SITUATION:
ACTION:
Verify and make sure that the database are able to handle the amount of events
generated.
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SystemEvent 214
SEVERITY: Error
DISPLAYED AS
String: Failed to access the vehicle status database, db error %lu
ID: DBERROR
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
A problem has been detected when accessing the vehicle status database.
SITUATION:
ACTION:
2) Verify the status of the used vehicle status database.
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SystemEvent 215
SEVERITY: Error
DISPLAYED AS
String: Failed to load vehicle individual parameters.
ID: IndividParError
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Vehicle individual name is set but no parameters are found for that individual.
SITUATION:
The vehicle controller fails to start up.
ACTION:
Verify that the individual parameter file has been transfered to the vehicle controller.
D4-35000-610_ Kollmorgen │ 06/2020 285

SystemEvent 216
SEVERITY: Error
DISPLAYED AS
String: Vehicle individual parameters do not match with vehicle
application
ID: IndividParWarn
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The set of parameters in the individual parameter file does not match with parameters
defined as individual in the running vehicle application.
SITUATION:
During start up of the vehicle controller, the list of parameters in the individual
parameter file is compared with parameters defined as individual in the vehicle
application. If the set of parameters are not the same the event will be generated. The
vehicle will start up but may not function as expected depending on which parameters
are missing.
ACTION:
Update the individual parameter file to match the running vehicle application
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SystemEvent 217
SEVERITY: Info
DISPLAYED AS
String: Laser scanner status change. Code %lu, ID %lu, par $%04lX
ID: NEWSTATUS
PARAMETERS
Parameter 1: Code
Parameter 2: Scanner ID
Parameter 3: Parameter
Parameter 4:
DESCRIPTION:
The Laser scanner status has changed.
This event can be disabled by setting the LaserScanner.StatusEventEnable

parameter to False.
Code Description
0 A status message has been received from the scanner. Parameter is
current status bits, see description below
Laser Scanner Status bits

Bit Description
1 Temperature too high
2 Supply voltage out of range
3 Not used
4 Motor current too high or LS internal error
5 Laser diode current too high
6 Rotation error
7 Bearing encoder error
8 Laser scanner restart
SITUATION:
ACTION:
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SystemEvent 218
SEVERITY: Info
DISPLAYED AS
String: Navigation level report. Current level %ld, Position (%ld, %ld,
%ld)
ID: NAVLEVEL
PARAMETERS
Parameter 1: Current navigation level
Parameter 2: Vehicle position X [mm]
Parameter 3: Vehicle position Y [mm]
Parameter 4: Vehicle position Heading [cdeg]
DESCRIPTION:
This event is sent if the vehicle is in Automatic mode and the navigation level falls
below VehicleNavigator.NavLevelEventLimit. The default value is 50.
The event will be disabled if VehicleNavigator.NavLevelEventLimit is set to 0.
SITUATION:
ACTION:
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SystemEvent 219
SEVERITY: Warning
DISPLAYED AS
String: Incompatible release level. Product %ld, function %ld.
ID: INCOMPATSW
PARAMETERS
Parameter 1: Product
Parameter 2: Function
Parameter 3: Internal
Parameter 4: Internal
DESCRIPTION:
This event is sent if a product release doesn't support a particular function.
Parameter 1 - Product:
1 = System Manager.
Parameter 2 - Function:
1 = Quick autoinsert is not supported on system releases < NDC8 2.4. The event is
sent if trying to do an autoinsert with Autoinsert.QuickEnable=1 and running an
System Manager with release level < NDC8 2.4.
Parameter 3 (internal use only):

Required release level.
Parameter 4 (internal use only):

Current release level.
SITUATION:
ACTION:
1 = Quick autoinsert:
Upgrade to a compatible System Manager, or if Autoinsert.QuickEnable is used by
mistake, set it to 0.
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SystemEvent 220
SEVERITY: Error
DISPLAYED AS
String: Failed to access the layout database, db error %lu
ID: DBERROR
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
A problem has been detected when accessing the layout database.
SITUATION:
ACTION:
2) Verify the status of the used layout database.
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SystemEvent 221
SEVERITY: Error
DISPLAYED AS
String: Failed to access the system IO database, db error %lu
ID: DBERROR
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
A problem has been detected when accessing the system IO database.
SITUATION:
ACTION:
2) Verify the status of the used system IO database.
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SystemEvent 222
SEVERITY: Warning
DISPLAYED AS
String: Too many IO events in queue to the database, %lu IO events
flushed
ID: EVENTFLUSH
PARAMETERS
Parameter 1: Number of IO events flushed.
Parameter 2: Number of IO events in queue after the flush operation.
Parameter 3:
Parameter 4:
DESCRIPTION:
Too many IO events was queued to the system IO database.
The system IO event queues have a maximum size. When the database is unable to
process the amount of system IO events generated, some IO events will be flushed.
SITUATION:
ACTION:
generated.
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SystemEvent 223
SEVERITY: Info
DISPLAYED AS
String: Layout reloaded
ID: LAYOUTRELOAD
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
This event is sent when the layout has been reloaded without restarting.
SITUATION:
ACTION:
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SystemEvent 224
SEVERITY: Warning
DISPLAYED AS
String: Invalid conveyor speed
ID: InvConvSpd
PARAMETERS
Parameter 2: Speed
Parameter 4: Segment attribute
DESCRIPTION:
Invalid conveyor speed. (Agvsim)
SITUATION:
ACTION:
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SystemEvent 225
SEVERITY: Warning
DISPLAYED AS
String: Carrier %lu command end in NoStop/NoComm point %lu.
ID: CMD_TO_NOSTOP
PARAMETERS
Parameter 2: Point id
Parameter 3:
Parameter 4:
DESCRIPTION:
A carrier has been given a command that end in a point which is a NoStop/NoCom
point.
SITUATION:
Probably caused by an error in a transport structure, or a conversion table. Maybe the
layout has been modified re NoStop or NoCom points.
ACTION:
Investigate and correct the application or layout.
D4-35000-610_ Kollmorgen │ 06/2020 295

SystemEvent 226
SEVERITY: Warning
DISPLAYED AS
String: Long transition time to database %lu ms task %lu.
ID: DB_TRANS_TIME
PARAMETERS
Parameter 1: time
Parameter 2: task
Parameter 3:
Parameter 4:
DESCRIPTION:
A database transaction takes too long time.
SITUATION:
ACTION:
Check cpu loads. Check network connection between the System Manager PC and
the database PC . Check if the database was restarted or overloaded. Are there too
many database events generated?
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SystemEvent 227
SEVERITY: Warning
DISPLAYED AS
String: A shortcut from flex segment %lu to %lu can not be done by agv
%lu.
ID: BAD_SHORTCUT
PARAMETERS
Parameter 1: From
Parameter 2: To
Parameter 3: AgvId
Parameter 4:
DESCRIPTION:
An agv is given a command to move on a flexible segment, and a following segment.
The following segment has the "shortcut" attribute, but the agv can not make the
shortcut. The AGVDriver has cleared the buffer for this agv.
SITUATION:
The agv software might not support this type of shortcut. The agv might be given a
command to pass a flexible segment followed by a segment with "shortcut" attribute,
but there was not any operation on the flexible. Maybe the station at the end of the
flexible should be marked NoVia.
ACTION:
Investigate. Modify the layout or the application.
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SystemEvent 228
SEVERITY: Warning
DISPLAYED AS
String: CM-AGVD out of synch, too many f-msg with old magic. AgvId
%lu.
ID: CM_AGVD_UNSYNCH
PARAMETERS
Parameter 1: AgvId
Parameter 2: magic
Parameter 3: move state
Parameter 4:
DESCRIPTION:
In a situation where CM recalculates the paths for an AGV many times, it is possible
that so many 'u' messages are sent from CM to AGVD that the modules get out of
synch. Many 'u' messages are sent before the resulting 'f' messages from AGVD are
taken care of.
SITUATION:
This may happen if CM is overloaded. It may happen when the TS instructions to
modify the layout regarding weight/block are executed too often.
ACTION:
Use instructions LayColl and LayAct to group layout modifications together.
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SystemEvent 229
SEVERITY: Warning
DISPLAYED AS
String: Ground fault detected.
ID: GNDFAULT
PARAMETERS
Parameter 1: Measured chassi voltage
Parameter 2: Expected chassi voltage
Parameter 3:
Parameter 4:
DESCRIPTION:
This event indicates that there is a connection between the chassi and battery
positive or battery negative.
SITUATION:
ACTION:
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SystemEvent 230
SEVERITY: Warning
DISPLAYED AS
String: AGV locked due to invalid status. AgvId %lu, Seg %lu, Dist %lu.
ID: TM_LOCKED
PARAMETERS
Parameter 2: Segment number
Parameter 3: Distance on segment
Parameter 4:
DESCRIPTION:
The AGV is Locked by TM due to an invalid status message.
SITUATION:
Possible cause: Different layout in AGV and System Manager, two AGV with the
same ID. Another event at the same time may have more information.
ACTION:
Investigate the problem. To unlock use 'Release Forward blockings' in System
Manager diagnose slave, or switch the AGV to manual move and then autoinsert it.
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SystemEvent 231
SEVERITY: Warning
DISPLAYED AS
String: Communication with external module failed. No response to the
external RPC allocation message.
ID:
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
System Manager has sent a VehicleToOrderGridQuery telegram but no reply
recieved.
SITUATION:
This query telegram is sent by System Manager when vehicles needs to be mapped
with a waiting order. The result should be an allocation map mapping vehicle Ids with
order ids. This is an RPC message hence assumes an immediate response. The
responding message should be of type VehicleToOrderGridReply.
ACTION:
Make sure the external routing module is up and running and has established
communication with the message bus.
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SystemEvent 232
SEVERITY: Info
DISPLAYED AS
String: Communication with external module is restored. Response
received on the RPC allocation message.
ID:
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
System Manager has recovered from a situation where a VehicleToOrderGridQuery
telegram was sent but no reply recieved. The communication is now restored.
SITUATION:
ACTION:
No action needs to be taken
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SystemEvent 233
SEVERITY: Warning
DISPLAYED AS
String: Incompatible LS2000 connected
ID: INCOMPAT_LS2000
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The LS2000 connected to the vehicle is not compatible.
SITUATION:
A non-Kollmorgen LS2000 scanner is connected.
ACTION:
Make sure the connected scanner is of correct type. Only Kollmorgen LS2000 are
compatible.
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SystemEvent 234
SEVERITY: Warning
DISPLAYED AS
String: Layout is incompatible for NG. Numb of objects with error: %ld.
ID: LAY_INCOMP
PARAMETERS
Parameter 1: Numb objects with error.
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Some items in the layout is incompatible with System Manager NG. Details in a text
file.
SITUATION:
Possible cause:
ACTION:
.
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SystemEvent 235
SEVERITY: Warning
DISPLAYED AS
String: Failed to optimize with %ld executing vehicles (%ld home
orders).
ID: NG_CM1
PARAMETERS
Parameter 1: Number of vehicles executing a transportation.
Parameter 2: Number of vehicles with a home mission.
Parameter 3:
Parameter 4:
DESCRIPTION:
System Manager failed to run optimization logic with the MAPP algorithm.
SITUATION:
System Manager has tried to optimize orders with vehicles but have failed a defined
number of consecutive times.
ACTION:
Wait and see if MAPP algorithm solves the problem. A moving vehicle may solve the
problem simply by moving out from a difficult area.
D4-35000-610_ Kollmorgen │ 06/2020 305

SystemEvent 236
SEVERITY: Warning
DISPLAYED AS
String: Failed to run optimization logic due to error %ld.
ID: NG_CM2
PARAMETERS
Parameter 1: The type of error: messaging timeout (1), layout error (2).
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
System Manager failed to assign orders to vehicles.
SITUATION:
The Layout Manager responded with an error to a layout request, or the Layout
Manager did not respond in time (i.e. timeout).
ACTION:
Make sure RabbitMQ is started and operational, and the RabbitMQ configuration is
correct (located in the configuration file). If error persists, and RabbitMQ is working, a
system restart may be required.
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SystemEvent 237
SEVERITY: Error
DISPLAYED AS
String: Exception from internal IMU.
ID:
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
SITUATION:
ACTION:
D4-35000-610_ Kollmorgen │ 06/2020 307

SystemEvent 238
SEVERITY: Info
DISPLAYED AS
String: Unknown position marker with ID %ld detected at (%ld, %ld)
ID:
PARAMETERS
Parameter 1: Position marker ID
Parameter 4:
DESCRIPTION:
A position marker that does not exist in the layout has been detected.
SITUATION:
ACTION:
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SystemEvent 239
SEVERITY: Error
DISPLAYED AS
String: Invalid Pre Shared Key (PSK), physical line %ld.
ID: INVALID_PSK
PARAMETERS
Parameter 1: Physical line
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Handshake error. The PSK must be set to the same value in both ends of the
communication link.
This error tells that the defined PSK does not match and no communication will be
possible.
SITUATION:
Encountered during startup of unit.
ACTION:
Check the PSK configuration System Application Designer (Option string) and the
Basic Configuration in the Vehicle.
D4-35000-610_ Kollmorgen │ 06/2020 309

SystemEvent 240
SEVERITY: Info
DISPLAYED AS
String: Barcode reader, missing position marker, id %lu
ID: BarcodeReader
PARAMETERS
Parameter 1: Position marker id
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Position marker was expected but not detected.
SITUATION:
Possible cause: Vehicle navigates bad and misses the marker. Dirty or damage
position marker or position parker is physically missing on the floor but still present in
the layout.
ACTION:
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SystemEvent 241
SEVERITY: Warning
DISPLAYED AS
String: The license has changed since startup, new license has not
been loaded.
ID: LIC_CHANGED
PARAMETERS
Parameter 1: 0
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The license has changed since system startup, the new license has not been loaded.
SITUATION:
A NDC8 license is changed while System Manager is running. Any changes to
license will not affect the behaviour of the Systam Manager instance.
ACTION:
Restart system to use new license.
D4-35000-610_ Kollmorgen │ 06/2020 311

SystemEvent 242
SEVERITY: Warning
DISPLAYED AS
String: Incompatible microscan3 connected
ID: INCOMPAT_MICROSCAN3
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
The microscan3 connected to the vehicle is not compatible.
SITUATION:
A microscan3 short range scanner is connected.
ACTION:
Make sure the connected scanner is of correct type. Only microscan3 long range (9
meter protective field range) models are supported
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SystemEvent 243
SEVERITY: Info
DISPLAYED AS
String: Physical Position Blocking not selected, or simplified sweep
symbol not correctly defined.
ID: MISSI_PPB_DEFINITION
PARAMETERS
Parameter 1:
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Physicla Position Blocking is not selected in System Application Designer - General
Parameter. It is recommended to be selected, to deal with vehicles in Manual mode.
Or the simplified sweed definition is invalid.
SITUATION:
System is missing a Physicla Position Blocking definition.Or the simplified sweed
definition is invalid.
ACTION:
Modify system application to include a Physicla Position Blocking symbol.
The message may be ignorde.
D4-35000-610_ Kollmorgen │ 06/2020 313

SystemEvent 244
SEVERITY: Warning
DISPLAYED AS
String: Vehicle %ld did operation on flexible segment %lu before PRD.
ID:
PARAMETERS
Parameter 1: VehicleId
Parameter 2: SegmentId
Parameter 3:
Parameter 4:
DESCRIPTION:
Vehicle has done an operation on a flexible segment with possibility for shortcut
before the point release distance of the flexible segment has been passed.
SITUATION:
ACTION:
Reduce the point release distance on the flexible segment
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UserEvent 10001
SEVERITY: Info
DISPLAYED AS
String: Carrier %lu introduced in the system.
ID: NEWCAR
PARAMETERS
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
A new carrier introduced in the system. This user event is generated automatically by
the system.
SITUATION:
ACTION:
D4-35000-610_ Kollmorgen │ 06/2020 315

UserEvent 10002
SEVERITY: Info
DISPLAYED AS
String: Carrier %lu lost on segment %lu with status $%04lX
ID: CARLOST
PARAMETERS
Parameter 2: Carrier status.
Parameter 4:
DESCRIPTION:
A carrier is lost, in the sense that there is no communication with the carrier. This user
event is generated automatically by the system.
SITUATION:
When a carrier has been incommunicado for the time defined for its current segment,
it is reported lost. Caused by:
- carrier has been switched off.
- carrier has been emergency stopped in an offwire turn.
- antenna problems in the carrier.
- there is an error in the ComZone specification for the segment in the layout
definition.
ACTION:
Locate carrier. If carriers are frequently lost in one part of the layout, for no apparent
reason, check the ComZone specification for segments in that area.
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UserEvent 10003
SEVERITY: Info
DISPLAYED AS
String: Carrier %lu load status error on segment %lu status $%04lX ,
order %lu
ID: LOADER
PARAMETERS
DESCRIPTION:
The carrier has an invalid carrier status. This user event is not generated
automatically by the system.
SITUATION:
ACTION:
D4-35000-610_ Kollmorgen │ 06/2020 317

UserEvent 10004
SEVERITY: Info
DISPLAYED AS
String: Carrier %lu low batteries on segment %lu with status $%04lX ,
order %lu
ID: LOWBATT
PARAMETERS
DESCRIPTION:
A carrier has reported "low battery" status. This user event is not generated
automatically by the system.
SITUATION:
ACTION:
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UserEvent 10005
SEVERITY: Warning
DISPLAYED AS
String: New status for pilot line %lu: Status %lu
ID: PILOTLIN
PARAMETERS
Parameter 1: Pilot line number.
Parameter 2: Parameter 1 from input definition.
Parameter 3: Parameter 2 from input definition.
Parameter 4: Pilot line status: 0=Broken, 1=OK.
DESCRIPTION:
A pilot line has changed status. This user event could be generated automatically by
the system if it is defined in the input table.
SITUATION:
ACTION:
D4-35000-610_ Kollmorgen │ 06/2020 319

UserEvent 10006
SEVERITY: Info
DISPLAYED AS
String: CmvQ switch TS source or ecode undefined
ID: CmvQTS1
PARAMETERS
Parameter 1: Order index
Parameter 2: CmvQ source
Parameter 3: CmvQ error code
Parameter 4: CmvQ result value
DESCRIPTION:
Default user event code in the Transport Structure that handles errors returned by the
CmvQ Order Manager Instruction. Only CMII systems.
Possible CmvQ sources:
1 Order Manager
2 Carrier Manager
3 AGV Driver
4 Vehicle Controller
SITUATION:
The Source or Error code returned by CmvQ is unknown by the default Transport
Structure.
ACTION:
Note the Source and/or Error value and define them in the Transport Structure.
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UserEvent 10007
SEVERITY: Info
DISPLAYED AS
String: CmvQ switch TS returned FALSE
ID: CmvQTS1
PARAMETERS
DESCRIPTION:
CmvQ Order Manager Instruction. Only CM II systems.
1 Order Manager
2 Carrier Manager
3 AGV Driver
SITUATION:
The default Source or Error code switch resulted in FALSE.
ACTION:
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UserEvent 10008
SEVERITY: Info
DISPLAYED AS
String: CmvQ switch TS returned TRUE
ID: CmvQTS1
PARAMETERS
DESCRIPTION:
1 Order Manager
2 Carrier Manager
3 AGV Driver
SITUATION:
The default Source or Error code switch resulted in TRUE.
ACTION:
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UserEvent 10009
SEVERITY: Info
DISPLAYED AS
String: CmvQ switch TS, vehicle PLC error
ID: CmvQTS1
PARAMETERS
DESCRIPTION:
1 Order Manager
2 Carrier Manager
3 AGV Driver
SITUATION:
The vehicle PLC has returned a PLC error.
ACTION:
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UserEvent 10010
SEVERITY: Info
DISPLAYED AS
String: Communication session on line %lu, lost.
ID: SESSLOST
PARAMETERS
Parameter 2: Connected Unit Type code
Parameter 3: Connect logical unit number
Parameter 4:
DESCRIPTION:
A User Event message will be generated each time a communication link is lost. This
message can be used to detect that an external unit no longer is connected.
Possible Unit Type codes:
2 Debug line
3 ACI line
4 CWay line
SITUATION:
ACTION:
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UserEvent 10011
SEVERITY: Info
DISPLAYED AS
String: Communication session on line %lu, up.
ID: SESUP
PARAMETERS
Parameter 2: Connected Unit
Parameter 3: Connect logical unit
Parameter 4:
DESCRIPTION:
The communication session for line # is now up and ready for sending and receiving.
Possible Unit Type codes:
2 Debug line
3 ACI line
4 CWay line
SITUATION:
ACTION:
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UserEvent 10012
SEVERITY: Info
DISPLAYED AS
String: Connected to vehicle status database
ID: SESUP
PARAMETERS
Parameter 1: 0
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Connection to vehicle status database is now up and ready for sending.
SITUATION:
ACTION:
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UserEvent 10013
SEVERITY: Info
DISPLAYED AS
String: Connected to dongle code database
ID: SESUP
PARAMETERS
Parameter 1: 0
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Connection to dongle code database is now up and ready for sending.
SITUATION:
ACTION:
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UserEvent 10014
SEVERITY: Info
DISPLAYED AS
String: Connected to KPI event database
ID: SESUP
PARAMETERS
Parameter 1: 0
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Connection to KPI event database is now up and ready for sending.
SITUATION:
ACTION:
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UserEvent 10015
SEVERITY: Info
DISPLAYED AS
String: Connected to event database
ID: SESUP
PARAMETERS
Parameter 1: 0
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Connection to event database is now up and ready for sending.
SITUATION:
ACTION:
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UserEvent 10016
SEVERITY: Info
DISPLAYED AS
String: Connected to layout database
ID: SESUP
PARAMETERS
Parameter 1: 0
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Connection to layout database is now up and ready for sending.
SITUATION:
ACTION:
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UserEvent 10017
SEVERITY: Info
DISPLAYED AS
String: Connected to system IO database
ID: SESUP
PARAMETERS
Parameter 1: 0
Parameter 2:
Parameter 3:
Parameter 4:
DESCRIPTION:
Connection to system IO database is now up and ready for sending.
SITUATION:
ACTION:
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Sales and Service

We are commited to quality customer service. In order to serve in the most effective
way, please contact your local sales representative for assistance. If you are unaware
of your local sales representative, please contact us.
Kollmorgen
Automation AB
Lunnagårdsgatan 4
431 90 Mölndal
Sweden
Phone: +46 31 93 80 00
Fax: +46 31 93 81 00
Phone (Support): +46 31 93 80 29

E-mail (Support): support.agv@kollmorgen.com
World Wide Web: http://www.ndcsolutions.com
334 Kollmorgen │ 06/2020 D4-35000-610_

Event Code Description NT8000

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Event Code Description NDC8 4.

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SystemEvent 39 .......................................................................... 105

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SystemEvent 88........................................................................... 156

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SystemEvent 137 ........................................................................ 205

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SystemEvent 186......................................................................... 256

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SystemEvent 235 ........................................................................ 305

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The System Controller uses location codes 0-10.

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For IO15/14 cards version 2.1x and lower:

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13. RCU radio setup error.

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