|
General
|
| 0 |
No error. |
| 1 |
Time limit exceeded. |
| 17 |
Soft Limit Violation for group (position max). |
| 2 |
Distance limit exceeded. |
| 3 |
Torque limit exceeded. |
| 4 |
The file is already opened. |
| 5 |
The file is write protected or access is denied. Tip #1: Make sure a leading / has not been omitted. Example STRING#'/opt/plcnext/user/data/myfile.txt' Tip #2: If the FileName is a STRING variable, do not include single quotes in the string. Only include single quotes if when specifying the FileName as a literal such as STRING#'MyFile.txt' |
| 6 |
File name not defined. Tip: If the FileName is a STRING variable, do not include single quotes in the string. Only include single quotes if when specifying the FileName as a literal such as STRING#'MyFile.txt' |
|
Motion State Error
|
| 4328 |
MotionError: Reserved |
| 4369 |
The move could not be buffered because the motion queue is full. The default queue size for single axis moves is 16. For motion network groups, the queue size can be set in the Hardware Configuration, Yaskawa recommends setting the IO Task Assignment to the cyclic task with the fastest update interval. For MotomanSync hosted robots, the queue size is 25. |
| 4370 |
The move could not be started because motion is prohibited. Possible causes: 1) The axis may not be enabled. Check MC_Power.Status output. 2) An MC_Stop.Execute might be held high - no other block can override the Stopping state. 3) Verify that the axis is not in overtravel state (limit switch inputs P-OT and N-OT). In overtravel state the SERVOPACK front panel display flashes 'P' and/or 'n'. In overtravel state the global variables 'Axis_POT' and/or 'Axis_NOT' will be true. 4) A motion block may be attempting to abort an MC_TorqueControl move. 5) If this axis is included in a set of Grouped axes, this Error may occur when executing a single axis function block while the axis is part of an Enabled Group. Use MC_GroupDisable first. 6) If the axis is a cam slave AND configured as a rotary axis, verify that the slave positions in the Y_MS_CAM_STRUCT are within 0.0 to MachineCycle. |
| 4371 |
The servo drive failed to enable or disable. Check the amplifier wiring for L1 / L2 / L3. The amplifier could be e-stopped or has an alarm. |
| 4372 |
Drive parameter Read/Write did not complete. |
| 4373 |
Drive parameter Read/Write failed. Check to make sure that the parameter is a valid parameter for the drive. Ensure that the 'Retain' input is not TRUE for a device that does not support retain. |
| 4374 |
Torque move prohibited while non torque moves are in queue or in progress. |
| 4375 |
CamOut called while not camming. |
| 4376 |
The master slave relationship cannot be modified because the master axis has not been set yet. |
| 4377 |
File reading already in progress. |
| 4378 |
The function block is not applicable for the external axis specified. |
| 4379 |
A homing sequence is already in progress. |
| 4380 |
MC_SetPosition or MC_GroupSetPosition cannot be executed while the axis is already moving. |
| 4381 |
Motion was aborted due to an axis alarm. |
| 4382 |
When an axis is configured for rotary mode, and the MC_SetPosition tries to set a position that is equal to or greater than the MachineCycle, this error is generated, and the position is not set. |
| 4383 |
Axis must be commanded at standstill when homing is attempted. Refer to the Motion State Diagram and MC_ReadStatus. Maybe the axis is not enabled using MC_Power? |
| 4384 |
Clear alarms is already in progress. |
| 4385 |
Axis reset is already in progress. |
| 4386 |
Mechatrolink reset is already in progress. |
| 4387 |
CamStructSelect can not tansfer a second cam structure while the first cam structure is being transferred. |
| 4388 |
CamTableRead can not read a second cam structure while the first cam structure is being read. |
| 4389 |
CamTableWrite can not write a second cam structure while the first cam structure is being written. |
| 4390 |
Position cannot be defined while the axis is in a master / slave relationship. To redefine the position, use the MC_Stop function block for slave axis, then execute MC_SetPosition. If attempting the redefine a master position, execute MC_Stop for all slaves first. |
| 4391 |
The function block cannot be used with a virtual axis. |
| 4392 |
The function block can not be used with an inverter axis. |
| 4393 |
Y_VerifyParmeters and Y_WriteParameters can not be called a second time while the first one is in progress. |
| 4394 |
More than 10 Y_CamIn, Y_CamOut, or MC_GearInPos function blocks for a given axis are active at the same time. Most likely the application program is not coded correctly, and the Execute input is being fired too frequently. |
| 4395 |
Window parameters are outside of the master axis' machine cycle. (0 to Prm 1502, the last master position in the active cam table.) |
| 4396 |
Axis latch function already in use. |
| 4397 |
Over travel is limit still ON after attempting to move away from it. |
| 4398 |
The cam shift is not possible with EndPosition and current master position. This error occurs if the shift is greater than the distance to the end of the window. For example: shift = 90, window [180,360], and the master position = 300 when Y_CamShift.Execute=TRUE. (There is only 60 degrees of distance remaining.) To remedy this situation, execute Y_CamShift sooner. The function itself will monitor for the StartPosition and wait if necessary to actually start the correction. It is not necessary to monitor for the right position in the IEC application task before executing this function. This error has also been experienced when using very low resolution external encoders, or during testing when using a hand wheel to manually move the master. Both of these situations can lead to noisy encoder movement, and if the master moves backwards during a CamShift, it may cause this error. (A low resolution encoder is defined as a system with a Master / Slave equivalent movement pulse ratio greater than 50 or 100 or higher.) |
| 4399 |
The L1 / L2 / L3 power inputs on the drive may not be supplied with power, possibly due to an E-Stop condition. |
| 4400 |
The safety input (HBB on the CN8 connector on Servos / STO with open HC-H1/H2 on VFDs) is preventing the drive from enabling. |
| 4401 |
The controller cannot communicate with the drive. It may be disconnected from the motion network. |
| 4402 |
The scan compensation delay parameter 1305 is only valid for external encoders. |
| 4403 |
The High Speed Output functionality is only available on external encoders. |
| 4404 |
Cannot execute MC_GearOut because the axis is not in gear. |
| 4405 |
Y_CamOut was aborted. |
| 4406 |
Continuous Latch Mode is not supported on external encoders. |
| 4407 |
Internal buffer overflow. |
| 4408 |
PatternSize is out of range (1-8) or PatternCount is out of range (0-255). |
| 4409 |
Parameter write is already in progress. |
| 4410 |
Parameter is read-only. |
| 4411 |
The function block cannot be re-executed while it already is in progress. |
| 4412 |
Parameter not supported for the specified axis or group. |
| 4413 |
The stepper axis does not support the mode of motion commanded. |
| 4414 |
Motion network communications to the drive was disrupted. Execute MC_Reset to restore the connection. |
| 4415 |
Reboot is already in progress. |
| 4416 |
Add IP Address already in progress |
| 4417 |
Remove IP Address already in progress |
| 4418 |
Debug Print already in progress |
| 4419 |
Motion queue resize failed. Motion queue is not empty. |
| 4420 |
Brake release function failed to execute. Brake release is prohibited while servo on, or the axis may not support brake release |
| 4421 |
Servo ON is prohibited while the brake is manually released with Y_BrakeRelease |
| 4422 |
Position offset update failed. |
| 4423 |
The function block cannot be used with an active slave axis. |
| 4424 |
Velocity override value is outside the allowable range of 0.0 to 1.0 inclusive. |
| 4425 |
Slave axis must be configured as a rotary axis type with a valid Machine Cycle. |
| 4426 |
The function block is only supported for VFDs. |
|
Invalid Structure Value
|
| 4624 |
RESERVED - General structure value error. |
| 4625 |
AXIS_REF.AxisNum does not correspond to an axis configured on the system. Verify the value of AxisNum matches a logical axis number in the configuration. Tip: Make sure a variable of type AXIS_REF is properly declared as a VAR or VAR_GLOBAL in all relevant POUs. In case the Function block in error is an "Enable" type, the "Enable" input needs to be Re-triggered. The error won't be cleared automatically. This error can also occur if the referenced axis exceeds the number of licensed axes. |
| 4626 |
The master / slave relationship is already defined. If a slave must follow a different master, use the MC_Stop block on the slave before executing the next Y_CamIn. If cascading master slaves, a maximum of four levels of cascaded master / slave relationships can be configured. Master-Slave1, Slave1 - Slave2, Slave2- Slave3, Slave3 - Slave4 is valid. |
| 4627 |
The input reference does not correspond to real input |
| 4628 |
The output reference does not correspond to a real output |
| 4629 |
The input/output number does not correspond to a real input or output bit |
| 4630 |
Trigger reference is not valid. |
| 4631 |
The cam switch structure in not valid |
| 4632 |
The track structure is not valid |
| 4633 |
Table size results in misaligned data. Refer to the help section 'Internally Created Cam Data.' A cam table will have a multiple of 16 bytes if created correctly. |
| 4634 |
Buffer size results in misaligned data. |
| 4635 |
Table type is not supported. |
| 4636 |
Invalid start index. |
| 4637 |
Invalid end index. |
| 4638 |
Buffer Overrun. User Buffer is full. |
|
Invalid Enumeration Type
|
| 4640 |
Reserved - General InvalidEnumerationType error |
| 4641 |
Buffer mode does not correspond to a valid enumeration value. |
| 4642 |
Direction does not correspond to a valid enumeration value. |
| 4643 |
Start mode does not correspond to a valid enumeration value. |
| 4644 |
Invalid shift mode. |
| 4645 |
Offset mode does not correspond to a valid enumeration value. |
| 4646 |
Mode does not correspond to a valid enumeration value or the enumeration is not supported. |
| 4647 |
The synch mode does not correspond to a valid enumeration value. |
| 4648 |
The parameter number does not exist for the specified axis - OR The parameter number requires the other function block (e.g. MC_WriteParameter vs. MC_WriteBoolParameter) |
| 4649 |
Invalid adjust mode. |
| 4650 |
RampIn does not correspond to a valid enumeration value. |
| 4651 |
ControlMode does not correspond to a valid enumeration value. |
| 4652 |
EndMode does not correspond to a valid enumeration value. Y_CamOut only supports 'AtPosition' mode. |
| 4653 |
ExecutionMode does not correspond to a valid enumeration value or the selected behavior is unsupported. |
| 4654 |
Invalid Speed Unit setting in Y_MoveOptions.ProfileUnit. Select 0 for Absolute units, or 1 for % of maximum. |
|
Range Error
|
| 4656 |
Reserved - General RangeError |
| 4657 |
Distance parameter is less than or equal to zero. |
| 4658 |
Velocity parameter is less than or equal to zero. |
| 4659 |
Acceleration is less than or equal to zero. For remote hosted robots, acceleration cannot be less than 20.0. |
| 4660 |
Deceleration is less than or equal to zero. For remote hosted robots, deceleration cannot be less than 20.0. |
| 4661 |
Torque is less than or equal to zero. |
| 4662 |
Time is less than or equal to zero. |
| 4663 |
Specified time was less than zero. |
| 4664 |
Specified scale was less than or equal to zero. |
| 4665 |
Velocity parameter is negative. (Conveyor moving in wrong direction.) |
| 4666 |
Denominator is zero. |
| 4667 |
Jerk is less than or equal to zero. For remote hosted robots, the Jerk units are in percentage, and the range is 20 to 100%. |
| 4668 |
Torque Ramp is less than or equal to zero. |
| 4669 |
Engage position is outside the cam table domain. |
| 4670 |
Engage window is less than zero. |
| 4671 |
Disengage position is outside the cam table domain. |
| 4672 |
Negative Disengage Window. |
| 4673 |
StartPosition is outside of master's range. |
| 4674 |
EndPosition is outside of master's range. |
| 4675 |
Axis filter time constant out of range, or an attempt to change the value was made while the axis was enabled. (The axis must be disabled to change the moving average time constant.) |
| 4676 |
The time value must be within 0 to 10 motion network cycles. |
| 4677 |
Array size too large. |
| 4678 |
Buffer array index out of range. |
| 4679 |
Invalid date or time values entered. |
| 4680 |
Invalid acceleration filter type entered. |
| 4681 |
Position value exceeded configured limits. |
| 4682 |
Velocity value exceeded configured limits. |
| 4683 |
Acceleration value exceeded configured limits. |
| 4684 |
IdentInGroup not found. Verify that the string name of the joint exactly matches the definition in the Hardware Configuration. OR - Invaild JointIndex. The value provided does not map to a valid AXIS_REF on the system. |
| 4686 |
Velocity input for VMAX must be 50.0 -100.0 (%) |
|
Invalid Input Data
|
| 4847 |
MotomanSync controller did not receive a watchdog value from controller in time. There may be network communcation issues causing delays. Check S3C1380 (communication timeout, 50ms default) on MotomanSync controller. |
| 4880 |
RESERVED |
| 4881 |
The specified Pn does not exist. |
| 4882 |
The mask does not correspond to valid tracks. |
| 4883 |
The profile must start with relative time equal to zero, and the time must be increasing. |
| 4884 |
The specified cam file does not exist. |
| 4885 |
Invalid header for the cam file (missing # of rows, #of columns, or feed-forward velocity flag). You must first populate the TableType and DataSize in the Y_MS_CAM_STRUCT before executing the function. |
| 4886 |
The first (master) column must be either increasing or decreasing. If the master data is incremental, even the very first point cannot be zero. |
| 4887 |
CamTableID does not refer to a valid cam table. |
| 4888 |
The engage phase exceeded the time limit. Slave axis could not attain the target position and velocity within the user specified time limit. |
| 4889 |
The engage phase exceeded the distance limit. Slave axis could not attain the target position and velocity within the user specified master distance. |
| 4890 |
Invalid width input. Width is an enumeration type with the following allowable values 'WIDTH_8'=0, 'WIDTH_16'=1, and 'WIDTH_32'=2. |
| 4891 |
The slave axis cannot be the same as the master axis. |
| 4892 |
Default drive parameter info is not available for this parameter. Use the DataType Override input to specify the parameter size. |
| 4893 |
The specified external axis may not be used. A physical axis is required. |
| 4894 |
The specified virtual axis may not be used with this function block. |
| 4895 |
Missing or unrecognized file extension. |
| 4896 |
Could not find the axis parameter file. |
| 4897 |
The drive's model number or type does not match the parameter file. |
| 4898 |
The S Curve filter parameter must first be enabled in the Hardware Configuration before it is possible to enable/disable it using MC_WriteParameter. |
| 4899 |
Axis position compensation file not found. |
| 4900 |
Invalid axis position compensation file format. |
| 4901 |
Cannot enable/disable axis position compensation while servo on. |
| 4902 |
Invalid compensation table wrap range. |
| 4903 |
Data Type value does not match the data type of the Value input. |
| 4904 |
Data Type is out of range. |
| 4905 |
Invalid IO Identifier. |
| 4912 |
Invalid motion network Node ID |
| 4913 |
Aux Cmd for Mechatrolink-III IO module not supported |
| 4914 |
Invalid Mode argument for Y_MLinkIOMode |
| 4915 |
The parameter file could not be saved to the servopack |
| 4916 |
The written parameters will not take effect until the servopack is rebooted |
| 4917 |
The cam engage window cannot be automatically calculated from the current parameters. |
|
Log Errors
|
| 8464 |
Reserved - LogError |
| 8465 |
The data log is already setup. |
| 8466 |
The data log is not setup. |
| 8467 |
Invalid handle for user log item |
| 8468 |
Data log can not be created because too many data logs are in use |
| 8469 |
Invalid handle for data log |
| 8470 |
A user log item can only support eight inputs for each type |
| 8471 |
Saving the log failed |
|
Y_DeviceComm ErrorIDs
|
| 8704 |
Reserved - DeviceCommAlarms |
| 8705 |
The maximum number of concurrently open user sockets/IO device handles has been reached or exceeded. |
| 8706 |
The socket/IO device handle was invalid. Invalid IP address. |
| 8707 |
The IP address string was not in a valid format. |
| 8708 |
The socket/IO device handle could not be created. |
| 8709 |
The specified address or port is already in use on the local network. |
| 8710 |
The specified address or port is not available for use. (Maybe the IP address specified is not assigned to one of the networks available on this controller?) |
| 8711 |
Unable to accept new socket/IO device handle connection. |
| 8712 |
Unable to bind to the specified address. |
| 8713 |
The socket/IO device handle type argument was invalid. |
| 8714 |
The local address or port was not valid. |
| 8715 |
Connecting to the socket/IO device handle failed. |
| 8716 |
The remote IP address is unreachable. Check the default gateway. |
| 8717 |
The socket/IO device handle is already connected to another endpoint. |
| 8718 |
The socket/IO device handle connection attempt was actively refused by the remote device. Possibly the remote device is not listening on the port. |
| 8719 |
The socket/IO device handle was not connected to a remote endpoint. Call Y_ConnectSocket prior to Y_ReadDevice or Y_WriteDevice. |
| 8720 |
An error occurred trying to get or set the device option. |
| 8721 |
The communication device could not be read. |
| 8722 |
The communication device could not be written. |
| 8723 |
A valid buffer argument to WriteDevice and ReadDevice is required. |
| 8724 |
Invalid Device Option ID. |
| 8725 |
The device option value was not the right size or the data was out of range. |
| 8726 |
The serial port ID was not a valid serial port. |
| 8727 |
The serial port specified could not be opened. |
| 8728 |
The subnet mask string was not in a valid format. |
| 8729 |
The desired interface is invalid. |
| 8730 |
Adding the IP Address failed for an unknown reason. |
| 8731 |
Removing the IP Address failed for an unknown reason. |
| 8732 |
The desired address and subnet combination conflict with the settings on the existing units. |
| 8733 |
Remove IP Address cannot remove the primary address. |
| 8734 |
Debug Print failed |
|
Group ErrorIDs. Please note that Group Errors up to 200 listed here are reported as 32 bit values on the Web UI such as "3202 0018" and also reported via MC_GroupReadError as an ErrorClass (3202) and a GroupErrorID (0018), but in some cases only the GroupErrorID is reported if the function block reporting an error only outputs the traditional Error and ErrorID.
|
| 8960 |
Invalid axes group. Be sure the AxesGroup variable is global, and that if the group has been recently defined, the controller was rebooted. Make sure that the controller has the appropriate motion axes license for all configured axes in the group. |
| 8961 |
An axis is already owned by another group. |
| 8962 |
Group activation is blocked. Ownership cannot be changed while motion network reset is in progress. |
| 8963 |
Specified Coordinate System is not supported. Possible causes: If a custom group is specified, only the ACS Coordinate System is applicable. |
| 8964 |
Move prohibited because group has an alarm. |
| 8965 |
Group activation prohibited, invalid axis/joint config. |
| 8966 |
Group activation prohibited, mismatched axis command position for split axis. Example: X and X Prime sharing the same load. The group must be disabled to clear this alarm. |
| 8967 |
The group reports one or more of its axes has an error. |
| 8968 |
Axis group reset is already in progress. |
| 8969 |
Invalid circular path method. |
| 8970 |
Invalid PathChoice. MC_MoveCircularAbsolute.PathChoice cannot be set to Clockwise or Counter Clockwise if the Group can move in three dimensions. |
| 8971 |
Invalid circle geometry. Check the PathChoice input, only Longest and Shortest are allowed if the group has more than two dimensions. Be sure that the starting point (which is the position of the group before executing MC_MoveCircularAbsolute,) the AuxPoints, and the EndPoint define the intended arc. If using MC_CircleMode#Center, the calculated radius of the start position to the center and the end position to the center must be within 0.1%. It may be necessary to increase the resolution of the values provided. |
| 8972 |
A grouped axis is disabled. If using MC_GroupEnable, all axes must be powered up using Y_GroupPower first. |
| 8973 |
Invalid transition mode. |
| 8974 |
Invalid transition parameter. |
| 8975 |
Invalid transition geometry. The values for the acceleration, deceleration, and/or velocity of the transition yield an invalid geometry. Given the limits of accel/decel, velocity, and length of the segment, can't create the corner geometry to meet the specification. |
| 8976 |
Invalid axes group state transition. Axes groups cannot transition directly between certain states, such as direct transition to disabled state from moving or error states. Use the appropriate function block to transition to the correct intermediate state. |
| 8977 |
Invalid axes group motion coordinate type. The optional limit coordinate type specifier (a.k.a. VelocityUnit) parameter for the motion was outside the allowed range. |
| 8978 |
Infinite velocity constraint. The resolved velocity limit for the move was infinite. If there is no Cartesian motion, and a rotational change only, use the MoveOptions input to specify the VelocityUnits as 'UseRotationalScalers.' Or - There is a non zero value in the position VECTOR for a degree of freedom that the AxesGroup does not support. |
| 8979 |
Infinite acceleration constraint. The resolved acceleration limit for the move was infinite. |
| 8980 |
Infinite deceleration constraint. The resolved acceleration limit for the move was infinite. |
| 8981 |
Insufficient Coordinate Frame size. |
| 8982 |
Invalid Tangent Plane. |
| 8983 |
Invalid Colinearity Angle. The range is 0.0 to 10.0. |
| 8984 |
The points specified to describe the circle are invalid due to a mismatch in dimensions, or the rotations do not match. |
| 8985 |
Acceleration constraints violation. Computed motion violates acceleration constraints. |
| 8992 |
Computed motion violates velocity constraints. |
| 8993 |
Group must not be enabled for this action. |
| 8994 |
Group filter not supported. |
| 8995 |
Axis group filter time constant too large. |
| 8996 |
Group filter time constant must be set to non-zero value prior to enabling |
| 8997 |
The specified action was not supported for the specified coordinate frame combination. |
| 8998 |
A zero-length vector was supplied for the direction |
| 8999 |
The specified coordinate frame was actively involved in commanded motion and could not be modified. PCS frame already in motion with ExecutionMode#immediate (use queued mode instead.) |
| 9000 |
The specified blending transition is not possible based on the two moves in the buffer to be blended. For example, Move 1 is a line and Move 2 is an arc, and they are not in the same plane. |
| 9001 |
The specified blending transition required exact corner distance or deviation, but insufficient distance remained in the segment to satisfy the transition geometry. |
| 9002 |
The position was unreachable due to inverse kinematics limitations. Try a direct move instead of a linear move. |
| 9003 |
Specified blending transition for the function block could not be realized due to blending parameter restrictions. Typically due to accel limit too low or segment length too short, relative to transition velocity. |
| 9004 |
Invalid or unsupported ExecutionMode. |
| 9005 |
Invalid or unsupported TrackProfile |
| 9006 |
Invalid TrackProfile parameter, possibly the SyncIn and SyncOut master distance sum is greater than (EndDistance - StartDistance) |
| 9007 |
The execution of the function with ExecutionMode = Queued or Delayed failed. The conditions for applying the function were validated when it was executed, but when the deferred execution occurred the conditions were no longer valid. Check the sequencing of the program. |
| 9008 |
Invalid ServoPack memory address. The specified memory address is out of range. |
| 9009 |
Unsupported ServoPack memory operation. Memory operations are not supported on this ServoPack model. |
| 9010 |
Invalid ServoPack memory access mode. Attempted non volatile write to volatile only address. |
| 9011 |
The tracking position was already past the allowable sync range before the conditions for sync-in were met. |
| 9012 |
Conveyor tracking cannot be re executed while TrackState is non zero. (Tracking is currently in operation.) |
| 9013 |
The target coordinate frame is invalid or not defined. Tip: Use Y_GroupSetFrameOffset or MC_TrackConveyorBelt before executing a move in PCS. |
| 9014 |
The Conveyor reversed direction and re entered a previously completed TrackState region. |
| 9015 |
The tracking position traveled past TrackOptions.StartDistance + DelayLimit with ExecutionMode#Queued or #Delayed without the ExecutionMode being satisfied. |
| 9016 |
Group not paused / interrupted. |
| 9017 |
A synchronized group cannot enter the velocity override state. |
| 9018 |
Attempted non volatile write while axis enabled. |
| 9019 |
An invalid value of DwellTime parameter was input to the function block. |
| 9020 |
An invalid value of BlankTime parameter was input to the function block. |
| 9021 |
An invalid value of FinalDwellTime parameter was input to the function block. |
| 9022 |
The alarm code used to query an alarm description was not recognized by the controller. |
| 9023 |
The Alarm Describer is fetching the description of the alarm code entered from an xml file. |
| 9024 |
The Alarm History operation is already in progress. |
| 9025 |
Specified points are collinear when not allowed. |
| 9026 |
Specified points are coincident when not allowed. |
| 9027 |
Radius from center of start/end/via points is not consistent within tolerance |
| 9028 |
Via point is missing when required, incorrect size, or otherwise invalid |
| 9029 |
Normal vector is missing when required, incorrect size, or otherwise invalid |
| 9030 |
Circle center could not be calculated due to numeric imprecision error |
| 9031 |
The read multiple alarms operation is already in progress. |
| 9032 |
The specified velocity unit is not compatible with the dimension of the distance provided |
|
Remote Kinematic Controller ErrorIDs
|
| 9216 |
Invalid Host_ID. Supported Host_IDs are (0 = Locally hosted group, 2 = MotomanSync robot group.) |
| 9217 |
Invalid Interface_ID. Supported Interface_IDs are (0..7) |
| 9218 |
Invalid Device_ID. Device_ID must be 0. |
| 9219 |
The groups motion engine generated an error. Use the MC_GroupReadError function block to obtain the GroupErrorID. Possibly a motion input such as velocity or acceleration are out of range. |
| 9220 |
Group is not enabled. Enable the group using MC_GroupEnable. |
| 9221 |
EtherCAT or EtherNet/IP communication between the controller and the MotomanSync robot interface was lost. |
| 9222 |
State Transition Error. Refer to MC_GroupReadError for further details. |
| 9223 |
Trajectory Shape Error. The value passed to MoveOptions.TrajectoryShape is invalid. Valid trajectory types are 0 = Trapezoid and 1 = S-Curve. |
| 9224 |
Profile Unit Error. The value passed to MoveOptions.ProfileUnit is invalid. Valid values are 0 (% of maximum) or 1 (Absolute units). |
| 9225 |
Invalid Control Mode. The group is set for Jogging or Manual mode, and an MC_MoveLinear or similar function block was executed, or Y_GroupJog or similar function block was called while the group was set for Automatic mode. |
| 9226 |
IdentInGroup not found in AxesGroup.Axis.Label[] |
| 9227 |
The Conveyor Position is already greater than RecordedPosition +TrackOptions.SyncIn.EndDistance before MC_TrackConveyorBelt became Active. |
| 9228 |
An unsupported value of Y_VelocityUnit was used as the VelocityUnit input for the function block. Valid values are 0, 1 and 2. |
| 9229 |
The AxisRef passed into the function block does not match any AxisNums in AxesGroup.AxisRef[].AxisNum |
| 9230 |
Y_MS_Driver startup error. Possible causes/solutions: 1) Verify that the correct IP address for the remote hosted controller is configured. 2) Possibly the EIP_Output structure is not mapped to the correct hardware address. 3) Try slowing the cyclic task interval of the Y_MS_Driver FB to 8 mSec. 4) The EtherCAT's system and global variables update task is not set to the appropriate task (it should be the same task as the one in which the driver runs). 5) HotConnect is enabled, but the identification value configured in the project does not match the one in the robot cabinet. |
| 9231 |
MS_Driver startup error. Possibly the EIP_Input structure is not mapped to the correct hardware address. The Ethernet/IP status word has a value of zero, which should never occur. Open the Hardware Configuration and save again. The Hardware Configuration configures the necessary variables and maps them to the appropriate hardware address. |
| 9232 |
Trajectory Type Error. An invalid trajectory type input was used for the function block. Valid trajectory types are 0 = Axis and 1 = Tool Center Point (TCP) |
| 9233 |
An invalid value was passed to the TCPCoordinate input. Valid value are (0, 1, 2, 3, 4, 5) which correspond to (X, Y, Z, Rx, Ry, Rz) |
| 9234 |
A watchdog error for data passing between the PLC and an remote robot has occurred |
| 9235 |
Module Info Read Error. There was an internal error in the function which reads the MotomanSync module information. |
| 9236 |
Ethernet/IP communication Error. The status variable for the MotomanSync interface does not indicate healthy communication. (It is not 1000 Hex.) |
| 9237 |
When there is more than one robot configured on an MotomanSync interface, there must be one Y_MS_Driver for each robot. The first function block to run is designated as the primary. A secondary Y_MS_Driver will indicate this error if the primary Y_MS_Driver function block is no longer 'Valid'. |
| 9238 |
Invalid [Origin, XX, XY] points. Origin coincides with XX, or Origin coincides with XY, or XX coincides with XY or Origin to XX is parallel to XX-XY. |
| 9239 |
Invalid input or output frame. This function supports WCS, MCS, and PCS. |
| 9240 |
Calculation leads to a singularity. Calculated output coordinates is in a singular or gimbal lock configuration. |
| 9241 |
The AxesGroup BaseOffset, ToolOffset, or PartFrameOffset was changed while this function block was enabled. |
| 9242 |
The MotomanSync interface has a firmware version that is not compatible with the user library in the project. Check the MotomanSync hardware to verify the firmware version. Either change to the appropriate user library or send the MotomanSync controller to Yaskawa for a firmware upgrade. |
| 9243 |
The MotomanSync interface reports Error 17. Possible causes include: HardwareMode was selected, but the MotomanSync interface could not connect to the ServoPacks via EtherCat. |
| 9244 |
The HardwareMode selected does not match the MotomanSync operation mode. Possible causes are: 1) The HardwareMode cannot be changed after the Enable input goes high. 2) If the MotomanSync controller is configured to support more than one robot, all robots must be set for the same HardwareMode. 3) The MotomanSync controller may require a reboot to enter Hardware mode. |
| 9245 |
Setting the Tool Transformation offset failed. The expected TCP position was out of range of 0.1 units on one or more of the axes. |
| 9246 |
One of the GroupInputs is in a state which prevents this function block from executing. |
| 9247 |
Use the Y_MS_ConveyorConfig Function Block to configure MotomanSync Conveyors. |
| 9248 |
ConveyorTracking, PalletSolver, or MotoPick is not installed on the MotomanSync controller. |
| 9249 |
The Group's E-Stop input is preventing motion. |
| 9250 |
The Group's guard circuit input is preventing motion. |
| 9251 |
One of the Group's interference zones is violated. |
| 9252 |
The Group's live man switch is preventing manual mode operation. |
| 9253 |
The Group's Safety circuit is preventing motion. |
| 9254 |
When defining interference zone, the value provided can't make a valid cuboid. |
| 9255 |
The input interference zone type is not supported. TwoCorners(INT#0) and CenterPoint(INT#1) are the two zone type supported. |
| 9256 |
The input interference zone action is not supported. Warning(INT#0) and Abort(INT#1) are the two zone actions can be executed when TCP is in zone. |
| 9257 |
MotomanSync has returned errors when setting interference zones. |
| 9258 |
MC_GroupSetPosition.SetMode can only have values of 0, 1, or 2. |
| 9259 |
MC_GroupSetPosition cannot be used on remote hosted groups with simulated or virtual axes. |
| 9260 |
User Defined a ZoneID is out of range. |
| 9261 |
Interference Zone can't be activated during motion. |
| 9262 |
General SetFrameOffset error. One of the lower level functions returned an error. Please call Yaskawa America motion applications for assistance. |
| 9263 |
There is more than one scanner (EIP master) device trying to communicate with the same remote hosted robot controller. |
| 9264 |
Although communication between the controller and the remote hosting controller has been established, valid data read is not possible. Try re-enabling the function block. |
| 9265 |
Option monitor feedback types is invalid. Valid values for MotomanSync are 0 , 1 , 2 , 3 , 4 , 5 , 6 or 7 |
| 9266 |
For remote hosted groups such as YRC1000, the Y_GroupInputs function block cannot be used when MS_Driver.HardwareMode = TRUE. |
| 9267 |
Wrong controller hardware for a configured group mechanism. |
| 9268 |
Invalid Tool Number. Valid Tool numbers range from 0 - 63. |
| 9269 |
This function block must be executed in a task with an update interval of 4 or 8 mSec. |
| 9270 |
Robot Controller Key switch or E-Stop error. Robot Controller programming pendant Key switch might not be set to 'Remote' or the E-Stop is pressed. Set the Key switch to 'Remote' and verify that the E-Stop is released, then re-enable MS_Driver. |
| 9271 |
Robot Controller is configured for the wrong endianness. Either downgrade the MSync user library to MSync_3f220, or configure the Robot Controller for MotomanSync as BIG endian. |
| 9272 |
(Undefined variable: Primary.ErrorID_9272_Description) |
| 9273 |
It took longer than normal for the axes to be switched to the requested power state. Make sure that there are not multiple instances of Y_GroupPower or other MC_Power or AxisControl FBs for the same group or axis as this can cause conflicting commands and therefore a timeout. This error may also occur if Y_GroupPower is executed in a task with an interval less than 4 mSec. |
| 9274 |
Wrong controller hardware for 5 or 6 axis mechanisms. |
| 9275 |
MotomanSync controller keyswitch should be in remote |
| 9276 |
Free curve not supported for direct moves |
| 9277 |
Cannot execute direct moves while free curve is on |
| 9278 |
PCS move can not be executed in TrackState = 4 for MotomanSync groups |
| 9279 |
Invalid FileType input for Y_MS_GetSafetyCRC. Must be 0 to 22. |
|
Toolbox ErrorIDs
|
| 10020 |
ProductSize cannot be less than or equal to zero. |
| 10021 |
Maximum allowed consecutive missed registration marks reached. |
| 10022 |
Product or circular buffer overrun / full. |
| 10023 |
Buffer size too small / cannot be zero. |
| 10024 |
DataSize must be greater than zero. |
| 10025 |
SensorMinimum must be less than SensorMaximum. |
| 10026 |
Positive Position Limit must be greater than Negative Position Limit. |
| 10027 |
Negative Position Limit must be less than Positive Position Limit. |
| 10028 |
Positive Velocity Limit must be LREAL#0.0 or greater. |
| 10029 |
Negative Velocity Limit must be LREAL#0.0 or lower. |
| 10030 |
Positive Acceleration Limit must be greater than 0. |
| 10031 |
Negative Acceleration Limit must be less than 0. |
| 10032 |
Positive Deceleration Limit must be greater than 0. |
| 10033 |
Negative Deceleration Limit must be less than 0. |
| 10034 |
Interpolation calculation error. |
| 10035 |
Gripper Close Error (Timeout). |
| 10036 |
Latch Error. LatchReference was negative. This situation should never occur. Verify that the normal axis movement is in a positive direction. |
| 10037 |
Offset cannot be in the same direction as the original motion into the limit switch. |
| 10038 |
CamData.LastSegment must be greater than 0 and less than 400, or whatever value has been declared as the ARRAY size in the CTB_Types file. |
| 10039 |
Cam Segment 'Resolution' cannot be zero unless the CurveType is TB_CurveType#StraightLine. Another cause of this error is if the Resolution is greater than the master delta for a given segment. |
| 10040 |
Curve Type selected in a segment is not valid. |
| 10041 |
Total pairs required would exceed DataType definition for MS_Array_Type based on number of segments and resolution settings in CamData. |
| 10042 |
Master must be always increasing from segment to segment. |
| 10043 |
Tangent Match formula error, cannot have only one segment. |
| 10044 |
Tangent Blend error, must have two segments, a straight line and a Tangent Blend, in either order. |
| 10045 |
SlavePosition not found in Y_MS_CAM_STRUCT. |
| 10046 |
Both cam tables must have the same number of point to be added together. |
| 10047 |
Both tables must have the same master cycle to be added together. |
| 10048 |
The IndexSpeed is less than 20. |
| 10049 |
Frequency cannot be less than 1 Hz. |
| 10050 |
The dwell cannot be greater than the IndexTime. |
| 10051 |
There must be a whole number of oscillations in an index at a given speed. |
| 10052 |
There is a discrepancy between the master values in Profile1 and Profile 2. At the same pair somewhere in the table, the masters have values differing by more than 1 user unit. |
| 10053 |
DataPoint Error. |
| 10054 |
One of the Segments in the PathData has an invalid Segment Type. Valid Segments types are defined in the Group Toolbox GroupTypes file as enumeration GTB_SegmentType. This error may also be the result of a mismatch in support for certain G Code / Segment Types based on the user's MachineStruct.MachineType setting. |
| 10055 |
The absolute sum of the motion for all axes relative travel from the previous segment cannot be zero. One axis must always be in motion from segment to segment, otherwise the virtual master distance cannot be calculated. |
| 10056 |
Arc Error. |
| 10057 |
Point Error. |
| 10058 |
The start angle must be a value from 0.0 to 360.0 degrees. |
| 10059 |
The axes got out of sync during the path motion. All Cam Slaves InSync output must be on or off at the same time, or this ErrorID is generated. |
| 10060 |
The axis must be configured as a rotary type for this function block to be applicable. |
| 10061 |
MasterType is something other than 0 or 1. |
| 10062 |
MachineCycle must be a positive value if MasterType = 0 |
| 10063 |
LastSwitch is set outside the 0-255 range. Sigma7_FT62 feature supports switch with the range of 0-31 |
| 10064 |
Track Number outside the 0-31 range. Sigma7_FT62 feature supports track(signal) with the range of 0- |
| 10065 |
FirstOnPosition is not equal to 0. |
| 10066 |
LastOnPosition is not equal to 0. |
| 10067 |
AxisDirection is not equal to 0. Direction enumeration is ranging from 0 to 2. |
| 10068 |
CamSwitchMode is not equal to 0. Sigma7_FT62 supports both position mode or time mode, which is 0 OR 1. |
| 10069 |
Duration is set to 0 or a negative value. |
| 10070 |
OnCompensationScaler is set to an invalid value. |
| 10071 |
OffCompensationScaler is set to an invalid Value. |
| 10072 |
ImproperOnPos_SetError. |
| 10073 |
OnOffPosition_Error. In Sigma7_FT62 feature, when it is position mode, FirstOnPosition and LastOnPosition can't be the same value. |
| 10074 |
Direction must be 0 for positive, or 2 for negative. |
| 10075 |
Calibration Error: Cal_X2 must be greater than Cal_X1. |
| 10076 |
WindowSize must be greater than zero. |
| 10077 |
Cubic Spline maximum number of consecutive segments exceeded. DataType definition for the Matrix could be increased if necessary. |
| 10078 |
Formula 27 Error is reserved for errors with circle calculations. |
| 10079 |
When using UserNoDwellModifiedConstant Velocity, there must be three contiguous segments with the same formula code applied, and the master percentages must be increasing. |
| 10080 |
Formula 29 error. |
| 10081 |
ControlData.DecisionPosition is 0. The position to determine when to disengage the cam cannot be less than or equal to zero. |
| 10082 |
Mode Error. ControlData.Mode can only be 1 (one way cam) or 2 (two way cam). |
| 10083 |
Unsupported Cubic Spline Sequence. |
| 10084 |
One of the Cam Tables has an invalid TableID. |
| 10085 |
Arc Error. The direction must be 1 or -1 and the radius must be greater than zero. |
| 10086 |
MaxPosCorrection must be zero or positive, MaxNegCorrection must be or zero or negative. |
| 10087 |
Arc Error. The arc radius cannot be less than half the distance between the two points that define the arc. |
| 10088 |
Arc Error. The arc profile makes the x axis (master) go backwards. |
| 10089 |
Bezier Error. There should be a straight line segment before and after the Bezier segment. |
| 10090 |
LREAL value too large to convert to the specified ASCII representation. |
| 10091 |
CheckSum Error. |
| 10092 |
Invalid Method. |
| 10093 |
Rate is less than or equal to 0. |
| 10094 |
S_Scans is less than 2 or greater than 30000. |
| 10095 |
TiError - PIParameters.Ti is set to <=0.0. This variable must be a positive number. |
| 10096 |
Time Period value for RateCalculator FB (e.g. ppm) is less than or equal to 10 ms. |
| 10097 |
Bezier Slope Error. The slopes of the two straight lines before and after the Bezier segment should have slopes with same signs. If the slopes are positive, the slave end point should be GE slave start point. If the slopes are negative, slave end point should be LE slave start point. |
| 10098 |
BufferPatternSize cannot be equal to 1 or greater than 10. |
| 10099 |
Latch feature not supported for the specified axis type. Only servo and external encoder axes support latch. Product Buffer needs to be set to test mode. |
| 10100 |
Both axes must be configured for the same axis type (Rotary / Linear) and if Rotary, they must have the same Machine Cycle. |
| 10101 |
Invalid Mode Error: The specified mode is invalid. The acceptable modes are 0:Calculate Gains, 1:Run |
| 10102 |
Temperature Out of Range Error. The actual temperature is above or below the acceptable range. |
| 10103 |
Response Error. The specified tuning response is invalid. The acceptable responses are 1:Slow, 2:Medium, 3:Fast |
| 10104 |
Output Limit Error. The lower limit must be less than the upper limit. |
| 10105 |
Sample Time Error. The sample time cannot be 0. Responsible for divide by 0 error. |
| 10106 |
Clock Error. The clock was left unconnected. |
| 10107 |
Cycle Error. The system must be able to tune for at least 1 cycle. Check CycleCount and IgnoreCycle variables. |
| 10108 |
Timeout Error. The system has taken too long to complete auto tuning. |
| 10109 |
Device Name Error. Device name cannot be blank. |
| 10110 |
Too many tabs specified. |
| 10111 |
Pitch between labels would be negative, need more spacing between tabs. |
| 10112 |
Tab mode must be specified as 1 (Tabbing) or 2 (Stamp). |
| 10113 |
Cam table index out of order (Lower index greater than upper index) |
| 10114 |
Incorrect cam table size (check the CamTable.Header.Datasize) |
| 10115 |
XML Tag not found. Tip: If this error is generated from an application with a group configured, and the AxesGroup has additional non group axes added to it such as for tangent operation, confirm that the AXIS_REF specified in the AxesGroup.Axis_Ref[] matches the intended AXIS_REF of the additional axis. See the Toolbox manual, Group Toolbox section on “Tangent Mode.†Otherwise, possibly the file is corrupt or the schema is not compatible with this function block. |
| 10116 |
Problem converting string data to the output buffer. |
| 10117 |
The controller already has a String Conversion Error at the rising edge of this function. Clear the alarm using Y_ClearAlarms and try again. |
| 10118 |
STRING_TO_BUF Conversion Error. |
| 10119 |
In the Data Structure, rows and columns must be set greater than zero and the records should be lower than or equal to the maximum number of records. |
| 10120 |
File could not be opened. Check for accurate directory path and use of "/" |
| 10121 |
The CSV file was written in a format unsupported by this function block. |
| 10122 |
Row Error. The data is out of sync with the expected row / column arrangement expected. |
| 10123 |
Column Start Error. The data is corrupted. |
| 10124 |
Unsupported Case condition. |
| 10125 |
Conversion Error. Check the ErrorRow and ErrorCol / ErrorString outputs for details. |
| 10126 |
NoDataError - The End Of File was reached, but the record count is zero. Verify the file is not corrupted. |
| 10127 |
TooManyRecords - DataType is not large enough. |
| 10128 |
MaxNotDefined - The user must set the maximum number of records that can be added to the structure. |
| 10129 |
No Carriage return found in CSV buffer. The function searched the file for twice the length of the specified buffer and was unable to find a carriage return indicating the end of a row. Either the buffer size is too small, or the data is invalid. |
| 10130 |
The center to co-ordinate distance for the two input co-ordinates are not the same |
| 10131 |
Zero radius is invalid. |
| 10132 |
Only modes 0 (center + 2 co-ordinates) and 1 (radius + 2 coordinates) are supported. |
| 10133 |
The coordinates of the two data points are the same. |
| 10134 |
StandStillDurationError: Time <=0 cannot be used as an input for segment type 3 (standstill) |
| 10135 |
InputConditionError: If Input Conditions are defined as 0 in the path structure for segment type 4(Wait for inputs) |
| 10136 |
Loop Error. The ability to repeat sections of the path requires that the entire path is contained in the PathData structure at once. A LoopDecision or NonBlockingLoopDecision segment type detected that PathData.Buffer.Overwritten = TRUE. |
| 10137 |
Path Dirty Error - The path has been overwritten (circular buffer) so ti cannot restart at the beginning. |
| 10138 |
The positions of the main and prime axes are outside the specified Allowance to permit motion on the prime axis. |
| 10139 |
VelocityScaler cannot be less than or equal to zero. |
| 10140 |
Must be greater than zero and less than 20. |
| 10141 |
Same Points Error - The 2 points given are equal. |
| 10142 |
Negative Radius Error - The Radius given is less than or equal to 0. |
| 10143 |
Incorrect Circle Info - incorrect inputs were given for the Direction or PathChoice. |
| 10144 |
Points Too Close Error - The smallest possible diameter for a circle given two points can be calculated as the distance between both the points. |
| 10145 |
Error in obtaining microsecond tick. No valid output from PBCL_sysGetMicroTick_2 function. |
| 10149 |
Frame matrix error: Check if the last row is [0, 0, 0, 1] and if the column vectors are unit vectors and are orthogonal to each other. |
| 10150 |
Theta 1 Below Minimum. |
| 10151 |
Theta 1 Above Maximum. |
| 10152 |
Theta 2 Below Minimum. |
| 10153 |
Theta 2 Above Maximum. |
| 10154 |
Imaginary ChordHeight (impossible for mechanism). |
| 10155 |
Maximum Compression Reached (Mechanism squats too deeply). |
| 10156 |
Locked Leg at Knee Joint B (Link2-Link3). |
| 10157 |
Locked Leg at Knee Joint D (Link1-Link4). |
| 10160 |
CommandString length is invalid. |
| 10161 |
Invalid CommandCode. |
| 10162 |
Parameter being searched for is out of range. |
| 10163 |
Mode input not valid. |
| 10164 |
Invalid character position input. |
| 10165 |
CommandString length is too long or command delimiter not found. |
| 10166 |
File Not Found. |
| 10167 |
Invalid characters in file path or name. Dont include slash period or space character. |
| 10168 |
Buffer Size Error. |
| 10169 |
Maximum allowed total missed registration marks reached. |
| 10170 |
Maximum deviation between motor and encoder was exceeded. |
| 10171 |
Home approach distance limit encountered. Latch input not detected within the approach distance limit. |
| 10172 |
Use Pointer Error when using MultiUsePointers. |
| 10173 |
Duplicate latch values detected. |
| 10174 |
Out of range Error. When GridLookup started executing, the Coordinate position was already out of the range of the measured region. |
| 10175 |
Too many custom G or M Code segments were deferred for future processing to be synchronized with buffered motion preceding the custom codes. |
| 10176 |
Unrecognized motor model number. Make sure that the Y_MotionAxisDriver is enabled and valid. |
| 10177 |
There was an internal problem calculating the segment length. Contact Yaskawa for support. |
| 10178 |
There was an internal problem calculating the segment time. Contact Yaskawa for support. |
| 10179 |
There was an internal problem managing segments during Tool Compensation. Contact Yaskawa for support. |
| 10180 |
SpeedMatchLengthError: PartLength <= SpeedMatch Length. |
| 10181 |
SpeedMatchLimitError: SlaveCycle <= SpeedMatch Start angle. |
| 10182 |
Speed Match Range Error: SpeedMatch start angle <= SpeedMatch end angle. |
| 10183 |
Sensor Distance Error: Sensor distance <= Part length. Cam blend cannot be accomplished with such a set up. |
| 10184 |
Engage Distance Error: Safe Engage Distance <= Part length. Cam Blend cannot be accomplished with such a set up. |
| 10185 |
Unrecognized Axis_Ref.AmplifierModel. Make sure that the Y_MotionAxisDriver is enabled and valid. |
| 10190 |
Part Length Error: PartLength input must be greater than zero. |
| 10191 |
Speed Match Distance Negative: The SpeedMatchDistance input must be greater than zero. |
| 10192 |
Master Speed Match Position Negative: The MasterSpeedMatchStartPosition must be greater than zero. |
| 10193 |
Speed Match Length Error: The PartLength must be > SpeedMatchDistance. |
| 10194 |
Stroke Length Exceeded: The calculated stroke length is greater than the allowable ShearStrokeLength. Increase the allowable shear stroke length or reduce the speed match distance. |
| 10200 |
Region Error: The min and max values for the region size are swapped. |
| 10201 |
No Outputs Error: The function did not find an output on the tooling which resides in the area for the part to be picked. |
| 10202 |
Duplicate Output Error: The function tried to allocate an output for a part which was already assigned to another part. |
| 10203 |
Container Error: CP_Struct.LastContainer must be greater than zero. |
| 10204 |
Part Error: CP_Struct.LastPart must be greater than zero. |
| 10205 |
Layer Error: CP_Struct.LastLastLayer must be greater than zero. |
| 10206 |
Pick Error: Each CP_Struct.Layer[n].LastRegion must be greater than zero. |
| 10207 |
Pick Dimension Error occurred when calculating the size of the region to be picked. |
| 10208 |
Region Location Error. |
| 10209 |
Location Error: CP_Struct.LastLayer must be greater than zero. |
| 10210 |
Region Error: All parts in a region must be from the same location / conveyor system. |
| 10211 |
Tool Error: CP_Struct.Tool.XTips and CP_Struct.Tool.YTips must be greater than zero. |
| 10220 |
Encoder ConfigurationError. Encoder must be configured as an absolute encoder for Sigma7_FT62 feature. Set Pn002.2 to 0. |
| 10221 |
Invalid Enumeration. Sigma7_FT62 high speed output signal enumeration does not match acceptable values. |
| 10222 |
Reboot Required Error. Reboot the controller to complete writing of non-volatile memory. |
| 10223 |
Out Of SyncError. The current encoder position is out of sync with the current output and checkpoint positions. |
| 10224 |
Output Delta Error. The output position cannot be changed by more than +/- 45 degrees in a single machine cycle. |
| 10225 |
Excessive Pos Error: Configured output distance exceeds one machine cycle. Decrease position setting to within one machine cycle. |
| 10226 |
Excessive Distance Error: Configured output distance exceeds one machine cycle. Decrease the distance setting to within one machine cycle. |
| 10227 |
Flash Memory Write Error: A failed attempt was made to write to the drive's non-volatile flash memory. The drives non-volatile memory cannot be written while the axis is enabled. Disable the axis and try again. |
| 10228 |
Invalid Cam Switch Mode Error: The configured CamSwitchMode does not correspond to a valid enumeration value. |
| 10230 |
Winder1RevPulse cannot be less than or equal to zero. |
| 10231 |
LineRoll1RevPulse cannot be less than or equal to zero. |
| 10232 |
LineRollDiameter cannot be less than or equal to zero. |
| 10233 |
WinderInitDiameter cannot be less than or equal to zero. |
| 10234 |
WinderMinDiameter cannot be less than or equal to zero. |
| 10235 |
WinderMaxDiameter cannot be less than or equal to zero. |
| 10236 |
Normal_Rate cannot be less than or equal to zero. |
| 10237 |
E_Stop_Rate cannot be less than or equal to zero. |
| 10238 |
Sshape_Time cannot be less than or equal to zero. |
| 10239 |
Rate cannot be less than or equal to zero. |
| 10240 |
PI_Parameters.RefRate cannot be less than or equal to zero. |
| 10250 |
Data Size Mismatch. The size of the Temperature Control Parameter File is different than the size of the structure it must be copied to. Possible data corruption. |
| 10251 |
Version Error. The file version of the Temperature Control Parameters is not recognized by this version of the function block. |
| 10252 |
Target Temperature Range Error. The target temperature is not within the range of -500 to 1000. |
| 10253 |
Temperature Limit Error. The minimum or maximum temperature limits are not within the range of -500 to 1000, or the maximum temperature limit is less than the minimum temperature limit. |
| 10254 |
Output Bias Error. OutputBias cannot be less than 0. |
| 10255 |
Ignore Cycle Error. IgnoreCycles cannot be less than 0. |
| 10256 |
Autotune Timeout Error. AutotuneTimeout cannot be lss than 0. |
| 10257 |
Feedback Error. The feedback did not increase after 30 seconds of applied output. |
| 10300 |
/BK signal of the SERVOPACK is not allocated to a valid output and the holding brake cannot be released. |
| 10301 |
The submodule of the dual or triple SERVOPACK is not correct. |
| 10302 |
The servomotor connected to the SERVOPACK doesn't have a holding brake available. |
| 10600 |
Unsupported Letter Code. A G Code started with a character that was not recognized. |
| 10601 |
Unsupported G Code |
| 10602 |
Unsupported M Code |
| 10603 |
PathData is currently in use by MC_MovePath, it is not possible to START reading data into the structure until MC_MovePath is Done. |
| 10604 |
Circle Error. When specifying an arc (G02 or G03), both the I and J registers cannot be zero. |
| 10605 |
Offset Error. G10 'P' parameter must be 1 through 9. |
| 10606 |
User Unit Error. An invalid combination of user units between the Hardware Configuration and the G code data was found. Example: HC is configured for revolutions, and the G Code file specifies mm. The G Code Processor can only convert between linear units. |
| 10607 |
Segment Error. A function inside MC_MovePath could not find a SegmentID for the current motion that matches one assigned when the motion function block was executed. |
| 10608 |
CompTypeError - There was no valid combination of motion segments (Line-Line, Line-Arc, Arc-Line, Arc-Arc) |
| 10609 |
Tool Compensation Error - There was no valid solution found for an Arc - Arc combination |
| 10610 |
LogicError - General failure determining a solution for the required tool compensated coordinates. |
| 10611 |
Division by zero. |
| 10612 |
Tool Compensation Error. A segment transition from line to line, line to arc, arc to line, or arc to arc was not detected. |
| 10613 |
Tool Compensation Error. No solution found for an arc to arc transition. |
| 10614 |
Tool index as specified in the 'P' register must be between 1 and MaxTools, which is the size of the ToolDataStruct in the Group Toolbox G Code datatypes file. |
| 10615 |
G10 Error. The 'L' register must be 1 or 2. |
| 10616 |
OperationMode Error. The VAR_INPUT is requesting "Infinite Repeat" but the path is too large to fit within the PathData.Segment struct at once, and the beginning of the path was overwritten. Infinite repeat mode is only possible if the entire path can be contained in the PathData structure. |
| 10617 |
Group Name Error. Check AxesGroup.Name for validity. |
| 10618 |
ControllerInfo Error. Connect a Global variable of datatype CONTROLLER_INFO |
| 10619 |
Invalid File Name |
| 10620 |
Spindle calculation error |
| 10621 |
Final Segment Error. The PathData.FillMethod is set as n/a and the PathData.FinalSegment is zero. Please set PathData.FinalSegment properly. Tip for G Code users: Make sure that either the Read_Code_File or Read_GCode_Stream functions are 'Busy' before executing MC_MovePath. |
| 10622 |
Tangent configuration error. Maybe the Tangent axis is configured as a theta axis of the group, and not as an external axis. (Must not be a group's theta axis.) |
| 10623 |
Max Segments Error. AxesGroup.Status.FreeMotionSegments <= (MachineData.Prms.MaxSegmentsPerScan * 2). Either increase the Motion Queue Size in the Hardware Configuration for this group, or reduce MyMachine.MaxSegmentsPerScan. |
| 10624 |
Emulation Error. MachineData.Emulation is not set to a valid value. |
| 10625 |
Program List Error. There are more sub program calls in the data than are supported by the G Code functions. (O register) |
| 10626 |
Stack Overflow. There are more Jump Segment Types in #31261 than the defined size for PathData.Logic.Events |
| 10627 |
Variable Error. A line that starts a variable assignment is missing an equal sign, or the variable index is out of range [1 to 1000] |
| 10628 |
The canned cycle G Code is not supported. |
| 10629 |
Cycle Array Error. The G code data contains more information for a canned cycle than an internal structure which holds all the XZ information contained within the P & Q line numbers. |
| 10630 |
Canned Cycle Finishing Error. Possible causes are: #1) (End - Start) block must be at least one block. 2) The range of commands to be repeated must come after G71. |
| 10631 |
A command was encountered that is not supported for the configured MachineType. For example, M270 is found (for 3D printing,) but MachineData.MachineType <> GTB_MachineType#Printer |
| 10632 |
Joint Not Configured. Could not find a Degree of Freedom in the HomeData. For Example, in HomeData.Sequence[1].DOF[1] :='Z', 'Z' was not found in the AxesGroup configuration. |
| 10633 |
Queue Size Error occurs if the Motion Queue Size set in the Hardware Configuration is larger than the DataType #31261.Segment[ ] in the Group Toolbox. |
| 10634 |
The Motion Queue Size set in the Hardware Configuration is larger than the DataType #31261.Segment[ ] in the Group Toolbox. Adjust the Motion Queue Size so it is smaller than the size declared for #31261.Segment[ ]. |
| 10635 |
Program List Error. The G Code data refers to more program labels (typically from an IF or M98 command) than the declared size of ProgramList.Name[], which is typically 16. |
| 10636 |
Logic Type Error. The command is not formatted correctly. Examples: N25 IF [#500 LT 25] N35 or N10 #3=0 |
| 10637 |
Conversion Error. A logical expression could not be converted from a byte array to a string. Contact technical support for assistance. |
| 10638 |
JumpError. The IF instruction must include a line number reference as Nxx where the first character is "N" and the remaining characters are numeric. Example: N25 IF [#500 LT 25] N35 |
| 10639 |
Operand Error. The following operands are supported in an IF instruction: EQ, GE, GT, LE, LT, NE, =, >=, >, <=, <> |
| 10640 |
Tool Length Error - G Code Register._H is not 0, 1, or 2. |
| 10641 |
Evaluation Error. There was something wrong with a logical command such as a missing # sign, unsupported or improperly formatted logical comparison, or divide by zero. |
| 10642 |
The MC_MoveAbsolute to touch the plane set its Done output before the specified torque limit was reached. Maybe the position specified for the contact measurement is not enough. It must be a position which cannot be achieved due to contact with the surface. |
| 10643 |
Input product has an invalid ProductType. Must be 0-49. |
| 10644 |
Specified ConveyorBelt not defined in DistributionConfig. |
| 10645 |
DistributionConfig has an invalid SequenceLength for the specified ConveyorBelt. The valid range is 0-16. Check DistributionConfig[x].SequenceDistribution.SequenceLength, where x is the element that specifies sequence parameters for the selected ConveyorBelt. |
| 10646 |
DistributionConfig has invalid sequence element values for specified ConveyorBelt. Must be 0-7. Check DistributionConfig[x].SequenceDistribution.SequencePattern[] where x is the element that specifies sequence parameters for selected ConveyorBelt. |
| 10647 |
GroupNumber is invalid. Must be 0-7. |
| 10648 |
Specified ProductNumber is invalid. Must be 0-49. |
| 10649 |
Number of products is greater than maximum allowed. |
| 10650 |
Unsupported Coordinate System Conversion attempted |
| 10651 |
The sample size must be between 0 and 32. |
| 10652 |
Y_ProbeContinuous is configured incorrectly to catch both the rising and falling edge of the incoming part. SlaveBuffer.PatternSize must equal 2, .PatternArray[0] must be 1, .PatternArray[1] must be 2, and Pn511.1 must be 4 and Pn511.2 must be E. |
| 10653 |
Incoming products have a part length delta that exceeds the defined tolerance. |
| 10654 |
The StartPoint must always be less than the EndPoint. |
| 10655 |
The specified Degree is invalid. The acceptable range is 7 to 31. |
| 10656 |
The specified Mode is invalid. The acceptable modes are 1:SyncInMode, 2:GapMatchMode, 3:SyncOutMode. |
| 10657 |
The sensor distance must be greater than 0.0 |
| 10658 |
The tolerance must be greater than 0.0 |
| 10659 |
Internal Error: Internal variables Pair and PairTotal do not match |
| 10660 |
Selected Extruder Error. Up to three extruders are supported. The G Code data specified a T value which is out of range. |
| 10661 |
Unconfigured Extruder Error. The G code data specified a valid extruder number as Tn but the corresponding extruder is not part of the group configuration. Check the MachineStruct.Variant setting, possibly a feature being accessed is not supported given the variant. |
| 10662 |
Grid Setup Error. X or Y range is less than or equal to zero, or the resolution is less than 3 points. |
| 10663 |
Group name not found in Group.XML configuration file. Contact Yaskawa Motion Support. |
| 10664 |
Structure version or size mismatch. Data received from DLL does not fit the expected data format. Maybe using incompatible DLL and Toolbox. |
| 10665 |
Set Position Error. Only 3D Printer Extruder 'E' axes are supported. |
| 10666 |
ExtruderOffsetInvalid. Extruder offset has not been revalidated since the extruder has been changed. Make sure that the extruder position is set with a G92 command before attempting to move it. |
| 10667 |
Feed Mode Error. When using Inverse Time Mode (G93) each motion instruction must contain an 'F' register feedrate value. |
| 10668 |
Parameter Error. A G code register contained an invalid (non numeric parameter) |
| 10669 |
Index Out of Range Error. A machine component or sensor has been specified that lies outside of the configurable range of indices. |
| 10670 |
The JointMap variable is empty. Execute Y_GP_ReadJointMap to populate the variable. |
| 11050 |
Cam correction (shift/offset) has been aborted by another function block. |
| 11051 |
Segment Error, could not find the previous motion segment to determine change in XYZ coordinates. Maximum search is 20 segments. Contact Yaskawa America for support. |
| 11052 |
There are no degrees of freedom defined for the Group. There could be a group configuration error. At least one of the first 6 AxesGroup.Machine.Label[] must be populated with a string name, or the AxesGroup.HostID must indicate a remote hosted robot. |
| 11053 |
Specified Degree of Freedom not found. (X,Y,Z,Rx,Ry,Rz) These are case sensitive and must match a Group Label from the Hardware Configuration. |
| 11054 |
Tolerance Too Wide Error. The tolerance specified is larger than the distance between the Approach and Measurement Positions. |
| 11055 |
Premature Touch Error. The measurement torque was achieved before the position was within GridSetup.MeasurementPosition + /- Gridsetup.Tolerance |
| 11056 |
Transfer, Approach, and Measurement Positions provided in the setup data are not in a progressive order |
| 11057 |
The External Plane specified contains axes which are not servos, which is required for this function to operate when the group is configured with a virtual axis as the joint used for measurements. |
| 11058 |
No axes specified for the Plane Joint which is required for this function to operate when the group is configured with a virtual axis as the joint used for measurements. Populate Setup.ExternalPlane with the AXIS_REF of the servo. |
| 11059 |
There are more secondary axes in the AXES_GROUP_REF than there is room allocated in the Plane Ref |
| 11060 |
The groups is configured with a virtual axis operating the plane to be measured and Setup.ExternalPlane is not configured to reference the real servo axis to be operated. |
| 11061 |
The mechanism is not supported by this function. |
| 11062 |
Stream Watchdog. The KeepAlive packets were not received by Read_GCode_Stream within the specified InactivityTimeout. |
| 11063 |
There were too many expression commands in the file. See the Group Toolbox DataType definition for LogicArray: ARRAY[1..256] OF LogicData |
| 11064 |
Rotary Error. The R register was specified on a G0 or G1 move, but the C axis is not configured as LoadType = Rotary in the Hardware Configuration. |
| 11065 |
Rotary Error. Rotary moves within one MachineCycle are only supported on the C axis. |
| 11066 |
Unhandled Override Error. A code was declared to be overidden, but no supporting IEC 61131 code was added in the Custom_Code_* fucntion blocks. |
| 11067 |
Path Capacity Error. This was thought to be an internal error that should never occur. Please report this problem to Yaskawa America Motion Application Engineering. |
| 11068 |
G53 Error. The Motion code in effect at the time of the G53 command must be G0 or G1, and no tool offsets can be enabled. |
| 11069 |
Block Sequence Error. There are more than one command on a line and the parser could not determine how to arrange the proper command sequence. |
| 11070 |
Sensor Config Error. MachineData.Printer.Extruder[SelectedExtruder].TempSensors is greater than the maximum size of the array for Temp Settings OR MachineData.Printer.BedTempSensors is greater the max size in the related structure. |
| 11071 |
TCPSyncError |
| 11072 |
No Previous Motion. An arc segment cannot be the first motion because a previous datapoint is required to calculate the arc parameters. |
| 11073 |
No Axes Specified. PathData.Segment[].AxesFlags cannot be zero, at least one of the axes positions must be specified. |
| 11074 |
Lookahead Error - Buffer capacity reached the limit while trying to look ahead the required stopping distance for a segment. Contact Yaskawa America Motion Applications for advice on this problem. |
| 11075 |
There was an internal problem sub dividing segments. Contact Yaskawa for support. |
| 11076 |
Home Preset Error. There are no axes specified for the Home Preset selected. |
| 11077 |
Block Sequence Error. All of instructions on the line did not resolve, not all of the commands were processed. |
| 11078 |
There was an internal with the Segment SubType. Contact Yaskawa for support. |
| 11080 |
Drill Cycle Error. Check to make sure all the register data provided with the G73 or G83 command are valid. In particular, make sure the Q value is positive. |
| 11081 |
Position Delta Calculation failure. The GCode_Processor was not able to determine the previous position. Call Yaskawa for support |
| 11082 |
Feature Combination Error. Variable support (Feature.X3) cannot be used in conjunction with Lookahead (Transition mode) or Feature.X0 (Constant Accel Feedrate Override) or Tool Compensation. See the Compass or Toolbox manual for the feature compatibility chart. |
| 11083 |
L10 Looping Error. The L10 command does not include the required parameter information. |
| 11084 |
GroupHomeData.Sequence[].LastDOF is larger than the size of the GroupHomeData.Sequence[].DOF array |
| 11085 |
GroupHomeData.LastSequence is larger than the size of the GroupHomeData.Sequence array |
| 11086 |
Relative extrusion mode (M83) cannot be used in combination with Constant Acceleration Feedrate Override (MachineData.Feature.X0). |
| 11100 |
BufferUseError. The buffer bank where data is to be recorded is currently writing data to the disk. This problem is due to a timing issue / race condition. (Recording is faster than writing. Consider changing the task interval or buffer size.) |
| 11101 |
Precision must be greater than 0 and less than 16. |
| 11102 |
reserved |
| 11103 |
TimeLimitError. The max recording time must be in the range of 0 to 60 seconds. |
| 11104 |
ChannelError. A maximum of 7 channels is supported. |
| 11105 |
DuplicateFilenameError. The file name's cannot be identical. |
| 11106 |
The reference file contains no data. |
| 11107 |
The comparison file contains no data. |
| 11108 |
The number of channel data in each file is different and cannot be compared. |
| 11109 |
Reference data in the file was not located. The file may be corrupt or it was not created by the DataLogWrite function block. |
| 11110 |
The Noise Window must be within the range of 0 to 20 samples. |
| 11111 |
Percent deviation must be within the range of 0 to 100%. |
| 11112 |
Cannot find matching values in the comparison file. |
| 11113 |
A samples timestamp is less than the previous timestamp, the file may be corrupt. |
| 11114 |
SampleRateError. The sample rate must be greater than zero. |
| 11115 |
FileLocationError. The file can only be stored in Flash or Ram. |
| 11116 |
FormatError. The parsed data is not in an acceptable format. |
| 11117 |
Invalid Yt_RW_DataLoggingStruct Input, TotalSamples and ChannelsUsed must be initialized to non zero positive values. If Comparing two Yt_RW_DataLoggingStructs, ChannelsUsed must be equal for both DataStructs. |
| 12000 |
Read response timeout, no response was received within the supplied TimeOut. |
| 12010 |
Not a response (QR should be 1 but it was 0). |
| 12011 |
Response was truncated because it extended beyond the 512byte UDP packet size. |
| 12012 |
Recursive is not available but was requested by the Query packet |
| 12021 |
Format error, the name server was unable to interpret the query. |
| 12022 |
Server failure, the name server was unable to process the query due to an internal problem. |
| 12023 |
Name error, not valid for this block (only valid for Authoritative servers). |
| 12030 |
Address length was less than 3 characters which is not possible. |
| 12031 |
Address format was incorrect as it does not contain a '.'. |
| 12032 |
Buffer Size Error. CommandType is set to 'Fixed' and CommConfig.BufferSize = 0. |
| 12033 |
Packet Size Error. Only occurs when CommandType is set to 'Fixed'. The requested data of the specified buffer size was not received within the specified timeout window. |
| 12034 |
Comm Type Error - CommType must be set to either 'serial' or 'Ethernet'. Default of 0 is n/a. |
| 12100 |
Connect to SMTP server timeout, no connection was established within the supplied TimeOut. |
| 12101 |
DATA portion of e-mail was not successful and therefore the e-mail may not send/be malformed. |
| 12102 |
QUIT error, there was an error sending the 'QUIT' command to the server over email. |
| 12103 |
NumRcpt cannot equal 0. |
| 12200 |
Connect to FTP server timeout, no connection was established within the supplied TimeOut. |
| 12201 |
Connect to FTP data socket timeout, no connection was established within the supplied TimeOut. |
| 12202 |
QUIT error, there was an error sending the 'QUIT' command to the server over FTP. |
| 12203 |
The credentials for the FTP server were incorrect (either one or both username and password). |
| 12300 |
File Error, no error information available. |
| 12301 |
Invalid file handle. |
| 12302 |
Maximum number of files are already opened. |
| 12304 |
File is already opened. |
| 12305 |
File is write protected or access denied. |
| 12306 |
File name not defined. |
| 12310 |
End of data reached. |
| 12312 |
The number of characters to be read from file is greater than the data buffer. |
| 12322 |
No data could be read from file. |
| 12421 |
Service not available, closing control connection. This may be a reply to any command if the service knows it must shut down. |
| 12425 |
Can't open data connection. |
| 12426 |
Connection closed |
| 12430 |
Invalid username or password. |
| 12434 |
Requested host unavailable. |
| 12450 |
Requested file action not taken / Requested mail action not take (mailbox unavailable). |
| 12451 |
Requested action aborted. Local error in processing. |
| 12452 |
Requested action not taken, insufficient storage space in system (FTP: File unavailable) |
| 12500 |
Syntax error, command unrecognized. |
| 12501 |
Syntax error in parameters or arguments. |
| 12502 |
Command not implemented. |
| 12503 |
Bad sequence of commands. |
| 12504 |
Command not implemented for that parameter. |
| 12521 |
[domain] does not accept mail. |
| 12530 |
Not logged in / Access denied. |
| 12532 |
Need account for storing files. |
| 12550 |
Requested action not taken. File unavailable (e.g., file not found, no access) / Mailbox unavailable. |
| 12551 |
Requested action aborted. Page type unknown / User not local. |
| 12552 |
Requested file action aborted, exceeded storage allocation / Requested mail action aborted, exceeded storage allocation. |
| 12553 |
Requested action not taken, file name not allowed / mailbox name not allowed. |
| 12554 |
Transaction failed. |
| 12560 |
Invalid Equipment Module number. |
| 12561 |
Equipment Module not enable in the system. |
| 12562 |
Invalid number of enabled Control Modules in selected Equipment Module. |
| 12563 |
Time rollover warning. |
| 13000 |
Invalid Trigger Flag number |
| 13001 |
Invalid Moving Flag number |
| 13002 |
Invalid Dwelling Flag number |
| 13003 |
Invalid Done Flag number |
| 13004 |
Flag numbers not unique |
| 13005 |
Bad parameters for Indexes-per-MachineCycle Mode. - Evenly dividing moves along a Machine Cycle requires Rotary Mode Configuration and a non-zero, positive number of indexes per machine cycle |
| 13006 |
Invalid Move Type |
| 13007 |
Invalid number of Repeats. Must be between 1 and 32767. |
| 13008 |
Too many segments specified for Indexes-per-MachineCycle mode. Max is 32767. |
| 13009 |
Valid Move Time not provided. Would result in divide by zero error. |
| 13010 |
Valid Move Accel and Speed not provided. |
| 13011 |
Invalid Input Number. Must be >=0 and <=7. |
| 13012 |
Output already in use by PLS |
| 13013 |
Invalid PLS Flag number |
| 13014 |
PLS Switch position is outside the Machine Cycle |
| 13015 |
Output conflicts with Motor Brake output (BK) |
| 13016 |
Output already in use by High Speed Index function or sequence table |
| 13017 |
Invalid Homing Parameters |
| 13018 |
Invalid Move Type - Overtravel(s) Disabled |
| 13019 |
Home Input Not Found |
| 13020 |
Invalid Homing Type. Must be >=0 and <= 15. |
| 13021 |
Invalid Accel/Decel Parameter. Must be >=0,0 |
| 13022 |
Invalid Velocity Parameter. Must not be 0.0 |
| 13023 |
Invalid Torque Parameter. Must not be 0.0 |
| 13024 |
Invalid Position Parameter. Must not be 0.0 |
| 13025 |
Absolute move not possible. Axis has not been homed. |
| 13026 |
Invalid Move Mode for HSI_Registration |
| 13027 |
The communication heartbeat monitor in the SigmaLogic unit has timed out and lost the connection to the host PLC. |
| 13300 |
Event number below lower boundary |
| 13301 |
Event number above upper boundary |
| 13302 |
Event Buffer Full |
| 13303 |
EM_Number out of range |
| 13304 |
EM_Number greater than number of enabed equiptment modules |
| 13305 |
Number of CM's invalid/ out of range |
| 13306 |
Time Roll Over Warning |
| 13500 |
Pendant Watchdog: Communications between the Pendant and MPiec was disrupted. The Watchdog time is set to 500ms. |
| 13501 |
There are no available locations to store the Job from file into the UserAppData structure |
| 13502 |
Name not found in UserAppData structure |
| 13550 |
MotomanSync Driver not valid |
| 13551 |
Pendant not in Teach Mode |
| 13552 |
Teach Error |
| 13801 |
Data Error: The data being transferred over ProfiNet is invalid. |
| 13802 |
Device Communication Error: The status of ProfiNet communication is not healthy. |
| 13803 |
Axis Index Mapping Error: A valid mapping between the Axis and its position in the ProfiNet, ModbusRTU or EtherCAT global variable AxisInfo list has not been made. 2 instances of Y_IM_GenericDeviceRTUDriver or Y_MotionAxisDriver are executed on the same device simultaneously. |
| 13804 |
Remote Error: The device could not be set to remote mode. The device needs to be in remote mode to accept commands from the motion controller. |
| 13805 |
Data Integrity Error: Driver data transfer/communication is invalid . The driver is not enabled or in an error state and needs to be restarted. |
| 13806 |
State Error: Invalid state transition occurred during operation. This could be because of an unexpected fault condition. Check the Axis Error. |
| 13807 |
Startup Check Error: The driver was unable to complete the startup procedure. Possible Causes:1. The PROFINET feature license is not activated on the controller2. The PROFINET feature not activated in the WBM--> System Services." |
| 13808 |
Position out of range |
| 13809 |
Deceleration value exceeded configured limits. |
| 13810 |
Acyclic communication error - Error while writing the parameter request - unexpected request state |
| 13811 |
Acyclic communication error - Response with general error |
| 13812 |
Acyclic communication error - Impermissible parameter number |
| 13813 |
Acyclic communication error - Parameter cannot be changed |
| 13814 |
Acyclic communication error - Low or high limit exceeded |
| 13815 |
Acyclic communication error - Invalid sub index |
| 13816 |
Acyclic communication error - Incorrect data type |
| 13817 |
Acyclic communication error - Request cannot be executed because of operation mode |
| 13818 |
Acyclic communication error - Value impermissible |
| 13819 |
Acyclic communication error - Illegal format |
| 13820 |
Acyclic communication error - Invalid parameter value |
| 13821 |
Acyclic communication error - Invalid length specified |
| 13900 |
TLS/UDP function block error. Use ComErrorID |
| 14001 |
Channel not in status active |
| 14002 |
Input value "PresetPeriod"<= DINT#0. |
| 14003 |
Input value "PresetPeriod">= 8 388 607µs. |
| 14004 |
Input value "Resolution" == 0. |
| 14005 |
Input value "Resolution" <0. |
| 14006 |
Measured time value == 0. |
| 14007 |
Measured time value < 0. |
| 14008 |
Measured time value > 0x7FFFFFF. |
| 14009 |
Determined number of edges = 0. |
| 14010 |
Determined number of edges < 0. |
| 14011 |
Determined number of edges > 0x7FFFFFF. |
| 14012 |
The calculated "Speed" is greater than the 2147483647 rpm. |
| 14013 |
No valid measurement within the entered measurement period. |
| 14020 |
Invalid Offset |
| 14021 |
Invalid Length |
| 14022 |
Invalid receive length |
| 14023 |
No buffer available |
| 14024 |
Character with error |
| 14025 |
Invalid return value |
| 14026 |
Error code from CP - invalid length |
| 14027 |
Error code from CP - communication time out |
| 14028 |
Sum of Length and Offset greater than max |
| 14029 |
Sum of received length and Offset is greater than maximum. |
| 14040 |
Invalid SlaveAddress |
| 14041 |
Invalid FunctionCode |
| 14043 |
Invalid MasterOffset |
| 14044 |
Invalid ProtocolTimeout |
| 14045 |
Invalid ReceiveTimeout |
| 14046 |
Receive timeout |
| 14047 |
Protocol timeout |
| 14048 |
Invalid SubFunction |
| 14049 |
Invalid byte count |
| 14050 |
Invalid protocol ID |
| 14051 |
Invalid transaction ID |
| 14052 |
Invalid response length |
| 14053 |
Function Code Error |
| 14054 |
Register Number Error |
| 14055 |
Bit Count Error |
| 14056 |
Exception code 4 |
| 14057 |
Invalid response function |
| 14058 |
Invalid response quantity |
| 14059 |
Data Setting - Writing control data or parameters made the settings go out of the permitted setting range. - A parameter setting error occurred when writing a parameter. -When there was a CPF06 [Control Circuit Error], the master tried to write a parameter other than defined. Check in Technical Manual Memobus section |
| 14060 |
Write Mode-Tried to write a disabled parameter during run.-Writes the read-only data. |
| 14061 |
DC Bus Undervoltage Write |
| 14062 |
Writing Data During Parameter Processing |
| 14063 |
Writing into EEPROM Disabled |
|
Modbus TCP ErrorIDs
|
| 14070 |
Socket Error. See message for more details. |
| 14071 |
Send Error. See message for more details. |
| 14072 |
Receive Error. See message for more details. |
| 14073 |
Timeout error. A write services was executed and another write telegram was not received within the time specified in the Timeout parameter. Enter the value T#0s in the Timeout parameter to disable this function. |
| 14074 |
Connect timeout error. Cannot connect to server within the specified Timeout. Enter the value T#0s in the Timeout parameter to disable this function. |
| 14075 |
A parameterization error has occurred. See message for more details. |
|
Y_FunctionBlock.Common ErrorIDs
|
| 14251 |
Internal error: RSC service could not be scheduled |
| 14252 |
RSC service not available |
| 14253 |
Internal error: service exception |
| 14254 |
Internal error: 'Any' type VAR_IN_OUT was NULL |
| 14255 |
Internal error: internal buffer was NULL |
| 14256 |
MaxLength input was greater than Record input size |
| 14257 |
Internal error: MaxLength was 0 and the Record size could not be automatically determined |
| 14258 |
Internal error: Length of service message is larger than buffer in any object |
| 14259 |
Internal error: Wrong Mode was selected |
| 14260 |
Internal error: Wrong format of any object |
| 14261 |
Internal error: RSC Service does not respond |
| 14262 |
Internal error: Specified transfer ID for RSC Service not found |
| 14263 |
Internal error: Job queue of RSC Service full - too much parallel jobs active |
| 14264 |
Internal error: There is an already running FoE job on addressed slave |
| 14265 |
Internal error: Bus topology inconsistent - Could not convert stationAddress to slaveId |
| 14266 |
Internal error: User defined timeout expired during RSC service call |
| 14267 |
Internal error: User specified path to plc filesystem not valid |
| 14268 |
Internal error: File on plc filesystem not found |
| 14269 |
Internal error: Exception in FileStream while accessing plc file system |
| 14270 |
Internal error: An unspecified error occured - see Output log for further information |
|
EtherCAT ErrorIDs
|
| 14301 |
Feature not supported. |
| 14302 |
Invalid index |
| 14303 |
Invalid offset |
| 14304 |
Cancel |
| 14305 |
Invalid size |
| 14306 |
Invalid Data |
| 14307 |
Not ready |
| 14308 |
Busy |
| 14309 |
Cannot queue acyclic EtherCAT command (MasterConfig.dwMaxQueuedEthFrames) |
| 14310 |
No memory left |
| 14311 |
Invalid parameter |
| 14312 |
Not found |
| 14313 |
Duplicate |
| 14314 |
Invalid state |
| 14315 |
Cannot addslave to timer list |
| 14316 |
Timeout |
| 14317 |
Open failed |
| 14318 |
Send failed |
| 14319 |
Insert mailbox error |
| 14320 |
Invalid mailbox command |
| 14321 |
Unknown mailbox protocol command |
| 14322 |
Access denied |
| 14323 |
Identification failed |
| 14324 |
Create lock failed |
| 14325 |
reserved |
| 14326 |
Invalid product key |
| 14327 |
Wrong format of configuration file |
| 14328 |
Feature disabled |
| 14329 |
Shadow memory requested in wrong mode |
| 14330 |
Bus configuration mismatch |
| 14331 |
Error in reading config file |
| 14332 |
Configuration doesn't support SAFEOP and OP requested state |
| 14333 |
Cyclic commands missing |
| 14334 |
AL_STATUS register read missing in XML file for at least one state |
| 14335 |
Fatal internal McSm |
| 14336 |
Slave error |
| 14337 |
Frame lost, IDX mismatch |
| 14338 |
At least one EtherCAT command missing in received frame |
| 14339 |
Cyclic command WKC error |
| 14340 |
IOCTL EC_IOCTL_DC_LATCH_REQ_LTIMVALS not possible in DC Latching auto read mode |
| 14341 |
reserved |
| 14342 |
Slave in invalid state, e.g. not in OP (API not callable in this state) |
| 14343 |
Station address lost or slave missing - FPRD to AL_STATUS failed |
| 14344 |
Too many cyclic commands in XML configuration file. (Check EC_T_INIT_MASTER_PARMS.dwMaxQueuedEthFrames) |
| 14345 |
Ethernet link cable disconnected |
| 14346 |
Master core not accessible |
| 14347 |
ERROR CoE: Mailbox send: working counter |
| 14364 |
ERROR SDO: Toggle bit not alternated |
| 14365 |
ERROR SDO: SDO protocol time-out |
| 14366 |
ERROR SDO: Client/server command specifier not valid or unknown |
| 14367 |
ERROR SDO: Invalid block size (block mode only) |
| 14368 |
ERROR SDO: Invalid sequence number (block mode only) |
| 14369 |
ERROR SDO: CRC error (block mode only) |
| 14370 |
ERROR SDO: Out of memory |
| 14371 |
ERROR SDO: Unsupported access to an object |
| 14372 |
ERROR SDO: Attempt to read a write only object |
| 14373 |
ERROR SDO: Attempt to write a read only object |
| 14374 |
ERROR SDO: Object does not exist in object dictionary |
| 14375 |
ERROR SDO: Object cannot be mapped to PDO |
| 14376 |
ERROR SDO: Number and length of objects to be mapped exceed PDO length |
| 14377 |
ERROR SDO: General parameter incompatibility |
| 14378 |
ERROR SDO: General internal incompatibility in device |
| 14379 |
ERROR SDO: Access failed due to an hardware error |
| 14380 |
ERROR SDO: Data type does not match, length of service parameter does not match |
| 14381 |
ERROR SDO: Data type does not match, service parameter too long |
| 14382 |
ERROR SDO: Data type does not match, service parameter too short |
| 14383 |
ERROR SDO: Sub-index does not exist |
| 14384 |
ERROR SDO: Write access - Parameter value out of range |
| 14385 |
ERROR SDO: Write access - Parameter value out of high limit |
| 14386 |
ERROR SDO: Write access - Parameter value out of low limit |
| 14387 |
ERROR SDO: Maximum value less than minimum value |
| 14388 |
ERROR SDO: General error |
| 14389 |
ERROR SDO: Unable to transfer or store data to application |
| 14390 |
ERROR SDO: Unable to transfer or store data to application because of local control |
| 14391 |
ERROR SDO: Unable to transfer or store data to application because of present device state |
| 14392 |
ERROR SDO: Dynamic generation of object dictionary failed or missing object dictionary |
| 14393 |
ERROR SDO: Unknown code |
| 14394 |
ERROR SDO: Detected Module Ident List (0xF030) and Configured Module Ident list (0xF050) does not match |
| 14396 |
ERROR FoE: not defined (FoE Error Code 0 (0x8000) of slave) |
| 14397 |
ERROR FoE: not found (FoE Error Code 1 (0x8001) of slave) |
| 14398 |
ERROR FoE: access denied (FoE Error Code 2 (0x8002) of slave) |
| 14399 |
ERROR FoE: disk full (FoE Error Code 3 (0x8003) of slave) |
| 14400 |
ERROR FoE: illegal (FoE Error Code 4 (0x8004) of slave) |
| 14401 |
ERROR FoE: packet number wrong (FoE Error Code 5 (0x8005) of slave) |
| 14402 |
ERROR FoE: already exists (FoE Error Code 6 (0x8006) of slave) |
| 14403 |
ERROR FoE: no user (FoE Error Code 7 (0x8007) of slave) |
| 14404 |
ERROR FoE: bootstrap only (FoE Error Code 8 (0x8008) of slave) |
| 14405 |
ERROR FoE: Downloaded file name is not valid in Bootstrap state (FoE Error Code 9 (0x8009) of slave) |
| 14406 |
ERROR FoE: no rights (FoE Error Code 10 (0x800A) of slave) |
| 14407 |
ERROR FoE: program error (FoE Error Code 11 (0x800B) of slave) |
| 14408 |
ERROR FoE: Wrong checksum |
| 14409 |
ERROR FoE: Firmware does not fit for Hardware (FoE Error Code 13 (0x800D) of slave) |
| 14411 |
ERROR FoE: No file to read (FoE Error Code 15 (0x800F) of slave) |
| 14417 |
ERROR SDO: Subindex cannot be written, SI0 must be 0 for write access |
| 14418 |
ERROR SDO: Complete access not supported for objects of variable length such as ENUM object types |
| 14419 |
ERROR SDO: Object length exceeds mailbox size |
| 14420 |
ERROR SDO: Object mapped to RxPDO, SDO Download blocked |
| 14499 |
An unexpected error code was returned from the EtherCAT stack. Check the output log and stack documentation for the exact error details. |
|
SliceBus ErrorIDs
|
| 14501 |
Data record read/write error. Some possible causes are: 1) The SlotID doesn't correspond to a configured SliceBus module. 2) The size of the data to be written doesn't match the size specified in the product manual. 3) This parameter cannot be written when the controller is in RUN state (confirm with product manual). See Notes and Example of Y_SB_DataRecordRead and Y_SB_DataRecordWrite for more details on how to successfully use these function blocks. |
| 14502 |
Data record unknown. Some possible causes are: 1) The Index doesn't correspond to a valid number for the connected module. 2) The index number doesn't correspond to a writable parameter. See Notes and Example of Y_SB_DataRecordRead and Y_SB_DataRecordWrite for more details on how to successfully use these function blocks. |
| 14503 |
Processing failed due to an internal error |
|
Y_PLCopenModbusRTU
|
| 14600 |
Parameters B1-01 or B1-02 <> 2. |
| 14601 |
Parameters H1-01 or H1-02 values changed from default |
| 14602 |
Communication initialization error. 1)Checkphysicalconnection to ModbusRTU device 2)Check connection settings CP040 and ModbusRTU device 3)Check current status of ModbusRTU device 4) ModbusInput orModbusOutput of Y_IM_GenericDeviceRTUDriver are not correct Port variables or not link to CP040 Port |
| 14603 |
Parameter number out of range |
| 14604 |
Parameter value out of range |
| 14605 |
Parameter number not supported |
| 14606 |
Y_IM_MainRTUDriver is not valid or mapping of the initial values inside g_PM_VFD_AxisData is incorrect. |
| 14607 |
Data Integrity: Y_MotionAxisDriver has no valid Modbus data |
| 14608 |
InvFreqError: Drive Parameter E1-04 must be greater than zero. E1-04 must be less than E1-04. |
| 14609 |
UserUnitSetError: g_PM_VFD_AxisData.AxisArray[].AxisInfo.DriveConversion.posScale must be greater than zero |
| 14610 |
VelMaxSoftLimitError: Maximum Velocity Limit is greater than Drive maximum Velocity |
| 14611 |
VelMinSoftLimitError: Minimum Velocity Limit is less than Drive minimum Velocity |
| 14612 |
AccelerationMaxLimitError: Maximum Acceleration Limit is greater than minimum Drive Acceleration time |
| 14613 |
AccelerationMinLimitError: Minimum Acceleration Limit is less than maximum Drive Acceleration time |
| 14614 |
DecelerationMaxLimitError: Maximum Deceleration Limit is greater than minimum Drive Deceleration time |
| 14615 |
DecelerationMinLimitError: Minimum Deceleration Limit is less than minimum Drive Deceleration time |
|
File Operation Error
|
| 14701 |
The file could not be closed |
| 14702 |
The file could not be deleted |
| 14703 |
Invalid position specified |
| 14704 |
Position could not be set |
| 14705 |
No data could be written |
|
Axis ErrorIDs
|
| 40960 |
RESERVED |
| 45332 |
Sending clear alarms command to servo drive failed. |
| 45333 |
Failed to reset EtherCAT. |
| 45334 |
EtherCAT reset is prohibited while axes are moving. |
| 45335 |
Failed to initialize absolute encoder. |
| 45336 |
Function block could not be executed because a program download was in progress. |
| 45337 |
Rebooting the controller is prohibited while an axis is enabled. |
| 45338 |
The specified file contains a formatting error. |
| 45339 |
Servo node read/write failed due to an error returned from the protocol stack. Check the output log for details. |
| 45340 |
Servo node read/write failed due to an error returned from the node. Check the output log for details. |
|
Operating System ErrorIDs
|
| 57005 |
Functionality not supported. Please check if the Axis_Ref.DriverType of the configured axis is initialized correctly. |
| 57616 |
Reserved - ProConOSError |
| 57617 |
Instance object is NULL. |
| 57618 |
The instance data is NULL. |
| 57619 |
The structure check sum is invalid. |
| 57620 |
The DataType connected to a function block parameter specified as ANY type does not match the required data size. Right click on the function block and select 'Object Properties' to determine which parameters are ANY type. The size of the variable connected to these parameters is not checked during the compilation but validated at run time. Typically errors occur when a variable of type AXIS_REF is not connected to an Axis VAR_IN_OUT, or a variable of type Yt_EngageData is not connected to the Y_CamIn function block. |
| 57872 |
Reserved - EclrErrorPrefix |
| 57873 |
InvalidStructureSize. The structure size does not match. Check all the variables connected to the function block. A common mistake is to connect a structure element, not the entire structure. Example: EngageData.StartMode is connected instead of just EngageData |
| 57874 |
Argument data is NULL. The EngageData input must be connected. |
|
Kernel ErrorIDs
|
| 60909 |
This function block is not supported for the AxesGroup specified |
| 60910 |
This function block is not supported for the AXIS_REF.DriverType specified. In case the error occurred due to undefined or wrong driver type then after the change in the DriverType of the axis. In case the Function block in error is an "Enable" type, the "Enable" input needs to be Re-triggered. The error won't be cleared automatically. |
| 60911 |
AxisType not supported |
|
Unsupported functions based on Group Type
|
| 61712 |
Reserved - KernelError |
| 61713 |
This function block caused an internal error. Possible causes: MC_Power - Check if multiple instances of this block are executed for the same axis. Y_CamIn - Check in the cam table if the master values are the same for two datapoints or decreasing. Y_CamStructSelect - Y_MS_CAM_TABLE.Header.DataSize must not be zero. |