System Messages - Alphabetical Listing
Almost every V+ system message has a numeric code that can be used to identify the message within a V+ program. The ERROR and IOSTAT functions return this code. The $ERROR string function returns the error message corresponding to an error code.
All the V+ messages are described in this section. Each description includes the text of the message, its error code if applicable, an explanation of the likely cause of the message, and a suggestion of what action you should take. The error code for each message appears at the right margin for all those messages that have a code. For V+ version 16.0 or later, changes to V+ system messages are summarized in the V+ Release Notes.
The system messages are arranged alphabetically by system message text, click an underlined letter to jump to the first message that begins with that letter. For a list of the system messages sorted by numerical codes, see System Messages - Numerical List.
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J |
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Q |
X |
Y |
Z |
NOTE: If the system has more than one robot connected and an error is associated with a specific one of the robots, the robot number is appended to the error message in the form (Robot #).
*1394 communications timeout* (-927)
Explanation: V+ has timed out waiting for a node on the 1394-based servo network to respond. A transient network problem may have interfered with normal communications, or the network node itself may have failed.
User action: Retry the operation that failed. Reinitialize your servo network. Reboot your robot controller. If the problem persists, contact Adept Customer Service.
Adept Digital Workcell Simulation mode (None)
Explanation: This message is displayed during V+ initialization (i.e., during the booting process), and as part of the output displayed by the ID monitor command, to indicate that the V+ system is operating in Adept Digital Workcell simulation mode.
User action: No response is required if the V+ system is intended to be used in Adept Digital Workcell simulation mode. Otherwise, the command DISABLE ADW should be entered and the Adept controller should be rebooted.
Aborted (-400)
Explanation: The last command requested, or the program that was executing, has been aborted at your request.
*Already attached to logical unit* (-515)
Explanation: A program has executed more than one ATTACH instruction for a specific logical unit, without executing a DETACH in between. (The program is still attached to the logical unit after this error occurs.)
User action: Check the program logic and remove redundant ATTACH instructions.
*Ambiguous AUTO invalid* (-477)
Explanation: When exiting from the program editor, V+ has encountered an automatic variable with undetermined type. That is, the system cannot determine if the variable is real-valued or a transformation. Automatic variables cannot be ambiguous, since their storage requirements must be known before they are referenced.
User action: Include the REAL or LOC type specification parameter in the AUTO statement that declares the variable, or reference the variable in a program instruction in a manner that makes its type clear.
*Ambiguous name* (-453)
Explanation: The abbreviation used for the last command, instruction, or system-defined name was not long enough to identify the operation intended.
User action: Reenter the last line, using a longer abbreviation.
*AOI not defined* (-752)
Explanation: An attempt has been made to place a vision tool using an AOI (area-of-interest) that has not been defined.
User action: Define the AOI using the VDEF.AOI instruction.
Are you sure (Y/N)? (10)
Explanation: The requested command has a significant effect on the state of the system, and V+ wants to know if you really want it to happen.
User action: To have V+ continue, type y followed by a carriage return. An n followed by a carriage return or just a carriage return causes the command to be aborted.
*Arithmetic overflow* (-409)
Explanation: The result of a calculation was outside the allowable range for real variables or V+ has encountered a number that is outside the allowed range for integers while converting a real-valued number to a decimal, hexadecimal, or octal integer, or logical value. Logical values use 32-bit integers, but most program instructions that require integer arguments allow only 16-bit integers. Also, real variables can have only magnitudes in the range from about 5.4E-20 to 9.2E+18.
User action: Modify the program as required.
*A scratch frame store is needed (use VSELECT)* (-756)
Explanation: VCORRELATE returns this error when performing a grayscale hierarchical search or binary search and no scratch frame store is available.
User action: Use VSELECT to invalidate a virtual frame store in a physical frame store that is different from the physical frame store being searched.
*Attempt to modify active belt* (-614)
Explanation: A program instruction has been executed that modifies the belt variable that is currently being tracked by the robot.
User action: Change the program in order not to modify the variable while the robot is tracking it.
*Attempt to redefine variable class* variable_name (-470)
Explanation: Upon exiting from the editor, the named variable was found in two of the following places: the .PROGRAM argument list, an AUTO statement, a LOCAL statement, or a GLOBAL statement.
User action: Modify the program to include the variable in only one of these places.
*Attempt to redefine variable type* variable_name (-469)
Explanation: If a program is being edited, the line just entered contains a reference to a variable in a manner inconsistent with its use elsewhere in the program. The most likely problem is confusing a location variable with a real variable. If you just exited from the editor, the named variable conflicts with a global variable that already exists.
User action: If the new use of the variable is correct, you must delete all references to the incorrect variable and then reenter the statement that caused the error. If the new use is incorrect, use a different variable name. If there is a conflict with a global variable, either use a DELETE_ command to delete that variable, or make the conflicting variable AUTO or LOCAL to the current program.
Auto Startup... (None)
Explanation: The automatic start-up procedure has begun. (See the discussion of command programs for more information.)
User action: None required for this message, but subsequent commands in the auto-startup command program may require user action.
WARNING: The robot may begin to move during the automatic start-up procedure. If necessary, you can stop the robot by pressing EMERGENCY STOP on the controller or PANIC on the manual control pendant.
*Backplane E-STOP detected by CPU* (-630)
Explanation: The AdeptMotion system has detected an error or problem and has asserted the BRKSTOP signal on the VME bus. If that error is seen, it indicates a transient BRAKE-ESTOP signal or a problem with either the motion interface board or the AWC module.
User action: Correct the problem that is causing the motion system to report the error.
*Bad block in disk header* (-523)
Explanation: While formatting a disk, a bad disk block has been found in the disk header area. The format operation has failed, and the disk is not usable.
User action: Enter the FORMAT command again-use a different diskette if the error persists.
*Bad camera calibration* (-726)
Explanation: A VPUTCAL instruction has been used to pass vision calibration data to the AdeptVision system, and one or more of the data elements is not valid.
User action: Make sure the program reads the calibration data from a valid data file, or make sure valid values are asserted by the program.
*Bad grip definition* (-721)
Explanation: The DEFGRIP instruction was performed with incorrect parameters.
User action: Verify the DEFGRIP parameter values. The locations specified by the transformations must not be unreasonably far from the prototype, and the widths and heights of the grip rectangles must not be unreasonably large. An unreasonable distance is one greater than two image widths.
*Belt not enabled* (-615)
Explanation: A robot operation that references a moving conveyor belt has been attempted when the conveyor tracking feature is disabled.
User action: Enter an ENABLE BELT command and retry the operation.
*Belt servo dead* (-617)
Explanation: The belt processor isn't responding to commands from V+.
User action: After saving the programs, power down the controller and power it up again. If this error occurs repeatedly, contact Adept Customer Service.
*Belt window violation* (-616)
Explanation: Either a robot motion has been planned that moves the robot outside of the belt window, or the robot has moved outside of the belt window while tracking the belt.
User action: Modify the program so that the robot does not move outside the belt window. Consult the BELT.MODE parameter and the WINDOW instruction for different ways to define the belt window.
*Branch to undefined label* Step nnn (-412)
Explanation: A program instruction references a program label that is not defined in the program. Either the label is missing or was mistyped when defined or in the reference.
User action: Check the label definition and reference.
Breakpoint at (task) program_name, step n (17)
Explanation: A breakpoint was encountered before the indicated step. (Any output associated with the breakpoint is displayed after the message shown above.)
User action: Enter a PROCEED (Ctrl+P), RETRY, SSTEP (Ctrl+Z), or XSTEP (Ctrl+X) command to resume program execution.1 Otherwise, enter any other monitor command.
*Breakpoint not allowed here* (-380)
Explanation: An attempt has been made to set a breakpoint before the first executable statement of a program.
User action: Enter a new BPT command specifying a step after the first executable statement. That is, after the .PROGRAM statement, any AUTO and LOCAL statements, and all comments and blank lines at the start of the program.
*Calibration program not loaded* (-425)
Explanation: A program required for calibration has not been loaded from disk. This error occurs if a robot-specific calibration file cannot be found on the disk (i.e., in the same location as the file for the main calibration program), or if a required calibration program is not present in memory when it is expected. The latter situation can occur if the CALIBRATION command or instruction is executed with an input mode that does not cause the calibration programs to be loaded from disk, and the programs are not already present in memory.
User action: Reissue the CALIBRATE command or instruction with the proper mode. The default mode of zero causes CALIBRATE to automatically load the required programs from disk, perform the calibration, and then delete the programs. Alternatively, issue a CALIBRATE command or instruction with mode "1" (which causes the calibration programs to be loaded into memory), and then reissue the CALIBRATE command or instruction that was originally attempted.
*Calibration sensor failure* Mtr n (-1106)
Explanation: During calibration, the calibration sensor for the indicated motor cannot be read correctly. Either the robot is blocked from moving, or a hardware error has occurred.
User action: Retry the CALIBRATE command or instruction after making sure that the robot is not blocked. If the problem persists, contact Adept Customer Service.
*Camera already off* (-719)
Explanation: A VPICTURE operation to turn the camera off has been processed when the camera is already off (line vision only).
User action: Modify the program to remove redundant VPICTURE OFF instructions.
*Camera already running* (-714)
Explanation: A VPICTURE operation to turn the camera on has been processed when the camera is already running (line vision only).
User action: Modify the program to remove redundant VPICTURE ON instructions, or insert a VPICTURE OFF instruction.
*Camera disconnected* (-710)
Explanation: The vision interface hardware indicates that the camera is not connected.
User action: Make sure that the camera and cabling are connected properly. If the problem persists, consult your vision system manual.
*Camera interface board absent* (-722)
Explanation: The vision license bit is enabled for this controller, but no vision hardware is detected. This message displays at system startup.
User action: Make sure that the vision interface board is installed properly. After saving all the programs and prototypes in memory, power down the controller and power it up again. Consult Adept Customer Service if the problem persists.
*Camera not running* (-705)
Explanation: An attempt has been made to process a vision system operation when the camera is not running (line vision only).
User action: Enter a VPICTURE ON command and retry the vision operation that failed.
*Cancelled* (-358)
Explanation: An editor, debugger, or pendant operation has been terminated due to operator intervention.
User action: This is usually an informative message to acknowledge the cancellation of the operation.
*Can't access protected or read-only program* (-310)
Explanation: An attempt has been made to edit a protected or read-only program. These programs cannot be edited.
*Can't ALTER and track belt* (-626)
Explanation: Either a belt-relative motion was specified while ALTER mode was enabled, or an attempt was made to enable ALTER mode while the selected robot was tracking a belt. Both operations are prohibited because belt-tracking and ALTER mode cannot be performed at the same time.
User action: Either disable ALTER mode or stop tracking the belt.
*Can't change modes while task running* (-361)
Explanation: A command was issued to change from debug monitor mode to debug editor mode while the program task being debugged was executing. You can change to debug editor mode only when the associated task is stopped.
User action: Stop execution of the program task being debugged, or continue without using debug editor mode.
*Can't create new slide bar* (-557)
Explanation: An attempt has been made to create a graphic slide bar in the horizontal or vertical scroll bar. Slide bars should be created only in the main window, although they can appear in the title or menu bars.
User action: Modify the arguments for the GSLIDE instruction to have the slide bar created within the window.
*Can't create program in read-only mode* (-364)
Explanation: An attempt has been made to initiate editing of a program in read-only access mode, but the program does not exist.
User action: If the program name was entered incorrectly, enter the command again with the correct name. Do not select read-only access (with /R) when creating a new program.
*Can't delete .PROGRAM statement* (-350)
Explanation: An attempt has been made to delete the .PROGRAM statement while editing a program.
User action: To change the .PROGRAM statement, replace it with another .PROGRAM statement. To delete lines at the beginning of the program, move down to line 2 before issuing delete commands.
*Can't execute from SEE program instruction* (-362)
Explanation: An attempt has been made to use a SEE editor command that cannot be used after the editor has been initiated with the SEE program instruction.
User action: Enter another command or exit the editor and reenter from the V+ monitor.
*Can't exit while lines attached* (-355)
Explanation: You attempted to terminate execution of the editor while lines were present in the attach buffer. The attach buffer must be empty before the editor can be exited.
User action: You can use Shift+Copy to deposit the contents of the attach buffer into the current program. You can also use Esc+K to delete lines from the attach buffer (99 Esc+K deletes up to 99 lines from the buffer).
*Can't find calibration program file* (-426)
Explanation: While processing a CALIBRATE command or instruction, the V+ system cannot find the calibration utility program file CAL_UTIL.V2.
User action: Restore the missing file from the V+ distribution disk to the current default directory, or to the directory \CALIB\ on the local "C" or "D" drive, or on the NFS mount "XC".
*Can't go on, use EXECUTE or PRIME* (-313)
Explanation: An attempt has been made to continue the execution of a program that has completed or stopped because of a HALT instruction. Normally, an error results when a PROCEED, RETRY, or XSTEP command is entered (or the pendant RUN/HOLD button is pressed) after a program has completed all its cycles.
User action: Use the EXECUTE or PRIME command, or the pendant PRIME function, to restart the program from the desired instruction.
*Can't interpret line* (-450)
Explanation: V+ cannot interpret the last command or instruction entered.
User action: Verify the spelling and usage, and reenter the line. In the case of an error while loading from the disk, edit the affected programs to correct the indicated lines-they have been converted to bad lines.
*Can't mix MC & program instructions* (-414)
Explanation: A program instruction has been encountered during processing of a command program, or an MC instruction has been encountered in a normal program.
User action: Edit the command program to use the DO command to include the program instruction, or remove the MC instruction from the normal program.
*Can't open vision window for read/write* (-734)
Explanation: An attempt has been made to open the vision window in read/write mode, but the vision system is performing some critical processing that precludes it from releasing the window.
User action: Change the program to have it try the FOPEN again later, or specify /WRITEONLY if no reading will be performed.
*Can't start while program running* (-312)
Explanation: An attempt has been made to start execution of a program from the manual control pendant while a program is already executing as task #0.
User action: Stop the program currently executing and then retry the operation.
*Cartesian control of robot not possible* (-635)
Explanation: A program has attempted to perform a straight-line motion with a robot that does not support such motions.
User action: Change the program to use joint-interpolated motion.
Change? (11)
Explanation: You are being given an opportunity to modify the location value just created by a HERE or POINT command.
User action: Enter any desired new components, separated by commas, or press the Return key to indicate that no changes are desired.
..., change to: (None)
Explanation: While initiating a string replacement operation, the SEE editor is prompting for the string to be used for the replacement.
User action: Enter the desired replacement string. Note that if you press Return, the string to be searched for is erased (that is, an empty string is used for the replacement).
*Character not in font* (-742)
Explanation: In a string of characters to be recognized by, or trained for, optical character recognition (OCR), one or more characters are not in the current font definition.
User action: Redefine the font to include the missing character(s).
*Collision avoidance dead-lock* (-647)
Explanation: Two robots with collision detection enabled are simultaneously blocking each other's path. That is, neither robot can perform its next motion until the other robot moves out of the way.
User action: Change the application program to prevent the deadlock situation.
Command? (None)
Explanation: A SEE editor extended command has been initiated with the X command.
User action: Enter the desired extended command, or press Return to cancel the request.
*Communication time-out* (-531)
Explanation: An I/O operation has not completed within the allotted time interval. For data communications, the remote communications device has not properly acknowledged data that was sent.
User action: Make sure the remote device is communicating. Make sure connections to the remote device are operating properly.
*Communications overrun* (-524)
Explanation: Data has been received on an I/O device faster than V+ is processing it, and some data has been lost. This happens only on the serial interface line or the network.
User action: Modify the program to service the I/O device more often, add a handshaking protocol, or slow down the transmission rate to V+.
*COMP mode disabled* (-603)
Explanation: The command attempted requires computer control of the robot, but COMPUTER mode was not selected on the pendant.
User action: Select COMP mode on the pendant or enable DRY.RUN mode from the terminal, then reissue the command.
Connecting to Adept Digital Workcell system via Ethernet (^C to quit) (None)
Explanation: This message is displayed during V+ initialization (i.e., during the booting process) to indicate that the V+ system is operating in Adept Digital Workcell simulation mode, and that the V+ system is waiting for a response from the PC that is running the Adept Digital Workcell software.
User action: No response is needed if the connection completes successfully. If the connection does not complete, you can enter CTRL+C to cancel waiting for the connection. The V+ system then reports failures of all the robot servos and all the installed licenses are disabled (except those needed to use the AdeptWindows PC user interface). In that case, you should either try again to start up the Adept controller (after making sure that the Adept Digital Workcell software is running on the PC), or enter the V+ monitor command DISABLE ADW and restart the Adept controller.
*Controller not in automatic mode* (-303)
Explanation: An attempt has been made to initiate program execution or PRIME a program from the monitor window or command terminal when the controller is not in automatic mode.
User action: Select automatic mode by moving the switch on the front panel to the automatic position, or by activating the proper switch on a custom control panel. Retry the previous command.
*Controller not in manual mode* (-304)
Explanation: An attempt has been made to perform an operation that requires the controller to be in manual mode when it is not in manual mode. If you do not have a front panel connected, the controller is assumed to be in automatic mode.
User action: Select manual mode by moving the switch on the front panel to the manual position, or by activating the proper switch on a custom control panel. Retry the previous operation.
*Controller not in network mode* (-317)
Explanation: An attempt has been made to use a serial line configured for network use, but the controller is not in network mode. If you do not have a front panel connected, the controller is assumed to be in local mode.
User action: Select network mode by moving the switch on the front panel to the network position, or by activating the proper switch on a custom control panel. Retry the previous operation.
*Control structure error* (-473)
Explanation: An incomplete control structure has been encountered during program execution.
User action: Edit the program to correct the control structure.
*Control structure error * Step nn (-472)
Explanation: V+ has detected an incomplete or inconsistent control structure at the specified step when exiting the program editor, loading a program, or processing a BPT command.
User action: Edit the program to correct the control structure. (Note that the actual error may not be at the indicated step.) If the error occurs in response to a BPT command, you can type dir /? to identify programs that are not executable and thus might contain the control-structure error.
*Correlation template too big* (-754)
Explanation: A vision correlation template has been defined that is too large.
User action: Redefine a smaller template
Cursor at column n (None)
Explanation: The SEE editor WHERE extended command is reporting the current column position of the cursor.
User action: None. This is an informational message.
*Database manager internal error* (-859)
Explanation: This error indicates that the system has encountered an inconsistency.
User action: Contact Adept Application Engineering. Please record the details of exactly what you were doing at the time the error occurred.
*Data checksum error* (-510)
Explanation: An error was detected while transferring information to or from an external device.
User action: Attempt the transfer again. If the problem persists, contact Adept Customer Service.
*Data error on device* (-522)
Explanation: An error was detected while attempting to read information from an external device, possibly because a diskette has been damaged or was not formatted properly.
User action: Attempt the read again. Make sure the correct diskette is being used, that it is properly installed in the drive, and that it is formatted. (Recall that formatting a diskette erases its contents.)
*Data overflow* (-755)
Explanation: The vision binary correlation hardware has found more matches within the search area than it can process.
User action: Search a smaller area or redefine your binary template so that it contains more distinguishing features.
*Device error* (-660)
Explanation: An error was detected for an external device such as one specified in the last DEVICE or SETDEVICE program instruction. The actual error depends upon the type of device referenced.
User action: Make sure the instruction's parameters are valid. Refer to the documentation for the device type referenced for information on how to determine what has caused the error.
*Device full* (-503)
Explanation: There is no more space available on a device. If this error is received for a disk file, it indicates that the disk is full (if there are many small files on the device, this error indicates the directory is full). If this error is received for a servo device, it indicates that an attempt has been made to assign too many servo axes to a single CPU.
User action: Delete unneeded disk files, or use another drive or diskette. Reconfigure your system so the maximum number of axes per CPU is not exceeded.
*Device hardware not present* (-658)
Explanation: An attempt has been made to reference a device that is not present in your system.
User action: Verify that the device was correctly specified. Verify that the device hardware is present and is configured properly.
*Device in use* (-668)
Explanation: An attempt has been made to attach, assign, or configure a hardware device (e.g., a VMI axis) that is already being used.
User action: Check the program code to make sure the requested device has not already been attached. If the error occurs during power-up initialization of the V+ system, enter the SRV.NET monitor command and look for multiple nodes that are reporting the same input or output block number.
*DeviceNet: Critical device off-line* (-903)
Explanation: A DeviceNet device marked as critical (using the CONFIG_C utility) is off-line. Power is disabled and cannot be enabled until this device is on-line.
User action: Use the DEVICENET command to verify that DeviceNet is active and that all critical devices are on-line. Check your DeviceNet cabling and the individual devices. If you have intentionally removed this device, use the CONFIG_C utility to remove this device or mark it as not critical.
*Device not ready* (-508)
Explanation: (1) The requested disk device (or remote network task) is not prepared to communicate with the V+ system.
(2) A limited-access device like the terminal, the manual control pendant, or a serial line is attached to a different program task.
(3) You have tried to write into a pull-down window while it is displayed.
User action: (1) If the intended device is a system microfloppy disk drive, make sure the diskette is correctly inserted and formatted.
(2) If a limited-access device is specified, ABORT and KILL the program task that has it attached, or wait for the program task to release the device. If the intended device is on the network, verify that the proper connections are made and that the remote system is operating correctly. (2) ABORT and KILL the program task that has the device attached, or wait for the task to release the device.
(3) The pull-down menu should not be modified with the FSET instruction while it is being displayed. A suitable time for modifying the pull-down menu is immediately after receiving a menu-selection event.
*Device reset* (-663)
Explanation: The device is busy processing a reset operation. The reset can have been requested (with a SETDEVICE instruction) by another program task that is accessing the device, or the device can have initiated the reset on its own.
User action: Use software interlocks to prevent a second program task from accessing the device after a reset operation has been requested. (Note that the requesting SETDEVICE instruction waits for the reset to complete.) Refer to the documentation for the specific device for information on its self-generated resets.
*Device sensor error* (-662)
Explanation: A hardware error occurred in the sensing system accessed with the last DEVICE instruction.
User action: Refer to the documentation for the sensing system for information on how to determine the cause of the error.
*Device time-out* (-659)
Explanation: The device has not responded within the expected time.
User action: Check the documentation for the device type referenced to determine what caused the error. Verify that the device hardware is configured properly.
*Directory error* (-509)
Explanation: This error can occur when performing a READ instruction (following an FOPEND instruction) on an NFS-mounted directory.
User action: Unlike most other errors, this error can be ignored. Additional READ instructions to the same directory correctly return additional contents of that directory.
*Directory not empty* (-571)
Explanation: The operation attempted to remove an NFS directory that was not empty.
User action: Delete the directory's contents before deleting the directory.
*DO not primed* (-302)
Explanation: A DO command was attempted without specifying a program instruction to be executed and no previous DO had been entered.
User action: Provide the desired instruction with the DO command.
*Driver internal consistency error* (-519)
Explanation: An I/O device or servo has responded in an unexpected manner.
User action: Retry the operation that caused the error. If it persists, contact Adept Customer Service.
*Duplicate character in font* (-740)
Explanation: A character appears more than once in the string that defines a font for optical character recognition (OCR).
User action: Delete all but one occurrence of each character in the string of characters being defined.
*Duplicate model name* (-760)
Explanation: You are attempting to name a new model with a name that already exists.
User action: Either use a different model name or delete the model with the name you want to use.
*Duplicate .PROGRAM arguments* (-468)
Explanation: At least two of the arguments in a .PROGRAM statement have the same name.
User action: Edit the .PROGRAM line so that all the arguments have unique names. (With the V+ SEE editor, you can press the Undo (F6) function key or press Esc+Ctrl+C to cancel the changes you have made to a .PROGRAM line.)
*Duplicate prototype name* (-718)
Explanation: The file specified in the current VLOAD command contains a prototype with the same name as one that already exists.
User action: VDELETE the conflicting prototype that already exists. As a precaution, save the existing prototypes first with a VSTORE command.
*Duplicate servo node ID* (-678)
Explanation During startup, or after a servo bus reset, V+ has detected two or more servo nodes with the same serial number. Either an error has occurred with servo node detection, or a servo node is configured incorrectly. Servo network operation is not allowed.
User action Use the SRV.NET command to determine which nodes are causing this error. Reinitialize your servo network. Reboot your robot controller. If a new servo node has been added to the network, verify that its serial number is correct. If the problem persists, contact Adept Customer Service.
*Duplicate statement label* (-464)
Explanation: The same program statement label is used more than once in a user program.
User action: Change one of the duplicate labels.
*Duty-cycle exceeded* Mtr n (-1021)
Explanation: The indicated motor has been driven fast for too long a period of time. The servo system has disabled Arm Power to protect the robot hardware.
User action: Turn on Arm Power; reduce the speed and/or acceleration for the motion that was in progress or for motions that preceded that motion; and repeat the motion that failed.
*Encoder fault* Mtr n (-1025)
Explanation: The servo board has detected a broken encoder wire on the indicated axis.
User action: Inspect the encoder wiring for intermittent connections or broken wires. Try swapping the encoder cable with another. You can disable this error with the SPEC utility, but do so only as a last resort.
*Encoder quadrature error* Belt n (-1013)
Explanation: The position encoder signal from the specified conveyor belt is sending information that is not phased correctly. The encoder or its cabling may be defective. (Encoder error checking is initiated by the DEFBELT instruction and by enabling the BELT switch while a belt is defined.)
User action: Make sure the encoder cable is properly connected. Try to run the conveyor at a slower speed. Contact Adept Customer Service if the error persists.
*Encoder quadrature error* Mtr n (-1008)
Explanation: The position encoder signal from the specified motor is sending information that is not phased correctly. The encoder or its cabling may be defective.
User action: Turn on high power, calibrate the robot, and try to perform the motion at a slower speed. If the error persists, contact Adept Customer Service.
Enter new value: (None)
Explanation: The SEE editor's Teach command is requesting a new value to be assigned to the selected variable (the one last displayed in the debug window).
User action: Enter the desired new value (as a valid expression for the type of variable selected), or press Return to cancel the request.
*E-STOP 1 detected by CPU* (-608)
Explanation: An E-STOP condition on E-STOP channel 1 has been detected by the CPU. Normally, this message is suppressed and the cause of the E-STOP is reported instead.
User action: If safe to do so, attempt to enable HIGH POWER and note any different error messages which occur. Verify that the CIP is connected securely. If this error occurs frequently, contact Adept Customer Service.
*E-STOP 2 detected by CPU* (-914)
Explanation: An E-STOP condition on E-STOP channel 2 has been detected by the CPU. Normally, this message is suppressed and the cause of the E-STOP is reported instead. There may be a hardware problem with the CIP, its cabling, or the AWC.
This error can result from redundant E-STOP channels that do not track each other within a reasonable time.
User action: Hold the MCP enable switch and reenable HIGH POWER as desired. Reseat the plug affixed to the JAWC connector on the CIP and the plug affixed to the CIP connector on the AWC. If this error persists, contact Adept Customer Service.
*E-STOP asserted by CPU* (-919)
Explanation: An E-STOP condition has been generated by V+ in response to an internal error condition. This error should not normally be seen.
User action: If safe to do so, attempt to enable HIGH POWER and note any different error messages that occur. If this error persists, contact Adept Customer Service.
*E-STOP channels 1 and 2 do not match* (-922)
Explanation: An E-STOP condition has occurred because the two redundant E-STOP signal channels do not report the same E-STOP state.
This error can be caused if redundant E-STOP channels do not track each other within a reasonable time.
User action: If an external E-STOP circuit is being used, verify that both channels are wired and functioning properly. Verify that the proper revision of MCP is being used. Verify that the CIP is connected securely.
*E-STOP circuit is shorted* (-923)
Explanation: An E-STOP condition has occurred because a short circuit in the E-STOP wiring has been detected.
User action: Verify that all E-STOP channels are wired and functioning properly. If the problem persists, contact Adept Customer Service.
*E-STOP circuit relay failure* (-907)
Explanation: An E-STOP condition has occurred because the E-STOP chain on one channel is not in the same state as the other channel. This can be the result of welded contacts on one of the two E-STOP Relays (a failure on the CIP), a short circuit in one of the E-STOP channels (a failure on the CIP or user connections), or the result of a pair of contacts connected to the E-STOP channels being in the opposite state (one open, the other closed).
User action: Check all user connections to each of the E-STOP channels (plugs fully seated, contacts on each channel in the same closed state). If no problem is uncovered in the user connections, call Adept Customer Service.
*E-STOP detected by robot* (-643)
Explanation: The motion interface board has detected an E-STOP due to the BRAKE-ESTOP signal being asserted on the VMEbus.
User action: Check for a subsequent message. To determine if there was an unreported RSC error, type listr error(task,4), where task is the number of the task that received the error. If no additional information is available, call Adept Customer Service.
*E-STOP from amplifier* (-641)
Explanation: The motion interface board has detected an E-STOP condition generated by the motor amplifiers. It indicates that the amplifiers have detected some fault condition.
User action: Check for a subsequent message. To determine if there was an unreported RSC error, type listr error(task,4), where task is the number of the task that received the error. If no additional information is available, verify that the amplifiers are plugged into the backplane correctly, the fixing screws are tightened, and the motor and signal cables are connected correctly.
*E-STOP from front panel button* (-908)
Explanation: An E-STOP condition has occurred because the E-STOP button on the CIP front panel has been pressed.
User action: Unlatch the locking E-STOP button. Re-enable HIGH POWER as desired.
*E-STOP from front panel external input* (-911)
Explanation: An E-STOP condition has occurred because it was requested through the front panel external input signal.
User action: Restore the front panel external input signal state. Re-enable HIGH POWER as desired.
*E-Stop from Line E-Stop input* (-929)
Explanation: An E-STOP condition has occurred because it was requested through the Line E-STOP input signal.
User action: Restore the state of the Line E-STOP input signal. Re-enable HIGH POWER as desired.
*E-STOP from MCP enable switch* (-913)
Explanation: An E-STOP condition has occurred because the enable switch (formerly called Hold-to-Run switch) on the MCP has been released. During MANUAL mode, releasing this switch performs a controlled power-off rather than an E-STOP.
User action: Hold the MCP enable switch and re-enable HIGH POWER as desired.
*E-STOP from MCP E-STOP button* (-909)
Explanation: An E-STOP condition has occurred because the E-STOP button on the MCP has been pressed.
User action: Unlatch the locking E-STOP button. Re-enable HIGH POWER as desired.
* E-STOP from safety system* Code n (-1111)
Because these message codes are related to hardware, refer to your Robot Instruction Handbook as your primary source of information. If it does not answer your questions, contact Adept Customer Service. The following table summarizes information about the codes.
*E-STOP from robot* (-640)
Explanation: The motion interface board has detected an E-STOP condition generated by the RSC in the robot. This error is probably due to low air pressure, joint-1 overtravel, or motor overheating. A subsequent error message may provide more information.
User action: Check for a subsequent message. To determine if there was an unreported RSC error, type listr error(task,4), where task is the number of the task that received the error. If no additional information is available, check for low air pressure, joint 1 overtravel, or motor overheating.
*E-STOP from user enable switch* (-912)
Explanation: An E-STOP condition has occurred because the user enable switch (formerly called the Hold-to-Run switch) has been released. During MANUAL mode, releasing this switch performs a controlled power-off rather than an E-STOP.
User action: Hold the user enable switch and re-enable HIGH POWER as desired. If the switch was already pressed, check the switch and the associated connectors and wiring.
*E-STOP from user E-STOP button* (-910)
Explanation: An E-STOP condition has occurred because the user E-STOP button circuit has been broken.
User action: Restore the user E-STOP button circuit. Re-enable HIGH POWER as desired.
*E-STOP from user muted safety gate* (-921)
Explanation: An E-STOP condition has occurred because the user muted safety gate has been opened during automatic mode. During MANUAL mode, this error should not be seen.
User action: Close the muted safety gate and re-enable HIGH POWER as desired. If the gate was already closed, check the switch, the associated connectors, and wiring.
Executing in DRY.RUN mode (50)
Explanation: The DRY.RUN switch is enabled and program execution has been requested. Thus, no motion of the robot occurs.
User action: None unless motion of the robot is desired. In that case, abort execution of the program and disable the DRY.RUN switch.
*Expected character(s) not found* (-745)
Explanation: While training characters for subsequent optical character recognition (OCR), the number of characters in the given string did not correspond to the number of characters found in the training window. Character training has been aborted.
User action: Make sure the given string matches the characters in the training window.
*Expected servo node not found* (-679)
Explanation After a servo bus reset, V+ has not detected all the required nodes on the servo network. Either the network has failed because of noise, a servo node has failed, or a servo node has been unplugged.
User Action Use the SRV.NET command to determine which node is causing this error. Verify that all servo network connectors are secure. Reinitialize your servo network. Reboot your robot contoller. If the problem persists, contact Adept Customer Service.
*[Fatal] Addr Err* at aaaaaa m:n I=xxxx, A=aaaa, F=ff (None)
Explanation: An internal problem has occurred with the V+ software or with the system hardware.
User action: It would be appreciated if you would report the error to Adept Application Engineering. Please include the details of the error message and exactly what you were doing at the time the error occurred.
To save programs that are in memory, you can restart V+ temporarily by pressing Ctrl+G. The robot servos do not function, but you can STORE the programs. Then power down the controller and restart the system.
*[Fatal] Bus Err* at aaaaaa m:n I=xxxx, t=aaaa, F=ff (None)
Explanation: A computer error occurred because of a bad read from memory, because of noise on the internal data bus, or because of a hardware problem.
User action: To save programs that are in memory, you can restart V+ temporarily by pressing Ctrl+G. The robot servos do not function, but you can STORE the programs. Then power down the controller and restart the system. If the problem persists, contact Adept Customer Service.
*[Fatal] CHK Trap* at aaaaaa m:n (None)
Explanation: An internal problem has occurred with the V+ software or with the system hardware.
User action: It would be appreciated if you would report the error to Adept Application Engineering. Please include the details of the error message and exactly what you were doing at the time the error occurred.
To save programs that are in memory, you can restart V+ temporarily by pressing Ctrl+G. The robot servos do not function, but you can STORE the programs. Then power down the controller and restart the system.
*[Fatal] DIV Instr Err* at aaaaaa m:n (None)
Explanation: The V+ system has detected an error from a divide instruction. This indicates a processor fault.
User action: Power down the controller and try starting it again. If the problem persists, contact Adept Customer Service.
*[Fatal] Emul 1010 Trap* at aaaaaa m:n (None)
Explanation: An internal problem has occurred with the V+ software or with the system hardware.
User action: It would be appreciated if you would report the error to Adept Application Engineering. Please include the details of the error message and exactly what you were doing at the time the error occurred.
To save programs that are in memory, you can restart V+ temporarily by pressing Ctrl+G. The robot servos do not function, but you can STORE the programs. Then power down the controller and restart the system.
*[Fatal] Emul 1111 Trap* at aaaaaa m:n (None)
Explanation: An internal problem has occurred with the V+ software or with the system hardware.
User action: It would be appreciated if you would report the error to Adept Application Engineering. Please include the details of the error message and exactly what you were doing at the time the error occurred.
To save programs that are in memory, you can restart V+ temporarily by pressing Ctrl+G. The robot servos do not function, but you can STORE the programs. Then power down the controller and restart the system.
*[Fatal] E-STOP signals are stuck off* (-904)
Explanation: During system startup, a test is performed to ensure that no E-STOP signals are stuck in the off state. This error message is followed by one or more standard E-STOP error messages that indicate which signals are stuck. If this error occurs, robot power cannot be enabled.
User action: Check the wiring of your E-STOP circuits. Verify that the Controller Interface Panel (CIP) is connected properly. Contact Adept Customer Service for assistance.
*[Fatal Force Err] ...* ... (None)
Explanation: The force processor has detected an error condition. You can continue to use the V+ system, but the force-sensing system cannot be used until you act upon the error.
User action: None required if you do not intend to use the force-sensing system. Otherwise, refer to the documentation for the force-sensing system for information on how to respond to the error.
*[Fatal] Graphics/display processor error* (None)
Explanation: The graphics processing unit on the graphics system processor has failed to respond to commands from the V+ system.
User action: Power down the controller and try starting it again. If the problem persists, contact Adept Customer Service.
*[Fatal] Illeg Instr* at aaaaaa m:n (None)
Explanation: An internal problem has occurred with the V+ software or with the system hardware.
User action: It would be appreciated if you would report the error to Adept Application Engineering. Please include the details of the error message and exactly what you were doing at the time the error occurred.
To save programs that are in memory, you can restart V+ temporarily by pressing Ctrl+G. The robot servos do not function, but you can STORE the programs. Then power down the controller and restart the system.
*[Fatal] Initialization failure* Mtr n (-1014)
Explanation: During initialization of a robot kinematic module, the indicated motor failed initialization. The problem may be a missing or improperly configured servo interface board, or an incorrect motor mapping for this module.
User action: Verify that all servo interface boards are correctly installed and configured (use the SPEC.V2 utility for motor mapping). If the problem persists, contact Adept Customer Service.
*[Fatal] Invalid serial I/O configuration* (None)
Explanation: During initial startup, V+ has detected that the configuration of the hardware for serial communications is not valid. An attempt has been made to configure a serial unit that is not installed, or an invalid byte format or baud rate has been requested.
User action: Power down the controller and try starting it again. Make sure that the boot disk you are using is valid for your controller. Use the CONFIG_C utility program to make sure the serial I/O configuration is correct. If the problem persists, contact Adept Application Engineering.
*[Fatal] I/O processor failure* (-905)
Explanation: The I/O processor on the main CPU board did not start up properly. This processor is critical to the safe operation of the robot. Therefore, if this error occurs, HIGH POWER cannot be enabled.
User action: Power-down and restart your controller. Try a different boot device. Reload your system software. If this problem persists, contact Adept Customer Service for assistance.
*[Fatal] Manual mode switch stuck off* (-920)
Explanation: During system initialization, a hardware test of the manual mode circuit has found that the key switch is stuck in automatic mode. This error indicates a safety hazard and prevents HIGH POWER from being enabled.
User action: Check any user manual mode switch that may be in use. Verify that the CIP is connected securely. Restart your V+ system to clear the error and repeat the test. If the problem persists, contact Adept Customer Service.
*[Fatal] OVF Trap* at aaaaaa m:n (None)
Explanation: An internal problem has occurred with the V+ software or with the system hardware.
User action: It would be appreciated if you would report the error to Adept Application Engineering. Please include the details of the error message and exactly what you were doing at the time the error occurred.
To save programs that are in memory, you can restart V+ temporarily by pressing Ctrl+G. The robot servos do not function, but you can STORE the programs. Then power down the controller and restart the system.
*[Fatal] Priv Viol* at aaaaaa m:n (None)
Explanation: An internal problem has occurred with the V+ software or with the system hardware.
User action: It would be appreciated if you would report the error to Adept Application Engineering. Please include the details of the error message and exactly what you were doing at the time the error occurred.
To save programs that are in memory, you can restart V+ temporarily by pressing Ctrl+G. The robot servos do not function, but you can STORE the programs. Then power down the controller and restart the system.
*[Fatal] Servo code incompatible* CPU n (-1102)
Explanation: During initialization, V+ detected an improper version of servo software on the indicated CPU. V+ continues to operate, but does not allow high power to be turned on.
User action: Power down the controller and restart. If the problem persists, contact Adept Customer Service.
*[Fatal] Servo dead* Mtr n (-1104)
Explanation: The servo process for the indicated motor is not responding to commands from V+. V+ continues to operate, but does not allow high power to be turned on.
User action: Power down the controller and restart. If the problem persists, contact Adept Customer Service.
*[Fatal] Servo init failure* Board n (-1107)
Explanation: During system initialization the indicated servo interface board cannot be initialized. The problem may be an invalid servo configuration, a missing or improperly configured servo interface board, or a hardware failure.
User action: Power down the controller and restart, making sure you are using the correct system disk. If the problem persists, contact Adept Customer Service.
*[Fatal] Servo process dead* CPU n (-1101)
Explanation: V+ failed to detect proper operation of the servo process on the indicated CPU. V+ continues to operate, but does not allow high power to be turned on.
User action: Power down the controller and restart. Use the CONFIG_C.V2 utility to verify that a servo process is enabled for this CPU. If the problem persists, contact Adept Customer Service.
*[Fatal] Spurious Int* at aaaaaa m:n (None)
Explanation: An internal problem has occurred with the V+ software or with the system hardware.
User action: It would be appreciated if you would report the error to Adept Application Engineering. Please include the details of the error message and exactly what you were doing at the time the error occurred.
To save programs that are in memory, you can restart V+ temporarily by pressing Ctrl+G. The robot servos do not function, but you can STORE the programs. Then power down the controller and restart the system.
*[Fatal] Stk Overflow* at aaaaaa m:n (None)
Explanation: A storage stack within V+ has overflowed. If n is 1, the error indicates that the V+ monitor has encountered an expression that has parentheses nested too deeply. Any of the following values for n indicates that the program task shown has attempted to evaluate an expression that is too complex to fit in the stack for that task. The value is a hexadecimal number where ^H1 = monitor task and ^HD = task 0, ^HE = task 1,...^H27 = task 26, and ^H28 = task 27.
User action: If the n value is one of those listed above, reduce the complexity of the offending expression. If the value is not one of those listed, an internal problem with V+ is indicated. In that case, it would be appreciated if you would report the error to Adept Application Engineering. Please include the details of the error message and what you were doing at the time the error occurred.
To save programs that are in memory, you can restart V+ temporarily by pressing Ctrl+G. The robot servos do not function, but you can STORE the programs. Then power down the controller and restart the system.
*[Fatal] System clock dead* (None)
Explanation: During initial startup, V+ has failed to detect proper operation of the system clock and timer hardware. V+ cannot run without the clock operating properly.
User action: Power down the controller and try starting it again. If the problem persists, contact Adept Customer Service.
*[Fatal] System clock too fast* (None)
Explanation: During initial startup, V+ has detected that the system hardware clock is running too fast. V+ cannot run without the clock operating properly.
User action: Power down the controller and try starting it again. If the problem persists, contact Adept Customer Service.
*[Fatal] Uninit Trap* at aaaaaa m:n (None)
Explanation: An internal problem has occurred with the V+ software or with the system hardware.
User action: It would be appreciated if you would report the error to Adept Application Engineering. Please include the details of the error message and exactly what you were doing at the time the error occurred.
To save programs that are in memory, you can restart V+ temporarily by pressing Ctrl+G. The robot servos do not function, but you can STORE the programs. Then power down the controller and restart the system.
*[Fatal] ZDIV Trap* at aaaaaa m:n (None)
Explanation: An internal problem has occurred with the V+ software or with the system hardware.
User action: It would be appreciated if you would report the error to Adept Application Engineering. Please include the details of the error message and exactly what you were doing at the time the error occurred.
To save programs that are in memory, you can restart V+ temporarily by pressing Ctrl+G. The robot servos do not function, but you can STORE the programs. Then power down the controller and restart the system.
*File already exists* (-500)
Explanation: There is already a disk file or a graphics window with the name supplied to the last storage request.
User action: Reissue the storage request with a different file name, or delete the old file.
*File already open* (-506)
Explanation: A disk file or graphics window is already open on a logical unit, and another open request has been attempted.
User action: Modify the program to use a different logical unit number for the file or window you want to open, or perform an FCLOSE operation on the file or window currently open on the specified logical unit number before performing the FOPEN operation.
*File format error* (-512)
Explanation: The requested disk file is not in a format acceptable to V+ because either it was not created by V+ or the file has been corrupted.
User action: Use another diskette or reference another file.
*File name too long* (-570)
Explanation: The file name in an NFS operation was too long.
User action: Use a shorter file name.
*File not opened* (-513)
Explanation: A program request was made to read or write data from a disk device when no file was open, or an attempt was made to access a graphics window that is not open.
User action: Modify the program to open the file or graphics window before attempting to read or write data.
*File or subdirectory name error* (-514)
Explanation: The specified file name or subdirectory was not a valid disk file name, the directory path contained invalid syntax, or the directory path was too long.
User action: Retry the operation with a correct file name or subdirectory name. Verify that syntax of the directory path is correct. Verify that any default directory path specified by the DEFAULT command is correct. Verify that the total directory path is not too long when the default is combined with the current file specification.
*File too large* (-569)
Explanation: The NFS operation caused a file to grow beyond the server's limit.
User action: Close the file, open a new file, and retry the previous operation.
Find: (None)
Explanation: While initiating a string search or replacement operation, the SEE editor is prompting for the string to be found in the program.
User action: Enter the desired search string, or press Return to cancel the request.
*First statement must be .PROGRAM* (-351)
Explanation: An attempt was made to insert or deposit a program statement above the .PROGRAM statement, which must be the first statement in the program.
User action: Move the cursor to below the .PROGRAM line of the program before attempting to insert or deposit statements.
*Font already defined* (-737)
Explanation: An attempt has been made to VLOAD a font file (for subsequent optical character recognition) that contains a font with the same number as one already in memory. The load operation has been aborted and none of the fonts in the file have been loaded.
User action: Rename or delete the font currently defined in memory.
*Font not completely trained* (-738)
Explanation: During planning of a font for optical character recognition (OCR), some or all of the characters in the font have not been trained.
User action: Display the font (with VSHOW.FONT) to see which characters have not been trained. Then train those characters or delete them from the font.
*Font not defined* (-736)
Explanation: The font specified for optical character recognition (OCR) is not defined.
User action: Use VDEF.FONT or VLOAD to define the font.
*Font not loaded* (-551)
Explanation: The specified font does not exist.
User action: Specify another font (font #1 is always loaded).
*Force protect limit exceeded* (-624)
Explanation: At least one force-sensor strain gauge reading has exceeded the preset limit, causing a robot panic stop. This may happen due to high forces experienced during an insertion, a crash, or high acceleration.
User action: If a crash occurred, ensure that the work area is cleared. If the limit was exceeded in normal operation, the limit should be increased or Protect mode should be disabled. Enable high power with the manual control pendant and continue operation.
*Front panel HIGH POWER lamp failure* (-924)
Explanation: HIGH POWER has been disabled because a failure (Open Circuit) in the front panel HIGH POWER lamp has been detected. The lamp is probably burned out. This condition is considered a safety hazard. An E-STOP is not signaled. However, HIGH POWER cannot be enabled until the lamp is replaced.
User action: Replace the HIGH POWER lamp. See the Adept MV Controller User's Guide. Re-enable HIGH POWER as desired.
*Front panel serial bus failure* (-925)
Explanation: The serial i2c bus from the AWC to the CIP has failed. This bus is used for I/O to the front panel and for the digital I/O signals connected to the CIP. High power is disabled if a failure occurs on this bus. This message may occur normally when certain diagnostic programs are run.
User action: Check the cabling from the AWC to the CIP. Power down and restart the controller. If this problem persists, contact Adept Customer Service for assistance.
*Function already enabled* (-422)
Explanation: Certain functions or operations must not be enabled when they are already enabled or active. ALTER mode is an example of such a function.
User action: Avoid reenabling the function or operation.
*Graphics processor timeout* (-552)
Explanation: The graphics processor (on the system processor) failed to respond to a command from V+ within five seconds.
User action: Save all your programs and variables on disk and then reboot the system from disk. Contact Adept Customer Service if the problem repeats.
*Graphics software checksum error* (-558)
Explanation: The code on the graphics board has been corrupted.
User action: Save new or modified programs, restart the controller, and reload the programs. If the problem persists, contact Adept customer service.
*Graphics storage area format error* (-555)
Explanation: During execution of a FREE command, V+ has detected that the information in graphic memory may have been corrupted. This may have been caused by a momentary hardware failure or a software error.
User action: Attempt to save as much as possible onto disk. Issue ZERO 1 and ZERO 2 monitor commands to delete graphics data. If the error persists, power down the controller and restart the system.
(HALTED) (8)
Explanation: A HALT instruction has been executed, and thus execution of the current program has terminated.
User action: Any monitor command can be entered, but PROCEED cannot be used to resume program execution.
*Hard envelope error* Mtr n (-1027)
Explanation: The indicated motor was not tracking the commanded position with sufficient accuracy, indicating a failure in the hardware servo system or something impeding the path of the robot. Because this is considered a serious error, high power was turned off.
User action: Turn on high power and try to perform the motion at a slower speed. Make sure that nothing is obstructing the robot's motion. If the error recurs, contact Adept Customer Service.
*Hardware not in system* (-805)
Explanation: An instruction has attempted to access optional hardware (such as a FORCE board) that is not installed in the system.
User action: Install the needed hardware or remove the instruction that addresses the hardware.
*Hard overspeed error* Mtr n (-1029)
Explanation: During manual mode, the safety hardware has detected an attempt to move a robot axis at a speed faster than allowed. The motion is terminated and robot power is disabled. This error should never occur if the servos are properly configured.
User action: Verify that the servos for this motor are properly configured. If the problem persists, contact Adept Customer Service.
*HIGH POWER button not pressed* (-646)
Explanation: You did not press the high power on/off button before the timeout period expired. This message also can result from a faulty cable, Controller Interface Panel (CIP), or AWC.
User action: If working from the keyboard, reissue the enable power monitor command and promptly press the high power on/off button when instructed to do so. If working from the MCP, follow the procedure appropriate for enabling high power for the safety category of your system. Promptly press the high power on/off button when instructed to do so. If the timeout period is too short, adjust it by using the config_c utility to change the power_timeout statement in the V+ configuration data.
*Illegal array index* (-404)
Explanation: An attempt has been made to: (1) use a negative value as an array index, (2) use a value greater than 32767 as an array index, (3) specify a simple variable where an array variable is required, (4) omit an array index in a situation where it is required (for example, a 1-dimension array is specified when a 2- or 3-dimension array is required), (5) specify an explicit index in an argument for a V+ operation that requires a null array, or (6) specify an index to the right of a blank index for a multiple-dimension array.
User action: Correct the line.
*Illegal assignment* (-403)
Explanation: The assignment operation just attempted was invalid, possibly because it attempted to assign a value to a variable name that is a reserved word or a function.
User action: Reenter the line, using a different variable name if necessary.
*Illegal camera number* (-803)
Explanation: A vision command or instruction has specified a camera number value that is invalid.
User action: Reenter the command or edit the program using the correct camera number.
*Illegal digital signal* (-405)
Explanation: A number or bit field specifies a digital signal that is not in one of the allowed ranges or that is not installed. Attempting to set software signal 2032 (brake solenoid) will also give this error.
User action: Correct the signal number and check your digital I/O configuration.
*Illegal expression syntax* (-458)
Explanation: While decoding a numeric or logical expression, a compound transformation, or a string expression, V+ has encountered syntax that it does not understand. Possible errors include unmatched parentheses, missing variables, or missing operators.
User action: Retype the line containing the expression, being careful to follow the V+ syntax rules.
*Illegal in debug monitor mode* (-359)
Explanation: An operation was attempted that is not accepted in debug monitor mode.
User action: Use a different command, change to debug editor mode, or exit from the program debugger.
*Illegal in read-write mode* (-365)
Explanation: An editor function was attempted that cannot be performed while accessing a program in read-write mode.
User action: Change to editing the program in read-only mode, or use a different editor command.
*Illegal I/O channel number* (-518)
Explanation: An internal I/O channel number has been encountered that is invalid. This indicates a V+ internal software problem.
User action: It would be appreciated if you would report the error to Adept Application Engineering. Please include the details of the error message and exactly what you were doing at the time the error occurred.
*Illegal I/O device command* (-502)
Explanation: A command to an I/O device was rejected by that device. Certain devices do not accept all commands. For example, random access I/O is illegal to the terminal or to the Kermit device; the GETC function cannot read from a disk file opened for random access. This error may also indicate a hardware problem with the device controller.
User action: Correct the I/O command as required to suit the device. If you continue to have difficulty, contact Adept Application Engineering for assistance.
*Illegal I/O redirection specified* (-525)
Explanation: An unacceptable I/O redirection has been specified in a DEFAULT monitor command, a disk I/O monitor command (LOAD or STORE_), or in an ATTACH instruction. Either there is a syntax error, or the requested redirection is not allowed for your I/O configuration.
User action: Check the syntax of the offending statement. Make sure that the requested redirection device is allowed on your I/O configuration.
*Illegal joint number* (-609)
Explanation: A joint number has been specified out of the allowed range.
User action: Correct the joint number.
*Illegal memory reference* (-418)
Explanation: An operation has attempted to reference an invalid memory address. That is, one that is either out of the allowed range, or that is not in use for any input/output module.
User action: Correct the address or install the missing module.
*Illegal monitor command* (-300)
Explanation: The name of the command just attempted was not recognized by the system, possibly because it was mistyped or because it was a program instruction and not a command.
User action: Verify the spelling of the command name and enter the command again. Use the DO command to invoke a program instruction from the terminal.
*Illegal motion from here* (-613)
Explanation: The motion just attempted cannot be performed from the current robot location. For example, NEST can be executed only immediately after a READY instruction; CALIBRATE can be executed only after power-up, LIMP, or NEST; and only CALIBRATE or READY can be executed when the robot is in the nest.
User action: Perform the appropriate operation sequence before retrying the desired motion.
*Illegal operation* (-423)
Explanation: A program instruction has attempted to perform an operation that is not possible.
User action: Check the instruction executing when the error occurred. Make sure all conditions necessary for its successful completion are met.
*Illegal .PROGRAM statement* (-467)
Explanation: An attempt has been made to: (1) enter a line other than a .PROGRAM statement as the first line of a program, or (2) enter a .PROGRAM statement that contains a syntax error.
User action: Move below the first line of the program, or reenter the line correctly. (With the V+ SEE editor, you can press the Undo function key or press Esc+Ctrl+C to cancel the changes you have made to a .PROGRAM line.)
*Illegal record length* (-528)
Explanation: An FOPEN instruction has specified a record length that is not acceptable. For example, the value is negative or too large, or the record length is zero with random-access mode specified.
User action: Edit the program to specify a correct record length or specify sequential-access mode.
*Illegal use of belt variable* (-466)
Explanation: A belt variable has been used in a context where it is not allowed, probably in a compound transformation but not at the left-most position.
User action: Edit the program to use the belt variable correctly.
*Illegal user LUN specified* (-527)
Explanation: An I/O instruction has specified a logical unit number (LUN) that is not defined in the V+ system, or cannot be accessed in the manner attempted. (See the description of the ATTACH instruction for a list of the valid logical unit numbers and the devices to which they apply.)
User action: Edit the program to use a logical unit number appropriate for the instruction.
*Illegal value* (-402)
Explanation: A numeric or expression value that is not in the allowed range was specified within a command or instruction.
User action: Edit the program to use a legal value.
*Illegal when command program active* (-419)
Explanation: A command program is active and an attempt has been made to execute a command that interferes with operation of the command program. (For example, processing a ZERO command causes the command program to be deleted from the system memory.)
User action: Edit the command program and delete the command causing the error.
*Illegal when network enabled* (-543)
Explanation: An attempt has been made to perform certain network functions that require that the network be disabled, but the network is enabled.
User action: Disable the network and retry the operation.
*Illegal while joints SPIN'ing* (-637)
Explanation: An attempt has been made to execute a regular motion instruction while a SPIN trajectory is being executed.
User action: Stop the SPIN trajectory with a SPIN or BRAKE instruction before executing a regular motion instruction.
*Illegal while protocol active* (-548)
Explanation: This message indicates that you tried to enter passthru mode, or did something unexpected on the serial line configured for use with Kermit while a file was being processed.
User action: Make sure there is no file being accessed by Kermit, and retry the failed operation.
*Image processing board failure* (-728)
Explanation: The controller circuit board that processes vision images has failed to respond while processing a request to grab a frame.
User action: After saving the programs, variables, and vision prototypes in memory, power down the controller. Make sure the image processor is firmly seated in the controller backplane. Contact Adept Customer Service if the problem persists.
*Incompatible safety configuration* (-644)
Explanation: The robot and controller do not have the same safety options.
On SmartController systems, this error displays if the Cat 3 option is selected while running a SmartController with an old CIM board. If V+ detects a 1394 Cat 3 robot when the Cat 3 option is not selected on the SmartController, the message includes the number of the robot associated with the error.
User action: Make sure that the correct robot and controller are being used together. Install (or remove) the appropriate EN954 Safety Category license in the controller.
*Inconsistent hierarchy levels* (-757)
Explanation: The VPLAN.FINDER vision instruction has attempted to combine two or more object finder models that were not trained at the same hierarchical (subsample) level.
User action: Retrain the models so that they are all at the same hierarchical levels.
*Inconsistent model mode setting* (-763)
Explanation: Inconsistent modes (binary with backlight, binary without backlight, or grayscale) exist between different vision models if the error occurs during planning, or between the planned model(s) and the object finder if the error occurs during recognition.
User action: During planning, combine only models trained with the same mode (either all grayscale or all binary with the same backlight setting). Retrain some models if the wrong mode setting has been used by mistake. During recognition, set the object finder mode setting to be similar to that of the planned models. Modes are set using the VTRAIN.FINDER instruction and the V.BACKLIGHT[ ] system switch.
*Information not available* (-730)
Explanation: (1) A VGETPIC, VPUTPIC, VRULER, VRULERI, or VWINDOW operation has been attempted when the specified frame store (binary or grayscale) does not contain valid picture data. (2) No information is available for VGAPS or VSUBPROTO (for example, V.LAST.VER.DIST is set to zero), or the prototype name specified is not the name of the last object located.
User action: Change the operations that precede the failed one to make sure the required conditions are satisfied.
*Initialization error* (-505)
Explanation: An I/O device reported an error condition during its initialization. Initialization is performed during power-up, after a reset, and may also be performed after certain nonrecoverable I/O errors occur.
User action: Be sure that the hardware for the I/O device is properly installed. Repeat the failed I/O operation. If the problem persists, contact Adept Customer Service.
*Initialization failure* Belt n (-1015)
Explanation: The indicated belt encoder monitoring system failed to respond to V+ during the initialization caused by the DEFBELT instruction.
User action: Power down the controller and restart. If the problem persists, contact Adept Customer Service. (You can prevent this error from being reported by enabling the DRY.RUN system switch.)
*Input block error* (-511)
Explanation: A read error has occurred while reading a binary data file from the floppy disk. This indicates that the wrong file was specified or that the data in the file is corrupted.
User action: Try the operation again. If the error recurs, use another diskette.
*Input error* Try again: (16)
Explanation: The input provided was not consistent with what V+ expected.
User action: Provide another response.
*Interrupted multi-segment motion* (-902)
Explanation: Currently, the only multiple-segment motions are MOVEF and MOVESF. For these motion instructions, this error is signaled if the DEPART motion has been initiated, but neither the APPROACH nor the final move to the destination is performed. For example, this situation might occur if an envelope error is detected during the DEPART or the APPROACH motion segments.
User action: Correct the problem that caused the robot motion to terminate prematurely and reexecute or skip the multiple-segment motion.
*Invalid argument* (-407)
Explanation: An argument for a function, program instruction, or SEE editor command is not in the accepted range.
User action: Verify the range of arguments for the function, program instruction, or editor command being used.
*Invalid camera calibration* (-802)
Explanation: A vision system operation has been attempted before the camera-to-robot calibration has been done.
User action: Execute the camera-to-robot calibration program provided by Adept, or load previous calibration data. The latter can be done, for example, by calling the subroutine load.line provided on the Adept Utility Disk in the file LOADAREA.V2.
*Invalid character in font* (-741)
Explanation: An invalid character appears in the string that defines a font for optical character recognition (OCR). The characters in the string must be in the range ASCII 33 (!) to 126 ().
User action: Delete the invalid character from the string.
*Invalid connection specified* (-540)
Explanation: An invalid logical network connection has been specified. For example, a zero connection ID is invalid.
User action: Specify a valid logical connection ID.
*Invalid disk format* (-520)
Explanation: An attempt has been made to read a disk that is not formatted, or is formatted improperly; or a FORMAT command has been entered that specifies invalid format parameters for the device specified.
User action: If a FORMAT command has been entered, verify the command syntax and retry the command. Otherwise, try a different diskette or reformat the current one. Remember that formatting erases all information on the diskette. If the diskette was created on an IBM PC, be sure it was formatted with one of the formats accepted by the V+ system.
*Invalid error code* Belt n (-1010)
Explanation: An unrecognized error was reported by the controller for the indicated conveyor belt.
User action: Attempt the operation again. If the error repeats, report the situation to Adept Application Engineering.
*Invalid format specifier* (-461)
Explanation: An unrecognized output format specifier was encountered in a TYPE or WRITE instruction, or in an $ENCODE function.
User action: Edit the program to use a valid format specifier.
*Invalid hardware configuration* (-533)
Explanation: An attempt has been made to access an I/O device in a manner inconsistent with its current configuration. Either the I/O device is not present in the system, or it is configured for some other use. For example, if a serial communication line is configured as a network port, it cannot be accessed as a user serial line.
User action: Make sure the correct device is being accessed. Power down the controller and try starting it again. Make sure the boot disk you are using is valid for your controller. Use the CONFIG_C utility program to make sure the serial I/O configuration is correct. If the problem persists, contact Adept Application Engineering for assistance.
If the error resulted from a disk I/O operation, it indicates that the disk controller hardware is not configured correctly. Adept Customer Service should be contacted in that case.
*Invalid in read-only mode* (-352)
Explanation: An editor function was attempted that cannot be performed while accessing a program in read-only mode.
User action: Change to editing the program in read-write mode, or use a different editor command.
*Invalid model name* (-732)
Explanation: The name of a prototype, subprototype, OCR font, or correlation template has been incorrectly specified. The correct format for prototype names is proto:subproto, where proto is a prototype name and subproto is a subprototype name. This error occurs if the colon is followed by a blank, or when some other character is used instead of a colon. Font names have the form FONT_n, where n is an integer in the range 0 to 50. (The special name FONT_0 refers to all fonts.) Similarly, template names have the form TMPL_n. Prototype names should not begin with FONT_ or TMPL_.
User action: Enter the attempted operation again, correctly specifying the prototype, subprototype, OCR font, or correlation template.
*Invalid network address* (-561)
Explanation: This error occurs when an NFS server has not correctly exported the path being accessed or when an IP network address specified is not of class A, B, or C.
User action: Check the IP addresses used to refer to network nodes.
*Invalid network protocol* (-541)
Explanation: A message has been received and rejected by a remote node because it does not follow the expected protocol. If the KERMIT device was being accessed, this error indicates that the remote server reported an error or sent a message not understood by the V+ Kermit driver.
User action: Verify that the network software version on the remote node is compatible with the network software on the local node. DISABLE and ENABLE the affected network nodes and retry the operation. If this error occurs repeatedly, contact Adept Application Engineering for assistance. (For more information about Kermit, see Kermit Communication Protocol.)
*Invalid network resource* (-560)
Explanation: This error occurs when referring to a node that has not been defined.
User action: Check the node definitions.
*Invalid number format* (-456)
Explanation: A syntax error was detected while reading a number. For example, an 8 or 9 digit was encountered while reading an octal number.
User action: Reenter the line with a valid number.
*Invalid orientation* (-619)
Explanation: A motion has been requested to a location that is defined by a transformation with its orientation pointed up instead of down.
User action: Correct the definition of the destination transformation. For example, you may need to correct the base transformation in the compound transformation. (The p component of all destination transformations should be approximately 180 degrees.)
*Invalid program or variable name* (-455)
Explanation: A user-defined name used in a command or instruction was not recognized by V+.
User action: Verify the name and retype the line.
*Invalid qualifier* (-476)
Explanation: An invalid qualifier was specified on the last command.
User action: Enter the command again, with a valid qualifier.
*Invalid request while camera running* (-706)
Explanation: An operation was attempted that requires the vision system to be idle, but it was still processing an image.
User action: Use a VWAIT instruction to make program execution wait for the vision system to be idle.
*Invalid request while vision training* (-729)
Explanation: An VEDGE.INFO or VGAPS instruction has been attempted while the vision system is in prototype training mode.