Achilles Robot System

Error Code

Error String

Description / Example / Remedy

1

Do not Update

Reserved

2

Bad Command

Non-existent command

This error occurs when an entry that refers to a non-existent command is used.

Examples:

PG

The command PG does not exist.

GM[2]

The command GM does not exist.

5+14+GT

The command GT does not exist.

3

Bad Index

Index of array does not exist, for example:

IL[7] generates an error, because the index range is from 1 to 6.

4

PAL does not support this sensor

This PAL version does not support this type of sensor

7

Mode cannot be started - bad initialization data

This error is returned when preset values of a function introduce a conflict. For example, there may be a conflict between the first index in the PVT table (PV) and the available write pointer (MP[6]) when PVT motion begins.

9

CAN message hardware buffer was overrun

CAN message was lost.

10

Cannot be used by PDO

CAN cannot be used by PDO

11

Cannot write to flash memory

Most probably a hardware problem

13

Cannot reset communication - UART is busy

Cannot reset RS232 communication since the lines are busy.

For example: while uploading Recorder data, (while BH command is in process).

16

Array '[ ]' is expected, or empty expression in array

The command attribute is array. ‘[ ]’ is expected.

17

Format of UL command is not valid - check the command definition

The format of the UL command is not valid. Check the command definition.

Example:

UL=0x10480000

The MSB digit is 1 instead of 0 (it must always be 0).

This command should be

UL=0x00480000

Refer to the UL command.

19

Command syntax error

This error indicates that an incorrect syntax was used or that an incorrect use of legal command was performed.

For example:

Calling a non-parameter command:

SR=100 ;

Syntax error:

200 = AC ; // expression on the left-hand side

Calling a non-indexed command:

SD[5]; // SD is a scalar command

CA=3 ; // CA[] is a vector command

20

Bad Set Point sending order

Relevant for Interpolated Position Mode, sub mode -1

21

Operand Out of Range

FS=2,000,000,100 returns this error because the required speed is beyond the limits of the drive.

23

Command cannot be assigned

The command cannot be assigned.

For example, assigning a digital input as Safety is illegal:

IL[1..6]=24

 or

IL[1..6]=25

26

Profiler mode not supported in this unit mode (UM)

This error indicates that the requested profile cannot be performed with the present control loop. For example, in Torque Control (UM = 1) the user requests the position relative command (RM = x).

27

Bad ECAM setting

ECAM setting by EM[] command is not correct, refer to  EE[6] for details

28

Out Of Limit Range

The value entered in a parameter is outside of the range declared by another related parameter.

Example:

XM[1] = -20000

XM[2] = 20000

MO = 1

PA = 30000

The value of PA is outside of the range for XM[1]/XM[2].

33

Bad sensor setting

A bad sensor setting was made during Set Motor Enable (MO = 1).

CA[18] and CA[19] are zero when the mode is other than stepping mode (UM = 3).

34

There is a conflict with another command

There is a conflict with another command.

Cases:

Set the OB command.

35

Max bus voltage (BV) or max current (MC) is not valid

Motor cannot be started because BV or MC defined by DI procedure is not suitable for Drive Info Table

36

Commutation method (CA[17]) or commutation table does not fit to sensor

This error occurs while attempting MO = 1 when the commutation method or the commutation table does not fit the sensor.

Example:

CA[20] = 0, i.e., no Halls are present.

CA[17] = 1, i.e., commutation by Halls.

37

Two Or More Hall sensors are defined to the same place

Hall sensors are defined to the same place. Check CA[4], CA[5] or CA[6]

38

PORT C setting is incorrect

PORT C mux is with conflict with other GO[] or cannot be assigned to the output

40

In Wizard Experiment!

In Wizard Experiment!

42

No Such Label

Example:

XQ##FOO will return this error if neither a label ##FOO nor a function with the name FOO exists in the user program.

47

Program does not exist or not Compiled

An attempt to run (XQ command) a program when the program has not been compiled (CC command) will generate this error.

48

Motor cold not start - fault reason in CD

The motor could not start. The reason for the fault can be retrieved from CD.

For example:

Trying to set MO = 1 while:

there is a motor bus undervoltage,

there is a safety input fault,

there is a motor short status,

there is an over-temperature situation

etc.

51

Inhibit OR Abort inputs are active, Cannot start motor

Inhibit or abort inputs are active. The motor cannot be started.

54

Bad Data Base

An attempt to save post processing parameters failed because of an incorrect parameter value.

Or

User program download failed (wrong symbol table). Try to re-compile the program and download.

57

Motor Must be Off

This error is caused by trying to set parameters which are not allowed to be set under Motor-On, that is, while the motor is on.

Example:

Set TS (TS = n) while MO = 1.

58

Motor Must be On

PA = 1000 generates an error if MO = 0. The absolute position reference is automatically set to the present position when MO = 1; therefore, when MO = 0, setting PA is pointless.

60

Bad Unit Mode

The reference command is not suitable for the unit mode.

For example:

If UM = 2 (velocity loop)

PA = 1000 (point-2-point motion) generates this error.

61

Data Base Reset

This error may occur after upgrading the drive version if the newer version uses a different database structure.

Try to set the correct user parameters. Then save (SV command).

The SV command will check the new database, save it or return errors.

62

Socket change not allowed

Socket change is not allowed while capture is enabled

67

Recorder Is Busy

This error appears when an attempt is made to change the recorder configuration or to set a new recording request while the recorder is busy.

Let the recorder complete its job.

68

Required profiler mode is not supported

Required profiler mode is not supported

69

Recorder Usage Error

Example:

RC=2 (record second vector only);

RR=2 and later…

BH=1 (bring first vector only) is an error, because an attempt is made to bring a vector that was not recorded.

70

Recorder data Invalid

Recorder settings (such as RC=n) have been changed since the last records were made or the recorder has not been operated at all since power-up.

71

Homing is busy

This error is caused by incorrect activation of homing.

It also can be that a shared buffer is used, preventing the recorder to be activated.

For example:

Trying to use data recording while homing is using the recorder buffer (HM[11] = 5 or HF[11] = 5)

Or

Setting HM[1] while the DS-402 homing mode is activated or the DS-402 touch probe is on.

74

Bad profile database, see 0x2081 for object number (EE[2])

During the initiation of the profiler, the database is tested for conflicts in the parameters. If one of the parameters conflicts with another, this error will be presented.

The problematic parameter (object) can be retrieved by EE[2] or CANopen object 0x2081.

For example:

MO=0

UM=5

XM[1]= -1000000

XM[2]= 1000000

VL[3]= -1500000

VH[3]= 900000

MO=1

EC returns this error.

EE[2] returns  24701 (0x607D).

75

Download is in progress

Download is in progress

76

Error mapping is not allowed

Error mapping is not allowed while Homing is in progress (HM[1]\HF[1])

78

Out of Program Range

Error: A virtual machine had to jump into an out-of-code-segment area.

The amount of memory allocated for the user program is stated in the drive's User Manual.

79

Sensor setting error

Sensor setting error, possible conflict with other socket settings

81

Download failed see specific error in EE[3]

Download failed. See the specific error in EE[3].

82

Program Is Running

Wait until the program finishes, or use the HP command or KL command to stop the program.

83

Command is not permitted in a program.

A command which was used inside a user program is not allowed to be used within a program.

For example:

The next expression XQ##START inside a user program is an error because this command (XQ) is a NON-PROGRAM command.

85

STO is not active

STO is not active or STO diagnostic failed

87

Hall sensed with illegal value

Hall sensed with illegal value, may be not connected

88

Wrong event type defined

Homing event type is set out of range. Check HM[3], HF[3]

89

Wrong after event behavior defined

After event behavior is set out of range. Check HM[4], HF[4]

90

Wrong after event setting defined

After event setting is defined to wrong value. Check HM[5], HF[5]

91

Wrong sensor select HF[10]

Sensor select HF[10] is set out of range

92

HF homing on main position feedback

HF homing cannot be enabled on main position feedback, if configured to set main position (HF[5]< 2)

93

HF homing on not initialized sensor

HF homing cannot be enabled on socket with not initialized sensor

94

Not allowed while Error mapping

Not allowed while Error mapping (PC[1]) is in progress

97

RS232 receive buffer overflow

RS232 received a buffer overflow.

Characters arrived through RS-232 at too high a rate, causing the internal storage to exceed its capacity. No more space is left to store new characters.

98

Cannot measure current offsets

Current offsets cannot be measured.

99

The sensor does not support this command

The sensor does not support this command

100

The requested PWM value is not supported

The PWM frequency that was requested cannot be used with the drive.

This error means that XP[2] cannot be set because MC (the maximum current) and BV (the maximum bus voltage) parameters were not identified (a default was set). Contact Technical Support.

101

Absolute encoder setting problem

When encoder temperature (TI[3]) is read, this error will be generated if the encoder is not configured for one of the supported modes (26 bits or 32 bits).

See encoder configurations:

CA[59] = 26 or 32 (bits)

CA[41] = 5 (BIS mode)

CA[60] = 1 (temperature readable)

102

Output Compare is busy

Output Compare (OC[1] \ OC[21]) or Emulation (EA[1]) are busy

103

Output Compare Sensor Is Not QUAD Encoder

Output Compare Sensor Is Not QUAD Encoder

104

Output Compare Table Length OR Data

Output compare table length or data are not valid

105

Speed loop KP out of range

The speed loop KP[2] or KI[2] is out-of-range, i.e., has a negative value.

Example:

KP[2]=-2.5

Or

KI[2]=-44.09

107

Encoder emulation parameter is out of range

Encoder emulation parameter (EA[2] to EA[7]) is out of range

108

Encoder emulation in progress

Encoder emulation (EA[1]) is already in progress

110

Too long number

The number is too long.

The number of digits before or after the decimal point exceeds the limit of 20 digits.

122

Motion mode is not supported or with initialization conflict

The motion mode is not supported or is in a conflict during the initiation. This can be caused, for example, upon switching from DS-402 motion modes into Elmo's motion modes without adjusting the motion mode parameters.

123

Profiler queue is full

This error indicates that the point-to-point position buffers are full. The user is required to wait until the first position reaches "target reached" or flush the buffer according to the DS-402 Profile Position mode.

125

Personality not loaded

There is a problem in the non-volatile flash memory (firmware image).

Try to reload the firmware.

126

User Program failed - variable out of program size

A variable is outside of the program area.

Try to reload the program.

Try to reduce the number of variables.

128

Bad variable index in database

This error occurs when an attempt is made to map user program (global) variables to the recorder.

It is performed using the DB##RV[N] command.

N must be in the range from 0 to 7.

Using a value of N outside of this range (N < 0, N > 7) will cause this error.

In case the recorder variable is an array, for example, VarArr[M]:

DB##RV[N]=VarArr[M]

If M is greater than the maximum array index, this error occurs.

129

Variable is not an array

When a variable is mapped into the recorder variables list (the DB##RV[N] command), this error occurs if an attempt is made to map a scalar variable as an array.

Example:

DB##RV[1]=MyVar[3]

MyVar is not an array.

130

Variable name does not exist

When a variable is mapped into the recorder variables list (the DB##RV[N] command ), this error occurs if the name of the variable does not exist (the wrong name is given).

Example:

DB##RV[1]= MyVar

MyVar is an incorrect name.

131

Cannot record local variable

This error occurs when an attempt is made to map a user local variable.

Only global variables are allowed.

Example:

DB##RV[1]=LocVar

where LocVar is a local variable.

132

Variable is an array

This error occurs when a user variable is mapped to the recorder and the variable is an array, but the brackets and index are missing.

Example:

DB##RV[1]=VarName

VarName is an array.

It should be as below:

DB##RV[1]=VarName[2]

133

Number of function input arguments is not as expected

This error occurs when a user function defined with arguments is called through the XQ command with no input arguments or with a number of arguments that does not conform to the function definition.

Example:

The program defines a function:

function main(int a)

Calling this function as

XQ##main

will return this error.

134

Cannot run local label/function with the XQ command

A local label cannot be run with the XQ command.

For example:

XQ##START

When START is defined in the user program inside a user function, it is considered to be a local label, and therefore it is illegal to use it with the XQ command.

135

Frequency identification failed

Frequency identification failed.

136

Not a number

Not a number.

Float overflow was detected
 (number >= 1e37).

Example:

UF[1]=5e39

138

Position Interpolation buffer underflow

Position Interpolation buffer underflow

139

The number of break points exceeds maximal number

The number of breakpoints exceeds the maximum number.

The maximum number of breakpoints in the Gold line is 6.

The command to add breakpoint is:

DB##BP=ProgramLine

140

An attempt to set/clear break point at the not relevant line

An attempt was made to set/clear a breakpoint in a non-relevant line.

For every line of the text program, there is a corresponding line of compiled code. This error appears during an attempt to set a breakpoint at a non-corresponding line of compiled code.

Example:

DB##BP=653

If the actual Drive breakpoint was set at a different code line, this error appears.

142

Checksum of data is not correct

Checksum of data is not correct.

An internal error occurred during download of boot identity parameters.

144

Numeric Stack underflow

Numeric stack underflow. An attempt was made to retrieve an entry from an empty stack.

145

Numeric stack overflow

Numeric stack overflow.

An attempt was made to push a value to the numeric stack when it is full.

The user program contains very complex code requiring more stack space than is available. It may also be that there are too many subroutines called.

An expression in the command line of the interpreter is too complex; it calls too many functions, causing the numeric stack to overflow.

147

Executable command within math expression

An executable command was inserted within a mathematical expression.

An attempt was made to assign an executable command.

148

Nothing in the expression

There is nothing in the expression.

An attempt was made to evaluate an empty expression.

Example:

AC=;

This is wrong, because the assigned value is missing.

151

Parentheses mismatch

Parentheses mismatch

There is a mismatch between opening and closing parentheses. This error pertains to both parentheses and brackets.

Example:

sin(2;

This is wrong because a closing parenthesis is absent.

152

Bad operand type

Bad operand type

There is a mismatch between the actual value type and the expected value type.

An internal compiler error occurred due to a mismatch between an operand type and its addressing mode. Contact Technical Support.

153

Overflow in a numeric operator

Overflow in a numeric operator:

Example:

UI[1]= 200000000

UI[1]=UI*2000 //It generates this error.

Division by zero:

UI[1]/0

Remainder calculation by zero.

UI[1]%0

154

Address is out of data memory segment

Address is out of data memory segment. The address of a variable in the data segment exceeds the data segment size.

This internal compiler error is caused by corrupted compiled code. In such a case, email Technical Support for assistance. Attach the Composer date and version (in the Help menu) and the program you attempted to compile.

155

Beyond stack range

Compiled code contains a pointer to a stack entry that exceeds the actual stack range (STACK_IMMEDIATELY addressing method).

This internal compiler error is caused by corrupted compiled code. In such a case, email Technical Support for assistance. Attach the Composer date and version (in the Help menu) and the program you tried to compile.

156

Bad op-code

Compiled code contains mismatched addressing mode.

This internal compiler error is caused by corrupted compiled code. In this case, email Technical Support for assistance. Attach Composer date and version (in Help menu) and the program you tried to compile.

158

Out of flash memory range

Failure in download program procedure

For example:

The size of the program function table is greater than the maximum allowed size.

Try to reduce number of functions in the program.

159

Flash memory verification error

Failure in download process: Checksum does not match.

Possible hardware problem. Contact Technical Support.

161

Program is not halted

An attempt was made to execute a command that requires the user program to be halted.

For example:

Activation of the XC command while the virtual machine is not in the halted state.

163

Not enough space in program data segment

There is not enough space in the program data segment.

Try to reduce variable usage in the user program.

165

An attempt to access flash memory while busy

An attempt was made to access serial flash memory while busy.

Failure occurred on reading serial flash memory. This might be due to a hardware problem.

Contact Technical Support.

166

Out Of Modulo Range

This error occurs when the main encoder (the PX command) is set to an out-of-range value:

XM[1] is the lower limit

XM[2] is the upper limit

XM[1] < PX < XM[2]

(See CANOpen objects 0x607B.2 and 0x607B.1).

168

Speed too large to start motor

MO = 1 or the motor was started with the Enable switch while the motor was rotating too rapidly.

169

Time out using peripheral.(overflow or busy)

This error occurs in cases in which CPU peripherals are used from two resources.

For example:

The UL or PK uploading command failed because the transmitter buffer is full.

The OP command is not accepted because requests to update the output port arrived from two channels (CANopen & USB) simultaneously.

170

Cannot erase sector in flash memory

The serial flash memory cannot be erased. This problem may occur during downloading of the firmware or parameters.

Contact Technical Support.

171

Cannot read from flash memory

The serial flash memory (SFlash) cannot be read because an attempt was made to read an illegal area in the SFlash or an internal board communication failure occurred. Contact Technical Support.

172

Cannot write to flash memory

Writing to the serial flash memory (SFlash) failed because an attempt was made to write to an illegal area in the SFlash or an internal board communication or SFlash failure occurred. Contact Technical Support.

173

Executable area of program is too large

This error is detected during the CC command.

The user program (the entire code image, excluding text) is too large.

Try to reduce the size of the user program code.

174

Program has not been loaded

This error is detected during the CC command.

The user program image is illegal or does not exist.

Try to download program again.

175

Cannot write program checksum - clear program (CP)

An incorrect checksum value was set in the CC command after the user program was downloaded.

The checksum is calculated by the drive, and a failure occurred during the downloading session.

Try to query the CC value and set it to the value calculated by the drive.

176

User code, variables and functions are too large

The user program non-text area (code, variables and function table) is oversized. Try to reduce program code.

177

Capture/Compare conversion error in analog encoder. Require known quad location

Capture/Compare conversion error in analog encoder. Require known quad location

178

CAN bus off

CAN bus is off

179

Consumer HB event

Consumer HB event. Consumer HB time is exceeded

180

DF is not supported in this communication type

DF is not supported in this communication type

181

Writing to Flash program area, failed

Writing to the serial flash program area during the Set CC command failed.
Contact technical support.

182

PAL Burn Is In Process or no PAL is burned

PAL burn is in process during:

An attempt to set motor on (MO = 1). This action failed.

An attempt to burn PAL.

The Read PB command.

If PB > 0, try again your action.

If PB == 0, wait.

If PB < 0, try to burn PAL again or contact technical support.

184

Capture option already used by other operation

Only one of the following Capture options can be used at the same time:

ELMO Heritage Home

Touch Probe (DS-402)

DS-402 Home

They all use the same capture module.

An attempt to use another option without closing the active one will generate this error.

185

This element may be modified only when interpolation is not active

The following elements may be modified only when interpolation is not active:

OF[22] (CANopen object 60C0) – Interpolation sub mode select.

OV[23 to 24] (CANopen object 60C2) – Interpolated Data Period.

OV[25 to 27] (CANopen object 60C4) – Interpolated Buffer Org.

186

Interpolation queue is full

The interpolation queue is full.

This might appear while setting object 60C1 – Interpolated data record.

187

Incorrect Interpolation sub-mode

The interpolation sub-mode is not supported.

188

Gantry slave is disabled

Gantry master cannot enabled if gantry slave is not enabled at current mode

189

CAN message was lost, software buffer overflow

CAN message was lost, software buffer overflow

190

Profile Acceleration is out of range

Profile Acceleration is out of range or zero

191

Motor over temperature

Motor over temperature

200

Main Feedback error refer to: EE[1]

Main Feedback error refer to: EE[1]

201

Commutation sequence failed

Commutation sequence failed

202

Encoder - Hall sensor mismatch refer to: XP[7]

Encoder - Hall sensor mismatch refer to: XP[7]

203

Current limit was exceeded

Current limit was exceeded

204

External inhibit input detected

External inhibit input detected

205

AC Fail: loss of phase

AC Fail: loss of phase

206

Digital Hall run too fast or disconnected

Digital Hall run too fast or disconnected

207

Speed error limit exceeded refer to: ER[2]

Speed error limit exceeded refer to: ER[2]

208

Position error limit
exceeded value of ER[3]

Position error limit exceeded value of ER[3]

209

Cannot start motor because of bad database refer to: CD

Cannot start motor because of bad database refer to: CD

210

Bad ECAM table

Bad ECAM table

211

Sensorless is permitted under UM=1 or UM=2 only

Sensorless can be used for current closed loop or velocity closed loop only

216

Cannot find zero position without DHalls

Cannot find zero position without DHalls

217

Over Speed violation refer to: HL[2]

Over Speed violation refer to: HL[2]

221

Motor stuck

Motor stuck

222

Out of position limits refer to: HL[3] or LL[3]

Out of position limits refer to: HL[3] or LL[3]

223

Numerical overflow

Numerical overflow

224

Gantry slave is not enabled

Gantry slave is not enabled

229

Cannot start motor because of internal problem

Cannot start motor because of internal problem

233

Under voltage protection

Under voltage protection

235

Overvoltage protection

Overvoltage protection

237

Safety switch

Safety switch

241

Short protection

Short protection

243

Over temperature protection

Over temperature protection

245

Additional Inhibit input

Additional Inhibit input