Error Messages

The following error messages have been added since the release of V+ version 12.1.

*Obstacle collision detected* (-901)

Explanation: A possible or actual collision has been detected between the robot and a statically defined obstacle. Obstacles may include fixed objects in the workcell as well as structural elements of the robot, such as its base. This error is similar to *Location out of range* in that it is often detected by the kinematic solution programs as the robot is moving.

User action: Move the robot away from the obstacle and continue the motion or modify the executing application program to avoid the obstacle. For application programs, this error may indicate that either the planned end point of the motion will collide with an object or that a collision has been detected in the middle of a straight-line motion.

*Directory error* (-509)

Explanation: This error can occur when performing a READ instruction (following an FOPEND) on a directory mounted on NFS.

User action: Unlike most other errors, this error can be ignored. Additional READ instructions to the same directory will correctly return additional contents of the directory.