V+ Language Reference Guide, v17.x


System Messages - Alphabetical List

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 of 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 is listed after the error text, 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.

A B C D E F G H I J K L M
N O P Q R S T U V W X Y Z

NOTE:If the system has more than one robot connected and an error is associated with a specific robot, 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.

Aborted (-400)

Explanation: The last command requested, or the program that was executing, has been aborted at your request.

User action: None.

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.

*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 or the controller or PANIC on the 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.

*Canceled* (-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.

User action: None.

*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 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) Change

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) Change

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 Adept ACE 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 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 (around 0.5 sec).

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.

MMSP External E-STOP Error Message Codes

Code n Explanation
0 Adept E-stop, channel 1 error
1 Adept E-stop, channel 2 error
2 Customer E-stop, channel 1 error
3 Customer E-stop, channel 2 error

*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.

*E-STOP unstable* (-939)

Explanation: The E-STOP source has not been resolved.

User action: Check if there is noise on the E_STOP line.

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 controller. 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 then 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] Vision processor failure (-765)

Explanation: The processor on the AdeptVision board is not responding to V+ commands.

User action: Save programs and data to disk as required, power down the controller, reboot the controller. If the problem persists, contact Adept Customer Service.

*[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 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 file 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. (For SCARA robots, 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.

User action: Use the pendant to terminate prototype training, type Ctrl+C at the system terminal to abort a VTRAIN command, or abort execution of the program that initiated training.

*Invalid servo error* Mtr n (-1001)

Explanation: An unrecognized error was reported for the indicated robot motor.

User action: Attempt the operation again. Contact Adept Customer Service if the error repeats.

*Invalid servo initialization data* (-625)

Explanation: During V+ system initialization after booting from disk, servo initialization data in the wrong format was found. This can be caused by using a version of the SPEC utility that is incompatible with the V+ system.

User action: Make sure your system disk has been configured correctly. Contact Adept Application Engineering for assistance.

*Invalid software configuration* (-315)

Explanation: During initial startup, V+ has detected that the system software is not configured properly for the options or hardware present.

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. If the problem persists, contact Adept Customer Service for assistance.

*Invalid statement label* (-463)

Explanation: The program statement label was not an integer from 0 to 65535.

User action: Reenter the line with a valid label.

Invalid steps will be changed to ? lines (None)

Explanation: The AUTO.BAD extended command has been used to change the action to be taken when an invalid line is detected while editing. Subsequently, such a line automatically changed to a bad line with a question mark in column one.

User action: None. This is an informational message.

*Invalid VFEATURE access* (-801)

Explanation: A VFEATURE function has been used to access, from the vision system, data that is not valid. In particular, after a VLOCATE instruction in no-wait mode, the vision data is invalid if VFEATURE(1) returns the value FALSE.

User action: Edit the program to ensure that, after a no-wait VLOCATE, no VFEATURE accesses [other than VFEATURE(1)] occur if the vision data is indicated by VFEATURE(1) to be invalid.

*Invalid vision argument* (-735)

Explanation: An argument for a vision function, program instruction, or command is not in the accepted range.

User action: Verify the acceptable range of arguments for the function, program instruction, or command being used. Make sure that the scaling of the vision calibration is reasonable.

*Invalid vision X/Y ratio* (-727)

Explanation: A VPUTCAL instruction has been used to pass vision calibration data to the AdeptVision system, and the x-scale to y-scale is not in the acceptable range.

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.

*Invalid when program on stack* (-366)

Explanation: An attempt has been made to edit a .PROGRAM or AUTO statement while the program appears on some task execution stack. While a task is on a stack, its subroutine arguments and automatic variable values are kept on the stack. Changes to these statements modify the stack, which is not allowed.

User action: Remove the program from the stack by allowing the task to run until the desired program executes a RETURN instruction, or issue a KILL monitor command to clear the stack. If you are using the SEE program editor, press the Undo key to allow you to continue editing.

*Invalid when program task active* (-311)

Explanation: An attempt has been made to begin execution of a robot or PC program task when that task is already active.

User action: Abort the currently executing task, or execute the program as a different task, if possible.

*I/O communication error* (-507)

Explanation: A hardware error has been detected in the I/O interface.

User action: Try your command again. If the problem persists, contact Adept Customer Service.

*I/O queue full* (-517)

Explanation: Too many I/O requests have been issued to a device too quickly, and there is no more room to queue them.

User action: Retry the operation. If the problem persists, 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.

*Is a directory* (-568)

Explanation: The caller specified a directory in a nondirectory NFS operation.

User action: Specifying a file that is not a directory, repeat the operation; or perform the correct directory operation.

*Kinematic solution not found* (-936)

Explanation: While evaluating the kinematic solution, the current joint angles of the Adept Quattro robot do not form a consistent set.

User action: Modify the specified destination location (e.g., if a precision point is specified). Press the Brake Release button, and manually move the robot to a different location. If the problem persists, contact Adept Customer Service for assistance.

*Line too long* (-354)

Explanation: An operation was attempted that would have resulted in accessing a program step that contains too many characters. A single program step can contain at most about 150 characters.

User action: Enter the program step as two or more separate steps.

*Location out of range* (-610)

Explanation: V+ has encountered a location that is too far away to represent (possibly within an intermediate computation) or that is beyond the reach of the robot. This probably indicates an error in a location function argument value or in a compound transformation.

User action: Verify that you are using location functions and operations correctly and edit the program as required.

*Location too close* (-618)

Explanation: An attempt has been made to move the robot to a location that is too close to the robot column. This probably indicates an error in the value of a location function argument or an incorrect compound transformation.

User action: Verify that you are using location functions and operations correctly and edit the program as required.

Macro (Z ends): (None)

Explanation: Definition of a SEE editor macro command has been initiated.

User action: Enter the keystrokes to define the macro and then enter Z to terminate the definition.

*Manual brake release* (-639)

Explanation: The robot's manual brake-release button is active. It is not possible to enable power when this button is pressed.

User action: Make sure that the manual brake-release button (usually located on the robot) is not active. If the problem persists even though the button is not pressed, call Adept Customer Service.

*Manual control pendant failure* (-650)

Explanation: A program has attempted to access the pendant when it is disconnected or has failed.

User action: Make sure the pendant is connected properly. If the problem persists, contact Adept Customer Service.

*Manual mode cannot be enabled* (-932)

Explanation: The safety system has detected a fault condition that prevents manual mode operation of the robot.

User action: Toggle the auto/manual switch. Restart the servos and reboot the controller. Check the safety-related cables. If the problem persists, contact Adept Customer Service.

*Manual mode switch 1 off detected by CPU* (-917)

Explanation: An E-STOP condition has occurred during manual mode because the CPU has detected on signal channel 1 that the manual mode key switch has been set to automatic mode. Normally this message is suppressed and error -645 is reported. There may be a hardware problem with the CIP, its cabling, or the AWC.

User action: If safe to do so, toggle the auto/manual key switch and attempt to enable HIGH POWER again. Reseat the plug affixed to the JAWC connector on the CIP and the plug affixed to the CIP connector on the AWC. Verify that the CIP is connected securely. If this error persists, contact Adept Customer Service.

*Manual mode switch 2 off detected by CPU* (-918)

Explanation: An E-STOP condition has occurred during manual mode because the CPU has detected on signal channel 2 that the manual mode key switch has been set to automatic mode. Normally this message is suppressed and error -645 is reported. There may be a hardware problem with the CIP, its cabling, or, most likely, the AWC.

User action: If safe to do so, toggle the auto/manual key switch and attempt to enable HIGH POWER again. Reseat the plug affixed to the JAWC connector on the CIP and the plug affixed to the CIP connector on the AWC.Verify that the CIP is connected securely. If this error persists, contact Adept Customer Service.

*Maximum number of prototypes exceeded* (-712)

Explanation: A maximum of 25 prototypes may be in the AdeptVision system memory at one time.

User action: If not all of the current prototypes are needed, then store them on disk using the VSTORE monitor command and VDELETE the prototypes that are not needed. This will reduce the number of prototypes in memory so that more may be VTRAINed or VLOADed.

*Maximum number of samples trained* (-739)

Explanation: An attempt has been made to train a character more than 30 times for optical character recognition (OCR).

User action: Display the font (with VSHOW.FONT) and determine which characters have already been trained 30 times. Don't train those characters any more.

*MCP enable switch 1 off detected by CPU* (-915)

Explanation: An E-STOP condition has occurred because the CPU has detected on signal channel 1 that the MCP enable switch (formerly called Hold-to-Run) has been released. Normally, this message is suppressed and error -913 is reported. There may be a hardware problem with the CIP or its cabling.

User action: Hold the MCP enable switch and re-enable HIGH POWER as desired. If this error occurs frequently, contact Adept Customer Service.

*MCP enable switch 2 off detected by CPU* (-916)

Explanation: An E-STOP condition has occurred because the CPU has detected on signal channel 2 that the MCP enable switch (formerly called Hold-to-Run) has been released. Normally, this message is suppressed and error -913 is reported. There may be a hardware problem with the CIP or its cabling.

User action: Hold the MCP enable switch and re-enable 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.

*Memory Err* at aaaaaa (None)

Explanation: During initialization, V+ detected a hardware failure at the indicated memory location.

User action: Power down the controller and start it again. If the error persists, contact Adept Customer Service.

*Misplaced declaration statement* (-471)

Explanation: Upon loading a program or exiting from the program editor, V+ has encountered an AUTO or LOCAL statement that follows an executable program instruction.

User action: Edit the program to make sure that AUTO and LOCAL statements are preceded only by blank lines, comments, or other AUTO and LOCAL statements.

*Missing argument* (-454)

Explanation: A valid argument was not found for one or more of the arguments required for the requested command or instruction. That is, the argument was not present at all or an invalid argument was present. A possible cause is the use of a single equal sign (=) for the equality relational operator (==).

User action: Verify the operation syntax and reenter the line.

*Missing bracket* (-475)

Explanation: In the specification of an array element, a left bracket has been found with no matching right bracket. Either too many left brackets are present or a right bracket has been omitted.

User action: Reenter the line with correctly matching left and right brackets.

*Missing parenthesis* (-459)

Explanation: An attempt was made to evaluate an expression that did not have correctly matching left and right parentheses.

User action: Correct the expression.

*Missing quote mark* (-460)

Explanation: A quoted string has been encountered that has no matching quote mark before the end of the line.

User action: Insert a quote mark at the end of the string. Strings may not cross line boundaries.

*Mixing half and full resolutions* (-750)

Explanation: A model (recognition prototype, OCR font, or correlation template) was defined using a full-frame image, but was applied to a half-frame image (field only), or vice versa.

User action: Make sure the correct virtual camera is being used for both defining the model and applying the model. Associated with each virtual camera is a calibration array that contains information indicating whether full-frame or half-frame images are to be acquired with the virtual camera.

*Motor amplifier fault* Mtr n (-1018)

Explanation: The power amplifier for the indicated motor has signaled a fault condition on fault line 1. This fault occurs only for devices controlled by the AdeptMotion Servo system. The interpretation of this fault depends on the particular device being controlled.

User action: Turn high power back on and restart the program. If the error persists, implement procedures appropriate for your AdeptMotion system. If the robot is a standard Adept product, contact Adept Customer Service.

*Motor overheating* Mtr n (-1016)

Explanation: The indicated motor is overheating.

User action: Reduce the speed, acceleration, and/or deceleration of the robot motions, or introduce delays in the application cycle to give the motor an opportunity to cool.

*Motor stalled* Mtr n (-1007)

Explanation: The indicated motor has stalled while being driven. This is usually caused by the robot encountering an obstruction.

User action: Turn high power back on and restart the program. Remove the obstruction or modify the program to have the robot follow a different path.

*Motor startup failure* Mtr n (-1105)

Explanation: During calibration, the indicated motor did not move as expected. The problem may be: (1) the motor is obstructed or up against a limit stop, (2) the load on the robot is too large for calibration, (3) the motor drive hardware is not functioning, or (4) the position encoders are not functioning.

User action: Move the robot away from its limit stops and remove any unusual load. Turn high power back on and try to calibrate again. Contact Adept Customer Service if the error persists.

*Must be in debug mode* (-360)

Explanation: An editor function was attempted that is accepted only when the program debugger is active.

User action: Use a different editor command or activate the program debugger with the SEE editor DEBUG extended command or the DEBUG monitor command.

*Must use CPU #1* (-666)

Explanation: A command or instruction that requires execution on CPU #1 has been attempted on a different CPU.

User: action: Reexecute the command or instruction on CPU #1.

*Must use straight-line motion* (-611)

Explanation: A joint-controlled motion instruction was attempted while the system was in a mode requiring that only straight-line motions be used. For example, while tracking a conveyor, only straight-line motions can be used.

User action: Change the motion instruction to one that requests a straight-line motion.

*Negative overtravel* Mtr n* (-1032)

Explanation: The negative hardware overtravel switch for the indicated motor has been tripped. Robot power has been disabled.

User action: Manually move the robot back into range and re-enable power. Check the the negative overtravel switch and its wiring. Use the CONFIG_C utility to adjust the robot soft limits so they are inside the hard limits.

*Negative square root* (-410)

Explanation: An attempt has been made to calculate the square root of a negative number.

User action: Correct the program as required.

*Network closed locally* (-535)

Explanation: An attempt has been made to access a DDCMP serial line when the protocol is not active. The protocol was probably stopped because of some other error condition.

User action: Restart the DDCMP protocol.

*Network connection closed* (101)

Explanation: A client connection has closed on the given logical unit.

User action: None. This is an informational message.

*Network connection opened* (100)

Explanation: A new client connection has been established on the given logical unit.

User action: None. This is an informational message.

*Network connection terminated* (-565)

Explanation: This error occurs when input or output operations are attempted on a network connection that has already been terminated.

User action: Reestablish the network connection, and retry the original operation.

*Network error* Code n (value received)

Explanation: An error code between -255 and -1 (inclusive) has been received from the network. The error code, which does not have meaning to V+, is being reported to you.

User action: Application dependent. If the indicated code does not having meaning for the current application, verify that the remote computer is sending valid data.

*Network node off line* (-538)

Explanation: An attempt has been made to send data to a known network node that is off-line. Either the node has been disabled, or it is not connected to the network.

User action: Make sure that the remote node is active and connected to the network. Make sure that the local node is connected to the network.

*Network not enabled* (-542)

Explanation: An attempt has been made to access a remote network node, or perform certain network functions, when the network is not enabled.

User action: Enable the network and retry the operation.

*Network packet partially read* (102)

Explanation: A network packet from the UDP driver was too big and was only partially read.

User action: Retry the READ instruction for the UDP device. Change the parameters of the sender to transmit smaller packets.

*Network resource already in use* (-587)

Explanation: An attempt has been made to use a network address or other network resource that is already in use.

User action: Specify a different address or resource to use.

*Network resource name conflict* (-564)

Explanation: The name specified for an NFS mount matches an existing network resource name such as an NFS disk name.

User action: Choose a different name.

*Network restarted remotely* (-534)

Explanation: V+ has received a DDCMP start-up message from the remote system when the protocol was already started. The remote system has probably stopped and restarted its protocol. The local protocol is stopped and all pending I/O requests are completed with this error.

User action: (1) Close and reopen the DDCMP line; (2) check the remote program logic to see why it restarted the protocol.

*Network timeout* (-562)

Explanation: This error occurs when a network transaction is initiated but no reply is received from the server.

User action: Check network integrity. Make sure the server is up and running. Make sure the correct IP address is being used.

*NFS error* Code n (-1200 to -1299)

Explanation: Because NFS returns errors that do not have corresponding meaning in V+, some NFS errors are reported as a variable NFS error. Errors in this range have the following interpretation: V+ error number -(1200+n) corresponds to NFS error code n. Following are the currently known NFS error codes that are reported in this way:

NFS Error Message Codes

Code n Explanation
19 No such device.
30 Read-only file system. A write operation was attempted on a read-only file system.
69 Disk quota exceeded. The client's disk quota on the server has been exceeded.
99 The server's write cache used in the WRITECACHE call was flushed to disk.

*No air pressure* (-607)

Explanation: V+ detected that the air supply to the robot brakes and hand has failed. High power is turned off and cannot be turned on until the air pressure is restored.

User action: Restore the air pressure, turn high power back on, and resume program execution. If the error persists, contact Adept Customer Service.

*No data received* (-526)

Explanation: An I/O read request without wait has not found any data to return. This is not really an error condition.

User action: Continue polling the I/O device until data is received, or use a read request that waits automatically for data to be received.

*No matching connection* (-539)

Explanation: A request for a logical network connection has been received and rejected because there is no matching connection on the remote node.

User action: Make sure that the proper logical connection was specified. Make sure that the remote node is operating properly.

*No models* (-758)

Explanation: The VSTORE program instruction or monitor command has not found any models to store.

User action: Supply correct model names to the VSTORE instruction.

*No models planned* (-761)

Explanation: Recognition cannot commence because no object models have been planned for the given virtual camera.

User action: Supply the correct virtual camera number or plan that uses the specified camera number. (See the VPLAN.FINDER instruction for details.)

*Nonexistent file* (-501)

Explanation: (1) The requested file is not stored on the disk accessed. Either the name was mistyped or the wrong disk was read.

(2) The requested graphics window title, menu, or scroll bar does not exist.

User action: (1) Verify the file name--use the FDIRECTORY command to display the directory of the disk.

(2) Verify the name of the graphics window element specified.

*Nonexistent subdirectory* (-545)

Explanation: The subdirectory referenced in a file specification does not exist on the disk that is referenced. Note that the subdirectory may be part of a default directory path set by the DEFAULT monitor command.

User action: Make sure that the subdirectory name was entered correctly. Make sure that the correct disk drive was referenced and that the correct diskette is loaded. Use an FDIRECTORY command to display the directory containing the subdirectory. Make sure that the default directory path is correct.

*No objects seen* (-704)

Explanation: The vision system reports that no objects were seen, in response to a VTRAIN or VLOCATE command. In the VLOCATE case, it is an error only if you expect to see objects.

User action: In the training case, make sure the training object is visible under the camera. If you expect to see objects, check the threshold parameter, the minimum area parameter, and the camera hardware.

*No other program referenced* (-353)

Explanation: A command was issued that attempted to reference a previously edited program, but no other program has been edited during the current editing session.

User action: Use the New or GoTo function-key command (or the N keyboard command) to change to a new program.

*No picture data available* (-723)

Explanation: A vision operation was attempted that requires processed picture data (run-length encodings) when no processed picture data was available.

User action: Issue a VPICTURE or VWINDOW command or instruction with a mode parameter of -1 or 1. This provides the processed picture data needed for rulers or reprocessing.

*No program specified* (-301)

Explanation: No program was specified for an EXECUTE or SEE command or instruction, or DEBUG command, and no previous program is available as a default.

User action: Type the line again, providing a program name.

*No prototypes* (-702)

Explanation: This is the response to the monitor commands VSTORE and VSHOW (without a parameter) when no prototypes currently exist.

User action: Load some vision object prototypes or train a new one.

*No robot connected to system* (-622)

Explanation: An attempt has been made to attach a robot with a system that does not support control of a robot. (Note that some commands, instructions, and functions implicitly attach the robot.)

User action: Make sure the system has been booted from the correct system disk (for example, use the ID command to display the system identification). Change the program so that it does not attempt to attach the robot.

*Not a directory* (-567)

Explanation: The caller specified a nondirectory in an NFS directory operation.

User action: Specify a directory in the operation, or use the correct nondirectory operation.

*Not attached to logical unit* (-516)

Explanation: A program has attempted to perform I/O to a logical unit that it has not attached with an ATTACH instruction. Logical unit 4 allows output without being attached, but all other logical units require attachment for both input and output.

User action: Edit the program to make sure it attaches a logical unit before attempting to use it to perform I/O.

*Not configured as accessed* (-544)

Explanation: An attempt has been made to access a serial line or other I/O device in a manner for which it is not configured. For example, a Kermit or network line cannot be accessed as a simple serial line.

User action: Verify the proper way to access the serial line for the current configuration. Use the configuration utility program to display the serial line configuration and change it if desired.

*Not enough program stack space* (-413)

Explanation: An attempt was made to call a subroutine, process a reaction subroutine, or allocate automatic variables when the stack for the program task was too full.

User action: Reorganize the program logic to eliminate one or more nested subroutine calls or reactions; eliminate some of the automatic variables that are allocated by the programs; or use the STACK monitor command to increase the size of the stack for the program task. The program may be restarted with the RETRY command.

*Not enough prototype storage area* (-717)

Explanation: The vision system does not have enough memory to store all of the prototypes requested.

User action: VDELETE unused prototypes, load fewer prototypes, or use simpler object models.

*Not enough storage area* (-411)

Explanation: There is no more space in RAM for programs or variables.

User action: Delete unused programs and variables. If the memory is fragmented because of numerous deletions, it can be consolidated by issuing the commands STORE save_all, ZERO, and LOAD save_all. This writes the memory contents to the disk and reads them back into memory. Note, however, that this procedure does not retain any variables that are not referenced by any program in memory, nor does it retain the values of variables that are defined to be AUTO or LOCAL.

*Not found* (-356)

Explanation: The search operation was unable to locate the specified string.

User action: Enter a new search string, or consider this an informational message and continue with other operations.

*Not owner* (-566)

Explanation: The client does not have the correct access identity to perform the requested NFS operation.

User action: Modify the local_id statement in the V+ configuration file (using the CONFIG_C utility) as required to gain access to the server. You may also need to change the access setup on the server itself.

*Not supported in simulated vision mode* (-764)

Explanation: An attempt has been made to execute a vision command, instruction, or function while the V+ system is operating in Adept Digital Workcell vision simulation mode. Vision operations are not supported in that mode, which is used when the V+ system is operating in Adept Digital Workcell simulation mode and no vision hardware is installed in the Adept controller.

User action: Do not attempt to use vision operations when the V+ system is operating in Adept Digital Workcell simulation mode and no vision hardware is installed. If you must use vision operations, install the proper vision hardware.

*Not yet implemented* (-1)

Explanation: This keyword is not implemented in this version of V+.

User action: Upgrade to a newer version of V+ or don’t use this keyword.

*No vision system selected* (-751)

Explanation: The current task has not selected a vision system. By default, vision system 1 is selected. This error may indicate the vision option is not installed.

User action: Use the SELECT() function to select a vision system.

Now reboot the controller to disable Adept Digital Workcell simulation mode.(None)

Explanation: The V+ monitor command DISABLE ADW has been entered. This message informs you that the Adept controller must be rebooted to actually discontinue Adept Digital Workcell simulation mode.

User action: If Adept Digital Workcell simulation mode is to be terminated, turn off power to the Adept controller, and turn power back on to reboot the V+ system. Otherwise, enter the V+ monitor command ENABLE ADW to cancel the effect of the previous DISABLE command.

Now reboot the controller to enable Adept Digital Workcell simulation mode. (None)

Explanation: The V+ monitor command ENABLE ADW has been entered. This message informs you that the Adept controller must be rebooted to initiate Adept Digital Workcell simulation mode.

User action: If Adept Digital Workcell simulation mode is to be used, turn off power to the Adept controller, start up the Adept Digital Workcell software on the PC, and turn on power to the Adept controller. Otherwise, enter the V+ monitor command DISABLE ADW to cancel the effect of the previous ENABLE command.

*No zero index* Belt n (-1011)

Explanation: The conveyor belt controller did not detect a zero-index mark for the indicated belt.

User action: Make sure the belt encoder is connected properly. If the problem persists, contact Adept Customer Service.

*No zero index* Mtr n (-1004)

Explanation: The motor controller did not detect a zero-index mark for the indicated joint.

User action: Before you can resume running the program, you must recalibrate the robot. If the problem persists, contact Adept Customer Service.

*NVRAM battery failure* (-665)

Explanation: The nonvolatile RAM battery backup has failed and the RAM may not hold valid data.

User action: Replace the NVRAM battery.

*NVRAM data invalid* (-661)

Explanation: The nonvolatile RAM has not been initialized or the data has been corrupted.

User action: Power down your controller and restart your system. If the error persists, contact Adept Customer Service.

*Obsolete keyword* (-2)

Explanation: This keyword is no longer supported.

User action: Don't use this keyword.

*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 collides with an object or that a collision has been detected in the middle of a straight-line motion.

Okay to restart the servos (Y/N)? (12)

Explanation: You have entered the command ENABLE ADW while in Adept Digital Workcell simulation mode. In response to this command, V+ restarts the servos to account for any robot configuration changes that have made in the Adept Digital Workcell system. V+ is asking for confirmation before restarting the servos.

User action: If ENABLE ADW was entered on purpose to restart the servos, enter "Y". Otherwise enter "N". See the topic "Communicating with the Controller" in the Adept Digital Workcell documentation for information about restarting the servos.

Old value: n, New value: n

Explanation: The specified watchpoint has detected a change in value for the expression being watched. The change occurred because of execution of the program step just before the one indicated.

User action: Enter a PROCEED (Ctrl+P), RETRY, SSTEP (Ctrl+Z), or XSTEP (Ctrl+X) command to resume program execution.2 Otherwise, enter any other monitor command.

*Option not installed* (-804)

Explanation: An attempt has been made to use a feature of a V+ system option that is not present in this robot system.

User action: Power down the controller and try starting it again. Contact Adept Application Engineering if the problem repeats.

*Orientation out of range* (-935)

Explanation: While evaluating the kinematic solution, the deflection of the moving platform of the Adept Quattro robot was found to be beyond the allowable extreme.

User action: Press the Brake Release button and manually move the robot joints so that the moving platform is nearer to its "square" shape.

*Out of graphics memory* (-549)

Explanation: There is no more space in the graphics memory on the system processor for windows, icons, fonts, or other graphics items.

User action: Delete unused graphics items, or reduce the size of windows, to free up graphics memory.

*Out of I/O buffer space* (-532)

Explanation: An I/O operation cannot be performed because the V+ system has run out of memory for buffers.

User action: Delete some of the programs or data in the system memory and retry the operation. (Also see *Not enough storage area*.)

*Out of network resources* (-559)

Explanation: This error applies to many circumstances. Listed below are several possible cases:

1. Too many ports are simultaneously in use for TCP and NFS; there are no more buffers available for incoming and outgoing packets.

2. Too many drives are being mounted.

3. Too many NFS calls were made simultaneously from separate tasks to a nonfunctional NFS server.

4. Too many node names are being defined.

5. An incoming IP packet was fragmented into too many pieces and V+ was unable to reassemble it. (This is a highly unlikely occurrence.)

User action: Correct the problem generating the error.

*Out of vision transform memory* (-753)

Explanation: The space allocated for vision transformations is inadequate. (A vision transformation may be defined for each task for each CPU running V+ user tasks.) Vision transformations are defined with the VTRANS instruction.

User action: Define only the vision transformations that you need. If more memory must be allocated to vision transformations, see the description of the DEVICE instruction.

*Output record too long* (-529)

Explanation: A TYPE, PROMPT, or WRITE instruction has attempted to output a line that is too long. The maximum line length is 512 characters.

User action: Change the program to output less information from each instruction. Remember that you can concatenate the output from separate instructions by using /S to suppress the carriage return and line feed normally done at the end of each TYPE output.

*Overtravel* Mtr n (-1034)

Explanation: The indicated motor has moved beyond the hardware-limited range of motion.

User action: Manually move the robot back into range and re-enable power. Check the the overtravel switch and its wiring. Use the CONFIG_C utility to adjust the soft limits for the robot so they are inside hard limits.

*PANIC command* (-633)

Explanation: You have entered a V+ PANIC monitor command, or a program has executed a PANIC program instruction, which has stopped the current robot motion. High power is still enabled.

User action: To continue the current motion, enter the RETRY monitor command. To continue after the current motion, enter the PROCEED monitor command.

(PAUSED) (9)

Explanation: A PAUSE instruction has been executed, and thus the current program has suspended execution.

User action: Any monitor command can be entered. To continue execution of the program, type proceed followed by the task number if it is not 0.

*Pendant Not Connected* (-657)

Explanation: The pendant is not connected to the XMCP connector or it is not responding.

User Action: Check the connection, cable, and pendant.

*Position out of range* Jt n (-1002)

Explanation: (1) The requested motion was beyond the software-limited range of motion for the indicated joint; (2) while enabling high power, V+ detected that the indicated robot joint was outside the software limit.

User action: (1) Modify the program as required to prevent the invalid motion request. (Because the robot did not actually move out of range, you do not need to move the robot before continuing); (2) move the robot back into the working envelope. Correct whatever caused the robot to get into the restricted area, and enable power.

*Position out of range* Mtr n (-1023)

Explanation: (1) The requested motion was beyond the software-limited range of motion for the indicated motor; (2) while enabling high power, V+ detected that the indicated robot motor was outside the software limit.

User action: (1) Modify the program as required to prevent the invalid motion request (Because the robot did not actually move out of range, you do not need to move the robot before continuing.); (2) move the robot back into the working envelope. Correct whatever caused the robot to get into the restricted area, and enable power.

*Positive overtravel* Mtr n (-1033)

Explanation: The positive hardware overtravel switch for the indicated motor has been tripped. Robot power has been disabled.

User action: Manually move the robot back into range and re-enable power. Check the the positive overtravel switch and its wiring. Use the CONFIG_C utility to adjust the soft limits for the robot so they are inside the hard limits.

*Power disabled: Manual/Auto changed* (-645)

Explanation: V+ disables power when the Controller Interface Panel (CIP) switch moves from manual to auto or vice versa.

User action: Use any valid method to enable high power.

*Power failure detected* (-667)

Explanation: Indicates that a controller AC power-fail condition has been detected. If battery backup is installed, this error is reported (when power is restored) by any I/O operations that were canceled due to the power failure. This error code may be trapped by a program using the REACTE instruction in order to provide some level of automatic power failure response.

User action: You may need to restart or repeat any operations that were interrupted by the controller AC power failure. Some reinitialization of the system may be required: for example, any robot(s) connected to the controller must be recalibrated after a controller power failure.

*Power failure detected by robot* (-632)

Explanation: Indicates that a controller power failure condition has been detected by the robot control software while a robot is attached to a program. This error is issued in addition to -667 if a program has a robot attached and has a REACTE routine defined. Unlike error -667, if no REACTE routine is defined and a robot is attached, the V+ program stops with this error.

User action: You may need to restart or repeat any operations that were interrupted by the controller AC power failure. Some reinitialization of the system may be required: for example, any robot(s) connected to the controller must be recalibrated after a controller power failure

Press HIGH POWER button to enable power (57)

Explanation: The high power on/off button on the front panel must be pressed to complete the process of enabling high power.

User action: When the high power on/off button on the Controller Interface Panel (CIP) blinks, promptly press the button to complete the two-step process of enabling high power. (You must press the button within the time period specified in the V+ configuration data.)

Press HIGH POWER button when blinking (60)

Explanation: When enabling power for Cat3 systems which are in manual mode, the HIGH POWER ON/OFF button on the front panel must be pressed after the Hold-to-run button has been released and held. The light on the HIGH POWER ON/OFF button will blink when it is time to press it. You must press the button within the time period specified in the V+ configuration data (which by default is ten seconds).

User action: When the HIGH POWER ON/OFF button on the VFP blinks, promptly press the button to complete the two-step process of enabling high power.

*Processor crash* CPU = n (None)

Explanation: V+ has detected that the specified CPU within the controller has entered a fatal error state. A crash message from that processor is displayed immediately following. A software error or hardware problem with that processor is likely.

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. You should store the programs that are in memory, power down the controller, and start it again. (If the processor ID shown is 1, you can restart V+ by pressing Ctrl+G. The robot servos do not function, but you can STORE the programs in memory.) If the problem persists, contact Adept Customer Service.

*Program already exists* (-309)

Explanation: An attempt has been made to LOAD a program that already exists, or to COPY or RENAME a program to a name that is already in use.

User action: Delete the conflicting program or use a different name.

*Program argument mismatch* (-408)

Explanation: The arguments in a CALL, CALLS, or EXECUTE instruction do not match the arguments in the program being referenced because they are of different types.

User action: Modify the CALL, CALLS, or EXECUTE instruction, or the .PROGRAM statement of the referenced program, so that the argument types match. If arguments are omitted in the CALL, CALLS, or EXECUTE instruction, make sure the appropriate commas are included to position the arguments that are present.

Program completed (3)

Explanation: The program has been executed the number of times specified in the last EXECUTE command or instruction.

User action: Any monitor command can be entered, except that PROCEED cannot be used to resume program execution.

Program HOLD (15)

Explanation: The RUN/HOLD button on the pendant has been pressed while a robot program was executing, and it is now suspended.

User action: Any monitor command can be entered. To continue execution of the program, type proceed or retry, or press the PROGRAM START button on the controller. (The RUN/HOLD button can be held down to temporarily resume execution of the program if the front-panel keyswitch is in the MANUAL position.)

*Program interlocked* (-308)

Explanation: An attempt has been made to access a program that is already in use by some V+ process. For example, you have attempted to delete or edit a program that is being executed, or execute a program that is being edited.

User action: Abort the program or exit the editor as appropriate and retry the operation. You can use the SEE editor in read-only mode to look at programs that are interlocked from read-write access.

Program name? (None)

Explanation: A SEE editor command to change to a different program has been entered.

User action: Enter the name of the new program to be edited, or press Return to cancel the request.

*Program not executable* (-307)

Explanation: Because of program errors detected during loading or upon exiting from the editor, this program cannot be executed.

User action: Edit the program to remove any errors.

*Program not on top of stack* (-421)

Explanation: A DO context specification has referenced an automatic variable or a subroutine argument in a program that is not on the top of the stack for the specified task.

User action: Reenter the DO command and specify the correct program context or eliminate references to automatic variables and subroutine arguments. Use the STATUS command to determine which program is on the top of the stack.

Program program_name doesn't exist. Create it (Y/N)? (None)

Explanation: An attempt has been made to use the SEE editor to access a program that does not currently exist.

User action: Enter a Y to have the program created. Any other input, including just pressing Return, cancels the edit request.

Program task # stopped at program_name, step step_number date time (4)

Explanation: Execution of the program task indicated by # has terminated for the reason indicated in the message that preceded this message. The step number displayed corresponds to the next NEXT program step that is executed (for example, if PROCEED were entered). The current date and time are displayed if the system date and time have been set.

User action: None. This is only an informational message.

*Program task not active* (-318)

Explanation: An attempt was made to abort a task that was not active.

User action: None required if the correct task number was specified. Otherwise, use the STATUS command to determine which task number should have been used.

*Program task not in use* (-319)

Explanation: A program task cannot be accessed because it has never been used. (Such program tasks do not use any system memory and do not appear in the STATUS display.)

User action: None.

*Protected program* (53)

Explanation: An attempt has been made to list a program that is protected from user access.

User action: None.

*Protection error* (-530)

Explanation: An I/O operation cannot be performed because (1) it attempted to write to a disk that is write protected, or (2) you do not have the proper access status.

User action: Check the diskette to make sure the write-protect tab is in the correct position. Use an FDIRECTORY command to display the disk directory. If the file has protected (P) or read-only (R) protection, you cannot access it in the way attempted.

Push, release, hold, MCP enable switch (58)

Explanation: You are attempting to enable HIGH POWER while in manual mode. This operation requires that the MCP enable switch be tested. HIGH POWER cannot be enabled unless you toggle the switch to test it.

User action: Push, then release, then hold the enable switch within a limited time. Alternately, you can change from manual mode to automatic mode.

*Recursive macros illegal* (-357)

Explanation: An attempt was made to execute a macro recursively. That is, the macro contained a command character sequence that (directly or indirectly) restarted execution of the macro.

User action: Change the macro definitions as necessary to make sure neither macro invokes itself. You can have the U macro invoke the Y macro, or vice versa (but not both).

*Region too big* (-743)

Explanation: While using optical character recognition (OCR) to recognize text (VOCR) or train a font (VTRAIN.OCR), a region in the given window was more than 63 pixels in the horizontal or vertical dimension.

User action: Make sure there are no extraneous regions in the training window. If the characters in the font are too large, use a camera lens with a shorter focal length, or increase the distance between the camera and the text.

*Region too complicated* (-744)

Explanation: While using optical character recognition (OCR) to train a font (VTRAIN.OCR), a character region was encountered with more than 20 concavities and holes.

User action: Look at the binary image (with VDISPLAY mode 2). Perhaps the threshold needs adjustment.

*Release then press Hold-to-run button (58)

Explanation: When enabling power for Cat3 systems which are in manual mode, the Hold-to-run button in the handle of the MCP must be released then pressed and held. The release time must be between two and ten seconds.

User action: Promptly release then press the button when this message is displayed. Make sure that you press the Hold-to-run switch and not the Run/Hold button on the top of the MCP.

*Remote digital input failed* Block n (-1112)

Explanation: If displayed during startup, V+ has failed to detect the specified remote digital input block on the servo network. This is caused by one of the following conditions: the required node is not connected to the network; the V+ I/O configuration is incorrect; or the configuration of the servo nodes is incorrect. If encountered during normal operation, the remote digital input block has stopped supplying data. The servo network or remote network node may have failed.

User action: If this error occurs during startup, verify that all required network nodes are connected. Use the SRV.NET monitor command to verify that the network nodes contain the desired input blocks. Verify that the V+ I/O configuration matches the network node digital input configuration. If this error occurs during normal operation, reinitialize your servo network or reboot your controller. If the problem persists, contact Adept Customer Service.

*Remote digital output failed* Block n (-1113)

Explanation: During startup, V+ has failed to detect the specified remote digital output block on the servo network. This is caused by one of the following conditions: the required node is not connected to the network; the V+ I/O configuration is incorrect; or the configuration of the servo nodes is incorrect.

User action: Verify that all required network nodes are connected. Use the SRV.NET monitor command to verify that the network nodes contain the desired output blocks. Verify that the V+ I/O configuration matches the network node digital output configuration.

*Remote has not exported network resource* (-563)

Explanation: The NFS server has not exported the designated path for use by clients.

User action: Check the NFS server setup, and check the path that the V+ system uses.

*Reserved word illegal* (-457)

Explanation: An attempt has been made to use a V+ reserved word for a variable name.

User action: Use a different name for the variable. You can, for example, append a prefix or suffix to the attempted name.

Return manual control pendant to background display (^C to exit) (None)

Explanation: The pendant display must be in background mode for the operation you have selected.

User action: Press the DONE button on the pendant one or more times to exit the current function.

*Robot already attached to program* (-602)

Explanation: A program has executed more than one ATTACH instruction for the robot, without executing a DETACH in between. Or an attempt has been made to SELECT another robot when one is already attached. The robot is still attached even after this error occurs.

User action: Check the program logic-remove redundant ATTACH instructions, or DETACH the current robot before attempting to SELECT another robot.

*Robot configuration option or model illegal* (-930)

Explanation: During the booting sequence, a selected robot kinematic module detected a specified optional configuration mode or model number that is not supported in either this version of V+ or by this kinematic module. Often, this occurs if you have enabled a feature that is only available in enhanced kinematic module and you have loaded the standard kinematic module.

User action:  Verify that you have the required version of V+ and that the kinematic module supports the robot model and configuration options that you have selected.  If you do not have a license for the required kinematic module, either turn off the option or purchase the required license.

*Robot interlocked* (-621)

Explanation: (1) An attempt has been made to access a robot or external device that is already being used by a different program task or by the system monitor; (2) an attempt has been made to calibrate the robot with the controller in manual mode, which is not allowed for safety reasons.

User action: (1) Review the program logic and make sure the robot or device is being controlled by only one program task; (2) Move CIP key switch to the automatic mode position or set the user manual mode signals appropriately.

*Robot module not enabled* (-900)

Explanation: The indicated robot module is present in memory, but it was not enabled for use due to an error (which is reported by a separate message).

User action: Use the CONFIG_C and/or SPEC utilities to correct the module configuration.

*Robot module not loaded* ID: n (-628)

Explanation: This error occurs only during startup when a robot module has been configured using the CONFIG_C utility, but the robot module is not present in memory.

User action: Use the CONFIG_C utility to add the robot module to the boot disk before rebooting.

*Robot not attached to this program* (-601)

Explanation: An attempt has been made to execute a robot-control command or instruction in one of the following invalid situations:

(1) The system is not configured to control a robot. (2) There is no robot connected to the system. (3) The robot is attached to a different program task.

User action: (1) Make sure the system is booted from the proper system disk, or remove the robot-control instruction.

(2) Connect the robot or enable the DRY.RUN system switch.

(3) Modify the program logic as required to ensure that only one program task is controlling the robot at any given time.

*Robot not calibrated* (-605)

Explanation: An attempt has been made to execute a robot-control program when the robot is not calibrated. No motion is allowed until the robot is calibrated.

User action: If you want to use the robot, issue a CALIBRATE command or have your program execute a CALIBRATE instruction. Or enable the DRY.RUN switch to allow program execution without using the robot.

*Robot overheated* (-606)

Explanation: (1) Robot joint 1 has been moved into the hardware brake track area, which causes high power to be turned off and prevents the robot from moving.

(2) The robot base has become overheated.

User action: (1) Push the brake release button at the robot base and move the joints back into the normal working range. Turn on high power and continue program execution.

(2) Check the fan filter on the robot base, and check the ambient temperature of the robot. Allow the robot to cool down, turn on high power, and continue program execution.

*Robot power off* (-604)

Explanation: The requested operation cannot be performed because HIGH POWER is off.

User action: Enable power and retry the operation.

*Robot power off requested* (-906)

Explanation: HIGH POWER has been turned off because of a program or user request, such as issuing a DISABLE POWER command.

User action: None required.

*Robot power on* (-627)

Explanation: An attempt has been made to perform an action that requires high power to be off.

User action: DISABLE POWER and reexecute the action.

*Robot power system failure* Code n (-1115)

Explanation: The servo interface has detected a fault in the robot power system. The code number provides more detailed information about the fault. Consult your amplifier reference manual to interpret the code values.

User action: Depends on the particular code value. In general, check the servo and amplifier cabling. Power-down and restart your controller and servo nodes. If the problem persists, contact Adept Customer Service.  

*RSC bad packet format* (-655)

Explanation: V+ has received an incorrect data packet from the robot signature card, during the initial calibration data load.

User action: None unless the calibration load fails. If the problem persists, contact Adept Customer Service.

*RSC calibration load failure* (-656)

Explanation: V+ cannot load calibration data from the robot signature card (RSC).

User action: Power down the controller and make sure the robot cables are correctly and securely connected. If the problem persists, contact Adept Customer Service.

*RSC communications failure* (-651)

Explanation: V+ has lost communications with the robot signature card (RSC). Either a hardware problem has occurred or the robot is being operated in an environment with excessive electrical noise.

User action: Check the connections of the robot cables. Turn high power back on, calibrate the robot, and resume program execution. If the problem persists, contact Adept Customer Service.

*RSC hardware failure* (-669)

Explanation: The RSC has reported an internal failure. Because RSC failures almost always cause the RSC to stop communicating altogether (rendering it incapable of reporting the failure), this error message may be due to some other cause, such as electrical noise at the RSC or within or around the arm signal cable.

User action: If the problem persists, contact Adept Customer Service.

*RSC module ID doesn't match robot* (-676)

Explanation: The V+ configuration data contains an explicit ID specification for a robot module (for example, 6 for the Adept 550 robot), and the robot RSC does not contain that ID number.

User action: Make sure that the correct type of robot is being used. Use the CONFIG_C utility to change the module ID to -1 in the V+ configuration data. Correct the module ID in the RSC.

*RSC power failure* (-670)

Explanation: The RSC has reported that its power is failing. Because a power failure on the RSC almost always causes it to stop communicating altogether (rendering it incapable of reporting the failure), this error message may be due to some other cause, such as electrical noise at the RSC or within or around the arm signal cable.

It is possible that the power lines to the RSC have an intermittent connection somewhere.

On FireWire Robots this error indicates that a robot amplifier has detected an under- or over-voltage of its internal DC Bus. This may be due to AC power supply out of spec of 200-240V or a motion that is too hard or too fast for the payload of the robot.

User action: If the problem persists, contact Adept Customer Service.

*RSC reset* (-652)

Explanation: V+ has detected that the robot signature card (RSC) has lost power temporarily, but is now functioning.

User action: Turn high power back on and resume program execution. If the problem persists, check the cabling to the robot. Contact Adept Customer Service if no solution can be found.

*RSC time-out* (-653)

Explanation: V+ has not received a response from the robot signature card (RSC) when expected, during the initial calibration data load. The RSC or its cabling is probably faulty.

User action: Power down the controller and check the cables to the robot. If the problem persists, contact Adept Customer Service.

*RSC transmission garbled* (-654)

Explanation: V+ has received an invalid transmission from the robot signature card (RSC). Either a hardware problem has occurred or the robot is being operated in an environment with excessive electrical noise.

User action: None unless the calibration load fails or RSC communications fail. If the problem persists, contact Adept Customer Service.

*Safety speed limit error* Chn n (-1035)

Explanation: During system startup or a servo reset, the servo self-test has determined that the safety speed limit hardware is not functioning properly. Robot power cannot be enabled.

User action: Power-down and restart your controller and servo nodes. If the problem persists, contact Adept Customer Service.

*Safety system fault* Code n (-1109)

NOTE: The messages in this section apply to "non-Amp-In-Base (AIB)" Adept robots, such as the AdeptOne, AdeptThree, AdeptOne-XL, and AdeptThree-XL. If you are using an AIB robot, such as the Cobra s600/s800, refer to the document Adept Status Code Summary for Embedded Products.

Because the following message codes are related to hardware, refer to your robot hardware documentation as your primary source of information. You should also rerun the SAFE_UTL utility program to re-commission the robot. (For details, see the documentation for the SAFE_UTL program and the hardware documentation for your robot.) If it does not resolve the problem, contact Adept Customer Service.

The following table summarizes information about the message codes.

WARNING: The test procedures for these messages are for skilled or instructed personnel only. Dangerous voltages are present, including those on the Security Panel. Failure to exercise care can result in death or injury.

MMSP External Sensor Fault Error Message Codes

Code n Explanation User action
0 Accelerometer, channel 1 error. The robot (joint 1 or 2) is moving or accelerating too fast, there is a fault with the accelerometer system, or the accelerometer's built-in test function failed. If the error occurred while a program was moving the robot, try changing the program to move the robot less quickly or with a lower rate of acceleration or deceleration.For faults with cables or sensors, consult your Robot Instruction Handbook or contact Adept Customer Service.
1 Accelerometer, channel 2 error. The robot (joint 1 or 2) is moving or accelerating too fast, there is a fault with the accelerometer system, or the accelerometer's built-in test function failed. If the error occurred while a program was moving the robot, try changing the program to move the robot less quickly or with a lower rate of acceleration or deceleration.For faults with cables or sensors, consult your Robot Instruction Handbook or contact Adept Customer Service.
2 Amplifier 3 voltage restrict sensor, channel 1 error. The robot (joint 3) is moving or accelerating too fast, there is a fault with the voltage restrict sensor, or the voltage restrict sensor's built-in test function failed. If the error occurred while a program was moving the robot, try changing the program to move the robot less quickly or with a lower rate of acceleration or deceleration.For hardware faults, consult your Robot Instruction Handbook or contact Adept Customer Service.
3 Amplifier 3 voltage restrict sensor, channel 2 error. The robot (joint 3) is moving or accelerating too fast, there is a fault with the voltage restrict sensor, or the voltage restrict sensor's built-in test function failed. If the error occurred while a program was moving the robot, try changing the program to move the robot less quickly or with a lower rate of acceleration or deceleration.For hardware faults, consult your Robot Instruction Handbook or contact Adept Customer Service.
4 Amplifier 4 voltage restrict sensor, channel 1 error. The robot (joint 4) is moving or accelerating too fast, there is a fault with the voltage restrict sensor, or the voltage restrict sensor's built-in test function failed. If the error occurred while a program was moving the robot, try changing the program to move the robot less quickly or with a lower rate of acceleration or deceleration.For hardware faults, consult your Robot Instruction Handbook or contact Adept Customer Service.
5 Amplifier 4 voltage restrict sensor, channel 2 error. The robot (joint 4) is moving or accelerating too fast, there is a fault with the voltage restrict sensor, or the voltage restrict sensor's built-in test function failed. If the error occurred while a program was moving the robot, try changing the program to move the robot less quickly or with a lower rate of acceleration or deceleration.For hardware faults, consult your Robot Instruction Handbook or contact Adept Customer Service.
6 Total E-stop, channel 1 (SR5) error Consult your Robot Instruction Handbook or contact Adept Customer Service.
7 Total E-stop, channel 2 (SR4) error Consult your Robot Instruction Handbook or contact Adept Customer Service.

*Safety system init failure* Code n (-1108)

Because the following message codes are related to hardware, refer to your robot hardware documentation as your primary source of information. You should also rerun the SAFE_UTL utility program to re-commission the robot. (For details, see the documentation for the SAFE_UTL program and the hardware documentation for your robot.) If it does not resolve the problem, contact Adept Customer Service.

WARNING: The test procedures for these messages are for skilled or instructed personnel only. Dangerous voltages are present, including those on the Security Panel. Failure to exercise care can result in death or injury.

MMSP Diagnostic Error Message Codes

Code n Explanation User action
0 E-STOP board hardware not responding, or Parity error. Verify that the AC supply to the Security Panel is on and that the DC power supply is configured correctly.
1 Hardware state 1 error. An error has occurred in the communication or test sequence. Try again. If the problem persists, it may be caused by a faulty E-STOP board. Make a note of the error message and code number, and contact Adept Customer Service.
2 Hardware state 2 error. An error has occurred in the communication or test sequence. Try again. If the problem persists, it may be caused by a faulty E-STOP board. Make a note of the error message and code number, and contact Adept Customer Service.
3 Hardware arm power contactor AP1 error. Consult your Robot Instruction Handbook or contact Adept Customer Service.
4 Hardware arm power contactor AP2 error. Consult your Robot Instruction Handbook or contact Adept Customer Service.
5 Hardware cyclic check relay, channel 1 (SR8) error. An error has occurred in the communication or test sequence. Try again. If the problem persists, it may be caused by a faulty E-STOP board. Consult your Robot Instruction Handbook or contact Adept Customer Service. Make a note of the error message and code number before contacting Adept Customer Service.
6 Hardware cyclic check relay, channel 2 (SR9) error. An error has occurred in the communication or test sequence. Try again. If the problem persists, it may be caused by a faulty E-STOP board. Consult your Robot Instruction Handbook or contact Adept Customer Service. Make a note of the error message and code number before contacting Adept Customer Service.

*Safety system not commissioned* (-648)

Explanation: A system with the EN954 Safety Category 3 option (pre-2012)—the Manual Mode Safety Package (MMSP)—has not been successfully commissioned with the SAFE_UTL utility program.

OR

A system with the PL=d Safety (according to ISO 13849) has not been successfully commissioned with Adept ACE Safety Commissioning Utility or has been decommissioned by the internal self-checking firmware.

User action: Test the safety with the SAFE_UTL utility program or Adept ACE Safety Commissioning Utility before enabling power for the first time. You should then rerun the SAFE_UTL utility program or Adept ACE every three months to re-commission the robot. If you have connected the robot to a different controller or replaced the controller or the SIO module, repeat the test. (For details, see the documentation for the SAFE_UTL program or the Adept ACE User's Guide, and the hardware documentation for your robot.)

Searching for string (exact case) (None)

Explanation: The SEE editor command 0' has been entered. The editor is prepared to search for the string indicated, in the search mode indicated.

User action: This is an informational message. You can use the Repeat command to perform the indicated search, or you can use Find (or Change) to initiate a new search (or replacement) operation. The EXACT extended command controls the setting of the search mode.

Searching for string (ignoring case) (None)

Explanation: The SEE editor command 0' has been entered. The editor is prepared to search for the string indicated, in the search mode indicated.

User action: This is an informational message. You can use the Repeat command to perform the indicated search; or you can use Find (or Change) to initiate a new search (or replacement) operation. The EXACT extended command controls the setting of the search mode.

*Servo board E-Stop fuse open* (-673)

Explanation: Your servo board has a fused E-STOP circuit, and the system has detected an open circuit at that location.

User action: Refer to your hardware documentation, consult with Adept Customer Service as needed for details about types and locations of fuses, and replace the fuse.

*Servo board 12v fuse open* (-671)

Explanation: Your servo board has a fused 12-volt bus, and the system has detected an open circuit at that location.

User action: Refer to your hardware documentation, and replace the fuse.

*Servo board solenoid fuse open* (-672)

Explanation: Your servo board has a fused robot solenoid control line, and the system has detected an open circuit at that location.

User action: Refer to your hardware documentation, and replace the fuse.

*Servo hardware init failure* (-931)

Explanation: During system startup or after a servo reset, the servo software had detected that it could not initialize its hardware. This is a generic error when more specific error information is not available.

User action: Restart the servos and reboot the controller. Check the safety-related cables. If the problem persists, contact Adept Customer Service.

*Servo node not downloaded* (-680)

Explanation: V+ has attempted to use a servo node that does not contain properly downloaded software. Servo node software is only loaded at V+ startup time. One of the following has happened: 1. You are using a servo node that is not supported by the V+ system software; 2. You have plugged in a new servo node after V+ was started.

User action: Reboot V+ and try again. Make sure your software is compatible with your 1394 nodes. Update the 1394 firmware.

*Servo protocol incompatible*(-677)

Explanation: During startup, V+ has detected a remote node on the servo network that is incompatible with the current V+ system because incompatible versions of software are being used. The servo network does not operate.

User action: Use the SRV.NET monitor command to determine which network nodes are causing this error. Verify that the proper V+ software is being used. Verify that the servo nodes were configured using the proper utility program version.

*Servo task overloaded* (-674)

Explanation: A servo interrupt task has used up all the execution time. The detection algorithm reports an error when the servo interrupt task completely occupies 10 or more time slices per second of real time. The robot went to a fatal error state when this error occurred, and the servo interrupt task stopped running.

User action: Change one or more of the following: (1) move servo tasks off CPU #1 to allow more time for trajectory generation, (2) upgrade the system processor to increase the throughput, or (3) reduce the number of robots or axes that you are operating.

Set for CASE DEPENDENT searches (None)

Explanation: The EXACT extended command has been used to change the method by which character case is considered during string searches. The message indicates how case is considered in subsequent searches (for the current or future search-for strings).

User action: None. This is an informational message.

Set for CASE INDEPENDENT searches (None)

Explanation: The EXACT extended command has been used to change the method by which character case is considered during string searches. The message indicates how case is considered in subsequent searches (for the current or future search-for strings).

User action: None. This is an informational message.

*Skew envelope error* Mtr n (-1022)

Explanation: The two motors associated with a split robot axis were not tracking each other with sufficient accuracy.

User action: Make sure nothing is obstructing the robot motion. Turn on high power and try to perform the motion at a slower speed. If necessary, use the SPEC utility to increase the maximum skew error.

*Soft envelope error* Mtr n (-1006)

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 was not considered a serious error, a controlled motion stop occurred and high power remains on.

User action: Try to perform the motion at a slower speed. Make sure nothing is obstructing the robot's motion.

*Soft overspeed error* Mtr n (-1028)

Explanation: During manual mode, the servos have detected an attempt to move a robot axis at a speed faster than allowed. The motion is terminated but robot power remains enabled.

User action: Move the robot at a slower speed. If you are near a mechanical singularity, move the robot using joint mode instead of world or tool mode.

*Software checksum error* (-316)

Explanation: During processing of a FREE command the V+ system has detected a checksum error in the system memory. This indicates a problem with the system software or hardware. (Note, however, that a checksum error is introduced if any patches are made to the system software after the system is loaded from disk and started up.) The following codes are appended to the message indicating where the error occurred: Os, operating system; V+, V+ interpreter or trajectory generator; Vi, vision software; Sv, servo software.

User action: Report to Adept Application Engineering the error and information about any possible contributing circumstances. You can continue to use the system, but you should keep in mind the possibility of a problem with the hardware.

*Software incompatible* Code n (-1026)

Explanation: The servo code has detected an incompatibility between the servo code and calibration software.

User action: Make sure that you are using the calibration software (in the \CALIB\ directory) that you received with the V+ system you are using. If you are using the correct software, note the code number, and call Adept Customer Service.

*Speed pot or STEP not pressed* (-620)

Explanation: While the controller was in manual control mode, a V+ program tried to initiate a robot motion, but you failed to press the step button and speed bar on the MCP.

User action: When a V+ program is about to initiate robot motions, press the step button and speed bar on the MCP. To continue the motion once it has started, you can release the step button but must continue to press the speed bar. Set the controller to automatic mode.

*SPIN motion not permitted* (-638)

Explanation: Either a SPIN instruction has attempted to move a joint that has not been configured with the continuous-rotation capability or the robot is currently tracking a belt or moving under control of an ALTER instruction.

User action: Configure the joint with continuous-rotation capability, or complete the belt tracking or ALTER instruction before attempting to execute the SPIN instruction.

Step syntax MUST be valid (None)

Explanation: The SEE editor's AUTO.BAD extended command has been used to change the action to be taken when an invalid line is detected while editing. Subsequently, the editor requires that such a line be corrected before you are able to perform any operation that moves the cursor off the bad line.

User action: None. This is an informational message.

*Stop-on-force triggered* (-623)

Explanation: A force-sensor Guarded Mode trip occurred when the robot was not under program control.

User action: High power must be re-enabled before robot motion may continue. If the trip was not desired, make sure that Guarded Mode is disabled before the program relinquishes control of the robot to the manual control pendant.

*Stopped due to servoing error* (-600)

Explanation: Program execution has stopped because of one or more servo errors.

User action: Correct the source of the reported servo errors, referring to your system hardware manual as required.

*Storage area format error* (-305)

Explanation: During execution of a FREE command, V+ has detected that programs or data in RAM 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 the disk. Then enter a ZERO command or power down the controller and restart the system.

*Straight-line motion can't alter configuration* (-612)

Explanation: A change in configuration was requested during a straight-line motion. This is not allowed.

User action: Delete the configuration change request, or use a joint-interpolated motion instruction.

*String too short* (-417)

Explanation: A program instruction or command expected a string argument with a certain minimum length and received one that was too short.

User action: Review the syntax for the program instruction and edit the program to pass a string of the correct length.

*String variable overflow* (-416)

Explanation: An attempt has been made to create a string value that is greater than the maximum string length of 128 characters.

User action: Edit the program to generate strings of the proper length.

*Subdirectory in use* (-547)

Explanation: An attempt has been made to delete a subdirectory that still contains files or that is being referenced by another operation (for example, an FDIRECTORY command).

User action: Make sure that all the files within the subdirectory have been deleted. Make sure that no other program tasks are referencing the subdirectory. Retry the delete operation.

*Subdirectory list too long* (-546)

Explanation: A directory path contains too many subdirectories, or the directory path is too long to be processed. The path is a combination of subdirectories in the file specification and the default directory path set by the DEFAULT monitor command. Directory paths are limited to a total of 16 subdirectories and 80 characters (including any portion of the directory path specified by the current default path).

User action: Specify a shorter directory path in the file specification or in the DEFAULT command. If you are accessing a foreign disk that contains more than 16 nested subdirectories, you cannot read the files in subdirectories nested deeper than 16 levels. In this case, you must use the system that created the disk to copy the files to a directory that is nested less deeply.

*Switch can't be enabled* (-314)

Explanation: An ENABLE command for a certain switch has been rejected because of some error condition. For example, ENABLE POWER fails if the system is in FATAL ERROR state.

User action: Review the description for the switch you are trying to enable, correct the error condition, and try again.

*SYSFAIL detected by CPU* (-629)

Explanation: A board on the VMEbus has encountered a severe error and asserted the SYSFAIL signal which turns off HIGH POWER. The watchdog timers on the CPU boards assert this signal and light the SF LED if severe software errors occur.

User action: Check the SYSFAIL LEDs on the front edge of the boards. The board which has failed should light its LED. Restart the system. Verify proper seating of the system boards and correct device connections to the boards. Test the system with as many boards removed as possible, adding boards back in until the problem board is identified. If the problem persists, contact Adept Customer Service.

*SYSFAIL detected by robot* (-642)

Explanation: The motion interface board has detected a SYSFAIL signal on the VMEbus and has asserted the backplane E-STOP signal. This error is normally superseded by other errors and not seen.

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.

Task = (None)

Explanation: The SEE editor DEBUG extended command has been used to initiate a program debugging session for the current program. The debugger needs to know which program task you want to use when executing the program.

User action: Enter the desired task number, or press Return to access the same task used for the last debugging session.

*Template already defined* (-748)

Explanation: When defining a new correlation template with the program instruction VTRAIN.MODEL, the number of an existing template was given.

User action: Delete the existing template if it is no longer needed, or use a different number in the VTRAIN.MODEL instruction.

*Template of uniform intensity* (-746)

Explanation: When defining a correlation template with the VTRAIN.MODEL program instruction, the area of the image within the given template bounds has uniform intensity. Image templates must have some variation in brightness. (That is, there must be some features in the template to correlate with later.)

User action: Check the position of the template in the image and make sure it is in the desired place. Also, view the grayscale image in the current frame to make sure it is valid. (For example, maybe a strobe light did not fire, or the lens cap is still on the camera.)

*Template not defined* (-747)

Explanation: The correlation template referenced in a VCORRELATE, VDELETE, VSHOW.MODEL, or VSTORE operation does not exist.

User action: Verify the correlation number supplied to the operation. Use the Models pull-down menu in the vision window (or the VSHOW.MODEL program instruction) to get a list of the templates currently defined in the vision system.

*Time-out enabling amplifier* Mtr n (-1009)

Explanation: The power amplifier for the indicated motor has signaled a fault condition. A momentary power failure or a hardware error may have occurred.

User action: Turn high power back on and restart the program. If the error persists, contact Adept Customer Service.

*Timeout enabling power* (-675)

Explanation: High power did not enable within the allowed amount of time, and the servos reported no other error during the timeout period.

User action: For non-Adept robots, use the SPEC utility to increase the value of the high power time-out.

For Adept robots, double-check your installation (cabling, AC power line voltages, circuit breakers, amplifier retaining screws, cables, and contactors). For information about the correct configuration for installation, refer to your Robot Instruction Handbook. Make sure that the amplifier chassis is properly connected to a power source and is turned on. Try again. If the problem persists, contact Adept Customer Service.

*Timeout: MCP enable switch not toggled* (-649)

Explanation: V+ did not enable high power because you failed to properly toggle the MCP enable switch on the manual control pendant.

User action: Do one or more of the following: (1) when toggling the MCP enable switch, release it for a minimum of two seconds and a maximum of ten seconds, and then press it back in; and (2) make sure that you are pressing the MCP enable switch and not the run/hold button by mistake.

*Time-out nulling errors* Mtr n (-1003)

Explanation: The indicated motor took too long to complete the last motion, possibly because the robot is blocked and cannot reach its destination.

User action: Retry the motion after making any necessary program changes. If this error occurs repeatedly, contact Adept Application Engineering for assistance.

*Too many arguments* (-553)

Explanation: Too many arguments were specified for the last command or instruction.

User action: Reenter the command or instruction but with the correct number of arguments.

*Too many array indices* (-474)

Explanation: The specification of an array element contains more than three indexes.

User action: Reenter the line with the correct number of indexes.

*Too many closeable windows* (-554)

Explanation: The names of too many graphics windows have been specified to appear in the pull-down under the Adept logo in the status line at the top of the screen.

User action: Specify all subsequent windows as /NOCLOSEABLE, or delete some existing windows that appear in this pull-down.

*Too many network errors* (-536)

Explanation: (1) The number of errors detected by the DDCMP protocol has exceeded the maximum allowed. The local protocol is stopped, and all pending I/O requests are completed with this error.

(2) The V+ Kermit driver experienced more errors than permitted by the KERMIT.RETRY parameter.

User action: (1) Use the NET monitor command to determine the type of errors that have occurred. Check for noise on the communication line, errors in the remote DDCMP implementation, or program logic that sends messages faster than they can be processed. Use the appropriate FCMND instruction to increase the maximum number of errors.

(2) Set the KERMIT.RETRY parameter to a larger value, increase the retry threshold on the remote server, restart the Kermit session, and retry the operation that failed.

*Too many vision requests pending* (-703)

Explanation: A program has issued too many VLOCATE commands before the first ones have completed.

User action: Edit the program to wait for pending VLOCATE requests to complete before issuing more.

*Too many windows* (-550)

Explanation: An attempt was made to create a graphics window when the maximum number of windows were already defined. (The V+ system uses two windows for the screen and the top status line. Every title bar, menu bar, and scroll bar is a separate window. The pull-down window is always allocated even if it is not visible. Systems with AdeptVision always have the vision-training window allocated.)

User action: Where possible, change your window definitions to omit menu bars and scroll bars. If necessary, use the utility program CONFIG_C to increase the number of window buffers.

*Trajectory clock overrun* (-636)

Explanation: One of these three conditions has occurred: (1) the time for a new trajectory point has arrived, but the internal trajectory task has not finished computing the previous point; (2) the servos did not receive trajectory data at the expected time because the trajectory task took too long to compute and write out the data; or (3) the trajectory interval is equal to or less than the servo interval.

User action: Perform one or more of the following: (1) if the trajectory cycle time is less than 16 msec, change it to the next longer time; (2) move servo tasks off CPU #1 to allow more time for trajectory generation; (3) upgrade the system processor to increase the throughput; (4) reduce the number of robots or axes that you are operating; or (5) if the trajectory cycle time is set to 2 msec, make sure the servo interval is 1 msec.

*Undefined program or variable name* (-406)

Explanation: The program or variable, referenced in a command or program step, does not exist-possibly because the name was mistyped.

User action: If the correct name was entered, create the program or variable using one of the V+ editors or the appropriate V+ monitor commands, or by loading from a disk file.

*Undefined value* (-401)

Explanation: (1) A variable has been referenced that has not been assigned a value.

(2) Using the SEE editor, an attempt has been made to use a macro, return to a memorized cursor position, or perform a repeat string search or change without first performing the appropriate initialization sequence.

User action: (1) Assign the variable a value or correct its name.

(2) Define the macro, record a cursor position, or enter the desired search/replacement string(s).

*Undefined value in this context* (-420)

Explanation: An automatic variable or subroutine argument value appears in a monitor command, but the specified program is not on the execution stack for the specified program task. Automatic variables and subroutine arguments have values only when the program that defines them is on a stack.

User action: Change the monitor command to not reference the variables. Make sure that the program is on the expected execution stack. You can place a PAUSE instruction or breakpoint in the program to stop it while it is on the execution stack.

*Unexpected end of file* (-504)

Explanation: (1) If a file was being loaded from the disk, the end of the file was encountered unexpectedly.

(2) If a program is reading a file, this error code merely indicates that the end of the file has been reached and should not be interpreted as a real error.

(3) This message results if a CTRL+Z is pressed in response to a program PROMPT.

(4) A break condition was detected on a serial line.

User action: (1) Try again to read the file.

(2) Close the file and continue program execution.

(3) Treat the program as having been aborted early by user request.

*Unexpected PSS state* Code nnn (-1110)

Explanation: The software has detected an unexpected change in the power sequencing control hardware. The code value indicates what state has been encountered. This error should never be seen, and may indicate a software or hardware problem on either the AWC or CIP.

User action: If safe to do so, attempt to enable HIGH POWER and note any different error messages which occur. If this error persists, contact Adept Customer Service.

*Unexpected text at end of line* (-451)

Explanation: The previous command or instruction cannot be recognized by V+, possibly because of a mistyped function name or because an argument was specified where none is allowed.

User action: Reenter the line, correcting the syntax error.

*Unexpected zero index* Belt n (-1012)

Explanation: A zero index signal was received from the encoder for this motor belt at an unexpected time. The encoder may be gaining or losing counts, there may be a hardware problem with the zero index signal, or the Counts per zero index configuration parameter may be set incorrectly.

User action: Continue to use the system. Contact Adept Customer Service if this error occurs repeatedly.

*Unexpected zero index* Mtr n (-1005)

Explanation: A zero index signal was received from the encoder for this motor at an unexpected time. The encoder may be gaining or losing counts, there may be a hardware problem with the zero index signal, or the Counts per zero index configuration parameter may be set incorrectly.

User action: Turn on high power, calibrate the robot, and continue to use the system. If this error occurs repeatedly, contact Adept Customer Service.

*Unknown editor command* (-363)

Explanation: An unknown keystroke or extended command was issued while using the SEE program editor.

User action: Enter another command.

*Unknown error code* (-800)

Explanation: An error code that does not correspond to a known error message was received by V+ from an external device.

User action: If an external computer is communicating with V+ when the error occurs, verify that it is sending proper error codes. Otherwise, a software error is indicated. 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.

*Unknown function* (-462)

Explanation: While accepting a program statement, V+ has encountered a reference to a function that it does not recognize. This can be due to a mistyped function name or the leaving out of an operator between a symbol and a left parenthesis.

User action: Verify the spelling and syntax and reenter the line.

*Unknown instruction* (-452)

Explanation: An instruction was entered (or read from a disk file) that was not recognized by the system. This error is often caused by mistyping the instruction name, or trying to use a command as an instruction or vice versa. Note that statements with errors are turned into bad lines beginning with a question mark.

If the message occurred while loading a file from the disk, the file was probably created off-line, or with a different V+ system (different version or options), and the indicated line is not compatible with the V+ system in use.

User action: Correct the line or enter it again, making sure the spelling and usage are correct. When using the SEE editor, an invalid statement is either converted to a bad line or must be corrected before you can leave that line (depending on the setting of the AUTO.BAD feature). In the case of an error while loading from the disk, edit the program to correct the indicated instruction.

*Unknown keyword* (-424)

Explanation: The keyword in an FSET instruction is unknown in the context in which it was found. (Most often, a keyword used for a serial line was used when referencing a window or vice versa.)

User action: Correct the line in the executing program or reenter the command with the correct keyword.

*Unknown model* (-759)

Explanation: The VPLAN.FINDER vision instruction was given the name of a model that does not exist on the system.

User action: Supply the name of an existing model to the VPLAN.FINDER vision instruction.

*Unknown network node* (-537)

Explanation: A reference has been made to a network node address that is not known by the local network.

User action: Make sure that the correct node address was specified. make sure that the remote node is active and connected to the network. If explicit routing tables are used, make sure that they specify this node.

*Unknown prototype* (-707)

Explanation: A vision command or instruction has referenced an object prototype that is not known to the vision system. This may be due to mistyping the prototype name.

User action: Enter the command VSHOW at the terminal for a list of the known prototypes. If necessary, load the appropriate prototype file from disk or VTRAIN the prototype.

*Unknown sub-prototype* (-731)

Explanation: A vision command or instruction has referenced an object subprototype that is not known to the vision system. This may be due to mistyping the prototype name.

User action: Use the command VSHOW at the terminal to display the subprototypes defined for the specified prototype. If necessary, load the appropriate prototype file from disk or use VDEF.SUBPROTO to define the sub-prototype.

*Variable type mismatch* (-465)

Explanation: One or more of the variables in the line is of a type inconsistent with the other variables or with the type required by the command or instruction. For example, you may be trying to mix location variables with real-valued variables. If this error occurs upon exiting from the editor, the variable type within the program conflicts with the type of a global variable that is already defined.

User action: Verify the syntax for the operation and reenter the line, correcting the mismatch. Delete conflicting global variables, if appropriate.

*Vision aborted* (-749)

Explanation: (1) The Abort menu item in the vision window has been selected. If a vision instruction in a V+ program was being executed, it is aborted and the error code for this message is returned (for access with the ERROR function); (2) A V+ program has been aborted when it was executing a vision instruction. (In this case, the error code for the standard Aborted message is normally returned.); (3) a VABORT instruction was issued.

User action: If you selected the Abort menu item by mistake, you can make the V+ program continue by typing retryn on the keyboard, where n is the number of the task that stopped. Typing proceedn also resumes program execution, but the aborted vision instruction is not retried.

*[Vision error] <details> (None)

The following vision error messages can be displayed on the V+ system terminal any time while the VISION system switch is enabled. When one of these errors occurs, all pending vision commands (for example, VLOCATE) are aborted and the VISION switch is disabled. You must re-enable the VISION switch in order to resume using the vision system. Prototypes are not deleted from memory when these errors occur, or when the VISION switch is enabled.

Each of these messages has the form *[Vision error] <details>*, where <details> represents specific information identifying the error. That information will help Adept personnel to identify the specific nature and cause of the error.

*[Vision error] Bit-masking failed on FS #n* (None)

*[Vision error] Bit-packer failure, n bus errors instead of 2* (None)

*[Vision error] Bit-packer returned wrong data* (None)

*[Vision error] Bus error reading video FBn a ... at a time* (None)

*[Vision error] Bus error reading video ILUTm #n* (None)

*[Vision error] Bus error reading video register aaa* (None)

*[Vision error] Bus error writing video FBn a ... at a time* (None)

*[Vision error] Bus error writing video ILUTm #n* (None)

*[Vision error] Bus error writing video register aaa* (None)

Explanation: A failure of the vision hardware has occurred.

User action: See the general comments above. If the problem persists, contact Adept Customer Service and provide the exact details of the error message.

*[Vision error] Camera, multiplexor, or frame grabber failure #n* (None)

Explanation: Generally this error indicates that a failure of the vision hardware has occurred.

User action: See the general comments above. If the problem persists, contact Adept Customer Service and provide the exact details of the error message.

*[Vision error] Internal confusion #n* (None)

Explanation: This error message should never appear.

User action: See the general comments above. If the problem persists, contact Adept Application Engineering and provide the exact details of the error message.

*[Vision error] No acquire interrupt at level 4* (None)

Explanation: A failure of the vision hardware has occurred.

User action: See the general comments above. Contact Adept Customer Service if the problem persists.

*[Vision error] Out of memory #n* (None)

Explanation: Either a fixed allocation of memory has been depleted (for example, run lengths) or the general memory allocator has run out of RAM. A common cause of this error is the processing of an overly complex binary image. In this case the display should show many small regions (noise), often due to a bad threshold value.

User action: See the general comments above. If the problem persists, contact Adept Application Engineering and provide the exact details of the error message.

*[Vision error] Read (...) of video FBn different than data written* (None)

Explanation: A failure of the vision hardware has occurred.

User action: See the general comments above. If the problem persists, contact Adept Customer Service and provide the exact details of the error message.

*[Vision error] Video ILUTm #n read different than write* (None)

Explanation: A failure of the vision hardware has occurred.

User action: See the general comments above. If the problem persists, contact Adept Customer Service and provide the exact details of the error message.

*Vision hardware/software mismatch* (-766)

Explanation: The wrong software was loaded for the type of vision hardware seen.

User action: Reboot the controller using a V+ system that supports the vision hardware that is installed in the controller.

This error can be encountered only with an AWC-based controller, which supports two types of vision hardware: AdeptVision EVI and AdeptVision AVI.

*Vision internal error* (-767)

Explanation: An unexpected internal error has occurred in one of the vision algorithms, due to a software bug or hardware failure.

User action: Retry the operation that failed. Try rebooting the controller. In any case, report this error to Adept Customer Service with details of the operation that caused the error.

*Vision not calibrated* (-713)

Explanation: A vision command was entered that required the vision system to be calibrated, and the vision system is not calibrated.

User action: Calibrate the vision system or load calibration data from a disk file.

*VISION not enabled* (-701)

Explanation: A vision command was entered before the vision system has been enabled.

User action: Enter an ENABLE VISION command and retry the previous command.

*Vision operation timeout* (-768)

Explanation: No response was received from the vision system within VTIMEOUT seconds.

User action: Make sure the vision server is up and running. Make sure the network is functioning correctly.

*Vision option not installed* (-720)

Explanation: The vision license bit is not enabled for this controller. This message is displayed at startup when vision hardware is detected and the vision license is not available, or whenever a vision instruction is attempted.

User action: Verify that the vision processor is installed and that your software supports vision. Power down the controller and restart. If the problem persists, contact Adept Customer Service.

*Vision software incompatible* (-762)

Explanation: There is an incompatibility between the versions of vision and V+ software running on your controller. It indicates that the system software you have loaded has been built incorrectly and is likely to crash. This message should never be seen.

User action: Do not use this system software. Reload your system software with a known good version. Report this problem to Adept Customer Service.

*Vision system out of memory* (-733)

Explanation: The vision system has run out of free memory for the last operation attempted. This message should not be confused with *[Vision error] Out of memory*. This error does not disable the vision switch and is always returned in direct response to the last vision instruction.

User action: Reduce the complexity of the image or reduce the number of models in memory. If the problem persists, contact Adept Customer Service.

*Warning* Monitoring watchpoint (55)

Explanation: Program execution has begun while a watchpoint is set.

User action: None. This is an informational message. You may want to disable the watchpoint to eliminate its slowing down of program execution.

*Warning* Network monitor interface not open (103)

Explanation: V+ cannot open a network port for use by ActiveV+. This error should never be seen.

User action: Verify that the V+ controller is properly connected to the network. Reboot V+ and try again.

*Warning* Not calibrated (51)

Explanation: The robot servo system and joint position sensors are not calibrated. Thus, any location variables that are defined may not represent the locations desired.

User action: Enter a CALIBRATE command or have your program execute a CALIBRATE instruction.

*Warning* Protected and read-only programs are not stored (52)

Explanation: A STORE command has been executed while protected and/or read-only programs are loaded in the V+ system memory. The protected and read-only programs are not stored in the new disk file.

User action: Use the FCOPY command if you want to move read-only programs from one disk to another. Protected programs cannot be moved from one disk to another.

*Warning* SET.SPEED switch disabled (54)

Explanation: A PRIME operation has been performed from the manual control pendant while the SET.SPEED system switch is disabled. Therefore, the monitor speed specified in the PRIME command has no effect.

User action: If you want the PRIME command to change the monitor speed, type the command enable set.speed at the keyboard.

*Warning* Watchdog timer disabled (56)

Explanation: Displayed at startup by all CPUs if the watchdog timer on the board is disabled. This timer is a hardware device that asserts SYSFAIL on the VME bus (which drops high power) if the CPU halts or gets hung. The board that has failed should light its SF LED. This message is also displayed whenever a user task is started from the monitor and the watchdog timer is disabled.

User action: Do not use this system. The watchdog timer must be enabled for safe operation of your system. The watchdog timer setting on the AWC cannot be changed by you. Report this problem to Adept Customer Service.

Watchpoint changed at (task) program_name, step n. ... ()

Explanation: A watchpoint has been enabled, and the watchpoint expression has changed.

User action: Continue debugging session.

*Wrong disk loaded* (-521)

Explanation: The diskette in a disk drive has been changed while a file was still open. Further attempts to access the file result in this error. Data being written into the file may be lost.

User action: Check your diskette to see if any data was lost. If so, it's too late now. Be more careful in the future.
 


1 The command keys Ctrl+P, Ctrl+X, and Ctrl+Z are accepted only while using the V+ program debugger in its monitor mode.

2 The command keys Ctrl+P, Ctrl+X, and Ctrl+Z are accepted only while using the V+ program debugger in its monitor mode.


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Last modified on: 6/24/2014
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