MicroV+ Specific Error Descriptions

*No program specified* (-301)

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

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



*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.



*Invalid software configuration* (-315)

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

User action: Power down the system and try starting it again. If the problem persists, contact Adept Customer Service for assistance.



*Software checksum error* (-316)

Explanation: During processing of a FREE command the MicroV+ 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 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; 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.



*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.



*Unknown editor command* (-363)

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

User action: Enter another command.



*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 program editor, press the Undo key to allow you to continue editing.



*Undefined value* (-401)

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

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




*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 the program editor or the appropriate MIcroV+ monitor commands, or by loading from a file.




*Invalid argument* (-407)

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

User action: Verify the range of arguments for the function, program instruction, or program editor command being used.




*Program argument mismatch* (-408)

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

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




*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. The program may be restarted with the RETRY command.



*Function already enabled* (-422)

Explanation: Certain functions or operations must not be enabled when they are already enabled or active.

User action: Avoid reenabling the function or operation.



*Can't find calibration program file* (-426)

Explanation: While processing a calibrate command or instruction, the MicroV+ system cannot find the calibration utility program on the file cal_util.v2.

User action: Restore the missing file from the MicroV+ distribution disk to the directory \calib\ on the local drive or working system disk.



*Invalid format specifier* (-461)

Explanation: An unrecognized output format specifier was encountered in a TYPE instruction.

User action: Edit the program to use a valid format specifier.




*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.




*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.



*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.




*Output record too long* (-529)

Explanation: A TYPE 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.




*Illegal record length* (-528)

Explanation: While reading programs and data from NVRAM, a malformed line was read. This can happen if you never stored anything on NVRAM or if the last STORE command did not complete successfully. It can also indicate a faulty NVRAM device.

User action: Use the STORE command first to store the contents of system memory to NVRAM. If problem persists, contact Adept Customer Service.




*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 system and try starting it again. If the problem persists, contact Adept Application Engineering for assistance.



*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.



*COMP mode disabled* (-603)

Explanation: The command attempted requires computer control of the robot, but COMPUTER mode was not selected on the Adept DeskTop Jog Pendant tool.

User action: Select COMP mode on the Adept DeskTop Jog Pendant tool or enable DRY.RUN mode from the terminal, then reissue the command.



*E-STOP detected by CPU* (-608)

Explanation: An E-STOP condition 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 PDU is connected securely. If this error occurs frequently, contact Adept Customer Service.



*Illegal motion from here* (-613)

Explanation: The motion just attempted cannot be performed from the current robot location. For example, CALIBRATE can be executed only after power-up.

User action: Perform the appropriate operation sequence before retrying the desired motion.



*SYSFAIL asserted* (-629)

Explanation: The system has encountered a severe error and asserted the SYSFAIL signal which turns off HIGH POWER. The SYSFAIL signal is asserted when severe software errors occur.

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



*Motion interface E-STOP* (-630)

Explanation: The motion system has detected an error or problem and has asserted the BRKSTOP signal. If that error is seen, it indicates a transient BRAKE-ESTOP signal or a problem with the SmartAmp.

User action: Correct the problem that is causing the motion system to report the error.



*E-STOP from robot* (-640)

Explanation: The motion system 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.