SMC_ERROR (ENUM)

TYPE SMC_ERROR :

The enumeration SMC_ERROR contains all error numbers that can be returned by SoftMotion function blocks. SMC_ErrorString generates an error string output.

InOut:

Name	Initial	Comment
SMC_NO_ERROR	0	No error
SMC_DI_GENERAL_COMMUNICATION_ERROR	1	Communication error. For example, Sercos ring has broken.
SMC_DI_AXIS_ERROR	2	Axis error
SMC_DI_FIELDBUS_LOST_SYNCRONICITY	3	Fieldbus has lost synchronism
SMC_DI_SWLIMITS_EXCEEDED	10	Position outside of permissible range of SWLimit
SMC_DI_HWLIMITS_EXCEEDED	11	Hardware end switch is active
SMC_DI_LINEAR_AXIS_OUTOFRANGE	12	This error occurs if a linear axis has more than 2^15 32-bit overflows of the position in increments
SMC_DI_HALT_OR_QUICKSTOP_NOT_SUPPORTED	13	Drive status Halt or Quickstop is not supported
SMC_DI_VOLTAGE_DISABLED	14	Drive has no power
SMC_DI_IRREGULAR_ACTPOSITION	15	This error is no longer used
SMC_DI_POSITIONLAGERROR	16	Position lag error. Difference between set and current position exceeds the given limit
SMC_DI_HOMING_ERROR	17	Homing error reported by axis
SMC_DI_LICENSING_ERROR	18	A problem with the license occurred
SMC_REGULATOR_OR_START_NOT_SET	20	Controller enable not done or brake applied
SMC_WRONG_CONTROLLER_MODE	21	Axis in wrong controller mode
SMC_INVALID_ACTION_FOR_LOGICAL	25	Invalid action at logical axis
SMC_FB_WASNT_CALLED_DURING_MOTION	30	Motion creating module has not been called again before end of the motion
SMC_AXIS_IS_NO_AXIS_REF	31	Type of given AXIS_REF variable is not AXIS_REF
SMC_AXIS_REF_CHANGED_DURING_OPERATION	32	AXIS_REF variable has been exchanged while the module was active.
SMC_FB_ACTIVE_AXIS_DISABLED	33	Axis disabled while being moved. MC_Power.bRegulatorOn
SMC_AXIS_NOT_READY_FOR_MOTION	34	Axis in its current state cannot execute a motion command, because the axis doesn't signal currently that it follows the target values.
SMC_AXIS_ERROR_DURING_MOTION	35	The drive reported an error during an ongoing movement.
SMC_VD_MAX_VELOCITY_EXCEEDED	40	Maximum velocity fMaxVelocity exceeded
SMC_VD_MAX_ACCELERATION_EXCEEDED	41	Maximum acceleration fMaxAcceleration exceeded
SMC_VD_MAX_DECELERATION_EXCEEDED	42	Maximum deceleration fMaxDeceleration exceeded
SMC_3SH_INVALID_VELACC_VALUES	50	Invalid velocity or acceleration values
SMC_3SH_MODE_NEEDS_HWLIMIT	51	Mode requests for safety reasons use of end switches.
SMC_FRC_NO_FREE_HANDLE	60	No free handle has been sent to open file.
SMC_SCM_NOT_SUPPORTED	70	Mode not supported
SMC_SCM_AXIS_IN_WRONG_STATE	71	In current mode, controller mode cannot be changed.
SMC_SCM_INTERRUPTED	72	SMC_SetControllerMode has been interrupted by MC_Stop or errorstop.
SMC_ST_WRONG_CONTROLLER_MODE	75	Axis not in correct controller mode. Deprecated, no longer returned by SMC_SetTorque.
SMC_RAG_ERROR_DURING_STARTUP	80	Error at startup of the axis group
SMC_RAG_ERROR_AXIS_NOT_INITIALIZED	81	The axis is not yet in the required state.
SMC_PP_WRONG_AXIS_TYPE	85	The function block does not support virtual or logical axes.
SMC_PP_NUMBER_OF_ABSOLUTE_BITS_INVALID	86	The number of absolute bits is invalid, must be in the range 8 .. 32.
SMC_CGR_ZERO_VALUES	90	Invalid values
SMC_CGR_DRIVE_POWERED	91	Gearing parameters must not be changed as long as the drive is under control.
SMC_CGR_INVALID_POSPERIOD	92	Invalid modulo period (<= 0 or greater than half the bus bandwidth)
SMC_CGR_POSPERIOD_NOT_INTEGRAL	93	The modulo period in increments is not an integer, but the modulo-handling is done by the drive.
SMC_P_FTASKCYCLE_EMPTY	110	Axis contain no information on cycle time (fTaskCycle = 0).
SMC_R_NO_ERROR_TO_RESET	120	Axis without error
SMC_R_DRIVE_DOESNT_ANSWER	121	Axis does not perform error-reset.
SMC_R_ERROR_NOT_RESETTABLE	122	Error could not be reset.
SMC_R_DRIVE_DOESNT_ANSWER_IN_TIME	123	Communication with the axis did not work.
SMC_RP_PARAM_UNKNOWN	130	Parameter number unknown
SMC_RP_REQUESTING_ERROR	131	Error during transmission to the drives. See error number in function block instance ReadDriveParameter.
SMC_RP_DRIVE_PARAMETER_NOT_MAPPED	132	No assignment for drive parameters available
SMC_RP_PARAM_CONVERSION_ERROR	133	Conversion of the value to / from the drive parameters failed. Unknown SoftMotion parameters
SMC_WP_PARAM_INVALID	140	Parameter number unknown or writing not allowed
SMC_WP_SENDING_ERROR	141	See error number in function block instance WriteDriveParameter
SMC_WP_DRIVE_PARAMETER_NOT_MAPPED	142	No assignment for drive parameters available
SMC_WP_PARAM_CONVERSION_ERROR	143	Conversion of the value to / from the drive parameters failed Unknown SoftMotion parameters
SMC_H_AXIS_WASNT_STANDSTILL	170	Axis has not been in standstill state.
SMC_H_AXIS_DIDNT_START_HOMING	171	Error at start of homing action.
SMC_H_AXIS_DIDNT_ANSWER	172	Error at start of homing action.
SMC_H_ERROR_WHEN_STOPPING	173	Error at stop after homing. Deceleration may not be set.
SMC_H_AXIS_IN_ERRORSTOP	174	Drive is in errorstop status. Homing cannot be executed.
SMC_MS_UNKNOWN_STOPPING_ERROR	180	Unknown error at stop
SMC_MS_INVALID_ACCDEC_VALUES	181	Invalid velocity or acceleration values
SMC_MS_DIRECTION_NOT_APPLICABLE	182	Direction = shortest not applicable
SMC_MS_AXIS_IN_ERRORSTOP	183	Drive is in errorstop status. Stop cannot be executed
SMC_BLOCKING_MC_STOP_WASNT_CALLED	184	Instance of MC_Stop blocking the axis by Execute = TRUE has not been called yet. MC_Stop (Execute = FALSE) has to be called.
SMC_MS_AXIS_ALREADY_STOPPING	185	Cannot interrupt an ongoing MC_Stop
SMC_UNKNOWN_TASK_INTERVAL	200	The task interval of the bus task could not be determined.
SMC_MA_INVALID_VELACC_VALUES	201	Invalid velocity or acceleration values
SMC_MA_INVALID_DIRECTION	202	Direction error
SMC_MR_INVALID_VELACC_VALUES	226	Invalid velocity or acceleration values
SMC_MR_INVALID_DIRECTION	227	Direction error
SMC_MAD_INVALID_VELACC_VALUES	251	Invalid velocity or acceleration values
SMC_MAD_INVALID_DIRECTION	252	Direction error
SMC_MSI_INVALID_VELACC_VALUES	276	Invalid velocity or acceleration values
SMC_MSI_INVALID_DIRECTION	277	Direction error
SMC_MSI_INVALID_EXECUTION_ORDER	278	Except from aborting, don't call a major mvt-FB after SMC_MoveSuperimposed
SMC_LOGICAL_NO_REAL_AXIS	300	No longer used; only for compatibility
SMC_MV_INVALID_ACCDEC_VALUES	301	Invalid velocity or acceleration values
SMC_MV_DIRECTION_NOT_APPLICABLE	302	Direction = shortest/fastest not applicable
SMC_PP_ARRAYSIZE	325	Erroneous array size
SMC_PP_STEP0MS	326	Step time = t#0s
SMC_VP_ARRAYSIZE	350	Erroneous array size
SMC_VP_STEP0MS	351	Step time = t#0s
SMC_AP_ARRAYSIZE	375	Erroneous array size
SMC_AP_STEP0MS	376	Step time = t#0s
SMC_TP_TRIGGEROCCUPIED	400	Trigger already active
SMC_TP_COULDNT_SET_WINDOW	401	DriveInterface does not support the window function.
SMC_TP_COMM_ERROR	402	Communication error
SMC_AT_TRIGGERNOTOCCUPIED	410	Trigger already de-allocated
SMC_MCR_INVALID_VELACC_VALUES	426	Invalid velocity or acceleration values
SMC_MCR_INVALID_DIRECTION	427	Invalid direction
SMC_MCA_INVALID_VELACC_VALUES	451	Invalid velocity or acceleration values
SMC_MCA_INVALID_DIRECTION	452	Invalid direction
SMC_MCA_DIRECTION_NOT_APPLICABLE	453	Direction = fastest not applicable
SMC_SDL_INVALID_AXIS_STATE	475	SMC_ChangeDynamicLimits may only be called in state standstill. or power_off.
SMC_SDL_INVALID_VELACC_VALUES	476	Invalid velocity, acceleration, deceleration or jerk values
SMC_CR_NO_TAPPETS_IN_CAM	600	Cam does not contain any tappets.
SMC_CR_TOO_MANY_TAPPETS	601	Tappet group ID exceeds MAX_NUM_TAPPETS
SMC_CR_MORE_THAN_32_ACCESSES	602	More than 32 accesses on one CAM_REF
SMC_CI_NO_CAM_SELECTED	625	No cam selected
SMC_CI_MASTER_OUT_OF_SCALE	626	Master axis out of valid range
SMC_CI_RAMPIN_NEEDS_VELACC_VALUES	627	Velocity and acceleration values must be specified for ramp_in function
SMC_CI_SCALING_INCORRECT	628	Scaling variables fEditor/TableMasterMin/Max are not correct
SMC_CI_TOO_MANY_TAPPETS_PER_CYCLE	629	Too many tappets became active during one cycle
SMC_CB_NOT_IMPLEMENTED	640	Function block for the given cam format is not implemented
SMC_GI_RATIO_DENOM	675	RatioDenominator = 0
SMC_GI_INVALID_ACC	676	Acceleration invalid
SMC_GI_INVALID_DEC	677	Deceleration invalid
SMC_GI_MASTER_REGULATOR_CHANGED	678	Status Enable/Disable of the master has changed without permission
SMC_GI_INVALID_JERK	679	Jerk invalid
SMC_PH_INVALID_VELACCDEC	725	Velocity and acceleration/deceleration values invalid
SMC_PH_ROTARYAXIS_PERIOD0	726	Rotation axis with fPositionPeriod = 0
SMC_NO_CAM_REF_TYPE	750	Type of given cam is not MC_CAM_REF.
SMC_CAM_TABLE_DOES_NOT_COVER_MASTER_SCALE	751	Master area, xStart and xEnd, from CamTable is not covered by curve data.
SMC_CAM_TABLE_EMPTY_MASTER_RANGE	752	Cam data table has empty master range.
SMC_CAM_TABLE_INVALID_MASTER_MINMAX	753	Cam data master has invalid max-, min-values.
SMC_CAM_TABLE_INVALID_SLAVE_MINMAX	754	Cam data slave has invalid max-, min-values.
SMC_GIP_MASTER_DIRECTION_CHANGE	775	During coupling of slave axis, master axis has changed direction of rotation.
SMC_GIP_SLAVE_REVERSAL_CANNOT_BE_AVOIDED	776	Input AvoidReversal is set, but slave reversal cannot be avoided.
SMC_GIP_AVOID_REVERSAL_FOR_FINITE_AXIS	777	Input AvoidReversal must not be set for finite slave axes.
SMC_BC_BL_TOO_BIG	800	Gear backlash fBacklash too large (> position periode/2)
SMC_QPROF_DIVERGES	825	Internal error: computation of quadratic trajectory failed
SMC_QPROF_INVALID_PARAMETER	826	Internal error: computation of quadratic trajectory failed
SMC_QPROF_NO_RESULT	827	Internal error: computation of quadratic trajectory failed
SMC_QPROF_INVALID_NEW_LBD	828	Internal error: computation of quadratic trajectory failed
SMC_QPROF_BAD_NEGOTIATION	829	Internal error: computation of quadratic trajectory failed
SMC_QPROF_INVALID_INTERVAL	830	Internal error: computation of quadratic trajectory failed
SMC_QPROF_NOT_ENOUGH_PHASES	831	Internal error: computation of quadratic trajectory failed
SMC_TG_INTERNAL_ERROR	832	Internal error: computation of quadratic trajectory failed
SMC_SRT_NOT_STANDSTILL_OR_POWEROFF	850	Action only permitted in standstill or power_off.
SMC_SRT_INVALID_RAMPTYPE	851	Invalid ramp type
SMC_SMT_NOT_STANDSTILL_OR_POWEROFF	852	Action only permitted in standstill or power_off.
SMC_SMT_INVALID_MOVEMENTTYPE_OR_POSITIONPERIOD	853	Invalid motion type or position period
SMC_SMT_AXIS_NOT_VIRTUAL	854	Function block only applicable to virtual axis.
SMC_NO_LICENSE	1000	Target is not licensed for CNC.
SMC_INT_VEL_ZERO	1001	Path cannot be processed because set velocity = 0.
SMC_INT_NO_STOP_AT_END	1002	Last object of path has end velocity <> 0.
SMC_INT_DATA_UNDERRUN	1003	Warning: GEOINFO-List processed in DataIn but end of list not reached. Reason: EndOfList of the queue in DataIn not be set SMC_Interpolator faster than path generating function blocks
SMC_INT_VEL_NONZERO_AT_STOP	1004	Velocity at Stop > 0
SMC_INT_TOO_MANY_RECURSIONS	1005	Too much SMC_Interpolator recursions. SoftMotion error
SMC_INT_NO_CHECKVELOCITIES	1006	SMC_CheckVelocities is not the last processed function block, that accesses to the OutQueue-data by poqDataIn.
SMC_INT_PATH_EXCEEDED	1007	Internal or numeric error
SMC_INT_VEL_ACC_DEC_ZERO	1008	Velocity and acceleration / deceleration is null or to low
SMC_INT_DWIPOTIME_ZERO	1009	FB called with dwIpoTime = 0
SMC_INT_JERK_NONPOSITIVE	1010	Jerk invalid because jerk must be positive
SMC_INT_QPROF_DIVERGES	1011	Internal error. Calculation algorithm incorrectly
SMC_INT_INVLALID_VELOCITY_MODE	1012	Invalid velocity mode
SMC_INT_TOO_MANY_AXES_INTERPOLATED	1013	More than the allowed number of axes has been interpolated.
SMC_INT_DEGENERATE_SEGMENT	1014	The segment is numerically degenerate: It is very short and at the end of the queue. It should be ignored.
SMC_INT2DIR_BUFFER_TOO_SMALL	1050	Warning: poqDataIn of OutQueue is created too small. Adherence of stops not guaranteed.
SMC_INT2DIR_PATH_FITS_NOT_IN_QUEUE	1051	Path does not go completely in queue.
SMC_XINT_INVALID_DIRECTION	1070	Direction input has an invalid value.
SMC_XINT_NOINTERSECTION	1071	Could not determine position on CNC path for the given x-position.
SMC_WAR_INT_OUTQUEUE_TOO_SMALL	1080	Warning: poqDataIn of OutQueue is created too small. Adherence of stops not guaranteed
SMC_WAR_END_VELOCITIES_INCORRECT	1081	Warning: Final velocities inconsistent
SMC_CV_ACC_DEC_VEL_NONPOSITIVE	1100	Velocity and acceleration/deceleration values non-positive
SMC_CA_INVALID_ACCDEC_VALUES	1120	Values of fGapVelocity / fGapAcceleration / fGapDeceleration non-positive
SMC_DEC_ACC_TOO_LITTLE	1200	Acceleration value impermissible
SMC_DEC_RET_TOO_LITTLE	1201	Deceleration value impermissible
SMC_DEC_OUTQUEUE_RAN_EMPTY	1202	Data underrun. Queue has been read and is empty.
SMC_DEC_JUMP_TO_UNKNOWN_LINE	1203	Jump to line cannot be executed because line number is unknown.
SMC_DEC_INVALID_SYNTAX	1204	Syntax invalid
SMC_DEC_3DMODE_OBJECT_NOT_SUPPORTED	1205	Objects are not supported in 3D mode.
SMC_DEC_NEGATIVE_PERIOD	1206	Negative value as a period of additional axes invalid
SMC_DEC_DIMENSIONS_EXCLUSIVE_AU	1207	Not both axes A and U are interpolated. PA and PU are mutually exclusive.
SMC_DEC_DIMENSIONS_EXCLUSIVE_BV	1208	Not both axes B and V are interpolated. PB and PV are mutually exclusive.
SMC_DEC_DIMENSIONS_EXCLUSIVE_CW	1209	Not both axes C and W are interpolated. PC and PW are mutually exclusive.
SMC_DEC_DCS_NOT_ALL_OF_ABC_GIVEN	1210	For G54/G55/G56, either all of A,B,C or none must be given if orientation mode is not equal to SMC_ORI_CONVENTION.ADDAXES.
SMC_DEC_DCS_2D_NOT_IN_XY_PLANE	1211	The z-axis of the decoder CS must be equal to the z-axis of the machine CS.
SMC_DEC_CIRCLE_NON_UNIFORM_SCALING	1212	Scaling would distort commanded circle or ellipse.
SMC_DEC_ROTATION_AFFECTS_SCALING	1213	New relative rotation of the DCS (G55) would affect the scaling
SMC_DEC_DCS_NOT_ALL_OF_IJK_GIVEN	1214	For G54/G55/G56, either all of I,J,K or none must be given.
SMC_GCV_BUFFER_TOO_SMALL	1300	Buffer too small
SMC_GCV_BUFFER_WRONG_TYPE	1301	Buffer elements have wrong type.
SMC_GCV_UNKNOWN_IPO_LINE	1302	Current line of the Interpolator could not be found.
SMC_CNC_INTERNAL_ERROR	1400	Internal error in CNC
SMC_TRC_G75_NOT_ALLOWED	1410	G75 not allowed during tool radius correction
SMC_TRC_QUEUE_FULL_NON_CARTESIAN	1411	Queue full, but no further cartesian element
SMC_TRC_SPLINE3D_5_NOT_SUPPORTED	1412	Tool radius correction does not support movement type SPLINE3D_5
SMC_NO_CNC_REF_TYPE	1500	Given CNC program is not of type SMC_CNC_REF
SMC_NO_OUTQUEUE_TYPE	1501	Given OutQueue is not of type SMC_OUTQUEUE
SMC_GEOINFO_BUFFER_MISALIGNED	1502	4-byte aligned buffer part is not used in pbyBuffer
SMC_3D_MODE_NOT_SUPPORTED	1600	Function block only works with 2D paths.
SMC_SAA_SMOOTHAREA_TOO_LARGE	1700	Range for smoothing too large
SMC_SAA_SP_INVALID_INPUT	1701	Invalid input dSmoothingPart ]0..1]
SMC_SA_QUEUE_NOT_IN_BUFFER	1800	SMC_SegmentAnalyzer detects that OutQueue buffer is full but not completed. The function block can only operate when OutQueue fits the buffer completely.
SMC_SA_QUEUE_CHANGED_DURING_OP	1801	OutQueue buffer changed while the function block is operating on them.
SMC_OS_INVALID_PARAMETER	1820	Invalid input value in dSplittingParameter
SMC_BSSP_IPO_NOT_ACTIVE	1830	Position cannot be saved. Interpolator is inactive
SMC_BS_SAVEDPOS_NOT_REACHED	1831	Saved position has not been found so far. It is probably on a different path.
SMC_BS_NO_POS_STORED	1832	Structure passed in ePos contains no saved position. SMC_BlockSearchSavePos is not executed or in a wrong way.
SMC_INVALID_FEATURE_FLAG	1900	Feature flag must be in the range {1, .., 31}.
SMC_SMB_HFUN_NOT_SUPPORTED	1901	Function block does not support h-functions.
SMC_SMB_ONLY_3DMODE	1902	Function block only works in 3D-Mode.
SMC_SMB_ERROR_COMPUTING_SPLINE	1903	Internal error computing the spline.
SMC_SMM_INVALID_PARAM_NUMBER	1910	wAdditionalParameter is too big
SMC_INVALID_PARAMETER	1950	The value of one of the inputs is invalid.
SMC_RNCF_FILE_DOESNT_EXIST	2000	File does not exist
SMC_RNCF_NO_BUFFER	2001	No buffer allocated
SMC_RNCF_BUFFER_TOO_SMALL	2002	Buffer too small
SMC_RNCF_DATA_UNDERRUN	2003	Data underrun. Buffer has been read, is empty.
SMC_RNCF_VAR_COULDNT_BE_REPLACED	2004	Placeholder variable could not be replaced.
SMC_RNCF_NOT_VARLIST	2005	Input pvl does not point to a SMC_VARLIST object.
SMC_RNCF_NO_STRINGBUFFER	2006	Input pStringBuffer is not used or does not point to a variable of type SMC_StringBuffer
SMC_RNCF_STRINGBUFFER_OVERRUN	2007	In the CNC program more different strings are used as reserved in pStringBuffer.
SMC_RNCQ_FILE_DOESNT_EXIST	2050	File could not be opened.
SMC_RNCQ_NO_BUFFER	2051	No buffer defined
SMC_RNCQ_BUFFER_TOO_SMALL	2052	Buffer too small
SMC_RNCQ_UNEXPECTED_EOF	2053	Unexpected end of file
SMC_ADL_FILE_CANNOT_BE_OPENED	2100	File could not be opened
SMC_ADL_BUFFER_OVERRUN	2101	Buffer overrun. WriteToFile must be called more frequently.
SMC_RCAM_FILE_DOESNT_EXIST	2200	File could not be opened.
SMC_RCAM_TOO_MUCH_DATA	2201	Saved cam too big
SMC_RCAM_WRONG_COMPILE_TYPE	2202	Wrong compilation mode
SMC_RCAM_WRONG_VERSION	2203	File has wrong version
SMC_RCAM_UNEXPECTED_EOF	2204	Unexpected end of file
SMC_WDPF_CHANNEL_OCCUPIED	3001	SMC_WDPF_TIMEOUT_PREPARING_LIST
SMC_WDPF_CANNOT_CREATE_FILE	3002	File could not be created.
SMC_WDPF_ERROR_WHEN_READING_PARAMS	3003	Error at reading the parameters.
SMC_WDPF_TIMEOUT_PREPARING_LIST	3004	Timeout during preparing the parameter list.
SMC_ENC_DENOM_ZERO	5000	Nominator of the conversion factor dwRatioTechUnitsDenom of the Encoder reference is 0
SMC_ENC_AXISUSEDBYOTHERFB	5001	Other module trying to process motion on the Encoder axis
SMC_ENC_FILTER_DEPTH_INVALID	5002	Filter depth is invalid
SMC_PCCQ_POINTBUFFERTOOSMALL	10000	Buffer pBuffer too small
SMC_PCCQ_INPUTBUFFERFULLBUTNOTFINALIZED	10001	The function block must be applied to a path that fits completely in the buffer.
SMC_AXIS_GROUP_WRONG_STATE	11000	The axis group is in the wrong state for the requested operation.
SMC_AXIS_GROUP_TOO_MANY_AXES	11001	More than the maximum allowed number of axes has been added to an axis group.
SMC_AXIS_GROUP_INVALID_DYNLIMITS	11002	The dynamic limits of a single axis are invalid. (fSWMaxVelocity/Acceleration/Deceleration/Jerk)
SMC_AXIS_GROUP_INVALID_COORD_SYSTEM	11004	The given coordinate system is invalid for the requested operation
SMC_AXIS_GROUP_SINGLE_AXIS_ERROR	11005	An axis of the axis group is in state error
SMC_MOVE_INVALID_BUFFER_MODE	11006	The given buffer mode is not supported
SMC_MOVE_INVALID_DYNAMIC_FACTOR	11007	The dynamic factor is not in the range ]0 .. 1]
SMC_MOVE_INVALID_DYNAMICS	11008	The dynamic limits for the movement are invalid.
SMC_AXIS_GROUP_AXIS_NOT_PART_OF_GROUP	11009	The given axis is not part of the axis group.
SMC_AXIS_GROUP_NOT_SUPPORTED	11010	The requested operation is not supported
SMC_AXIS_GROUP_KINEMATICS_NOT_SET	11011	No kinematic configuration has been configured.
SMC_AXIS_GROUP_WRONG_NUMBER_OF_AXES	11012	The number of axes is not equal to the number of axes needed by the kinematic transformation
SMC_AXIS_GROUP_INTERRUPTED_BY_SINGLE_AXIS	11013	A coordinated movement has been interrupted by a single axis movement.
SMC_AXIS_GROUP_FOLLOW_SETVALUES	11014	An error occurred while following the computed set values.
SMC_AXIS_GROUP_TOO_MANY_DEPENDENCIES	11015	An axis group cannot depend on more than one master axis group.
SMC_AXIS_GROUP_MUTUAL_DEPENDENCY	11016	An axis group A may not depend on another axis group that depends on A.
SMC_AXIS_GROUP_DEPENDENCY_IN_DIFFERENT_TASK	11017	A dependant axis group must be executed in the same task.
SMC_AXIS_GROUP_AXIS_IN_DIFFERENT_TASK	11018	An axis belonging to an axis group must be executed in the same task.
SMC_AXIS_GROUP_PCS_STILL_IN_USE	11019	A second activation of the function block occurred while the PCS was still used by buffered motion commands.
SMC_AXIS_GROUP_CMD_ABORTED_DUE_TO_ERROR	11020	An error ocurred in a previous motion command.
SMC_AXIS_GROUP_INVALID_PARAMETER	11021	A parameter of an administrative function block is invalid.
SMC_AXIS_GROUP_UNSUPPORTED_RAMPTYPE	11022	One of the axes of the group uses an unsupported ramp type. Only trapez and quadratic are supported.
SMC_MOVE_INVALID_TRANSITION_PARAMETER	11023	invalid transition parameter
SMC_AXIS_GROUP_INTERNAL_ERROR	11024	Internal error in the state machine of the axis group.
SMC_AXIS_GROUP_CPTR_CANNOT_FOLLOW	11025	CP-Tracking: Cannot keep the path; try to reduce the dynamics on the path and / or the dynamics when entering CP-Tracking.
SMC_AXIS_GROUP_CONTINUE_WRONG_POSITION	11026	current position does not allow continuation.
SMC_AXIS_GROUP_CONTINUE_BUFFER_TOO_SMALL	11027	Buffer in continueData is too small; big external movement-queue-buffer in use.
SMC_AXIS_GROUP_CONTINUE_WRONG_CHECKSUM	11028	The checksum stored in the continue data is wrong. The continue data either was not written by MC_GroupInterrupt, or was modified afterwards.
SMC_KERNEL_PTP_INTERNAL_ERROR	11100	Internal error in the kernel
SMC_KERNEL_PTP_INVALID_TASKCYCLETIME	11101	Task cycle time not positive
SMC_TRAFO_INVALID_PARAMETERS	12000	Invalid parameters
SMC_TRAFO_INVALID_CONSTELLATION	12001	The input constellation (typ. cartesian values) are incompatible with the configuration. Typically this means that the given position is outside of the working area of the kinematic transformation.
SMC_TRAFO_INVALID_COUPLING	12002	The tool cannot work together with the positioning-part of the machine. Either, the positioning-part doesn't implement ISMPositionKinematics2, or the tool cannot deal with the positioning's image of orientations.
SMC_TRAFO_NOT_INITIALIZED	12003	The FB implements \|ISMKinematicWithInitialization\|, but hasn't been Initialized yet.
SMC_CP_CACHE_FULL	12100	The cache of the CP planner is too small.
SMC_CP_EVAL_ERROR	12101	The evaluation of the position on a geometric element failed.
SMC_CP_NON_CONTINUABLE_STATE	12102	Non-continuable state reached (internal error).
SMC_CP_MAX_LENGTH_EXCEEDED	12103	Maximum trajectory length exceeded (internal error).
SMC_CP_ACCELERATION_TOO_HIGH	12104	Path acceleration too high (invalid state, internal error).
SMC_CP_MAX_ITERATIONS_EXCEEDED	12105	Maximum number of iterations exceeded (internal error).
SMC_CP_NO_TRAJECTORY	12106	No trajectory could be computed (internal error).
SMC_CP_OUT_QUEUE_FULL	12107	The out-queue is full (internal error).
SMC_CP_QUEUE_UNDERRUN	12108	Queue underrun: no element left in queue.
SMC_CP_INVALID_QUEUE	12109	Invalid queue (invalid size or pointer)
SMC_CP_BLENDING_INTERNAL_ERROR	12110	An internal error occurred while blending two CP movements
SMC_CP_CIRCLE_COLLINEAR_POINTS	12111	The three points that define the circle are collinear.
SMC_CP_CIRCLE_CENTER_NOT_ON_BISECTOR	12112	The center point is not on the perpendicular bisector of the start and end point.
SMC_CP_CIRCLE_RADIUS_ZERO	12113	The radius is zero
SMC_CP_CIRCLE_DISTANCE_LARGER_THAN_DIAMETER	12114	The distance between start and end point is larger than the diameter. (When trying to create a circle using SMC_Circ_Mode.Radius.)
SMC_CP_CIRCLE_START_AND_ENDPOINT_EQUAL	12115	The start and end point are equal (SMC_Circ_Mode.Radius).
SMC_CP_BLENDING_DEGENERATE_SPLINE	12116	The blending spline is degenerate (too short or non-regular)
SMC_CP_ELEMENT_TOO_SHORT	12117	The path element cannot be created because it is too short.
SMC_CP_COULD_NOT_CUT_PATH	12118	The path could not be cut for aborting movement (internal error).
SMC_CP_INVALID_ANGULAR_VEL_ACC	12119	The given angular velocity or acceleration is invalid (quaternion with non-zero real part, internal error).
SMC_CP_INVALID_ORIENTATION	12120	The given orientation is invalid (non-orthonormal matrix or non-unit quaternion, internal error).
SMC_CP_TIME_BUDGET_EXCEEDED	12121	The given time budget for the computation is exceeded (internal error).
SMC_AXIS_GROUP_AXIS_LIMIT_VIOLATED	12122	A limit of an axis has been violated. This can happen if a CP movement is done too close to a singularity or if the path has a very high curvature.
SMC_CP_CONFIG_OF_STARTPOS_DIFFERS	12123	The kinematic configuration of the start position differs from the current configuration. The CP movement would pass a singularity.
SMC_CP_CONFIG_OF_ENDPOS_DIFFERS	12124	The kinematic configuration of the end position differs from the current configuration. The CP movement would pass a singularity.
SMC_CP_CONFIGS_DIFFER	12125	The kinematic configuration of the start position differs from the end position. The CP movement would pass a singularity.
SMC_CP_BUS_TASK_NOT_CALLED	12126	If a CP-halt/-stop is commanded, some information has to be transferred to the bus task. We except this to happen before the next cycle of the slow task.
SMC_CP_NO_ROOT_IN_INTERVAL_FOUND	12127	The stop trajectory could not be found in the interval. (internal error)
SMC_CP_KIN_DOES_NOT_SUPPORT_AXIS_ORIENTATION_IPO	12128	The kinematics does not support the orientation mode "Axis" for continuous path movements.
SMC_CP_AXIS_ORIENTATION_IPO_NOT_SUPPORTED_FOR_CPTR	12129	The axis orientation interpolation mode is not supported for CP movements with a dynamic PCS (tracking).
SMC_CP_INVALID_PATH_ELEM	12130	An invalid path element has been created (internal error)
SMC_CP_TRANSITION_NOT_SMOOTH	12131	The transition between two path elements is not G2 continuous, and there is no stop (internal error)
SMC_CP_AXIS_ORIENTATION_IPO_CONFIG_DIFFERS	12132	Axis orientation interpolation mode is used, but between the start end end position, there is a singularity of the position kinematics.
SMC_CP_AXIS_ORIENTATION_IPO_OFFSET2_NOT_IMPLEMENTED	12133	The position kinematics has configurations but does not implement the interface ISMPositionKinematics_Offset2. In this case, axis orientation interpolation is not possible.
SMC_CP_ROTARY_AXIS_PERIOD_MISMATCH	12134	The target position of a rotary axis will not be reached in the commanded period. (E.g. the commanded target position is -170°, but the target will be reached with position 190° instead.) This means that the chosen interpolation to the target position is not compatible with the commanded position.
SMC_CP_ROTARY_AXIS_RANGE_VIOLATION	12135	A rotary axis has violated the allowed axis range during a CP movement. The CP movment is not in the working area.