FB_RoboticModule - General Information

Overview

Type:	Function block
Available as of:	V1.0.0.0
Inherits from:	-
Implements:	-

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages
Methods

Task

The RoboticModule is an Equipment Module for robot functionalities in the PacDrive Template.

An Equipment Module provides the following functions:

Encapsulation of basic functions.
Implementation of operation modes.
Conformity to the Standard Module Interface of the template.

Description

The FB_RoboticModule function block is used to manage various operation modes and to control the position of the axes. It also controls the transformation for the kinematics of the robot, if available. The POU reacts to entries on its TPL.ST_StandardModuleInterface that are defined by the template. The iq_diCMD input supports the commands listed in ET_Cmd.

Interface

Input/Output	Data type	Description
iq_stStandaradModuleItf	TPL.ST_StandardModuleInterface	Refer to Standard module interface > ST_StandardModuleInterface.
iq_stExceptionList	TPL.ST_ExceptionList	Refer to Standard Module Interface > ST_ExceptionList.
iq_stLogDataList	TPL.ST_LogDataList	Refer to Standard Module Interface > ST_LogDataList.
iq_stRoboticModuleItf	ST_ModuleInterface	Parameter structure of the RoboticModule.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description	Reactions
OK	AutoExit	101	The operation mode Auto is exited.	-
OK	AutoInitializing	127	The operation mode Auto is initialized.	-
OK	AutoRunning	128	The operation mode Auto is executed.	-
OK	AutoWaitForModuleCmd	118	The operation mode Auto is waiting for a new module command.	-
OK	AutoWaitForStart	126	The operation mode Auto is waiting for a start command.	-
OK	AutoWaitUntilColdStartFinished	119	The operation mode Auto is waiting until the cold start is finished.	-
OK	AutoWaitUntilWarmStartFinished	120	The operation mode Auto is waiting until the warm start is finished.	-
OK	BrakeEngaged	129	Brake is engaged.	-
OK	BrakeExit	103	The operation mode Brake is exited.	-
OK	BrakeInitializing	102	The operation mode Brake is initialized.	-
OK	BrakeReleased	130	Brake is released.	-
OK	BrakeWaitForStart	142	The operation mode Brake is waiting for a start command.	-
OK	Disabled	1	Disabled	-
OK	DrivesDisabled	14	The drives are disabled.	-
OK	DrivesEnabled	13	The drives are enabled.	-
OK	HomingDone	125	The operation mode Homing is completed.	-
OK	HomingExecuting	124	The operation mode Homing is executed.	-
OK	HomingExit	100	The operation mode Homing is exited.	-
OK	HomingInitializing	99	The operation mode Homing is initialized.	-
OK	HomingWaitForStart	123	The operation mode Homing is waiting for a start command.	-
OK	Initializing	121	Initializing	-
OK	ManualAuxAxExecuting	139	The operation mode Manual is executed: AuxAx jogging.	-
OK	ManualAxisExecuting	133	The operation mode Manual is executed: Axes jogging.	-
OK	ManualAxisExit	136	The operation mode Manual is exited - Axes jogging.	-
OK	ManualAxisInitializing	237	The operation mode Manual Axis is initialized.	-
OK	ManualCartesianExecuting	135	The operation mode Manual is executed: Cartesian jogging.	-
OK	ManualExit	132	The operation mode Manual is exited.	-
OK	ManualInitializing	239	The operation mode Manual is initialized.	-
OK	ManualPathExecuting	137	The operation mode Manual is executed: Path jogging.	-
OK	ManualRobotExit	138	The operation mode Manual is exited - Robot jogging.	-
OK	ManualRobotInitializing	238	The operation mode Manual Robot is initialized.	-
OK	ManualWaitForJogRequest	131	The operation mode Manual is waiting for a jogging request.	-
OK	ManualWaitForStart	134	The operation mode Manual is waiting for a start command.	-
OK	NoAxisSelectedForHoming	181	No axis has been selected for homing.	-
OK	ManualOrientationExecuting	336	The operation mode manual is executed: Orientation jogging.	-
ConfigurationFailed	ConfigurationFailed	20	The configuration is unsuccessful.	TPL.ET_Reaction.SyncStopEL
ConfigurationFailed	EmergencyParameterInvalid	175	The emergency parameters are invalid.
ConfigurationFailed	EmergencyParameterMissing	174	The emergency parameters are unavailable.
ConfigurationFailed	HomingConfigurationAuxAx1	200	Homing configuration AuxAx1.	-
ConfigurationFailed	HomingConfigurationAxisA	197	Homing configuration axis A.	-
ConfigurationFailed	HomingConfigurationAxisB	198	Homing configuration axis B.	-
ConfigurationFailed	HomingConfigurationAxisC	199	Homing configuration axis C.	-
ConfigurationFailed	HomingConfigurationAxisD	334	Homing configuration axis D.	-
ConfigurationFailed	ManualConfigurationAuxAx1	190	Manual configuration AuxAx1 is in error.	-
ConfigurationFailed	ManualConfigurationAxisA	186	Manual configuration axis A is in error.	-
ConfigurationFailed	ManualConfigurationAxisB	187	Manual configuration axis B is in error.	-
ConfigurationFailed	ManualConfigurationAxisC	188	Manual configuration axis C is in error.	-
ConfigurationFailed	ManualConfigurationAxisD	342	Manual configuration axis D is in error.	-
ConfigurationFailed	ManualConfigurationCartesianX	192	Manual configuration Cartesian X is in error.	-
ConfigurationFailed	ManualConfigurationCartesianY	193	Manual configuration Cartesian Y is in error.	-
ConfigurationFailed	ManualConfigurationCartesianZ	194	Manual configuration Cartesian Z is in error.	-
ConfigurationFailed	ManualConfigurationPath	195	Manual configuration path is in error.	-
ConfigurationFailed	ManualConfigurationOrientationAll	343	Manual configuration: Orientation all.	-
ConfigurationFailed	ManualConfigurationOrientationX	344	Manual configuration: Orientation X.	-
ConfigurationFailed	ManualConfigurationOrientationY	345	Manual configuration: Orientation Y.	-
ConfigurationFailed	ManualConfigurationOrientationZ	346	Manual configuration: Orientation Z.	-
ConfigurationFailed	TransformationInvalid	173	The transformation is invalid.	TPL.ET_Reaction.SyncStopEL
ConfigurationFailed	TransformationMissing	172	The transformation is unavailable.
ControllerConditionInvalid	ControllerInvalid	105	The controller is invalid.
ControllerConditionInvalid	SercosInterfaceInvalid	3	The Sercos interface is invalid.
DriveConditionInvalid	DriveANotReady	203	The drive A is not ready.
DriveConditionInvalid	DriveAuxAx1NotReady	206	The drive AuxAx1 is not ready.
DriveConditionInvalid	DriveBNotReady	204	The drive B is not ready.
DriveConditionInvalid	DriveCNotReady	205	The drive C is not ready.
DriveConditionInvalid	DriveDNotReady	332	The drive D is not ready.
DriveConditionInvalid	DriveEncoderInvalid	51	The drive encoder is invalid.
DriveConditionInvalid	DriveException	11	The drive reports an exception.	TPL.ET_Reaction.AsyncStop
DriveConditionInvalid	DriveIsMoving	52	The drive is moving.	TPL.ET_Reaction.SyncStopEL
DriveConditionInvalid	DriveNotDisabled	53	The drive is not disabled.	TPL.ET_Reaction.SyncStopEL
DriveConditionInvalid	DriveWarning	12	The drive reports an alert.	-
DriveConditionInvalid	InverterEnableOff	23	The inverter enable is off.	TPL.ET_Reaction.SyncStopEL
DriveConditionInvalid	NoAccessToEEPROM	61	No access to drive encoder data.
DriveConditionInvalid	ProgrammingInProgress	62	Writing is being performed on the encoder.
DriveConditionInvalid	ProgrammingInvalidEEPROM	63	An exception occurred while writing on the encoder data.
DriveConditionInvalid	RestoreInterrupted	64	Restore has been interrupted.
DriveConditionInvalid	TorqueEnableOff	24	The torque enable is off.
ExecutionAborted	AlreadySuccessfullyCalled	258	It has been already successfully called.
ExecutionAborted	AsyncInitNotFinished	150	The Init is not finished yet.
ExecutionAborted	AsyncStop	38	An asynchronous stop is being executed.	-
ExecutionAborted	AxisPositionRange	46	The axis position is out of range.	TPL.ET_Reaction.SyncStopEL
ExecutionAborted	CmdImpossibleOverwrite	6	The command cannot be overwritten.	TPL.ET_Reaction.AsyncStop
ExecutionAborted	CmdImpossibleReaction	7	The command is not possible due to an active reaction.	-
ExecutionAborted	CmdImpossibleState	5	The command is not possible in the actual state of the robotic module.	TPL.ET_Reaction.AsyncStop
ExecutionAborted	ColdResetOfControllerNecessary	151	A cold start of the controller is necessary.	TPL.ET_Reaction.SyncStopEL
ExecutionAborted	ConfigInvalid	75	The configuration is invalid.
ExecutionAborted	ConfigurationAlreadyCompleted	154	The configuration is already completed.
ExecutionAborted	DriveNotReady	22	The drive is not ready.
ExecutionAborted	ExcessiveTrackingDeviationLimitExceeded	81	The excessive trackig deviation limit was exceeded.
ExecutionAborted	ExternalPositionSourceAccLimitExceeded	387	The acceleration of one of the robot components has exceeded the specified limit value.
ExecutionAborted	ExternalPositionSourceConfigured	357	The external position source is configured.
ExecutionAborted	InitializationFailed	259	The initialization is unsuccessful.
ExecutionAborted	InMotion	84	The robot is in motion.
ExecutionAborted	JoggingActive	159	Jogging is active.
ExecutionAborted	LicenseCheckFailed	78	The license verification is unsuccessful.	TPL.ET_Reaction.SyncStopEL
ExecutionAborted	ManualConfigurationAuxAx1	190	Manual configuration AuxAx1 is in error.
ExecutionAborted	ManualConfigurationAxisA	186	Manual configuration axis A is in error.
ExecutionAborted	ManualConfigurationAxisB	187	Manual configuration axis B is in error.
ExecutionAborted	ManualConfigurationAxisC	188	Manual configuration axis C is in error.
ExecutionAborted	ManualConfigurationCartesianX	192	Manual configuration Cartesian X is in error.
ExecutionAborted	ManualConfigurationCartesianY	193	Manual configuration Cartesian Y is in error.
ExecutionAborted	ManualConfigurationCartesianZ	194	Manual configuration Cartesian Z is in error.
ExecutionAborted	ManualConfigurationPath	195	Manual configuration path is in error.
ExecutionAborted	MotionParameterInvalid	163	The motion parameters are invalid.
ExecutionAborted	NoAsyncTasksCreated	152	No async tasks have been created.
ExecutionAborted	NoConnectedPathAvailable	80	There is no connected path available.	TPL.ET_Reaction.SyncStopEL
ExecutionAborted	NoMoreAuxAxAvailable	157	There are no more AuxAx available.
ExecutionAborted	NoMoreTrackingSystemsAvailable	264	There are no more tracking systems available.
ExecutionAborted	NotOnPath	91	The robot is not on the path.
ExecutionAborted	OutsideWorkspace	45	Outside of workspace.
ExecutionAborted	PathPositionEndExceeded	82	The end position on the path has been exceeded.
ExecutionAborted	PlaneInvalid	170	The working plane is invalid.
ExecutionAborted	RefPositionInvalid	92	The reference position is invalid.
ExecutionAborted	RobotIsDisabled	161	The robot is disabled.
ExecutionAborted	RobotNotReady	160	The robot is not ready.
ExecutionAborted	SchneiderElectricRobotFailed	260	The configuration of the Schneider Electric robot is unsuccessful.
ExecutionAborted	SetPosDetected	272	A SetPos has been detected.
ExecutionAborted	StartActive	89	Start is active.	TPL.ET_Reaction.SyncStopEL
ExecutionAborted	StopEndOfCycle	41	A stop is executed at the end of the cycle.	-
ExecutionAborted	SyncStopEh	40	A synchronous stop is performed. Afterwards the axis remains in position control.	-
ExecutionAborted	SyncStopEl	39	A synchronous stop is performed. Afterwards the axis does not remain in position control.	-
ExecutionAborted	TransformationAlreadyConfigured	171	The transformation is already configured.	TPL.ET_Reaction.SyncStopEL
ExecutionAborted	UnexpectedValue	76	A value is invalid.
ExecutionAborted	WarmStartNotPossible	271	A warm start is not possible.
ExecutionAborted	WorkEnvelope	261	Diagnostic message concerning the work envelope is active.
ExecutionAborted	SchneiderElectricRobotInException	348	The Schneider Electric robot is in exception.
HomingFailed	HwLimitNegStillActive	73	The HwLimitNeg is still active.	TPL.ET_Reaction.SyncStopEL
HomingFailed	HwLimitPosStillActive	74	The HwLimitPos is still active.	TPL.ET_Reaction.SyncStopEL
HomingFailed	InitHomingNotSuccessful	47	The Init homing is unsuccessful.	-
HomingFailed	MaxTorqueNotFound	58	The max torque has not been found.	TPL.ET_Reaction.SyncStopEL
HomingFailed	SensorNotFound	65	The sensor signal has not been found.
HomingFailed	TouchProbeNotFound	69	The TouchProbe has not been found.
InputParameterInvalid	AbsEncOffsetRange	48	The AbsEnc offset is out of range.
InputParameterInvalid	AsyncInvalid	153	The value of IF_Async is invalid.
InputParameterInvalid	AuxiliaryAxisNotConfigured	148	The auxiliary axis is not configured.
InputParameterInvalid	CheckSumInvalid	49	The checksum is invalid.
InputParameterInvalid	CoordinateSystemInvalid	93	The coordinate system is invalid.
InputParameterInvalid	CoordinateSystemNotConfigured	268	The coordinate system is not configured.
InputParameterInvalid	DataNVRamInvalid	50	The data NVRam is invalid.
InputParameterInvalid	DriveAAlreadyInUse	164	The drive A is already in use.
InputParameterInvalid	DriveAInvalid	167	The drive A is invalid.
InputParameterInvalid	DriveAlreadyInUse	155	The drive is already in use.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	DriveAMissing	245	The drive A is unavailable.
InputParameterInvalid	DriveAuxAx1Invalid	207	The drive AuxAx1 is invalid.
InputParameterInvalid	DriveBAlreadyInUse	165	The drive B is already in use.
InputParameterInvalid	DriveBInvalid	168	The drive B is invalid.
InputParameterInvalid	DriveBMissing	246	The drive B is unavailable.
InputParameterInvalid	DriveCAlreadyInUse	166	The drive C is already in use.
InputParameterInvalid	DriveCInvalid	169	The drive C is invalid.
InputParameterInvalid	DriveDAlreadyInUse	351	The drive D is already in use.
InputParameterInvalid	DriveDInvalid	333	The drive D is invalid.
InputParameterInvalid	DriveInvalid	17	The drive is invalid.	TPL.ET_Reaction.AsyncStop
InputParameterInvalid	EncoderInvalid	267	The encoder is invalid.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	ExecuteLimitsNotCalled	115	Execute limits is not called.	TPL.ET_Reaction.SyncStopEH
InputParameterInvalid	GlobalSercosInterfaceInvalid	109	The global Sercos interface is invalid.	TPL.ET_Reaction.AsyncStop
InputParameterInvalid	HomeModeInvalid	145	The Home mode is invalid.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	InterfaceInvalid	114	An interface is invalid.
InputParameterInvalid	InterfacesNotInitialized	42	An interface is not initialized.
InputParameterInvalid	InvertDirectionXInvalid	255	InvertDirectionX is invalid.
InputParameterInvalid	InvertDirectionYInvalid	256	InvertDirectionY is invalid.
InputParameterInvalid	InvertDirectionZInvalid	257	InvertDirectionZ is invalid.
InputParameterInvalid	JoggingInterfaceInvalid	36	The jogging interface is invalid.
InputParameterInvalid	LengthA1Range	249	The LengthA1 is out of range.
InputParameterInvalid	LengthA2Range	250	The LengthA2 is out of range.
InputParameterInvalid	LengthAB0Range	247	The LengthAB0 is out of range.
InputParameterInvalid	LengthAB3Range	248	The LengthAB3 is out of range.
InputParameterInvalid	LengthABC0Range	176	The LengthABC0 is out of range.
InputParameterInvalid	LengthABC1Range	177	The LengthABC1 is out of range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	LengthABC2Range	178	The LengthABC2 is out of range.
InputParameterInvalid	LengthABC3Range	179	The LengthABC3 is out of range.
InputParameterInvalid	LengthARange	262	The LengthA is out of range.
InputParameterInvalid	LengthB1Range	251	The LengthB1 is out of range.
InputParameterInvalid	LengthB2Range	252	The LengthB2 is out of range.
InputParameterInvalid	LengthBRange	263	The LengthB is out of range.
InputParameterInvalid	LowVelRange	57	The LowVel is out of range.
InputParameterInvalid	ManualCartesianNotPossible	201	Manual Cartesian is not possible.	-
InputParameterInvalid	MaxAccelerationRange	31	The maximum acceleration is out of range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	MaxDecelerationRange	32	The maximum deceleration is out of range.
InputParameterInvalid	MaxDistanceRange	33	The maximum distance is out of range.
InputParameterInvalid	MaxTorqueRange	59	The maximum torque is out of range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	MaxTravelRange	60	The maximum travel is out of range.
InputParameterInvalid	MaxVelocityRange	30	The maximum velocity is out of range.
InputParameterInvalid	OffsetInvalid	253	The Offset is invalid.
InputParameterInvalid	OrientationConventionInvalid	266	The orientation convention is invalid.
InputParameterInvalid	OrientationInvalid	254	The orientation is invalid.
InputParameterInvalid	OrientationNotAvailable	347	The orientation is not available.
InputParameterInvalid	PeriodLengthRange	156	The period length is out of range.
InputParameterInvalid	PointerRestorePosRetainInvalid	107	The pointer RestorePosRetain is invalid.
InputParameterInvalid	PowerSupplyInvalid	25	The power supply is invalid.
InputParameterInvalid	PowerSupplyNotFound	26	The power supply has not been found.
InputParameterInvalid	RampRange	35	The ramp is out of range.
InputParameterInvalid	ReactionOffsetRange	9	The reaction offset is out of range.	TPL.ET_Reaction.AsyncStop
InputParameterInvalid	RobotComponentInvalid	144	The robot component is invalid.	TPL.ET_Reaction.AsyncStop
InputParameterInvalid	SimultaneousJogForwardBackward	158	Simultaneous forward and backward jogging is selected.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	SimultaneousJoggingCommands	183	Simultaneous jogging commands send.	-
InputParameterInvalid	ManualOrientationNotPossible	349	Manual orientation is not possible.	-
InputParameterInvalid	ManualPathNotPossible	350	Manual path is not possible.	-
InputParameterInvalid	TouchProbeInvalid	67	The connected TouchProbe is invalid.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	TouchProbeNotActive	68	The TouchProbe is not active.
InputParameterInvalid	TouchProbeVirtual	70	The connected TouchProbe is virtual.
InputParameterInvalid	UserPeriodRange	71	The user period is out of range.
InputParameterInvalid	UserTransformation3AxInvalid	202	The user-configured transformation 3Ax is invalid.
InputParameterInvalid	VelocitySourceInvalid	265	The velocity source is invalid.
LimitReached	HwLimitAuxAx1	229	The hardware limit of AuxAx1 is active.
LimitReached	HwLimitAxisA	220	The hardware limit of axis A is active.
LimitReached	HwLimitAxisB	221	The hardware limit of axis B is active.	TPL.ET_Reaction.SyncStopEL
LimitReached	HwLimitAxisC	222	The hardware limit of axis C is active.
LimitReached	HwLimitCartesianX	226	The hardware limit of Cartesian X is active.
LimitReached	HwLimitCartesianY	227	The hardware limit of Cartesian Y is active.
LimitReached	HwLimitCartesianZ	228	The hardware limit of Cartesian Z is active.
LimitReached	HwLimitNegReached	54	The HwLimitNeg has been reached.
LimitReached	HwLimitPosReached	55	The HwLimitPos has been reached.
LimitReached	ReducedVelocityLimit	106	The reduced velocity limit has been exceeded.
LimitReached	SwLimitAuxAx1	217	The software limit of AuxAx1 is active.
LimitReached	SwLimitAxisA	208	The software limit of axis A is active.
LimitReached	SwLimitAxisB	209	The software limit of axis B is active.
LimitReached	SwLimitAxisC	210	The software limit of axis C is active.
LimitReached	SwLimitCartesianX	214	The software limit of Cartesian X is active.
LimitReached	SwLimitCartesianY	215	The software limit of Cartesian Y is active.	TPL.ET_Reaction.SyncStopEL
LimitReached	SwLimitCartesianZ	216	The software limit of Cartesian Z is active.
PowerSupplyConditionInvalid	PowerSupplyNotReady	27	The power supply is not ready.
SercosConditionInvalid	SercosNotInPhaseFour	66	The Sercos bus is not in phase 4.
UnexpectedProgramBehavior	AsyncAddWasNotSuccessful	149	Adding an Async job to a task was not successful.
UnexpectedProgramBehavior	HomeModeUnknown	72	The Home mode is indeterminable.
UnexpectedProgramBehavior	InterfaceInvalid	114	An interface is invalid.
UnexpectedProgramBehavior	UnexpectedFeedback	28	A feedback value was invalid.	TPL.ET_Reaction.AsyncStop
UnexpectedProgramBehavior	UnknownCase	108	The case is indeterminable.	TPL.ET_Reaction.AsyncStop

AbsEncOffsetRange

Enumeration name:	AbsEncOffsetRange
Enumeration value:	48
Description:	The AbsEnc offset is out of range.

Issue	Cause	Solution
-	IF_Homing.RestorePosFromAxisEncoder or IF_Homing.RestorePosFromRetain has been selected as homing mode for a robot drive. The value transferred at the input i_lrAbsEncOffset is outside the valid range.	At the input i_lrAbsEncOffset, a value greater than 0 must be transferred. At the input i_lrAbsEncOffset, a value less than the maximum possible value of Drive.EncoderPosition must be transferred.

Issue

Cause

Solution

-

IF_Homing.RestorePosFromAxisEncoder or

IF_Homing.RestorePosFromRetain

has been selected as homing mode for a robot drive.

The value transferred at the input i_lrAbsEncOffset is outside the valid range.

At the input i_lrAbsEncOffset, a value greater than 0 must be transferred.

At the input i_lrAbsEncOffset, a value less than the maximum possible value of Drive.EncoderPosition must be transferred.

AlreadySuccessfullyCalled

Enumeration name:	AlreadySuccessfullyCalled
Enumeration value:	258
Description:	It has been already successfully called.

Issue	Cause	Solution
The configuration of the robot was unsuccessful.	The configuration of the Schneider Electric robot has already been completed. The method SchneiderElectricRobot(...) has already been called up successfully.	Ensure that the configuration method SchneiderElectricRobot() is called only once.

AsyncAddWasNotSuccessful

Enumeration name:	AsyncAddWasNotSuccessful
Enumeration value:	149
Description:	Adding an Async job to a task was not successful.

AsyncInitNotFinished

Enumeration name:	AsyncInitNotFinished
Enumeration value:	150
Description:	The Init is not finished yet.

Issue	Cause	Solution
-	The initialization of the Async mechanism is not finished.	Call PDL.G_ifAsyncMgr.Init() until q_xDone signals the value TRUE.

AsyncInvalid

Enumeration name:	AsyncInvalid
Enumeration value:	153
Description:	The value of IF_Async is invalid.

AsyncStop

Enumeration name:	AsyncStop
Enumeration value:	38
Description:	An asynchronous stop is being executed.

Issue	Cause	Solution
-	The FB_RoboticModule is performing an asynchronous stop.	The axis does not remain in position control.

AutoExit

Enumeration name:	AutoExit
Enumeration value:	101
Description:	The operation mode Auto is exited.

AutoInitializing

Enumeration name:	AutoInitializing
Enumeration value:	127
Description:	The operation mode Auto is initialized.

AutoRunning

Enumeration name:	AutoRunning
Enumeration value:	128
Description:	The operation mode Auto is executed.

AutoWaitForModuleCmd

Enumeration name:	AutoWaitForModuleCmd
Enumeration value:	118
Description:	The operation mode Auto is waiting for a new module command.

AutoWaitForStart

Enumeration name:	AutoWaitForStart
Enumeration value:	126
Description:	The operation mode Auto is waiting for a start command.

AutoWaitUntilColdStartFinished

Enumeration name:	AutoWaitUntilColdStartFinished
Enumeration value:	119
Description:	The operation mode Auto is waiting until the cold start is finished.

AutoWaitUntilWarmStartFinished

Enumeration name:	AutoWaitUntilWarmStartFinished
Enumeration value:	120
Description:	The operation mode Auto is waiting until the warm start is finished.

AuxiliaryAxisNotConfigured

Enumeration name:	AuxiliaryAxisNotConfigured
Enumeration value:	148
Description:	The auxiliary axis is not configured.

Issue	Cause	Solution
-	During the configuration of the manual parameters, an auxiliary axis is addressed that is not configured.	Ensure that the axis is configured before using an auxiliary axis.

AxisPositionRange

Enumeration name:	AxisPositionRange
Enumeration value:	46
Description:	The axis position is out of range.

Issue	Cause	Solution
-	A movement of the robot leads to one or more axes being outside the operating zone of the robot.	Ensure that the movement of the robot is inside the operating zone of the robot.

BrakeEngaged

Enumeration name:	BrakeEngaged
Enumeration value:	129
Description:	Brake is engaged.

BrakeExit

Enumeration name:	BrakeExit
Enumeration value:	103
Description:	The operation mode Brake is exited.

BrakeInitializing

Enumeration name:	BrakeInitializing
Enumeration value:	102
Description:	The operation mode Brake is initialized.

BrakeReleased

Enumeration name:	BrakeReleased
Enumeration value:	130
Description:	Brake is released.

BrakeWaitForStart

Enumeration name:	BrakeWaitForStart
Enumeration value:	142
Description:	The operation mode Brake is waiting for a start command.

CheckSumInvalid

Enumeration name:	CheckSumInvalid
Enumeration value:	49
Description:	The checksum is invalid.

Issue	Cause	Solution
-	IF_Homing.RestorePosFromRetain has been selected as homing mode for a robot drive. The data stored in i_pstRestorePosRetain are inconsistent. The position cannot be restored.	New homing of the drive is required.

Issue

Cause

Solution

-

IF_Homing.RestorePosFromRetain has been selected as homing mode for a robot drive.

The data stored in i_pstRestorePosRetain are inconsistent. The position cannot be restored.

New homing of the drive is required.

CmdImpossibleOverwrite

Enumeration name:	CmdImpossibleOverwrite
Enumeration value:	6
Description:	The command cannot be overwritten.

Issue	Cause	Solution
-	A command was being processed by the module while a new command was sent that was not ET_Cmd.Abort or ET_Cmd.BrakeRelease.	Verify that the module is not processing any commands (TPL.ST_StandardModuleInterface.q_xCmdActive = FALSE) when a new command is sent to the module.

CmdImpossibleReaction

Enumeration name:	CmdImpossibleReaction
Enumeration value:	7
Description:	The command is not possible due to an active reaction.

Issue	Cause	Solution
-	Advisory message	The command cannot be executed due to a pending reaction.
-	A reaction TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL, TPL.ET_Reaction.SyncStopEH, or TPL.ET_Reaction.StopEndOfCycle, is active in the module while it receives a command ET_Cmd.Start, or ET_Cmd.WsStart.	Verify that no start commands are sent to the module when a reaction is active in the machine part of the module. Acknowledge the exceptions of the module before sending a command.
-	A reaction TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL, or TPL.ET_Reaction.SyncStopEH is active in the module while it receives a command ET_Cmd.Homing, ET_Cmd.Manual, or ET_Cmd.Auto.	Verify that no commands for changing to a different operation mode are sent to the module when a reaction is active in the machine part of the module. Acknowledge the exceptions of the module before sending a command.
-	A reaction TPL.ET_Reaction.AsyncStop, or TPL.ET_Reaction.SyncStopEL is active in the module while it receives a command ET_Cmd.DriveEnableOn.	Verify that no command for enabling the axes is sent to the module when a reaction is active in the machine part of the module. Acknowledge the exceptions of the module before sending a command.

CmdImpossibleState

Enumeration name:	CmdImpossibleState
Enumeration value:	5
Description:	The command is not possible in the actual state of the robotic module.

Issue	Cause	Solution
-	The module is in the state ET_State.DrivesEnabled, or ET_State.DrivesDisabled when it receives the command when it receives the command ET_Cmd.Start, orET_Cmd.WsStart.	Before a command is sent, ensure that the module can execute the command in the current state.
-	The module is not in the state ET_State.AutoWaitForModuleCmd, ET_State.AutoWaitUntilWarmStartFinished, or ET_State.AutoWaitForStart when it receives the command ET_Cmd.WsStart.	Before a command is sent, ensure that the module can execute the command in the current state.
-	The module does not signal the value TRUE at the output ST_ModuleInterface.q_xHomeOk.	Before a command is sent, ensure that the configured axes of the module are homed.
-	The module is in operation mode ET_OpMode.NoOp, ET_OpMode.Manual, ET_OpMode.Homing, or ET_OpMode.BrakeRelease, or the module is in state ET_State.AutoWaitForModuleCmd when it receives the command ET_Cmd.Hold.	Before a command is sent, ensure that the module can execute the command in the current operation mode and state.
-	The module is in the state ET_State.Initializing, ET_State.ExitModule,ET_State.AutoInitializing, ET_Stat e.AutoWaitUntilColdStartFinished, ET_State.AutoWaitUntilWarmStartFinished, ET_State.AutoExit, ET_State.BrakeInitializing, ET_State.BrakeExit, ET_State.HomingInitializing, ET_State.HomingExecuting, ET_State.HomingExit, ET_State.ManualInitializing, ET_State.ManualAxisInitializing, ET_State.ManualRobotInitializing, ET_State.ManualAxisExit, ET_State.ManualRobotExit, or ET_State.ManualExit when it receives the command ET_Cmd.Stop, ET_Cmd.DrivesEnableOff, or ET_Cmd.DrivesEnableOn.	Before a command is sent, verify that the module can execute the command in the current state.
-	The module is in the state ET_State.Initializing, ET_State.ExitModule, ET_State.BrakeInitializing, ET_State.BrakeExit, ET_State.HomingInitializing, ET_State.HomingExecuting, ET_State.HomingExit, ET_State.ManualInitializing, ET_State.ManualAxisInitializing, ET_State.ManualRobotInitializing, ET_State.ManualAxisExecuting, ET_State.ManualAuxAxExecuting, ET_State.ManualCartesianExecuting, ET_State.ManualPathExecuting, ET_State.ManualAxisExit, ET_State.ManualRobotExit, or ET_State.ManualExit when it receives the command ET_Cmd.Auto.	Before a command is sent, ensure that the module can execute the command in the current state.
-	The module is in the state ET_State.Initializing, ET_State.ExitModule, ET_State.AutoInitializing, ET_State.AutoWaitUntilColdStartFinished, ET_State.AutoWaitUntilWarmStartFinished, ET_State.AutoExit, ET_State.HomingInitializing, ET_State.HomingExecuting, ET_State.HomingExit, ET_State.ManualInitializing, ET_State.ManualAxisInitializing, ET_State.ManualRobotInitializing, ET_State.ManualAxisExecuting, ET_State.ManualAuxAxExecuting, ET_State.ManualCartesianExecuting, ET_State.ManualPathExecuting, ET_State.ManualAxisExit, ET_State.ManualRobotExit, or ET_State.ManualExit when it receives the command ET_Cmd.BrakeRelease.	Before a command is sent, ensure that the module can execute the command in the current state.
-	The module is in the state ET_State.Initializing, ET_State.ExitModule, ET_State.AutoInitializing, ET_State.AutoWaitUntilColdStartFinished, ET_State.AutoWaitUntilWarmStartFinished, ET_State.AutoExit, ET_State.BrakeInitializing, ET_State.BrakeExit, ET_State.ManualInitializing, ET_State.ManualAxisInitializing, ET_State.ManualRobotInitializing, ET_State.ManualAxisExecuting, ET_State.ManualAuxAxExecuting, ET_State.ManualCartesianExecuting, ET_State.ManualPathExecuting, ET_State.ManualAxisExit, ET_State.ManualRobotExit, or ET_State.ManualExit when it receives the command ET_Cmd.Homing.	Before a command is sent, ensure that the module can execute the command in the current state.
-	The module is in the state ET_State.Initializing, ET_State.ExitModule, ET_State.AutoInitializing, ET_State.AutoWaitUntilColdStartFinished, ET_State.AutoWaitUntilWarmStartFinished, ET_State.AutoExit, ET_State.BrakeInitializing, ET_State.BrakeExit, ET_State.HomingInitializing, ET_State.HomingExecuting, or ET_State.HomingExit when it receives the command ET_Cmd.Homing.	Before a command is sent, ensure that the module can execute the command in the current state.

ColdResetOfControllerNecessary

Enumeration name:	ColdResetOfControllerNecessary
Enumeration value:	151
Description:	A cold start of the controller is necessary.

Issue	Cause	Solution
-	PDL.Gc_udiNumOfAsyncTasks has been changed.	A cold start of the controller and a call up of the method PDL.G_ifAsyncMgr.Init() until q_xDone signals the value TRUE, is required.

ConfigInvalid

Enumeration name:	ConfigInvalid
Enumeration value:	75
Description:	The configuration is invalid.

Issue	Cause	Solution
-	The configuration of the robot is not finished.	Complete the configuration of the robot first before a command is sent to the module.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	154
Description:	The configuration is already completed.

Issue	Cause	Solution
-	The configuration of the robot has already been completed. The method IF_Configuration.ConfigDone has already been called up successfully.	Ensure that no transformation configuration method, for example IF_Configuration.Delta3Ax or IF_Configuration.AddAuxAx, is called after the configuration has been completed.

ConfigurationFailed

Enumeration name:	ConfigurationFailed
Enumeration value:	20
Description:	The configuration is unsuccessful.

Issue	Cause	Solution
-	The configuration of the robot is not finished while the module is called up the first time.	Ensure that the robot is configured before the module is called.

ControllerInvalid

Enumeration name:	ControllerInvalid
Enumeration value:	105
Description:	The controller is invalid.

Issue	Cause	Solution
-	The controller does not provide the required conditions.	For more details, see q_sMsg from the diagnostic message.

CoordinateSystemInvalid

Enumeration name:	CoordinateSystemInvalid
Enumeration value:	93
Description:	The coordinate system is invalid.

Issue	Cause	Solution
-	IF_Configuration.GetLinearTrackingSystem was called. The value transferred at the input i_etName is invalid.	At the input i_etName, a value of ROB.ET_CoordinateSystem must be transferred.

Issue

Cause

Solution

-

IF_Configuration.GetLinearTrackingSystem was called.

The value transferred at the input i_etName is invalid.

At the input i_etName, a value of ROB.ET_CoordinateSystem must be transferred.

CoordinateSystemNotConfigured

Enumeration name:	CoordinateSystemNotConfigured
Enumeration value:	268
Description:	The coordinate system is not configured.

Issue

Cause

Solution

-

IF_Configuration.GetLinearTrackingSystem was called.

The requested linear tracking system at the input i_etName is not configured.

If required, configure a linear tracking system with the configuration method IF_Configuration.AddLinearTrackingSystem first.

DataNVRamInvalid

Enumeration name:	DataNVRamInvalid
Enumeration value:	50
Description:	The data NVRam is invalid.

Issue

Cause

Solution

-

IF_Homing.RestorePosFromRetain was selected as homing mode for a robot drive.

The data stored in the NVRam are invalid. This is why the position cannot be restored.

Verify the NVRam and the buffer battery and replace them, if necessary.

A new homing of the drive is required.

Disabled

Enumeration name:	Disabled
Enumeration value:	1
Description:	Disabled

DriveAAlreadyInUse

Enumeration name:	DriveAAlreadyInUse
Enumeration value:	164
Description:	The drive A is already in use.

Issue

Cause

Solution

-

IF_Configuration.Cartesian2Ax, IF_Configuration.Cartesian3Ax, IF_Configuration.Delta3Ax, or IF_Configuration.User3Ax was called to configure the transformation of the robot.

The drive transferred at the input i_ifDriveA is already configured in the robot and cannot be used again.

Ensure that no drive is assigned to the robot more than once.

DriveAInvalid

Enumeration name:	DriveAInvalid
Enumeration value:	167
Description:	The drive A is invalid.

Issue

Cause

Solution

-

IF_Configuration.Cartesian2Ax, IF_Configuration.Cartesian3Ax, IF_Configuration.Delta3Ax, or IF_Configuration.User3Ax was called to configure the transformation of the robot.

The drive transferred at the input i_ifDriveA is invalid.

At the input i_ifDriveA, a valid drive must be transferred.

DriveAlreadyInUse

Enumeration name:	DriveAlreadyInUse
Enumeration value:	155
Description:	The drive is already in use.

Issue

Cause

Solution

-

IF_Configuration.AddAuxAx was called to configure an auxiliary axis of the robot.

The drive transferred at the input i_ifDrive is already configured in the robot and cannot be used again.

Ensure that no drive is assigned to the robot more than once.

DriveAMissing

Enumeration name:	DriveAMissing
Enumeration value:	245
Description:	The drive A is unavailable.

Issue

Cause

Solution

-

IF_Configuration.User3Ax was called to configure the transformation of the robot.

A drive was transferred at the input i_ifDriveB or i_ifDriveC.

Ensure that at the input i_ifDriveA a valid drive has been transferred.

DriveANotReady

Enumeration name:	DriveANotReady
Enumeration value:	203
Description:	The drive A is not ready.

Issue	Cause	Solution
-	The drive of axis A from the robot is not ready.	Ensure that the drives are ready before enabling the robot.

DriveAuxAx1Invalid

Enumeration name:	DriveAuxAx1Invalid
Enumeration value:	207
Description:	The drive AuxAx1 is invalid.

Issue

Cause

Solution

-

IF_Configuration.AddAuxAx was called to configure the transformation of the robot.

The drive transferred at the input i_ifDrive is invalid.

At the input i_ifDrive, a valid drive must be transferred.

DriveAuxAx1NotReady

Enumeration name:	DriveAuxAx1NotReady
Enumeration value:	206
Description:	The drive AuxAx1 is not ready.

Issue	Cause	Solution
-	The drive of AuxAx1 from the robot is not ready.	Ensure that the drives are ready before enabling the robot.

DriveBAlreadyInUse

Enumeration name:	DriveBAlreadyInUse
Enumeration value:	165
Description:	The drive B is already in use.

Issue

Cause

Solution

-

IF_Configuration.Cartesian2Ax, IF_Configuration.Cartesian3Ax, IF_Configuration.Delta3Ax, or IF_Configuration.User3Ax was called to configure the transformation of the robot.

The drive transferred at the input i_ifDriveB is already configured in the robot and cannot be used again.

Ensure that no drive is assigned to the robot more than once.

DriveBInvalid

Enumeration name:	DriveBInvalid
Enumeration value:	168
Description:	The drive B is invalid.

Issue

Cause

Solution

-

IF_Configuration.Cartesian2Ax, IF_Configuration.Cartesian3Ax, IF_Configuration.Delta3Ax, or IF_Configuration.User3Ax was called to configure the transformation of the robot.

The drive transferred at the input i_ifDriveB is invalid.

At the input i_ifDriveB, a valid drive must be transferred.

DriveBMissing

Enumeration name:	DriveBMissing
Enumeration value:	246
Description:	The drive B is unavailable.

Issue

Cause

Solution

-

IF_Configuration.User3Ax was called to configure the transformation of the robot.

A drive was transferred at the input i_ifDriveC.

Ensure that at the input i_ifDriveB a valid drive has been transferred.

DriveBNotReady

Enumeration name:	DriveBNotReady
Enumeration value:	204
Description:	The drive B is not ready.

Issue	Cause	Solution
-	The drive of axis B from the robot is not ready.	Ensure that the drives are ready before enabling the robot.

DriveCAlreadyInUse

Enumeration name:	DriveCAlreadyInUse
Enumeration value:	166
Description:	The drive C is already in use.

Issue

Cause

Solution

-

IF_Configuration.Cartesian2Ax,IF_Configuration.Cartesian3Ax,IF_Configuration.Delta3Ax, or IF_Configuration.User3Ax was called to configure the transformation of the robot.

The drive transferred at the input i_ifDriveC is already configured in the robot and cannot be used again.

Ensure that no drive is assigned to the robot more than once.

DriveCInvalid

Enumeration name:	DriveCInvalid
Enumeration value:	169
Description:	The drive C is invalid.

Issue

Cause

Solution

-

IF_Configuration.Cartesian2Ax, IF_Configuration.Cartesian3Ax, IF_Configuration.Delta3Ax, or IF_Configuration.User3Ax was called to configure the transformation of the robot.

The drive transferred at the input i_ifDriveC is invalid.

At the input i_ifDriveC, a valid drive must be transferred.

DriveCNotReady

Enumeration name:	DriveCNotReady
Enumeration value:	205
Description:	The drive C is not ready.

Issue	Cause	Solution
-	The drive of axis C from the robot is not ready.	Ensure that the drives are ready before enabling the robot.

DriveDAlreadyInUse

Enumeration name:	DriveDAlreadyInUse
Enumeration value:	351
Description:	The drive D is already in use.

Issue

Cause

Solution

-

IF_Configuration.Scara4Ax was called to configure the transformation of the robot.

The drive transferred at the input i_ifDriveD is already configured in the robot and cannot be used again.

Ensure that no drive is assigned to the robot more than once.

DriveDInvalid

Enumeration name:	DriveDInvalid
Enumeration value:	333
Description:	The drive D is invalid.

Issue

Cause

Solution

-

IF_Configuration.Scara4Ax was called to configure the transformation of the robot.

The drive transferred at the input i_ifDriveD is invalid.

At the input i_ifDriveD, a valid drive must be transferred.

DriveDNotReady

Enumeration name:	DriveDNotReady
Enumeration value:	332
Description:	The drive D is not ready.

Issue	Cause	Solution
-	The drive of axis D from the robot is not ready.	Ensure that the drives are ready before enabling the robot.

DriveEncoderInvalid

Enumeration name:	DriveEncoderInvalid
Enumeration value:	51
Description:	The drive encoder is invalid.

Issue

Cause

Solution

-

IF_Homing.RestorePosFromAxisEncoder, or IF_Homing.RestorePosFromRetain was selected as homing mode for a robot drive.

The axis encoder is not supported.

The EncoderRange parameter of the axis must be greater than 0.

DriveException

Enumeration name:	DriveException
Enumeration value:	11
Description:	The drive reports an exception.

Issue	Cause	Solution
-	Exception message	A configured drive of the RoboticModule reports a diagnostic message with DiagClass equal to or greater than 3.

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	17
Description:	The drive is invalid.

Issue	Cause	Solution
-	A configured drive of the robot is invalid.	Ensure that the configured drives of the robot are valid.

DriveIsMoving

Enumeration name:	DriveIsMoving
Enumeration value:	52
Description:	The drive is moving.

Issue

Cause

Solution

-

IF_Homing.WritePos was selected as homing mode for a robot drive.

The axis moved while the encoder position was written.

To write the encoder position of the axis, it must be at standstill.

Verify the state and the mechanical forces of the axis.

DriveNotDisabled

Enumeration name:	DriveNotDisabled
Enumeration value:	53
Description:	The drive is not disabled.

Issue

Cause

Solution

-

IF_Homing.WritePoswas selected as homing mode for a robot drive.

The axis is not in AxisState 1.

To write the encoder position of the axis, must be in AxisState 1.

Verify the axis state.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	22
Description:	The drive is not ready.

Issue	Cause	Solution
-	A configured drive of the robot is not ready.	Ensure that the configured drives of the robot are ready.

DrivesDisabled

Enumeration name:	DrivesDisabled
Enumeration value:	14
Description:	The drives are disabled.

DrivesEnabled

Enumeration name:	DrivesEnabled
Enumeration value:	13
Description:	The drives are enabled.

DriveWarning

Enumeration name:	DriveWarning
Enumeration value:	12
Description:	The drive reports an alert.

Issue	Cause	Solution
-	Advisory message	A configured drive of the RoboticModule reports a diagnostic message with DiagClass 1 or DiagClass 2.

EmergencyParameterInvalid

Enumeration name:	EmergencyParameterInvalid
Enumeration value:	175
Description:	The emergency parameters are invalid.

Issue

Cause

Solution

-

IF_Configuration.ConfigDone was called.

The configuration of the emergency parameter of the robot is invalid.

Call the configuration for the emergency parameter IF_Configuration.SetEmergencyParameter again.

EmergencyParameterMissing

Enumeration name:	EmergencyParameterMissing
Enumeration value:	174
Description:	The emergency parameters are unavailable.

Issue

Cause

Solution

-

IF_Configuration.ConfigDone was called.

No emergency parameter of the robot were configured yet.

Call the configuration for the emergency parameter IF_Configuration.SetEmergencyParameter before calling IF_Configuration.ConfigDone.

EncoderInvalid

Enumeration name:	EncoderInvalid
Enumeration value:	267
Description:	The encoder is invalid.

Issue	Cause	Solution
-	IF_Configuration.AddLinearTrackingSystem was called. The type of the object transferred at the input i_lencEncoder is invalid.	At the input i_lencEncoder, an object of type SystemConfiguration.L_ENC_TYPE must be transferred.
-	IF_Configuration.AddLinearTrackingSystem was called. The logical encoder transferred at the input i_lencEncoder is not enabled.	The value of the parameter Enable of the logical encoder, transferred at the input i_lencEncoder, must be TRUE.
-	IF_Configuration.AddLinearTrackingSystem was called. The logical encoder transferred at the input i_lencEncoder is already coupled to an object.	Do not call the function SystemInterface.FC_SetMasterEncoder(...) to couple the logical encoder to another object.
-	IF_Configuration.AddLinearTrackingSystem was called. The phase generator of the logical encoder transferred at the input i_lencEncoder is enabled.	The value of the parameter PhaseEnable of the logical encoder, transferred at the input i_lencEncoder, must be FALSE.
-	IF_Configuration.AddLinearTrackingSystem was called. The gear of the logical encoder transferred at the input i_lencEncoder is enabled.	The value of the parameter GearEnable of the logical encoder, transferred at the input i_lencEncoder, must be FALSE.
-	IF_Configuration.AddLinearTrackingSystem was called. The coupling of the logical encoder transferred at the input i_lencEncoder is enabled.	The value of the parameter EngageEnable of the logical encoder, transferred at the input i_lencEncoder, must be FALSE.
-	IF_Configuration.AddLinearTrackingSystem was called. The velocity source transferred at the input i_ifVelocitySource implements the interface SystemConfigurationItf.IF_MechanicMandatory. The value of the parameter Direction of the logical encoder, transferred at the input i_lencEncoder, does not match to the value of the parameter Direction of the velocity source transferred at the input i_ifVelocitySource.	Ensure that both values are equal.
-	IF_Configuration.AddLinearTrackingSystem was called. The velocity source transferred at the input i_ifVelocitySource implements the interface SystemConfigurationItf.IF_MechanicMandatory. The value of the parameter GearIn of the logical encoder, transferred at the input i_lencEncoder, does not match to the value of the parameter GearIn of the velocity source transferred at the input i_ifVelocitySource.	Ensure that both values are equal.
-	IF_Configuration.AddLinearTrackingSystem was called. The velocity source transferred at the input i_ifVelocitySource implements the interface SystemConfigurationItf.IF_MechanicMandatory. The value of the parameter GearOut of the logical encoder, transferred at the input i_lencEncoder, does not match to the value of the parameter GearOut of the velocity source transferred at the input i_ifVelocitySource.	Ensure that both values are equal.
-	IF_Configuration.AddLinearTrackingSystem was called. The velocity source transferred at the input i_ifVelocitySource implements the interface SystemConfigurationItf.IF_MechanicMandatory. The value of the parameter FeedConstant of the logical encoder, transferred at the input i_lencEncoder, does not match to the value of the parameter FeedConstant of the velocity source transferred at the input i_ifVelocitySource.	Ensure that both values are equal.

ExcessiveTrackingDeviationLimitExceeded

Enumeration name:	ExcessiveTrackingDeviationLimitExceeded
Enumeration value:	81
Description:	The excessive trackig deviation limit was exceeded.

Issue	Cause	Solution
-	The tracking deviation of a robot component is greater than the value TrackingDeviationLimit multiplied by TrackingDeviationFactor set by IF_ConfigurationAdvanced.SetTrackingDeviationLimit.	Verify the maximum velocity and/or acceleration of the robot movement in connection with the product that is moved.

ExecuteLimitsNotCalled

Enumeration name:	ExecuteLimitsNotCalled
Enumeration value:	115
Description:	Execute limits is not called.

Issue	Cause	Solution
-	There are software limits configured by calling IF_SoftwareLimit.SetLimits but IF_SoftwareLimit.ExectueLimits is not called cyclically.	Ensure that IF_SoftwareLimit.ExectueLimits is called cyclically if software limits are configured.

ExternalPositionSourceAccLimitExceeded

Enumeration name:	ExternalPositionSourceAccLimitExceeded
Enumeration value:	387
Description:	The acceleration of one of the robot components has exceeded the specified limit value.

Issue

Cause

Solution

The robot is not ready for operation.

The delta of two subsequent positions forwarded to the robot via the method IF_ExternalPositionSource.WriteRefValues is too large, so the acceleration calculated from these positions is greater than the given limit.

Ensure that the movement of the external position source does not exceed the given limit.

Adjust the limit.

One or more tasks are exceeding the configured cycle time.

Verify the behavior of the active tasks in terms of cycle time.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	357
Description:	The external position source is configured.

Issue

Cause

Solution

The manual motion job was aborted.

An external position source for the robot components cartesian, orientation and auxiliary axes is configured.

Starting a manual motion job for the component Path is not possible when an external position source for the robot components is configured.

Do not start the manual motion job for the component Path.

Stopping a manual motion job was aborted.

An external position source for the robot components cartesian, orientation and auxiliary axes is configured.

Stopping a manual motion job for the component Path is not possible when an external position source for the robot components is configured.

Do not stop the manual motion job for the component Path.

GlobalSercosInterfaceInvalid

Enumeration name:	GlobalSercosInterfaceInvalid
Enumeration value:	109
Description:	The global Sercos interface is invalid.

Issue	Cause	Solution
-	The global Sercos interface SystemConfiguration.G_ifSercos is invalid.	Ensure that the Sercos interface SystemConfiguration.G_ifSercos outside the function block is not accidentally overwritten with 0.

HomeModeInvalid

Enumeration name:	HomeModeInvalid
Enumeration value:	145
Description:	The Home mode is invalid.

HomeModeUnknown

Enumeration name:	HomeModeUnknown
Enumeration value:	72
Description:	The Home mode is indeterminable.

HomingConfigurationAuxAx1

Enumeration name:	HomingConfigurationAuxAx1
Enumeration value:	200
Description:	Homing configuration AuxAx1.

Issue	Cause	Solution
-	Advisory message	The parameterization of the homing parameters of the robot component ROB.ET_RobotComponent.AuxAx1 is invalid.

HomingConfigurationAxisA

Enumeration name:	HomingConfigurationAxisA
Enumeration value:	197
Description:	Homing configuration axis A.

Issue	Cause	Solution
-	Advisory message	The parameterization of the homing parameters of the robot component ROB.ET_RobotComponent.AxisA is invalid.

HomingConfigurationAxisB

Enumeration name:	HomingConfigurationAxisB
Enumeration value:	198
Description:	Homing configuration axis B.

Issue	Cause	Solution
-	Advisory message	The parameterization of the homing parameters of the robot component ROB.ET_RobotComponent.AxisB is invalid.

HomingConfigurationAxisC

Enumeration name:	HomingConfigurationAxisC
Enumeration value:	199
Description:	Homing configuration axis C.

Issue	Cause	Solution
-	Advisory message	The parameterization of the homing parameters of the robot component ROB.ET_RobotComponent.AxisC is invalid.

HomingConfigurationAxisD

Enumeration name:	HomingConfigurationAxisD
Enumeration value:	334
Description:	Homing configuration axis D.

Issue	Cause	Solution
-	Advisory message	The parameterization of the homing parameters of the robot component ROB.ET_RobotComponent.AxisD is invalid.

HomingDone

Enumeration name:	HomingDone
Enumeration value:	125
Description:	The operation mode Homing is completed.

HomingExecuting

Enumeration name:	HomingExecuting
Enumeration value:	124
Description:	The operation mode Homing is executed.

HomingExit

Enumeration name:	HomingExit
Enumeration value:	100
Description:	The operation mode Homing is exited.

HomingInitializing

Enumeration name:	HomingInitializing
Enumeration value:	99
Description:	The operation mode Homing is initialized.

HomingWaitForStart

Enumeration name:	HomingWaitForStart
Enumeration value:	123
Description:	The operation mode Homing is waiting for a start command.

HwLimitAuxAx1

Enumeration name:	HwLimitAuxAx1
Enumeration value:	229
Description:	The hardware limit of AuxAx1 is active.

Issue

Cause

Solution

-

The hardware limit of the robot component AuxAx1 has been reached.

Verify the signal at the input IF_HardwareLimit.raxAuxAxPositive[ROB.ET_RobotComponent.AuxAx1] or IF_HardwareLimit.raxAuxAxNegative[ROB.ET_RobotComponent.AuxAx1].

Ensure that the sensor of the positive or negative limit switch is clean.

HwLimitAxisA

Enumeration name:	HwLimitAxisA
Enumeration value:	220
Description:	The hardware limit of axis A is active.

Issue

Cause

Solution

-

The hardware limit of the robot component AxisA has been reached.

Verify the signal at the input IF_HardwareLimit.raxAxisPositive[ROB.ET_RobotComponent.AxisA] or IF_HardwareLimit.raxAxisNegative[ROB.ET_RobotComponent.AxisA].

Ensure that the sensor of the positive or negative limit switch is clean.

HwLimitAxisB

Enumeration name:	HwLimitAxisB
Enumeration value:	221
Description:	The hardware limit of axis B is active.

Issue

Cause

Solution

-

The hardware limit of the robot component AxisB has been reached.

Verify the signal at the input IF_HardwareLimit.raxAxisPositive[ROB.ET_RobotComponent.AxisB] or IF_HardwareLimit.raxAxisNegative[ROB.ET_RobotComponent.AxisB].

Ensure that the sensor of the positive or negative limit switch is clean.

HwLimitAxisC

Enumeration name:	HwLimitAxisC
Enumeration value:	222
Description:	The hardware limit of axis C is active.

Issue

Cause

Solution

-

The hardware limit of the robot component AxisC was reached.

Verify the signal at the input IF_HardwareLimit.raxAxisPositive[ROB.ET_RobotComponent.AxisC] or IF_HardwareLimit.raxAxisNegative[ROB.ET_RobotComponent.AxisC].

Ensure that the sensor of the positive or negative limit switch is clean.

HwLimitCartesianX

Enumeration name:	HwLimitCartesianX
Enumeration value:	226
Description:	The hardware limit of Cartesian X is active.

Issue

Cause

Solution

-

The hardware limit of the robot component CartesianX has been reached.

Verify the signal at the input IF_HardwareLimit.raxCartesianPositive[ROB.ET_RobotComponent.CartesianX] or IF_HardwareLimit.raxCartesianNegative[ROB.ET_RobotComponent.CartesianX].

Ensure that the sensor of the positive or negative limit switch is clean.

HwLimitCartesianY

Enumeration name:	HwLimitCartesianY
Enumeration value:	227
Description:	The hardware limit of Cartesian Y is active.

Issue

Cause

Solution

-

The hardware limit of the robot component CartesianY has been reached.

Verify the signal at the input IF_HardwareLimit.raxCartesianPositive[ROB.ET_RobotComponent.CartesianY] or IF_HardwareLimit.raxCartesianNegative[ROB.ET_RobotComponent.CartesianY].

Ensure that the sensor of the positive or negative limit switch is clean.

HwLimitCartesianZ

Enumeration name:	HwLimitCartesianZ
Enumeration value:	228
Description:	The hardware limit of Cartesian Z is active.

Issue

Cause

Solution

-

The hardware limit of the robot component CartesianZ has been reached.

Verify the signal at the input IF_HardwareLimit.raxCartesianPositive[ROB.ET_RobotComponent.CartesianZ] or IF_HardwareLimit.raxCartesianNegative[ROB.ET_RobotComponent.CartesianZ].

Ensure that the sensor of the positive or negative limit switch is clean.

HwLimitNegReached

Enumeration name:	HwLimitNegReached
Enumeration value:	54
Description:	The HwLimitNeg has been reached.

Issue

Cause

Solution

-

IF_Homing.TouchProbe,IF_Homing.Sensor, IF_Homing.Torque, or IF_Homing.MoveOnPos was selected as homing mode for a robot drive.

The negative hardware limit switch was reached when searching for the reference signal.

Verify the signal at the input IF_HardwareLimit.raxAxisNegative[ROB.ET_RobotComponent.AxisA].

Verify the signal at the input IF_HardwareLimit.raxAxisNegative[ROB.ET_RobotComponent.AxisB].

Verify the signal at the input IF_HardwareLimit.raxAxisNegative[ROB.ET_RobotComponent.AxisC].

Verify the signal at the input IF_HardwareLimit.raxAuxAxNegative[ROB.ET_RobotComponent.AuxAx1].

Ensure that the sensor of the negative limit switch is clean.

HwLimitNegStillActive

Enumeration name:	HwLimitNegStillActive
Enumeration value:	73
Description:	The HwLimitNeg is still active.

Issue

Cause

Solution

-

IF_Homing.TouchProbe, IF_Homing.Sensor, was selected as homing mode for a robot drive.

The negative hardware limit switch is still active but a Touchprobe signal was detected or the maximum distance i_lrMaxDistance is reached.

Verify the signal at the input IF_HardwareLimit.raxAxisNegative[ROB.ET_RobotComponent.AxisA].

Verify the signal at the input IF_HardwareLimit.raxAxisNegative[ROB.ET_RobotComponent.AxisB].

Verify the signal at the input IF_HardwareLimit.raxAxisNegative[ROB.ET_RobotComponent.AxisC].

Verify the signal at the input IF_HardwareLimit.raxAuxAxNegative[ROB.ET_RobotComponent.AuxAx1].

Verify the value for the maximum distance i_lrMaxDistance.

Ensure that the sensor of the negative limit switch is clean.

HwLimitPosReached

Enumeration name:	HwLimitPosReached
Enumeration value:	55
Description:	The HwLimitPos has been reached.

Issue

Cause

Solution

-

IF_Homing.TouchProbe, IF_Homing.Sensor, IF_Homing.Torque, or IF_Homing.MoveOnPos was selected as homing mode for a robot drive.

The positive hardware limit switch was reached when searching for the reference signal.

Verify the signal at the input IF_HardwareLimit.raxAxisPositive[ROB.ET_RobotComponent.AxisA].

Verify the signal at the input IF_HardwareLimit.raxAxisPositive[ROB.ET_RobotComponent.AxisB].

Verify the signal at the input IF_HardwareLimit.raxAxisPositive[ROB.ET_RobotComponent.AxisC].

Verify the signal at the input IF_HardwareLimit.raxAuxAxPositive[ROB.ET_RobotComponent.AuxAx1].

Ensure that the sensor of the positive limit switch is clean.

HwLimitPosStillActive

Enumeration name:	HwLimitPosStillActive
Enumeration value:	74
Description:	The HwLimitPos is still active.

Issue

Cause

Solution

-

IF_Homing.TouchProbe, IF_Homing.Sensor was selected as homing mode for a robot drive.

The positive hardware limit switch is still active but a Touchprobe signal was detected or the maximum distance i_lrMaxDistance is reached.

Verify the signal at the input IF_HardwareLimit.raxAxisPositive[ROB.ET_RobotComponent.AxisA].

Verify the signal at the input IF_HardwareLimit.raxAxisPositive[ROB.ET_RobotComponent.AxisB].

Verify the signal at the input IF_HardwareLimit.raxAxisPositive[ROB.ET_RobotComponent.AxisC].

Verify the signal at the input IF_HardwareLimit.raxAuxAxPositive[ROB.ET_RobotComponent.AuxAx1].

Verify the value for the maximum distance i_lrMaxDistance.

Ensure that the sensor of the positive limit switch is clean.

InitHomingNotSuccessful

Enumeration name:	InitHomingNotSuccessful
Enumeration value:	47
Description:	The Init homing is unsuccessful.

Issue	Cause	Solution
-	Advisory message	IF_Homing.RestorePosFromAxisEncoder or IF_Homing.RestorePosFromRetain was configured as Homing On Init for a robot component.

InitializationFailed

Enumeration name:	InitializationFailed
Enumeration value:	259
Description:	The initialization is unsuccessful.

Issue	Cause	Solution
The configuration of the robot was unsuccessful.	The initialization of the Schneider Electric robot is unsuccessful.	Verify q_sMsg for details.

Initializing

Enumeration name:	Initializing
Enumeration value:	121
Description:	Initializing

InMotion

Enumeration name:	InMotion
Enumeration value:	84
Description:	The robot is in motion.

Issue	Cause	Solution
-	IF_ConfigurationAdvanced.ModifyCoordinateSystem was called while the robot was still in motion.	Ensure that the robot is not in motion when calling IF_ConfigurationAdvanced.ModifyCoordinateSystem.

InterfaceInvalid

Enumeration name:	InterfaceInvalid
Enumeration value:	114
Description:	An interface is invalid.

Issue	Cause	Solution
The configuration of the robot was unsuccessful.	No valid interface has been applied at the input i_ifRobot.	A valid interface must be transferred to the input i_ifRobot.

InterfacesNotInitialized

Enumeration name:	InterfacesNotInitialized
Enumeration value:	42
Description:	An interface is not initialized.

InvertDirectionXInvalid

Enumeration name:	InvertDirectionXInvalid
Enumeration value:	255
Description:	InvertDirectionX is invalid.

Issue

Cause

Solution

-

IF_Configuration.AddLinearTrackingSystem was called.

A two-dimensional transformation, in the YZ plane, is configured.

Ensure that the input i_xInvertDirectionX is set to FALSE.

InvertDirectionYInvalid

Enumeration name:	InvertDirectionYInvalid
Enumeration value:	256
Description:	InvertDirectionY is invalid.

Issue

Cause

Solution

-

IF_Configuration.AddLinearTrackingSystem was called.

A two-dimensional transformation, in the XZ plane, is configured.

Ensure that the input i_xInvertDirectionY is set to FALSE.

InvertDirectionZInvalid

Enumeration name:	InvertDirectionZInvalid
Enumeration value:	257
Description:	InvertDirectionZ is invalid.

Issue

Cause

Solution

-

IF_Configuration.AddLinearTrackingSystem was called.

A two-dimensional transformation, in the XY plane, is configured.

Ensure that the input i_xInvertDirectionZ is set to FALSE.

InverterEnableOff

Enumeration name:	InverterEnableOff
Enumeration value:	23
Description:	The inverter enable is off.

Issue	Cause	Solution
-	The inverter enable signal of a configured robot axis is not enabled.	Verify the wiring of the inverter enable signal.

JoggingActive

Enumeration name:	JoggingActive
Enumeration value:	159
Description:	Jogging is active.

Issue	Cause	Solution
-	A jogging movement is still active.	Ensure that no jogging movement is active.

JoggingInterfaceInvalid

Enumeration name:	JoggingInterfaceInvalid
Enumeration value:	36
Description:	The jogging interface is invalid.

Issue	Cause	Solution
-	The module interface is not initialized.	Before calling any configuration method, the FB_RoboticModule.InitModuleInterface has to be called first.

LengthA1Range

Enumeration name:	LengthA1Range
Enumeration value:	249
Description:	The LengthA1 is out of range.

Issue

Cause

Solution

-

IF_Configuration.Delta2Ax was called.

The value transferred at the input i_IrLengthA1 is outside the valid range.

At the input i_lrLengthA1, a value greater than 0 must be transferred.

LengthA2Range

Enumeration name:	LengthA2Range
Enumeration value:	250
Description:	The LengthA2 is out of range.

Issue

Cause

Solution

-

IF_Configuration.Delta2Ax was called.

The value transferred at the input i_IrLengthA2 is outside the valid range.

At the input i_lrLengthA2, a value greater than 0 must be transferred.

LengthAB0Range

Enumeration name:	LengthAB0Range
Enumeration value:	247
Description:	The LengthAB0 is out of range.

Issue

Cause

Solution

-

IF_Configuration.Delta2Ax was called.

The value transferred at the input i_IrLengthAB0 is outside the valid range.

At the input i_lrLengthAB0, a value greater than or equal to 0 must be transferred.

LengthAB3Range

Enumeration name:	LengthAB3Range
Enumeration value:	248
Description:	The LengthAB3 is out of range.

Issue

Cause

Solution

-

IF_Configuration.Delta2Ax was called.

The value transferred at the input i_IrLengthAB3, is outside the valid range.

At the input i_lrLengthAB3, a value greater than or equal to 0 must be transferred.

At the input i_lrLengthAB3, a value less than or equal to i_lrLengthAB0 must be transferred.

LengthABC0Range

Enumeration name:	LengthABC0Range
Enumeration value:	176
Description:	The LengthABC0 is out of range.

Issue

Cause

Solution

-

IF_Configuration.Delta3Ax was called.

The value transferred at the input i_IrLengthABC0, is outside the valid range.

At the input i_lrLengthABC0, a value greater than 0 must be transferred.

LengthABC1Range

Enumeration name:	LengthABC1Range
Enumeration value:	177
Description:	The LengthABC1 is out of range.

Issue

Cause

Solution

-

IF_Configuration.Delta3Ax was called.

The value transferred at the input i_IrLengthABC1, is outside the valid range.

At the input i_lrLengthABC1, a value greater than 0 must be transferred.

LengthABC2Range

Enumeration name:	LengthABC2Range
Enumeration value:	178
Description:	The LengthABC2 is out of range.

Issue

Cause

Solution

-

IF_Configuration.Delta3Ax was called.

The value transferred at the input i_IrLengthABC2, is outside the valid range.

At the input i_lrLengthABC2, a value greater than 0 must be transferred.

LengthABC3Range

Enumeration name:	LengthABC3Range
Enumeration value:	179
Description:	The LengthABC3 is out of range.

Issue

Cause

Solution

-

IF_Configuration.Delta3Ax was called.

The value transferred at the input i_IrLengthABC3, is outside the valid range.

At the input i_lrLengthABC3, a value greater than 0 must be transferred.

LengthARange

Enumeration name:	LengthARange
Enumeration value:	262
Description:	The LengthA is out of range.

Issue

Cause

Solution

-

IF_Configuration.Articulated2Ax was called.

The value transferred at the input i_IrLengthA, is outside the valid range.

At the input i_lrLengthA, a value greater than 0 must be transferred.

LengthB1Range

Enumeration name:	LengthB1Range
Enumeration value:	251
Description:	The LengthB1 is out of range.

Issue

Cause

Solution

-

IF_Configuration.Delta2Ax was called.

The value transferred at the input i_IrLengthB1, is not within the valid range.

At the input i_lrLengthB1, a value greater than 0 must be transferred.

LengthB2Range

Enumeration name:	LengthB2Range
Enumeration value:	252
Description:	The LengthB2 is out of range.

Issue

Cause

Solution

-

IF_Configuration.Delta2Ax was called.

The value transferred at the input i_IrLengthB2, lies outside the valid range.

At the input i_lrLengthB2, a value greater than 0 must be transferred.

LengthBRange

Enumeration name:	LengthBRange
Enumeration value:	263
Description:	The LengthB is out of range.

Issue

Cause

Solution

-

IF_Configuration.Articulated2Ax was called.

The value transferred at the input i_IrLengthB, is outside the valid range.

At the input i_lrLengthB, a value greater than 0 must be transferred.

LicenseCheckFailed

Enumeration name:	LicenseCheckFailed
Enumeration value:	78
Description:	The license verification is unsuccessful.

LowVelRange

Enumeration name:	LowVelRange
Enumeration value:	57
Description:	The LowVel is out of range.

Issue

Cause

Solution

-

IF_Homing.LimitSwitch was called.

The value transferred at the input i_IrLowVel, is outside the valid range.

At the input i_IrLowVel, a value greater than 0 must be transferred.

ManualAuxAxExecuting

Enumeration name:	ManualAuxAxExecuting
Enumeration value:	139
Description:	The operation mode Manual is executed: AuxAx jogging.

ManualAxisExecuting

Enumeration name:	ManualAxisExecuting
Enumeration value:	133
Description:	The operation mode Manual is executed: Axes jogging.

ManualAxisExit

Enumeration name:	ManualAxisExit
Enumeration value:	136
Description:	The operation mode Manual is exited - Axes jogging.

ManualAxisInitializing

Enumeration name:	ManualAxisInitializing
Enumeration value:	237
Description:	The operation mode Manual Axis is initialized.

ManualCartesianExecuting

Enumeration name:	ManualCartesianExecuting
Enumeration value:	135
Description:	The operation mode Manual is executed: Cartesian jogging.

ManualCartesianNotPossible

Enumeration name:	ManualCartesianNotPossible
Enumeration value:	201
Description:	Manual Cartesian is not possible.

Issue

Cause

Solution

-

Advisory message

The robotic module does not report ST_ModuleInterface.q_xHomeOk = TRUE.

A homing must be performed for the configured axes.

ManualConfigurationAuxAx1

Enumeration name:	ManualConfigurationAuxAx1
Enumeration value:	190
Description:	Manual configuration AuxAx1 is in error.

Issue	Cause	Solution
-	Advisory message	The parameterization of the manual parameters of the robot component ROB.ET_RobotComponent.AuxAx1 is invalid.

ManualConfigurationAxisA

Enumeration name:	ManualConfigurationAxisA
Enumeration value:	186
Description:	Manual configuration axis A is in error.

Issue	Cause	Solution
-	Advisory message	The parameterization of the manual parameters of the robot component ROB.ET_RobotComponent.AxisA is invalid.

ManualConfigurationAxisB

Enumeration name:	ManualConfigurationAxisB
Enumeration value:	187
Description:	Manual configuration axis B is in error.

Issue	Cause	Solution
-	Advisory message	The parameterization of the manual parameters of the robot component ROB.ET_RobotComponent.AxisB is invalid.

ManualConfigurationAxisC

Enumeration name:	ManualConfigurationAxisC
Enumeration value:	188
Description:	Manual configuration axis C is in error.

Issue	Cause	Solution
-	Advisory message	The parameterization of the manual parameters of the robot component ROB.ET_RobotComponent.AxisC is invalid.

ManualConfigurationAxisD

Enumeration name:	ManualConfigurationAxisD
Enumeration value:	342
Description:	Manual configuration axis D is in error.

Issue	Cause	Solution
-	Advisory message	The parameterization of the manual parameters of the robot component ROB.ET_RobotComponent.AxisD is invalid.

ManualConfigurationCartesianX

Enumeration name:	ManualConfigurationCartesianX
Enumeration value:	192
Description:	Manual configuration Cartesian X is in error.

Issue	Cause	Solution
-	Advisory message	The parameterization of the manual parameters of the robot component ROB.ET_RobotComponent.CartesianX is invalid.

ManualConfigurationCartesianY

Enumeration name:	ManualConfigurationCartesianY
Enumeration value:	193
Description:	Manual configuration Cartesian Y is in error.

Issue	Cause	Solution
-	Advisory message	The parameterization of the manual parameters of the robot component ROB.ET_RobotComponent.CartesianY is invalid.

ManualConfigurationCartesianZ

Enumeration name:	ManualConfigurationCartesianZ
Enumeration value:	194
Description:	Manual configuration Cartesian Z is in error.

Issue	Cause	Solution
-	Advisory message	The parameterization of the manual parameters of the robot component ROB.ET_RobotComponent.CartesianZ is invalid.

ManualConfigurationOrientationAll

Enumeration name:	ManualConfigurationOrientationAll
Enumeration value:	343
Description:	Manual configuration: Orientation all.

Issue	Cause	Solution
-	Advisory message	The parameterization of the manual parameters of the robot component ROB.ET_RobotComponent.OrientationAll is invalid.

ManualConfigurationOrientationX

Enumeration name:	ManualConfigurationOrientationX
Enumeration value:	344
Description:	Manual configuration: Orientation X.

Issue	Cause	Solution
-	Advisory message	The parameterization of the manual parameters of the robot component ROB.ET_RobotComponent.OrientationX is invalid.

ManualConfigurationOrientationY

Enumeration name:	ManualConfigurationOrientationY
Enumeration value:	345
Description:	Manual configuration: Orientation Y.

Issue	Cause	Solution
-	Advisory message	The parameterization of the manual parameters of the robot component ROB.ET_RobotComponent.OrientationY is invalid.

ManualConfigurationOrientationZ

Enumeration name:	ManualConfigurationOrientationZ
Enumeration value:	346
Description:	Manual configuration: Orientation Z.

Issue	Cause	Solution
-	Advisory message	The parameterization of the manual parameters of the robot component ROB.ET_RobotComponent.OrientationZ is invalid.

ManualConfigurationPath

Enumeration name:	ManualConfigurationPath
Enumeration value:	195
Description:	Manual configuration path is in error.

Issue	Cause	Solution
-	Advisory message	The parameterization of the manual parameters of the robot component ROB.ET_RobotComponent.Path is invalid.

ManualExit

Enumeration name:	ManualExit
Enumeration value:	132
Description:	The operation mode Manual is exited.

ManualInitializing

Enumeration name:	ManualInitializing
Enumeration value:	239
Description:	The operation mode Manual is initialized.

ManualOrientationExecuting

Enumeration name:	ManualOrientationExecuting
Enumeration value:	336
Description:	The operation mode manual is executed: Orientation jogging.

Issue	Cause	Solution
-	Status message	The operation mode manual is executed: Orientation jogging.

ManualOrientationNotPossible

Enumeration name:	ManualOrientationNotPossible
Enumeration value:	349
Description:	Manual orientation is not possible.

Issue

Cause

Solution

-

Advisory message

The robotic module does not report ST_ModuleInterface.q_xHomeOk = TRUE.

A homing must be performed for all configured axes.

ManualPathExecuting

Enumeration name:	ManualPathExecuting
Enumeration value:	137
Description:	The operation mode Manual is executed: Path jogging.

ManualPathNotPossible

Enumeration name:	ManualPathNotPossible
Enumeration value:	350
Description:	Manual path is not possible.

Issue

Cause

Solution

-

Advisory message

The robotic module does not report ST_ModuleInterface.q_xHomeOk = TRUE.

A homing must be performed for all configured axes.

ManualRobotExit

Enumeration name:	ManualRobotExit
Enumeration value:	138
Description:	The operation mode Manual is exited - Robot jogging.

ManualRobotInitializing

Enumeration name:	ManualRobotInitializing
Enumeration value:	238
Description:	The operation mode Manual Robot is initialized.

ManualWaitForJogRequest

Enumeration name:	ManualWaitForJogRequest
Enumeration value:	131
Description:	The operation mode Manual is waiting for a jogging request.

ManualWaitForStart

Enumeration name:	ManualWaitForStart
Enumeration value:	134
Description:	The operation mode Manual is waiting for a start command.

MaxAccelerationRange

Enumeration name:	MaxAccelerationRange
Enumeration value:	31
Description:	The maximum acceleration is out of range.

Issue

Cause

Solution

-

IF_Homing.LimitSwitch, IF_Homing.MoveOnPos, IF_Homing.Sensor, IF_Homing.Torque, IF_Homing.TouchProbe, IF_Manual.SetMaxAcceleration, or IF_Manual.SetParameter was called.

The value transferred at the input i_lrMaxAcceleration is outside the valid range.

At the input i_lrMaxAcceleration, a value greater than 0 must be transferred.

MaxDecelerationRange

Enumeration name:	MaxDecelerationRange
Enumeration value:	32
Description:	The maximum deceleration is out of range.

Issue

Cause

Solution

-

IF_Configuration.SetEmergencyParameter, IF_Homing.LimitSwitch, IF_Homing.MoveOnPos, IF_Homing.Sensor, IF_Homing.Torque, IF_Homing.TouchProbe, IF_Manual.SetMaxAcceleration, IF_Manual.SetParameter was called.

The value transferred at the input i_lrMaxDeceleration is not within the valid range.

At the input i_lrMaxDeceleration, a value greater than 0 must be transferred.

MaxDistanceRange

Enumeration name:	MaxDistanceRange
Enumeration value:	33
Description:	The maximum distance is out of range.

Issue

Cause

Solution

-

IF_Homing.LimitSwitch, IF_Homing.Sensor, IF_Homing.Torque, or IF_Homing.TouchProbe was called.

The value transferred at the input i_lrMaxDistance is outside the valid range.

At the input i_lrMaxDistance, a value greater than 0 must be transferred.

MaxTorqueNotFound

Enumeration name:	MaxTorqueNotFound
Enumeration value:	58
Description:	The max torque has not been found.

Issue

Cause

Solution

-

IF_Homing.Torque was selected as homing mode for a robot axis.

The maximum torque transferred at the input i_lrMaxTorque was found during the homing procedure of the robot axis.

Verify the value transferred at the input i_lrMaxTorque.

Verify the value transferred at the input i_lrMaxDistance.

MaxTorqueRange

Enumeration name:	MaxTorqueRange
Enumeration value:	59
Description:	The maximum torque is out of range.

Issue

Cause

Solution

-

IF_Homing.Torque was called.

The value transferred at the input i_lrMaxTorque, is outside the valid range.

At the input i_lrMaxTorque, a value greater than 0 must be transferred.

MaxTravelRange

Enumeration name:	MaxTravelRange
Enumeration value:	60
Description:	The maximum travel is out of range.

Issue

Cause

Solution

-

IF_Homing.LimitSwitch, IF_Homing.Sensor, IF_Homing.Torque, or IF_Homing.TouchProbe was called.

The value transferred at the input i_lrMaxDistance, is outside the valid range.

At the input i_lrMaxDistance, a value greater than 0 must be transferred.

MaxVelocityRange

Enumeration name:	MaxVelocityRange
Enumeration value:	30
Description:	The maximum velocity is out of range.

Issue

Cause

Solution

-

IF_Homing.LimitSwitch, IF_Homing.MoveOnPos, IF_Homing.Sensor, IF_Homing.TouchProbe, IF_Manual.SetMaxVelocity, or IF_Manual.SetParameter was called.

The value transferred at the input i_IrValue, or i_lrMaxVelocity is not within the valid range.

At the input i_lrValue, or i_lrMaxVelocity, a value greater than 0 must be transferred.

MotionParameterInvalid

Enumeration name:	MotionParameterInvalid
Enumeration value:	163
Description:	The motion parameters are invalid.

Issue

Cause

Solution

-

A jogging movement is requested but there are no motion parameters configured.

Configure the motion parameters first before requesting a jogging movement.

Use for example the method IF_Manual.SetParameter.

NoAccessToEEPROM

Enumeration name:	NoAccessToEEPROM
Enumeration value:	61
Description:	No access to drive encoder data.

Issue

Cause

Solution

-

IF_Homing.WritePos was selected as homing mode for a robot axis.

The access to the axis encoder has been denied.

Verify if the axis encoder is processing properly.

Verify the axis state.

NoAsyncTasksCreated

Enumeration name:	NoAsyncTasksCreated
Enumeration value:	152
Description:	No async tasks have been created.

Issue

Cause

Solution

-

Use the AsyncMechanism (PDL.Gc_xEnableAsyncCalls) to call task blocking functions.

In the module environment, the operation mode ET_OpMode.BrakeRelease is executed.

Set the value of PDL.Gc_udiNumOfAsyncTask greater than 0 and initialize the AsyncMechanism by calling PDL.G_ifAsyncMgr.Init.

NoAxisSelectedForHoming

Enumeration name:	NoAxisSelectedForHoming
Enumeration value:	181
Description:	No axis has been selected for homing.

NoConnectedPathAvailable

Enumeration name:	NoConnectedPathAvailable
Enumeration value:	80
Description:	There is no connected path available.

Issue	Cause	Solution
-	IF_Manual.AdvanceToNextConnectedPath was called but no next connected path is available.	Create connected paths before calling IF_Manual.AdvanceToNextConnectedPath.

NoMoreAuxAxAvailable

Enumeration name:	NoMoreAuxAxAvailable
Enumeration value:	157
Description:	There are no more AuxAx available.

Issue

Cause

Solution

-

IF_Configuration.AddAuxAx was called.

No more auxiliary axes of the robot can be configured.

The maximum number of configurable auxiliary axes is ROB.Gc_udiMaxNumberOfAuxiliaryAxes.

NoMoreTrackingSystemsAvailable

Enumeration name:	NoMoreTrackingSystemsAvailable
Enumeration value:	264
Description:	There are no more tracking systems available.

Issue

Cause

Solution

-

IF_Configuration.AddLinearTrackingSystem was called.

No more tracking systems of the robot can be configured.

The maximum number of configurable tracking systems is ROB.Gc_udiMaxNumberOfTrackingSystems.

NotOnPath

Enumeration name:	NotOnPath
Enumeration value:	91
Description:	The robot is not on the path.

Issue	Cause	Solution
-	Jogging on path was requested while the robot is not on path.	Perform a warm start to get back on path before requesting jogging on path.
-	The module command ET_Cmd.Start was sent while the robot is not on path.	Perform a warm start to get back on path before sending the module command ET_Cmd.Start.

OffsetInvalid

Enumeration name:	OffsetInvalid
Enumeration value:	253
Description:	The Offset is invalid.

Issue

Cause

Solution

-

IF_Configuration.AddLinearTrackingSystem was called.

A two-dimensional transformation, in the XY plane, is configured.

Ensure that the input i_stOffset.lrZ is set to 0.

-

IF_Configuration.AddLinearTrackingSystem was called.

A two-dimensional transformation, in the XZ plane, is configured.

Ensure that the input i_stOffset.lrY is set to 0.

-

IF_Configuration.AddLinearTrackingSystem was called.

A two-dimensional transformation, in the YZ plane, is configured.

Ensure that the input i_stOffset.lrX is set to 0.

OrientationConventionInvalid

Enumeration name:	OrientationConventionInvalid
Enumeration value:	266
Description:	The orientation convention is invalid.

Issue

Cause

Solution

-

IF_Configuration.AddLinearTrackingSystem was called.

The value transferred at the input i_etOrientationConvention is invalid.

At the input i_etOrientationConvention, a value of ROB.ET_OrientationConvention must be transferred.

OrientationInvalid

Enumeration name:	OrientationInvalid
Enumeration value:	254
Description:	The orientation is invalid.

Issue

Cause

Solution

-

IF_Configuration.AddLinearTrackingSystem was called.

A two-dimensional transformation, in the XY plane, is configured.

Ensure that the inputs i_stOrientation.lrX, and i_stOrientation.lrY are set to 0.

-

IF_Configuration.AddLinearTrackingSystem was called.

A two-dimensional transformation, in the XZ plane, is configured.

Ensure that the inputs i_stOrientation.lrX, and i_stOrientation.lrZ are set to 0.

-

IF_Configuration.AddLinearTrackingSystem was called.

A two-dimensional transformation, in the YZ plane, is configured.

Ensure that the inputs i_stOrientation.lrY, and i_stOrientation.lrZ are set to 0.

OrientationNotAvailable

Enumeration name:	OrientationNotAvailable
Enumeration value:	347
Description:	The orientation is not available.

Issue	Cause	Solution
-	Advisory message	Ensure to use only orientations supported by the configured transformation.

OutsideWorkspace

Enumeration name:	OutsideWorkspace
Enumeration value:	45
Description:	Outside of workspace.

Issue	Cause	Solution
-	A movement of the robot leads to a Cartesian coordinate outside the operating zone of the robot.	Ensure that the movement of the robot is inside the Cartesian operating zone of the robot.

PathPositionEndExceeded

Enumeration name:	PathPositionEndExceeded
Enumeration value:	82
Description:	The end position on the path has been exceeded.

PeriodLengthRange

Enumeration name:	PeriodLengthRange
Enumeration value:	156
Description:	The period length is out of range.

Issue

Cause

Solution

-

IF_Configuration.AddAuxAx was called.

The value transferred at the input i_lrPeriodLength is outside the valid range.

At the input i_lrPeriodLength, a value greater than or equal to 0 must be transferred.

PlaneInvalid

Enumeration name:	PlaneInvalid
Enumeration value:	170
Description:	The working plane is invalid.

Issue

Cause

Solution

-

A transformation that is processing in a two-dimensional space, for example IF_Configuration.Cartesian2Ax, was configured.

The value transferred at the input i_etPlane is invalid.

At the input i_etPlane, a value contained in ROB.ET_WorkingPlane must be transferred.

PointerRestorePosRetainInvalid

Enumeration name:	PointerRestorePosRetainInvalid
Enumeration value:	107
Description:	The pointer RestorePosRetain is invalid.

Issue

Cause

Solution

-

IF_Homing.RestorePosFromRetain was called.

An invalid pointer is transferred at the input i_pstRestorePosRetain.

The memory address that contains the structure in which the axis positions are saved, must be transferred at the input i_pstRestorePosRetain.

PowerSupplyInvalid

Enumeration name:	PowerSupplyInvalid
Enumeration value:	25
Description:	The power supply is invalid.

Issue	Cause	Solution
-	A configured power supply of a configured robot drive is invalid.	Contact the support team about this detected behavior.

PowerSupplyNotFound

Enumeration name:	PowerSupplyNotFound
Enumeration value:	26
Description:	The power supply has not been found.

Issue	Cause	Solution
-	The assigned power supply of a configured robot drive was not found.	Assign a power supply to robot drives.
-	There is no power supply added to the devices tree.	Add a power supply to the devices tree.

PowerSupplyNotReady

Enumeration name:	PowerSupplyNotReady
Enumeration value:	27
Description:	The power supply is not ready.

Issue	Cause	Solution
-	The assigned power supply of a configured robot drive is not ready.	Verify the state of the assigned power supply of the robot drives.

ProgrammingInProgress

Enumeration name:	ProgrammingInProgress
Enumeration value:	62
Description:	Writing is being performed on the encoder.

Issue

Cause

Solution

-

IF_Homing.WritePos was selected as homing mode for a configured robot drive.

A writing process is already active on the axis encoder of the selected robot axis.

Wait until the active writing process is completed and try again.

If this diagnostic message occurs even after retrying it several times, then inform the support team about this detected behavior.

ProgrammingInvalidEEPROM

Enumeration name:	ProgrammingInvalidEEPROM
Enumeration value:	63
Description:	An exception occurred while writing on the encoder data.

IF_Homing.WritePos was selected as homing mode for a configured robot drive.

Writing is already being performed on the axis encoder.

RampRange

Enumeration name:	RampRange
Enumeration value:	35
Description:	The ramp is out of range.

Issue

Cause

Solution

-

IF_Configuration.SetEmergencyParameter, IF_Homing.LimitSwitch, IF_Homing.Sensor, IF_Homing.Torque, IF_Homing.TouchProbe, IF_Manual.SetParameter, or IF_Manual.SetRamp was called.

The value transferred at the input i_lrRamp, is not within the valid range.

At the input i_lrRamp, a value greater than 0 must be transferred.

ReactionOffsetRange

Enumeration name:	ReactionOffsetRange
Enumeration value:	9
Description:	The reaction offset is out of range.

Issue	Cause	Solution
-	The value transferred at the input TPL.ST_StandardModuleInterface.iq_stExt.udiReactionOffset is not within the valid range.	Ensure that the value transferred at the input TPL.ST_StandardModuleInterface.iq_stExt.udiReactionOffset is smaller than or equal to TPL.Gc_udiMaxNumberOfReactions - TPL.ET_Reaction.MainsContactorOff.

ReducedVelocityLimit

Enumeration name:	ReducedVelocityLimit
Enumeration value:	106
Description:	The reduced velocity limit has been exceeded.

RefPositionInvalid

Enumeration name:	RefPositionInvalid
Enumeration value:	92
Description:	The reference position is invalid.

RestoreInterrupted

Enumeration name:	RestoreInterrupted
Enumeration value:	64
Description:	Restore has been interrupted.

Issue

Cause

Solution

-

IF_Homing.RestorePosFromRetain was selected as homing mode for a configured robot drive.

Reading the encoder was interrupted repeatedly by the Sercos.

Verify your task configuration.

Ensure that the Sercos task interrupts the execution of the module only once, while reading the encoder.

RobotComponentInvalid

Enumeration name:	RobotComponentInvalid
Enumeration value:	144
Description:	The robot component is invalid.

Issue

Cause

Solution

-

A method of the module was called.

The value transferred at the input i_etComponent is invalid.

Ensure that at the input i_etComponent, a valid robot component is transferred.

RobotIsDisabled

Enumeration name:	RobotIsDisabled
Enumeration value:	161
Description:	The robot is disabled.

RobotNotReady

Enumeration name:	RobotNotReady
Enumeration value:	160
Description:	The robot is not ready.

Issue	Cause	Solution
-	A jogging movement was requested but the robot is not ready.	Ensure that the robot is ready before requesting a jogging movement.

SchneiderElectricRobotInException

Enumeration name:	SchneiderElectricRobotInException
Enumeration value:	348
Description:	The Schneider Electric robot is in exception.

Issue	Cause	Solution
-	Advisory message	For more details, see q_sMsg from the diagnostic message.

SchneiderElectricRobotFailed

Enumeration name:	SchneiderElectricRobotFailed
Enumeration value:	260
Description:	The configuration of the Schneider Electric robot is unsuccessful.

Issue	Cause	Solution
The robot is not ready for operation.	The configuration method ROB.IF_RobotConfiguration.SchneiderElectricRobot was called unsuccessfully.	The configuration method ROB.IF_RobotConfiguration.SchneiderElectricRobot has to be called successfully in case of an Schneider Electric robot.

SensorNotFound

Enumeration name:	SensorNotFound
Enumeration value:	65
Description:	The sensor signal has not been found.

Issue

Cause

Solution

-

IF_Homing.Sensor was selected as homing mode for a configured robot drive.

The sensor signal is not transmitted to the module.

Ensure that the signal is applied at the input i_rxSensor.

-

IF_Homing.LimitSwitch was selected as homing mode for a configured robot drive.

The sensor signal is not transmitted to the module.

Ensure that the signal is applied at the corresponding input of the configured robot drive of IF_HardwareLimit.

SercosInterfaceInvalid

Enumeration name:	SercosInterfaceInvalid
Enumeration value:	3
Description:	The Sercos interface is invalid.

Issue	Cause	Solution
-	The global Sercos interface SystemConfiguration.G_ifSercos is invalid.	Ensure that the global Sercos interface SystemConfiguration.G_ifSercos is not overwritten with 0.

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	66
Description:	The Sercos bus is not in phase 4.

Issue

Cause

Solution

-

The parameter state of the Sercos bus is not 4.

Set the Sercos bus parameter phase to 4.

Verify the Sercos bus for exceptions.

SetPosDetected

Enumeration name:	SetPosDetected
Enumeration value:	272
Description:	A SetPos has been detected.

Issue	Cause	Solution
The robot is not ready for operation.	A SetPos was detected on a logical encoder of a configured linear tracking system.	Do not perform a SetPos on any logical encoder of a configured linear tracking system.
	One or more tasks are exceeding the configured cycle time.	Verify the behavior of the active tasks in terms of cycle time.
	Fast variations on the velocity source configured for the tracking system, for example, an electrically noisy signal.	Verify the behavior of the configured velocity source.

SimultaneousJogForwardBackward

Enumeration name:	SimultaneousJogForwardBackward
Enumeration value:	158
Description:	Simultaneous forward and backward jogging is selected.

Issue	Cause	Solution
-	Simultaneous jogging forward and backward is requested for a robot component.	Ensure that a jogging movement of a robot component is finished before requesting a new one.

SimultaneousJoggingCommands

Enumeration name:	SimultaneousJoggingCommands
Enumeration value:	183
Description:	Simultaneous jogging commands send.

Issue	Cause	Solution
-	Advisory message	Jogging requests for several robot components is sent simultaneously.

StartActive

Enumeration name:	StartActive
Enumeration value:	89
Description:	Start is active.

StopEndOfCycle

Enumeration name:	StopEndOfCycle
Enumeration value:	41
Description:	A stop is executed at the end of the cycle.

Issue	Cause	Solution
-	The RoboticModule is performing a stop end of the cycle.	The axes remain in position control.

SwLimitAuxAx1

Enumeration name:	SwLimitAuxAx1
Enumeration value:	217
Description:	The software limit of AuxAx1 is active.

Issue	Cause	Solution
-	The software limit of the robot component AuxAx1 was reached.	Verify the configured software limits of the robot component AuxAx1 if the reaction was unanticipated.

SwLimitAxisA

Enumeration name:	SwLimitAxisA
Enumeration value:	208
Description:	The software limit of axis A is active.

Issue	Cause	Solution
-	The software limit of the robot component AxisA was reached.	Verify the configured software limits of the robot component AxisA if the reaction was unanticipated.

SwLimitAxisB

Enumeration name:	SwLimitAxisB
Enumeration value:	209
Description:	The software limit of axis B is active.

Issue	Cause	Solution
-	The software limit of the robot component AxisB was reached.	Verify the configured software limits of the robot component AxisB if the reaction was unanticipated.

SwLimitAxisC

Enumeration name:	SwLimitAxisC
Enumeration value:	210
Description:	The software limit of axis C is active.

Issue	Cause	Solution
-	The software limit of the robot component AxisC was reached.	Verify the configured software limits of the robot component AxisC if the reaction was unanticipated.

SwLimitCartesianX

Enumeration name:	SwLimitCartesianX
Enumeration value:	214
Description:	The software limit of Cartesian X is active.

Issue	Cause	Solution
-	The software limit of the robot component CartesianX was reached.	Verify the configured software limits of the robot component CartesianX if the reaction was unanticipated.

SwLimitCartesianY

Enumeration name:	SwLimitCartesianY
Enumeration value:	215
Description:	The software limit of Cartesian Y is active.

Issue	Cause	Solution
-	The software limit of the robot component CartesianY was reached.	Verify the configured software limits of the robot component CartesianY if the reaction was unanticipated.

SwLimitCartesianZ

Enumeration name:	SwLimitCartesianZ
Enumeration value:	216
Description:	The software limit of Cartesian Z is active.

Issue	Cause	Solution
-	The software limit of the robot component CartesianZ was reached.	Verify the configured software limits of the robot component CartesianZ if the reaction was unanticipated.

SyncStopEh

Enumeration name:	SyncStopEh
Enumeration value:	40
Description:	A synchronous stop is performed. Afterwards the axis remains in position control.

Issue	Cause	Solution
-	The RoboticModule is performing a synchronous stop.	The axes remain in position control.

SyncStopEl

Enumeration name:	SyncStopEl
Enumeration value:	39
Description:	A synchronous stop is performed. Afterwards the axis does not remain in position control.

Issue	Cause	Solution
-	The RoboticModule is performing a synchronous stop.	The axes do not remain in position control.

TorqueEnableOff

Enumeration name:	TorqueEnableOff
Enumeration value:	24
Description:	The torque enable is off.

Issue	Cause	Solution
-	The torque enable signal of a configured robot axis is not enabled.	Verify the hardware/software wiring of the torque enable signal.

TouchProbeInvalid

Enumeration name:	TouchProbeInvalid
Enumeration value:	67
Description:	The connected TouchProbe is invalid.

Issue

Cause

Solution

-

IF_Homing.TouchProbe was called.

The interface transferred at the input i_ifTouchProbe is not linked to a valid Touchprobe.

Ensure that a Touchprobe object is transferred at the input i_ifTouchProbe.

TouchProbeNotActive

Enumeration name:	TouchProbeNotActive
Enumeration value:	68
Description:	The TouchProbe is not active.

Issue

Cause

Solution

-

IF_Homing.TouchProbe was selected as homing mode for a configured robot drive.

The Touchprobe transferred at the input i_ifTouchProbe is not active. For instance, this is an input at a Lexium 62.

Ensure that the parameter IOx_Mode of the input group (LXM62IO_InOutTP) is set to Touchprobe / 1.

TouchProbeNotFound

Enumeration name:	TouchProbeNotFound
Enumeration value:	69
Description:	The TouchProbe has not been found.

Issue

Cause

Solution

-

IF_Homing.TouchProbe was selected as homing mode for a configured robot drive.

The incorrect Touchprobe was transferred to the input i_ifTouchProbe.

Verify the connection of the transferred Touchprobe to the physical sensor.

-

IF_Homing.TouchProbe was selected as homing mode for a configured robot drive.

The sensor does not transmit a signal.

Verify the power supply of the sensor.

Verify that the sensor is not covered.

Verify that the sensor can be triggered by the mechanical system.

Verify the electrical connection of the sensor and the Touchprobe input.

TouchProbeVirtual

Enumeration name:	TouchProbeVirtual
Enumeration value:	70
Description:	The connected TouchProbe is virtual.

Issue

Cause

Solution

-

IF_Homing.TouchProbe was selected as homing mode for a configured robot drive.

The used Touchprobe is not physical.

Verify that the Touchprobe does not belong to a virtual device, for example a virtual Lexium 62.

TransformationAlreadyConfigured

Enumeration name:	TransformationAlreadyConfigured
Enumeration value:	171
Description:	The transformation is already configured.

Issue	Cause	Solution
-	Configuring the transformation of the robot was already completed successfully.	Ensure that a configuration for a transformation is only called once.

TransformationInvalid

Enumeration name:	TransformationInvalid
Enumeration value:	173
Description:	The transformation is invalid.

Issue	Cause	Solution
-	A configuration of the transformation of the robot is invalid.	Call a new configuration for a transformation.

TransformationMissing

Enumeration name:	TransformationMissing
Enumeration value:	172
Description:	The transformation is unavailable.

Issue	Cause	Solution
-	No transformation of the robot was configured yet.	Call a configuration for a transformation, for example IF_Configuration.Delta3Ax, before calling IF_Configuration.ConfigDone.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	28
Description:	A feedback value was invalid.

UnexpectedValue

Enumeration name:	UnexpectedValue
Enumeration value:	76
Description:	A value is invalid.

UnknownCase

Enumeration name:	UnknownCase
Enumeration value:	108
Description:	The case is indeterminable.

UserPeriodRange

Enumeration name:	UserPeriodRange
Enumeration value:	71
Description:	The user period is out of range.

UserTransformation3AxInvalid

Enumeration name:	UserTransformation3AxInvalid
Enumeration value:	202
Description:	The user-configured transformation 3Ax is invalid.

Issue

Cause

Solution

-

IF_Configuration.User3Ax was called.

The interface transferred at the input i_ifTransformation is invalid.

Verify that at the input i_ifTransformation a valid interface is transferred.

VelocitySourceInvalid

Enumeration name:	VelocitySourceInvalid
Enumeration value:	265
Description:	The velocity source is invalid.

Issue

Cause

Solution

-

IF_Configuration.AddLinearTrackingSystem was called.

The velocity source transferred at the input i_ifVelocitySource is invalid.

A valid interface (SystemConfigurationItf.IF_IdentificationMandatory) of a velocity source must be transferred at the input i_ifVelocitySource.

Valid objects are for example drives, virtual encoders, incremental encoders, and so on.

-

IF_Configuration.AddLinearTrackingSystem was called.

The transferred object at the input i_ifVelocitySource is of type SystemConfiguration.L_ENC_TYPE.

Objects of type SystemConfiguration.L_ENC_TYPE are not valid as a velocity source.

WarmStartNotPossible

Enumeration name:	WarmStartNotPossible
Enumeration value:	271
Description:	A warm start is not possible.

Issue	Cause	Solution
-	A warm start of the robot is not possible. Request to change the coordinate system are sent.	Perform a cold start of the robot.
-	A warm start of the robot is not possible. The robot was in tracking before disable.	Perform a cold start of the robot.

WorkEnvelope

Enumeration name:	WorkEnvelope
Enumeration value:	261
Description:	Diagnostic message concerning the work envelope is active.

Issue	Cause	Solution
The robot is not ready for operation.	The robot detected a violation of the valid work envelope and stopped in front of it.	Ensure that the robot movement is always inside the valid work envelope of the robot.

Methods

Name	Description
InitModuleInterface	Initializes the interfaces that are necessary to use the RoboticModule.
RegisterLoggerPoint	Register the RoboticModule to the ApplicationLogger.