Errormessages GB PDF

RSV-PCX ERROR MESSAGES
DOCUMENTATION
REIS GMBH & CO. KG MASCHINENFABRIK OBERNBURG
Error messages
Title: Error messages of the ROBOTstarV-PCX
Author: Dept. ES
Date: 30.04.2005
Control version: RSV-PCX
Software revision: as of 16,0
Documentation for level: as of level 2
Project-ID not applicable
Date: 30.04.2005
Release: i.A. Elter
H:\Dokumentation\Rsv-PCX\Word_Dokumente\RSV-Fehlermeldungen_1600_gb.doc
Document revisions
Date Version SW Vers. Author Description of changes

13.10.2004 1.0 15.0 Elter First established document
by means of copy of version
14,0
22.10.2004 1.1 15.0 W. May New error texts added.
12.11.2004 1.2 15.0 W. May Error texts modified or new
error texts added.
22.12.2004 1.3 15.0 Elter Revision of many texts
04.01.2005 1.4 15.0 Pfeiffer Orthographical revision of
many instructions; not used
messages S184, S739,
S740 released.
04.01.2005 1.5 15.0 Seyfarth Revision of many texts
01.03.2005 1.6 16.0 Dr. Texts added
Rienmüller
14.04.2005 1.7 16.0 M. Laue Error messages amplifiers
4000AT added
20.04.2005 1.8 16.0 C. Lange Error message S409 added
25.04.2005 1.9 16.0 Elter revised and released
30.04.2005 1.10 16.0 Elter Extended at S222 by 5173
and 5174
H:\Dokumentation\Rsv-PCX\Word_Dokumente\RSV-Fehlermeldungen_1600_gb.doc
1 TABLE OF CONTENTS
1 TABLE OF CONTENTS .......................................................... 3
2 SURVEY OF ERROR MESSAGES ......................................... 5
3 COLLECTIVE ERROR MESSAGES SYSTEM SOFTWARE

277
3.1 S10 / System errors ................................................................. 278
3.2 S44 / Sensor errors .................................................................. 279
3.3 S61 / PLC errors ....................................................................... 286
3.4 S110 / Operating errors ........................................................... 289
3.5 S111 / Programming errors ..................................................... 290
3.6 S126 / Trafo_6D errors............................................................. 303
3.7 S 234 / Path switch errors ....................................................... 310
3.8 S 283 / Collective errors with multi-layer welding................. 311
3.9 S 284 / Collective errors with multi-layer welding................. 313
3.10 S506 / Calibration error.......................................................... 315
3.11 S561 / Fatal error <xxx> in a configuration program........... 326
3.12 S597 / Archiving errors .......................................................... 327
4 APPLICATION-ORIENTED ERROR MESSAGES.............. 330
4.1 Injection molding ..................................................................... 331
4.2 Rotary table .............................................................................. 333
RSV_Fehlermeldungen_1600 06/05 gb
5 MESSAGES OF THE INITIALIZATION PHASE VIA 7-

SEGMENT DISPLAY .................................................................. 334
5.1 Significance of the error codes in the 7-segment display.... 335

5.1.1 The ”A”-messages ............................................................ 336
5.1.2 The luminous diodes of the M-module .............................. 344
5.1.3 The ”B”-messages ............................................................ 345
5.1.4 The "C" messages ............................................................ 347
5.1.5 The ”D”-messages ............................................................ 350
5.1.6 The ”H”-messages ............................................................ 351
2 Survey of error messages
Error No. Message Cause Remedy
S1 Error with preparation of message Internal error Please inform Reis Robotics
S3 Initialization info: First start-up of the machine. not applicable
System new start
all programs were
copied from the EPROM
S5 Initialization info: There occurred an internal access error, Observe whether this happens frequently
detailed information on last components of the CPU board are and replace the CPU if needed. In
fatal error perhaps defective <TEXT1> and <TEXT2> the system tries
<TEXT1> to give more detailed information on the
>TEXT2> type and location of the error. Please take
down (!!) and indicate accordingly when
consulting the customer service.
page 8 Preparation of message: Too many error messages have been Acknowledge the message and establish
The message buffer is full! entered into the message memory within a logbook “User”.
Some error messages cannot be a short time Notify Reis customer service.
displayed.
S9 The Image-file is not updated! Safeguarding of data with no-break power Check and up-date user programs
Attention: Perhaps the last supply failed. Reset on the CPU operated (program missing modifications anew).
program changes are missing! (without shutdown).
S10 System error see chapter 3.1
RSV-Fehlermeldungen_1600 06/05 gb 6
S11 EMERGENCY-OFF <text>

S12 POWER FAIL Indicates a voltage loss of the supply line.
This message generally is not visible
since the teach pendant, due to the
voltage loss, cannot display anything
anymore.
S13 safety controller: The safety controller contains a software Acknowledge message
Update possible, version which is older than the one Execute update of the safety controller
release, if desired contained in the control software. software
(at present switch on prog. switch)
S14 safety controller: You have successfully executed an Acknowledge message and execute a
update executed, update of the safety controller software. safety check under any circumstances.
new safety check required!
S15 safety controller: You have switched a programming switch Set the switch to "off" when the control
Cancel update release after at the safety controller to position "on". has executed the update or if you don't
update. (update requirement for running-up the want to update.
(at present switch off prog. switch) control)
S16 safety controller: You have tried an update of the safety Try a new update or replace the safety
No valid software installed. controller software. The trial has failed controller after several failed trials.
and hasn't left any valid software in the
safety controller.
S17 The Cartesian accuracy tolerance The Cartesian deviation between nominal • The admissible deviations perhaps are
value and actual value is higher than set too low. Admit higher deviations.
has been exceeded.
entered in the system variables • The gain for the servo amplifiers is not
_RCART_DEV_LIN_MAX and set in an optimum manner. Optimum
_RCART_DEV_ROT_MAX . setting
• The nominal value filter is performed
on the servo amplifiers. Admit higher
deviations or let perform nominal value
filter on the control (ISERVO_SWITCH
Bit 12).
• Machine is too heavily charged.
Reduce load
S18 CAN-error: When comparing the machine data of the Check Safety-Controller and CAN-
Reading-back machine data Safety-Controller again, there occurred an connection, start the system anew; notify
failed! error. Perhaps the Safety-Controller or the the manufacturer if needed.
Reason: <Text> Index: <text> CAN connection are disturbed.
S19 Compressed air missing The input entered in the machine data Check compressed air supply of the
IBIN_FUNC_IN[1] does not have the installation and the input of
required level when switching on the IBIN_FUNC_IN[1].
drives. Either compressed air is totally
missing or the pressure switch is not
correctly adjusted or the input is defective.
S20 Date: <text> could not be sent to An error occurred with data transmission Check CAN-connection, start the system
the <text> #<number> circuit via CAN. Perhaps the CAN connection is anew; notify the manufacturer if needed.
#<number> ! Reason: <text> disturbed.
S21 Drives off For the command to be executed the Switch on drives
control requires drives being switched on
S22 Synchronization finished
S23 Safety grid is open or not
acknowledged!
S24 CAN-error: Too many data in The control tries to send many data via In case this occurs due to aimed
queue. Reason: <text> CAN within a short time. Overflow of an transmission actions of the user: give a
internal intermediate memory. little bit time between the individual
transmission actions. Check the CAN
circuit, if the system produces this error
again and again.
S26 A storage error was recognized.
Error in <text> restart control!
S27 Programmed limit switch The axes indicated in the message were Move away the axes into the opposite
displaced up to the software limit switch. direction. If possible, select another axis
position.
Limit the way of displacement.
S28 Relative limit switch axis 5 Palletizing robot: The angle between axis Move away axis 5 into opposite direction.
5 and the Z-axis of the robot base frame is
wider than indicated in the machine data
RRP_A5_RANGE.
S29 Inadmissible movement range The robot wants to approach a position Change settings. Perhaps the robot must
which it cannot reach. be freed in axis-specific manual
movement.
S30 Collision monitoring
S31 The commands POSITION and The commands POSITION or VAR_POS Please remove the corresponding
VAR_POS are not allowed in are programmed in a macro or in commands from the macros
macros! subprograms that are called by macros.
S32 Parameter <number> has wrong
type
S33 number of parameters wrong
S34 Zero setting not allowed! Only execute action ”setting to zero” when
The axes must stand still the machine is synchronous and does not
move
and be referenced.
S35 Not admitted axis configuration! The robot shall be operated with a not Please check the configuration in
Check the machine data admitted axis setting. E.g., more than 6 IAXES_DESCR[] accordingly and modify
IAXES_DESCR[] main axes, the axis number of an
additional axis is smaller than the main
axis; the first main axis is not the axis 1;
one axis number is free between main
and additional axes
S36 The number of axes in the A position step is to be approached that Delete the position step or suppress the
Position step does not coincide was not established with the current message by setting bit 12 in ISPEC
with machine configuration. _FUNCTIONS (level 4 authorization for
Cartesian SC!) if you are sure that this
robot configuration!
position may be approached.
Program position anew or
suppress the message.
S37 The requests "Fast stop" from the A machine marked as casting robot shall Check which setting is the correct one and
machine data ISTOP1_CNTRL execute a fast stop. This constellation is reset the other one accordingly
and "Braking with programmed not provided and therefore not allowed.
acceleration" from
ISPEC_FUNCTIONS Bit 20 are
not allowed simultaneously!
S38 The system variable <text> cannot

be generated in the device map
table of the <text>!
S39 The axis is not connected!
The axis programmed in the command Correct the axis number in the command
INDEX is not activated in the machine INDEX or activate the axis for the first
data IACT_AXES. instance.
S40 Indexing not possible!
Step coincidence after a step The interpreter has not yet processed a Execute step preselection in such way
preselection is not established! position step after a step preselection and that first that position can be approached
the program start. the axis shall be indexed in.
S41 Machine data for binary and/or
analog input sources have a For one or several binary/analog inputs Find out the actual input source and enter
wrong configuration there are entered several sources same in the corresponding machine data
Concerns IBIN_xxx_IN, simultaneously (e.g. IBIN_HARD_IN and
IANA_xxx_IN IBIN_INTPLC_IN at the same time)
S42 Byte or bit number in the machine
data IBIN_INDEX_IN beyond Wrong configuration of machine data. For the byte number the range from 0 to
value range! 39 and for the bit number from 0 to 7 must
be kept.
S43 Byte or bit number in the machine
data IBIN_INDEX_OUT beyond Wrong configuration of machine data. For the byte number the range from 0 to
value range! 39 and for the bit number from 0 to 7 must
be kept.
S44 Sensor error see chapter 3,2

S44 / sensor error
S45 Wrong station selection The PLC marker bit for station monitoring Check the PLC program and set the
is not set. corresponding marker bit in the markers
936 ...939. set 939.
S46 Step not defined Structure error in the user command. Delete the defective step and program
Either a command or a variable used in it anew.
is concerned.
S47 Wrong INTERPOL (movement
mode) during station connection!
S48 Axis number not found in
INDEX_CNTRL ! No entry of the axis number programmed Correct the axis number in the command
in the command INDEX exists in the INDEX or in the machine data
machine data INDEX_CNTRL (bit 24 to INDEX_CNTRL.
31).
S49 A software update has been Reference to software update after a Please read the update regulation and
switch off the warning message. As of
executed. software update or after a change of the
software version 9.1 via the dialog
The update regulation contains backup battery ”password” -> ”indicate update message?”
important information about new -> ”no” off
functions and eliminated errors. In the software version 9.0 via the same
dialog and the input of the password
Please read thoroughly. ”F9FCEFD7”
No longer display this message:
See update regulation.
S50 Setting to zero for axis x was Bit 4 in the machine data Synchronize axis anew.
canceled. The axis has to be set IAXES_DESCR[x] was reset.
asynchronous as it was already
set to zero!
S51 No Safety-Controller and no SYIO No SafetyController and no system IO • Try to switch on again
recognized board in the system found. At least one of • Check cabling of the SC and the CAN
both is required. Since the system IO circuits
boards can no longer be used, the
• Replace the SC
SafetyController is probably defective or
doesn’t give any message.
S52 No valid robot kinematics entered You don’t have any adapted machine data Read in the correct machine data directly
in the machine data in the control from disk or from the last backup.
IROBOT_TYP.
S53 In the machine data You don’t have any adapted machine data Read in the correct machine data directly
IMDATA_STAT the machine data in the control from disk or from the last backup.
are not validated.
S54 Transformation error: An axis/frame number was entered in the Execute correct calibration. Check
Group table includes group table for which there exists no machine data IAXES_DESCR[x] and
invalid frame/axis number! calibration matrix. ITOOLAXES_DESCR[x]!
S55 Error station monitoring: Axis An axis that is allocated to the activated Check the PLC program that switches on
<number> is not active processing station, is not switched active and off the axes or stations.
S56 No valid station marker There is more than one PLC marker bit Examine the PLC program and make sure
recognized set for station monitoring. that a maximum of one single station is
monitored.
S57 The search signal was recognized Short to ground between gas nozzle and Clean torch and gas nozzle.
within the distance _RFIND_DIS! component part resp. torch, e.g. by slag Remove soiling from workpiece.
Remedy: Clean torch nozzle formation etc.
S58 Movement range exceeded The axes indicated in the message were Check the admissible range in the system
displaced too much. The admissible range variables _RFMOT_LIM_P and
from _RFMOT_LIM_P and RFMOT_LIM_N and adapt, if necessary.
_RFMOT_LIM_N was exceeded. Limit the way of displacement.
S59 Cooling unit gives error message! The cooling apparatus indicates an error • Check cabling
Breakdown of the control is via the input configured in the machine • Read exact cause perhaps from the
possible due to excess data IBIN_FUNC_IM[7]. cooling apparatus display and remove.
temperature
S60 Indexing is not open! A PLC axes is to be moved though Generate a clear status (indexing open or
indexing is not open. Indexing was closed).
modified by a manual intervention.
S61 PLC error see chapter 3.3
S61 / PLC error
S62 PLC-start program not existing The PLC program to be started is not Check whether the correct PLC program
existing is to be started or read in from the
corresponding PLC program from the
backup
S63 Electrical shaft: Position Operator guidance ---
compensation active!"
S64 PLC start The integrated PLC does not run and Start the PLC
automatic operation is selected
S65 drift compensation is not yet
finished
switch on drives again <axis
numbers>
S66 Path error Internal error of the path control Notify manufacturer
S67 SPLINE neighbor point after step In the SPLINE movement mode the Remove branch command or select other
xx in the program not found previous and the following point must be movement mode.
available for the path interpolation. The
following point cannot be determined
definitely, because a branch command
follows (e. g. TEST_...-command).
S68 Change of coupling not allowed! By means of the macro "El. shaft" or the Press STOP and switch to manual
Interpreter is still active! PLC-marker M933.2, it has been tried to operation mode. Correct configuration of
abolish a coupling not released in machine data.
IAXES_DESCR while the interpreter still
processes programs.
S69 START is not allowed! The program processing has been started Make coupling with the macro "el. shaft".
Coupling for el. shaft abolished!
although couplings are still abolished. Alle
in IMASTER_SLAVE eingetragenen und
nicht in IAXES_DESCR freigegeben
Kopplungen müssen beim START
hergestellt sein.
S70 Electrical shaft: The range of the machine data Abolish coupling between these two axes
Divergency between axis ... RMASTER_SLAVE was exceeded.
and traverse one of these axes to the
and axis ... is too big! New entry in IMASTER_SLAVE or actual position of the other axis. Keep to
coupling has been abolished and one of max. allowed deviation of
the concerning axes was traversed. RMASTER_SLAVE.
S81 USV is ready, but not active No-break power supply was not activated. Check the serial connection between
The serial communication between RSV- RSV-PCX and no-break power supply and
PCX and no-break power supply does not restart the control.
correctly work
S82 no-break power supply indicates A power loss was recognized. Data back- Find out the reason for the AC-Failure and
AC-Failure up is introduced and executed, RSV-PCX eliminate it (if possible).
is powered down
S83 USV Data transmission error Data communication between RSV-PCX Check the serial connection (cabling or
and no-break power supply does not the no-break power supply hardware
correctly work
S84 No-break power supply error The current temperature voltage or Check the accu of the no-break power
temperature, voltage, current current is beyond or below the admissible supply (perhaps load or exchange)
value
S85 no-break power supply error The no-break power supply recognized a Check the serial connection and cabling
Timeout or Power Timeout when receiving data or a Timeout
of the Power on time
S86 no-break power supply error Shut no-break power supply is inactive, either Start-up RSV-PCX anew.
off by RSV-PCX or by itself
S87 Initialization error Device This serial interface was not initialized
<NUMBER>
not initialized: <error number>
S88 PLC not started! Rotary switch The start of the PLC was made impossible Remove possibly existing errors in the
stands on 0x3. due to the switch setting ”3” on the CPU PLC program. Set the switch to ”0” and
front plate start the PLC
S89 Moment regulation is not
supported!
S90 6D-mouse At least one 6D-mouse coordinate Check machine data
exceeds the value from the machine data
Offset is too high IMOUSE_OFFS_MAX.
IMOUSE_OFFS_MAX.
First press the permission key and then
The 6D-mouse was touched during offset direct the 6D-mouse.
measurement.
Replace the 6D-mouse.
The 6D-mouse is defective.

S93 Error in the PLC-program ... and RSV was started with a faulty PLC Select program ... and correct step x.
program.
step x!
S100 Address for program <text> is
wrong!
S102 error module swap: UP faulty Internal error Notify manufacturer

S103 error module swap: UP faulty Internal error Notify manufacturer
S104 The command AXIS is only Wrong INTERPOL is active, e. g. #LIN. Modify program. Insert the command
allowed in INTERPOL #PTP! INTERPOL #PTP before the command
AXIS.
S105 Buffering does not work! Buffer battery empty or defective. Under all circumstances safeguard the
ATTENTION: Automatic Input signal for monitoring of the buffering current programs and data with “Save
safeguarding of the programs does not correctly switch. Proj”. Check wiring and input from the
does no longer work. Store the machine data IBIN_FUNC_IN[5].
programs with ”Save Proj”. The Charge or replace battery.
robot is set asynchronous with
next switch-off.
S106 transformer temperature The temperature sensor in the transformer Switch off the control cabinet.
(24V=power pack) of the control cabinet found an excess • too many consumers connected to the
too high! temperature. transformer.
• temperature sensor defective
• wrong input or polarity indicated in the
machine data IBIN_FUNC_IN
• cable break to the sensor
S107 A step preselection has been You selected a new program or the Acknowledge the message and approach
executed! Robot will move to next system forced a step preselection after an the next position in the program at
position with move mode PTP. error message. reduced speed. Perhaps there is danger
Attention, danger of collision! of collision since the direct way is taken!
S108 A TOOL change can only be At the moment of the TOOL command the Insert PTP mode.
executed in INTERPOL #PTP. movement mode PTP is not active.
S109 Resulting step invalid
S110 Operating error see chapter 3.4
S111 Programming error see chapter 3.5
S111 / programming error
S112 wrong drive resp. wrong path Selection of a program which doesn't Enter correct program name.
exist.
S113 definition not found The definition used in the command is Insert definition or validate.
missing or invalidated.
S114 variable not initialized The variable used in the command was Enter the desired value with the COPY
not yet described. command.
S115 Wrong step type Internal error Notify manufacturer
S116 axis is no endless axis! For the axis mentioned in the MIN_PATH, Test Bit in IACT_AXES
the following conditions have to be Test Bit 00 and 01 in IAXES_DESCR[x]
adhered to:
Set Bit 05 in IAXES_DESCR[x]
The axis has to be active
Program the correct axis number
The axis has to be an additional axis
The axis has to be marked as an endless
axis.
At least one of these conditions is not
fulfilled.
Wrong axis number programmed
S117 Content beyond range of values At least one parameter exceeds the Modify program.
parameter limits.
S118 The operand is no variable The destination operand in the COPY Change the destination operand to a
command does not represent a definition definition of a variable.
of a variable, but e. g. a definition of a
constant.
S119 Wrong operand types The types of the source and the Adapt source and destination operands
destination do not match, a type accordingly.
conversion is not possible. This error
occurs e. g. during copy actions between
structural components of different element
groups.
S120 Transformation error The position could not be transformed Check RELATIVE offset.
forward/back. In case of offline settings check
POSITION step and check machine data
adjustments.
Notify manufacturer.
S121 Transformation error The position step in the mentioned Check the tool adjustment of the used tool
in the program <text>, program is beyond the movement range (TOOL: Txxxx)
of the robot
step <number>
S122 Step cannot be edited
S124 Return from the subprogram 1. You reached the end of a subprogram Conc. 3.: As of version RSV 8.1:
"<text>" is impossible! and did not branch via the command Due to setting bit 4 in the system variable
CALL into the subprogram. _INTERPRETER the I/O conditions are no
2. You executed a step preselection into longer evaluated. The error message is no
the subprogram. longer indicated then.
3. During step preselection to the current

step a macro or a subprogram was
processed, in which e.g. a ”dead loop”
is programmed due to the I/O
conditions.
S125 Protective device is active You selected the internal operating mode Set the internal operating mode to TEST
”AUTO” and the key switch on the PHG is or leave the protection range and set the
set to ”setting” key switch to Automatic or Auto-Test.
S126 Trafo_6D error see chapter 3,6
S127 Definition The variable definition of the indicated Program or validate the variable definition
<text> variable was not found
not found
S128 Variable The indicated variable was not yet Inscribe the variable with a defined value
<text> inscribed
not initialized
S129 max. number of pulses already The control is already processing eight Change program structure.
active! pulses and cannot start another pulse.
S130 Error parallel operation The control processes a program in Change program structure.
Executer/Interpreter: Definition automatic mode and at the same time e.g.
"<name>” must not be a global variable also used in the
manipulated ! automatic program is manipulated by an
operating macro.
S131 Wrong component Only concerns the command Replace the COPY_OFFS command
COPY_OFFS that generally should not be against the COPY command.
used in the RSV.
S132 component number = 0 Only concerns the command Replace the COPY_OFFS command
COPY_OFFS that generally should not be against the COPY command.
used in the RSV.
S133 Distance of the positions too small • The distances of the positions for Check position variables transferred to the
calculation of the center point in the commands CENTER or INTERSECTION
command CENTER are too short.
• The distances of the positions for

calculation of the straight line
intersection point in the command
INTERSECTION are too short.
S134 Positions approximately on a Calculation of the center point cannot be Check position variables transferred to the
straight line executed because the positions are command CENTER.
approximately on one straight line.
S135 Distance of straight line too big
S136 Straight lines approximately The straight line intersection point Check position variables transferred to the
parallel between two approximately parallel command INTERSECTION.
straight lines cannot be calculated
S137 Program doesn't exist • The program to be called in the Check and adapt program names in the
commands CALL or PROGRAM does corresponding commands
not exist.
• The reference sources or reference
destinations or source programs used
in the TRAFO_6D order do not exist in
the user memory
S138 Program name invalid Faulty program name. Correction of name.
S139 Step cannot be deleted
S140 Program memory is full No storage location for programs available Delete programs that are no longer
required, especially programs in the
directory DEL_PROG !
S141 Step cannot be inserted • You want to program a step and the Set the cursor to the step before END
cursor is on the END step.
• You want to read out information from
the control via the key ”Info” and the
cursor is on the END step
S142 LABEL already existing The label you want to program is already Select another name for the label
existing in this program
S143 Wrong program types Access to programs with faulty type Correction of program type.
indication
S144 Definition already existing If the error occurs at the end of a root Search and delete the program <root layer
layer program, the root layer program had program name>_DAT in another directory.
already been processed with the same
name in another directory.
S145 Program already existing The destination program already exists in Until version 8.2 it was not possible to use
the user program memory identical source and destination program
names. If Bit 0 is deleted in the control
variable, the error message occurs always
when the destination program already
exists.
Possible remedy:
Delete destination program from user
memory or set bit 0 into control variable.
S146 step/block cannot be inserted, No control steps may be programmed Add definition at the beginning of the
because\ncontrol instructions are before a variable definition. A variable or program.
programmed\nbetween the constant definition is to be added after
beginning of program\n and the control steps.
current cursor position !
S147 Number of components too high
S148 No valid tool data You want to program a position and did Enter a tool with the command TOOL
not indicate a tool
S149 The block contains positions for You want to copy a block containing Enter a tool with the command TOOL
which there don't exist any valid position steps but in which no tool
tool data in the program. definition was found in front of the insert
point of the block
S150 label not existing A label not yet programmed is to be Program the label or change the name of
branched to the label in the branch command
S151 LOGBOOK-message:\n Logbook Operator guidance
has been generated
S152 program <text> The control shall process a subprogram Check the name in the command CALL or
step <number>: that is not existing ROOTLAYER
Programm nicht vorhanden

S153 Wrong step preselection by using You executed a step preselection. Select another place for the program/step
CALC_REL-command The control recognizes the command preselection
CALC_REL without prior approach to a
position
S154 step/block cannot be inserted, No control steps may be programmed Add step or block after the definitions.
because\nvariable definitions or before a variable definition. A step or a
constants are \nprogrammed block is to be added before a variable or a
between\nthe current cursor constant definition.
position\nand the program end !
Array _P_LASTPOS is already
S155 filled. The index in _I_LASTPOS is > 50. Delete bit 7 in _INTERPRETER at the end
Recording of the positions was switched of the backward movement segment.
on but not off again. Reduce backward movement segment.
The program segment in which recording
is done contains more than 50 positions
S156 no access authorization Program or variable in the program Check access authorization and change, if
memory is protected. necessary.
S157 The conditional branch in A branch was not correctly treated with Notify manufacturer
<text> active approximation of conditional Start program cycle from the basic
step <number> branches program anew
was not correctly treated!
Start the program cycle anew from
the basic program!
S158 The branch condition for the During active approximation of conditional Acknowledge message and check
command in <text> branches the machine was stopped in the whether the cycle can still be correctly
step <number> approximation phase and the condition kept when the robot finishes the
changed during standstill time! evaluated before has changed before new approximation path (caution with closed
Attention! start was made. doors that were open before!).
The control follows the If yes, start cycle.

preselected condition! If no, start in the basic program
S159 Programming error CIRC-step Inadmissible movement mode #CIRC in Change movement mode in #LINEAR,
<XXX> conjunction with the commands #SPLINE or #PTP.
SEARCH_BIN, CALC_REL.
S160 Circle end point not found after Odd number of circle auxiliary and end Change programming.
step <XXX> points.
Between circle auxiliary point and circle
end point there is a command that cannot
be approximated.
S161 Sensor communication error: Communication between robot control and In the instruction SEND_TELE only the
Wrong telegram type laser band camera: commands:
The parameter ”text” was incorrectly ”P” setting parameter
entered in the command SEND_TELE. ”M” e.g. switching/on and off the laser
camera
”C” e.g. request of measuring data
”Z” e.g. finishing communication
are supported.
Check parameter ”text” and adapt.
S162 Sensor communication error: • The command SEND_TELE is Check of the connection cables.
Timeout-error during sending to processed and there doesn’t exist any Check of the serial interface of the robot
Vision-System physical connection to the laser band control/laser sensor calculator. (
camera RS422/RS232; Baud rate)
• The laser band camera can only be
switched on when it has been switched
off before.
S163 Process controller error The acknowledgment message "welding Check weld source.
arc doesn't ignite! on" has not been given within the Set correct input/output ports.
necessary time.
S164 Error process controller The acknowledgment message "welding Check weld source, set correct
arc doesn't extinguish! off" has not been given within the input/output ports.
necessary time.
S165 Error process controller The arc has extinguished during weld Check weld source and workpiece, then
arc is interrupted! monitoring. start anew.
S166 Process controller error weld wire Weld wire is still connected with the weld Loosen wire.
is stuck! seam.
S167 Process controller time error Preliminary sensor correction was not Switch on sensor in the program
during preliminary sensor terminated within the time-out time or
correction!
Switch off preliminary correction
(_RT_SEN_START=0)
S168 Error process controller Inadmissible input/output channel, marker Enter valid values
Value range in <text> was not or _IPC_SWITCH or _RPC_TIME [X] < 0
reached or was exceeded!
S169 Error process controller! The heating or cutting flame has Check torch and workpiece, then start
Flame extinguished extinguished again
S170 Movement to reference point The speed and acceleration settings in the Check the setting of the data
refused! machine data are faulty and don't allow RAXES_NOM_SPEED,
Check the settings for speed and any calculation of the reference RAXES_NOM_ACCEL,
acceleration in the machine data movement. RAXES_MAN_SPEED and
for the axis(es)<axis indication>. RAXES_MAN_ACCEL for the
corresponding axes and correct them in
the program MDPROG. In case you are
not sure, contact Reis Robotics.
S174 LOGBOOK-message:\n Logbook Operator guidance
is being generated\n
<NUMBER>% \nPlease wait
S175 LOGBOOK message: Logbook Control is still in automatic mode Abort interpreter and make sure that the
can only be generated in the control is in the operating mode hand
operating mode HAND.
S181 Variable reading not allowed Variable is protected against reading
S182 Variable writing not allowed A system variable used in the COPY Due to the system there must not be
command must not be described. made any write access to this system
variable
S183 No DNC order free In the DNC order list there is no more Execute DNC reset
space for another order
S184 free
S185 DNC transmission error Faulty check sum during data Repetition of telegram, check of
transmission connection
S186 Drives not switched on Switch on drives
S188 Emergency operation is activated Operator guidance ---
S189 Emergency operation is finished Operator guidance ---
S190 Program doesn't exist Access to a program which doesn't exist Read-in program, check path
S191 Selected program cannot be
deleted
S192 Variable not found The variable is not yet defined. Observe correct entry of the name.
This concerns a local variable that is
defined in another program.
The variable name was incorrectly
entered (typewriting error).
S193 User memory full No storage location for programs available Delete programs that are no longer
required, especially in the directory
DEL_PROG !
S194 The program <text> You tried to modify a program just being
is processed in automatic mode. processed by the interpreter.
Modifications during processing of a
A modification is not possible.
program are not allowed.
S195 syntax error in index The index of the variable used in this Program the index with a constant
command must not be variable
S196 Nesting not allowed No further indexed variable must be used
in an index.
e.g. COPY 0, I1[I2[1]] is not allowed
S197 Index variable not found The array index was programmed with an Define integer variable
integer variable. This integer variable,
however, is not defined.
S198 Index variable not initialized The array index variable is not correctly Initialize array index variable
initialized.
S199 Index too big or too small The array index used in the COPY Adapt array index to the definition
command has the value zero or exceeds
the value indicated in the variable
definition
S200 Definition is no array The variable name used in the COPY Adapt the variable access accordingly
command contains an array indication.
The variable definition, however, doesn't
represent an array.
S201 Definition is an array The variable name used in the COPY Change-over variable access to array
command doesn't contain any array
indication. The variable, however, is
defined as an array
S202 No storage location existing The RSV cannot reserve enough storage Notify Reis customer service.
location for calculation of the destination
position.
S203 Check error AWP: Error in the user program memory Notify manufacturer
Step identification not found If possible, delete the step and program it
<text> in step <number> anew
delete the step concerned - if
possible - program it again and
restart the control.
Step length is not correct. <text> If possible, delete the step and program it
in step <number> anew
delete the step concerned - if
possible - program it again and
restart the control.
Checksum is not correct. <text> If possible, delete the step and program it
in step <number> anew
if possible, delete the
step concerned, program
it again and restart the control.
S206 error in user stack Internal error Notify manufacturer
S207 program in stack A program used by the interpreter in the
sequence program is to be deleted
S208 LOGBOOK message: Generation • No storage location in the user • Ensure sufficient storage location in
of plain text failed! program memory the user program memory, perhaps
• Generation of plain text in level 1 or eliminate former logbooks
2 • Perform generation of plain text in
level 3 or 4
S209 LOGBOOK message: No data It was impossible to store the local Ensure sufficient storage location in the
entered in the logbook unstructured variable user program memory, perhaps eliminate
former logbooks
S210 DNC transmission is active The TRAFO_6D order is processed by a The TRAFO_6D order may not generate
program which is set as "destination the program in which it runs. (Recursion !)
program" in the command itself. Program run must be changed !
S211 Program not added Defective backup files Check backup data and read-in again if
necessary.
S212 syntax error in PAL-program The prescribed program structure is not Maintain the structure of the pallet
kept. program as described in the
documentation.
S213 Attention Danger of collision! Operator guidance when starting the ----
The selected axes will move into
resolver calibration.
plus direction after operation of
the START key.
The axes will be stopped if you
release the START key (dead
man operation).
S214 PAL-program not existing Pallet program not yet established. Establish pallet program.
Typewriting error in the path and/or Check the command with regard to
program name. typewriting errors.
S215 Wrong piece number
S216 interrupt program is missing A user interrupt was released and the Check program name of the interrupt
interrupt program does not exist program and correct if needed or establish
interrupt program
S217 Interrupt program name invalid A user interrupt was released and no Define interrupt program name
interrupt program name is defined.
S218 PDA error <number>
S219 PDA-error recording

S220 SENSOR error: The sensor correction exceeds the value Check sensor regulation.
The current sensor correction adjusted in the system variable Increase the value in _RMAXOFFSET if
vector exceeds the max. value _RMAXOFFSET. needed.
from _RMAXOFFSET
S221 GPE-collision
S222,5150 Error calculation: <5150l> The source variable is of wrong type or Define the source variable correctly as
doesn't exist. global variable.
in the program: <name>
step number: <xxx>
S222,5151 Error calculation: <5151> The destination variable is of wrong type Define the destination variable correctly
or doesn't exist. as global variable.
step number: <xxx>
S222,5152 Error calculation: <5152> The source variable is invalid Initialize source variable correctly.
step number: <xxx>
S222,5153 Error calculation: <5153> The destination variable is invalid. Initialize destination variable correctly.
step number: <xxx>
S222,51545 Error calculation: <51545> The source/destination variables are The source/destination variable has to be
indicated with different frame numbers. programmed in the same coordinate
in the program: <name> system.
step number: <xxx>
S222,5155 Error calculation: <5155> The source/destination variables in the Definition of the source/destination
frame number don't comply with the variables in the frame information has to
in the program: <name> be made suitable for the calculation mode.
selected mode.
step number: <xxx>
S222,5156 Error calculation: <5156> Transformation error during determination Approach the position to be calculated
of the original axis signs. with step preselection and check whether
in the program: <name> this is possible.
step number: <xxx> Check tool data.
S222,5157 Error calculation: <5157> Transformation error during determination Check of the position variables that define
of the new axis signs. the Cartesian offset of the calculation
in the program: <name> function.
step number: <xxx> Check whether the calculation can
generate a position situated outside the
work envelope of the robot.
S222,5158 Error calculation: <5158> The tool definition in the programs to be Only programs with a valid tool definition
calculated doesn't exist. can be calculated.
step number: <xxx>
S222,5159 Error calculation: <5159> The used tool variable is invalid. Initialize tool variable correctly.
step number: <xxx>
S222,5160 Error calculation: <5160> Transformation error in the transformation Check the calibration matrices _FCALAX,
user-frame $BASE _FCALST and _FCALET.
Check the calibration matrices which are
step number: <xxx> handed over to the calculation function as
variables.
S222,5162 Error calculation: <5162> Transformation error in the transformation Check the tool definition.
articulation angle $BASE Notify manufacturer.
step number: <xxx>
S222,5163 Error calculation: <5163> Transformation error in the transformation Check the calibration matrices _FCALAX,
$BASE user-frame _FCALST and _FCALET.
Check the calibration matrices which are
step number: <xxx> handed over to the calculation function as
variables.
S222,5164 Error calculation: <5164> Error in the gear calculation: Check gear transmission factors and
The "old" gear transmission factor is equal define them correctly.
in the program: <name> to zero and would result in a division by
step number: <xxx> zero.
S222,5165 Error calculation: <5165> Error in the gear calculation or Define variables as arrays with correct
recalibration: number of array elements.
in the program: <name> The array variables are not correctly
step number: <xxx> defined.
S222,5166 Error calculation: <5166> Error in the gear calculation: Dimension real variable arrays correctly.
The real variable arrays have less
in the program: <name> elements than activated axes in the
step number: <xxx> control.
S222,5169 Error calculation: <5169> System-internal pointer error in the Notify manufacturer.
function "para_set"
step number: <xxx>
S222,5170 Error calculation: <5170> System-internal pointer error in the Notify manufacturer
function "satzlg"
step number: <xxx>
S222,5171 Error calculation: <5171> Error in the mode "addition of axis-specific Source/destination variable must be
offsets". initialized with identical number of axes.
in the program: <name> The source and the destination variable
step number: <xxx> were initialized with different number of
main or additional axes.
S222,5172 Error calculation: <5172> System-internal error in the directory Notify manufacturer.
administration.
step number: <xxx>
S222,5173 Error calculation: <5173> A not allowed source version had been Enter a version before 14.
indicated for calculation of the versions of
in the program: <name> the positions.
step number: <xxx>
S222,5174 Error calculation: <5174> A not allowed destination version had Enter a number between 14 and 16 as
been indicated for calculation of the destination version.
in the program: <name> versions of the positions.
step number: <xxx>
S224 No programs selected
S226 Service mode not active
S227 Coincidence position reached! The control moved the robot to
Acknowledge message and coincidence position in dead man
continue with <START> key! operation. The sequence may be
continued after acknowledgment of the
message and operation of the <START>
key.
S228 Coincidence movement required! Info-message: Press the <START> key until the robot
Keep the <START> key pressed The robot is not on the programmed path has moved to the position below the
until the robot has reached the (after step preselection or fast stop). cursor. When the position is reached, the
coincidence position! Therefore, the position below the cursor is message S227 is given and the automatic
approached in dead man operation. mode may be continued.
S229 Executer error: A macro not yet finished, because e.g. an Acknowledge error and start macro again.
Processing of program is blocked input signal is missing, was started in the
in the program: <name> control.
step number: <number> If a further macro shall be started in this
blocked. status, this error message will be given.
Continue with <QUIT> key!
S230 The system variable ”<name>” is The system variable is administrated as Replace the value allocation by the
blocked for the COPY command. bit array internally in the control. A COPY WRITE_BIT command.
Use in the program: <program command is not permitted for this
name> purpose.
step number: <number>
the WRITE_BIT command.
S231 Path extension not possible! - Path extension must only be executed Execute extension only for CP LINEAR
Possible reasons: in the interpolation mode CP LINEAR. and observe that the path will be longer
- Wrong interpolation mode - The path to be extended must have a than 0.1 mm.
- The path is shorter than 0.1 minimum length of 0.1 mm.
mm
S232 Error when executing a macro! A variable was read or inscribed in a Execute the macro only when the robot is
The variable <name> must only macro that must only be read or inscribed standing still.
be inscribed or read when robot is when the robot does not move.
standing still.
Execute the macro when the robot
is standing still.
S233 Error when executing a macro! Attempt was made to execute a command • Check whether the indicated command
Command must not be executed in an operating macro that must not be is correct in this operating macro. If
during active processing of processed simultaneously while a not, please reset.
program. program is running. • Stop the running program and change
program: <Text> to a manual operating mode by
step number: <number> pressing the <Quit> key. Repeat
execution of the operating macro.
Attention: the command perhaps changes
movement parameters.
S234 Path switch error Error related to the PATH_SWITCH See documentation of path switch function
command
see chapter 3.7
S 234 / path switch error
S236 Please switch the independent For resolver calibration of autonomous not applicable
PLC station <number> for the PLC axes the autonomous PLC station
resolver calibration to the robot where the autonomous PLC axes to be
control. calibrated are defined has to be allocated
Set marker 1543.<number> to 1. to the robot control.
S237 Please switch on drives of the For resolver calibration of autonomous not applicable
independent PLC station PLC axes the drives of the autonomous
<number> for the resolver PLC axes to be calibrated have to be
calibration. switched on.
S238 Resolver calibration is not At least one of the selected axes is not Select axes anew.
possible! Selection of axis is active (see IACT_AXES) or short-circuited
wrong. or is a conveyor axis.
S239 Resolver calibration for axis Indexed axes cannot be moved. That’s Loosen indexing prior to calibration.
(axes) xxx is not possible. These why a resolver calibration is not possible.
axes have been indexed.
S240 The axes of an el. shaft must be Error with axis selection for resolver For selection take all axes involved in an
calibrated together. calibration. electric shaft.
S241 \x01\y01\wd input-error

S242 Resolver calibration was Operator guidance ---
successfully terminated.
S244 Resolver calibration for axis self-explaining Switch station prior to calibration.
(axes) xxx is not possible. These
station axes have not been
switched active.
S245 El. shaft correction of the master The machine data IAXES_DESCR[] was Delete bit 30 for the master axis and set it
axis not allowed! configured wrongly. Bit 30 may only be set for the slave axis.
for slave axes of an el. shaft.
S246 El. shaft Determination of the The system variable Modify _REL_SHAFT_CORR[].
interpolation points for the position _REL_SHAFT_CORR[] was configured
correction is not possible! wrongly, namely _REL_SHAFT_CORR[1]
is bigger or equal to
_REL_SHAFT_CORR[2].
S247 home position reached --- ---
S248 The program to be called Within a PLC program a program shall be Define the program as PLC program or
is no PLC program! called that is no PLC program correct the call
S249 different recording programs
S250 Correction function OSCILLATE When processing the command Switch off the sensor function or the
or SENSOR in INTERPOL #PTP INTERPOL #PTP the sensor function or oscillation function before the command
not allowed the oscillation function is still activated. INTERPOL #PTP
S251 no PLC-command Robot control commands have been Eliminate the corresponding command
programmed in a PLC program. The error from the PLC program
is released with start of the PLC.
S252 faulty brackets PLC compiler error: Check PLC program structure and adapt.
Programming error when using the
commands in parenthesis
S253 Branch target not defined PLC compiler error: Check PLC program structure and adapt.
Programming error for the branch labels
S254 Nesting depth too big The max. possible nesting depth was Check program structure; perhaps a
exceeded when using nested recurrence has been programmed.
subprograms/macros.
S255 Subprogram not found PLC compiler error: Check PLC program
Subprogram doesn’t exist.
S256 Syntax error PLC compiler error: Check PLC program
S257 Invalid I/O array number PLC compiler error: Check PLC program
Value range from 0-39 exceeded.
S258 Invalid I/O bit number PLC compiler error: Check PLC program
S259 Invalid marker array number PLC compiler error: Check PLC program
S260 Invalid marker bit number PLC compiler error: Check PLC program
S261 Invalid counter/timer number PLC compiler error: Check PLC program
S262 Inadmissible operand PLC compiler error: Check PLC program
S263 Inadmissible timer type PLC compiler error: Check PLC program
S264 Range of values exceeded PLC compiler error: Check PLC program
S265 Syntax error in the string length When using string variables in macros, Check string parameters in the macros
the variable definitions with regard to size and the macro calls.
do not match to the hand-over strings.
S266 String length too big/small Correct the string length
S267 Exception error: Internal error in the control Notify manufacturer.

Please notify manufacturer
about the following details:
software version:
system module:
line
S268 Internal pointer error Internal error in the control Notify manufacturer.
S269 not allowed operating mode Set operating mode correctly
S270 Abortion by the user
S271 Resolver calibration of the axes Calibration was not finished for axes xxx. Repeat calibration.
xxx failed!
S272 AUTO mode not selected
S273 Robot is in automatic start mode
S274 Invalid movement mode
S275 Event controller error: The Event Controller blocks the Check the event program. Watch out that
The event controller was not able ROBOTstarV control because the event no "dead loops" are programmed in the
to finish the macro <event program has not been finished. The event event program. Eliminate program
program>. program e.g. contains the following passages which may cause "hooks" in the
Check the macro. Continue with commands: STOP, WAIT_BIT or event program.
<QUIT> TEST_BIT which effects, that the macro
could not have been finished.
S276 Event controller error: Execution of the event program cannot be At the time of the event, no operator
Timeout error while processing started within 2 [sec] because the macro may be activated.
the macro <event program> ROBOTstar V control blocks the event Before starting a new event program, a
controller. This can happen if an operator started event program has yet to be
macro is still active while the event finished.
program shall be started.
Another cause is if different event
programs shall run very fast one after
another.
S278 Synchronization/setting of axes is The process was simultaneously started Start only once.
already active! via operating surface and via PLC marker.
S279 Overflow of the trigger buffer: Too much path switch information has Increase the machine data
The value of the machine data been given. ITRIGG_BUF_SIZE in steps of 2. The
ITRIGG_BUF_SIZE is too small. modification becomes only active after
new start of the control

S280 Warning message programming Operator information not applicable
system:
A static offset is active. The offset
was subtracted from the
programmed/edited position.
S281 Multi-layer welding: The name of the top layer program is 4 Correct the name of the root layer
Wrong or too long name characters longer than the root layer program in the ROOTLAYER command.
program
of the root layer program
S282 Multi-layer welding: Number of top Only top layer numbers from 1 to 999 are Correct the number of top layer in the
layer too big allowed. TOPLAYER command.
S283,1 Multi-layer welding: Sample program not found. Adapt pattern program name.
Error 1 during processing of
sample program.
283,2 Multi-layer welding: Pattern program is directory. Adapt pattern program name.
sample program.
283,3 Multi-layer welding: General error during scanning the pattern Consult the manufacturer.
Error 3 during processing of program.
sample program.
283,4 Multi-layer welding: Use of variables in the oscillation angle Replace variable by constant.
Error 4 during processing of command in the sample program.
sample program.
283,5 Multi-layer welding: Format of the pattern program is wrong. Modify sample program or correct the top
1. Normal and oscillation auxiliary layer number in the TOPLAYER
Error 5 during processing of command.
positions are programmed in the
sample program.
wrong order.
2. Not enough positions.
3. Position variables are used.
283,6 Multi-layer welding: The positions in the pattern program are Program positions in the same frame.
not programmed in the same frame.
sample program.
283,7 Multi-layer welding: Step in the pattern program not defined. Step in the pattern program not defined.
sample program.
283,8 Multi-layer welding: Distance of positions in the positions of Correct the positions.
the pattern program defining the
Error 8 during processing of oscillation coordinate system is too small.
sample program.
283,9 Multi-layer welding: The positions in the pattern program The positions in the pattern program
defining the oscillation coordinate system defining the oscillation coordinate system
Error 9 during processing of are situated on a straight line. are situated on a straight line.
sample program.
283,10 Multi-layer welding: The top layer position in the pattern Make a normal position of this position.
program must be a normal position.
sample program.
283,11 Multi-layer welding: The distance between the top layer Improve position in the pattern program.
position and the reference position (first
Error 11 during processing of programmed position) in the pattern
sample program. program is too small.
S284,1 Multi-layer welding: Error occurred during processing of the OCS data file must not be manipulated by
OCS data file. the user. Validate a perhaps invalid
Error 1 during generation of top definition of U_VAR
layer program
S284,3 Multi-layer welding: General error during generation of the top Consult the manufacturer.
Error 3 during generation of top layer program.
layer program
S284,4 Multi-layer welding: No position variables must be contained in Remove position variables from the root
the root layer program. layer program.
Error 4 during generation of top
layer program
S284,5 Multi-layer welding: Root layer program does not coincide any The root layer program must not be
more with the status during processing of modified any more after OCS recording.
Error 5 during generation of top the command ROOTLAYER.
layer program
S284,6 Multi-layer welding: The position in the root layer program is Program positions in the same frame.
not programmed in the same frame as the
Error 6 during generation of top top layer position in the pattern program.
layer program
S284,7 Multi-layer welding: Faulty step in the top layer program. Consult the manufacturer.
layer program
S284,8 Multi-layer welding: One displaced top layer position is not in Check positions in the pattern program.
the robot work envelope. Reprogram positions.
layer program
S284,9 Multi-layer welding: The number of main and additional axes
of the root layer program does not
Error 9 during generation of top coincide with the actual number.
layer program
S285 Multi-layer welding: The sample program doesn't exist. Adapt program name or generate sample
Sample program wrong program.
S286 Multi-layer welding: The root layer program doesn't exist. Adapt program name or generate root
Root layer program not found layer program.
S287 Multi-layer welding: Top layer

program not found
S288 The SENSOR-function shall The SENSOR-function shall correct into Please check, whether an oscillation
correct into binormal/normal or binormal/normal or tangent direction and auxiliary point is programmed.
tangent direction and no valid no valid oscillation coordinate system is Check the setting of the system variable
oscillation coordinate system is existing. _IOSC_MODE. This system variable
existing. defines the oscillation mode, i.e., an
oscillation auxiliary point must be
programmed or the $TOOL-coordinate
system is used.
S289 You executed a step preselection In the operating modes AUTO, TEST2, Approach of the position with step
to an oscillation auxiliary point. TEST3, TEST4 a step preselection to an preselection is only possible in TEST1.
Approach to this position is only
oscillation auxiliary point is not allowed.
allowed in the operating mode
<TEST 1>!
S290 You executed a step preselection In the operating modes AUTO, TEST2, Approach of the position with step
to a circular auxiliary point. TEST3, TEST4 a step preselection to a preselection is only possible in TEST1.
Approach to this position is only
circular auxiliary point is not allowed.
allowed in the operating mode
<TEST 1>!
S291 Sensor recording mode: There is no admissible file name in Adapt system variable _SSENFILE.
File name in the system variable _SSENFILE.
wrong or too long
_SSENFILE
S292 Wrong sensor mode in the The sensor operation was incorrectly Adapt _ISENSPEC:
system variable _ISENSPEC. initialized. 0 → "normal" sensor mode
1 → recording mode
2 → playback mode
S293 Not allowed sensor mode Not all sensor modes may be combined • If sensor #REC_PD is selected, #ON
combination. with each other. or #ON_FLYBY must not be selected
at the same time.
• If sensor #PLAYB_PD_ON and
sensor #ON or #ON_FLYBY are
selected, there must not be any
recording at the same time.
S294 Step structure between record Recording (sensor function) was New recording is necessary
and playback changed. performed for a certain part of the user
program. Steps were added or deleted
subsequently in this program part.

S295 A step preselection was In the operating modes AUTO, TEST2, • Start the program at another place in
performed for a CALC_REL TEST3, TEST4 a step preselection to a the program so that the robot first
position. Approach to this position
CALC_REL position is not allowed. moves to a position in the program and
is only allowed in the operating
mode <TEST 1>! then the command CALC_REL will be
performed.
• Switch over the operating mode to
<TEST 1>.
S296 The variable Attempt was made to read a system Eliminate from the program that command
<text> variable that must not be read. which is to read this variable
must not be read
S297 The variable Attempt was made to write in a system Eliminate from the program that command
<text> variable that must not be inscribed. which is to inscribe this variable
must not be inscribed
S298 Search is not allowed on a circular The SEARCH_BIN command was Remove command SEARCH_BIN.
path programmed on a circular path. Searching is only allowed in the
interpolation modes #PTP and #LINEAR
S299 Calculation of a relative vector is The CALC_REL command was Remove command CALC_REL.
not allowed on a circular path programmed on a circular path Calculation of a relative vector is only
allowed in the interpolation modes #PTP
and #LINEAR.
S300 PLC Shut Down: The marker 935.0 requested a shutdown not applicable
of the control. The control executes the
The robot is stopped. shutdown.
The data are safeguarded.
S301 PLC Shut Down: The marker 935.0 requested a shutdown not applicable
of the control. Data are safeguarded and
Control may be switched off. the control is ready for shutdown.
S316 Start of user program refused! You want to start a program manually and Change condition preventing the start.
the control recognizes a condition
Reason: preventing the start.
stop of <text>
S317 "Drives on" refused! You want to switch on the drives and the Change condition that blocks switching on
control recognizes a condition that the drives.
Reason: renders impossible to switch on the
Drives off from <text> drives.
S318 Motor temperature of axis x is too The motor temperature derived from the Let cool the motor. The machine data for
high! actual current (simulated value) is higher simulation of the temperature perhaps are
not correctly adjusted.
than the limit value from the machine data
RMOTOR_TEMP_MAX.
S319 Interpreter error: The program change from a subprogram Change programming.
Change of main program is only into another program is not allowed.
allowed in main program!
S324 The variable content is no IEEE The variable to be converted does not Modify program.
real number! correspond to the IEEE conventions.
Perhaps an integer number was taken
instead of a real number programming
error.
S325 Executer error: The Executer shall process a command Eliminate command from macro.
Function not implemented for which no release is given in the
Executer.
program:
<Text>
step number: <number>
S326 Function not implemented • Inadmissible variable types were Only VECTOR and POSITION are
programmed in the source/destination allowed as source variable types.
variable. A system variable of POSITION type
• The control word contains a not must be used as destination variable
defined transformation mode. type.
• In automatic programs commands Set the value of the control variable to the
have been used that are blocked for correct transformation mode.
the interpreter mode, e.g. the Check command parameters.
command SELECT_PROG Check program structure.
• In operator macros commands have
been used that are blocked for the
executer mode, e.g. speed commands
or acceleration commands
• The tool measurement is not possible
for this robot type (as of 10.0).
S327 The brake test is already active!
The brake test has been started for a Start the brake test again, as the first test
second parallel to the test just running (via has been interrupted due to this error.
Exec in a second window).

S328 The nominal value of the current
is to high! The current calculated from the nominal Check machine data RMOTOR_CONST
value and the test offset is higher than and RMOT_BRKMOMENT_HOLD. Check
127 amperes. Perhaps the machine data if the actual value of the current is
are configured wrong. measured correctly (Content of the
system variable _RCURR_ACT).
S329
Time interval for the brake test The time entered in Execute the brake test.
exceeded! IBRKTEST_MAXINTERVAL has expired
without a brake test being executed.
Execute brake test!
S330 Brake test not possible!
RMOTOR_CONST[x] = 0.0 results in a Correct the machine datum.
Machine data division by zero during calculation of the
RMOTOR_CONST[x] = 0.0 test current.
S331 ATTENTION!
Standstill of the robot with switched-on Execute the brake test.
Execute brake test! drives or the place in the user program Check program(s).
AUTO mode only possible for xx which contains the command
min. BRAKE_TEST is not processed.
Programming error!!!
S332 ATTENTION!
The brake of the axis <axis> is
defective!
Replace the motor and start brake
test manually!
S333 Process controller error Switching on/off of the process controller Check the setting of the process controller
approximation not possible due to
is to be approximated. The process in the system variable _IPC_CTRL and
<Text>
controller, however, was set such way that correct same, if necessary.
approximation is not possible.
S334 Initialization info: Already defective program was stored After reading of image.old the programs
The programs in the file
with shutdown or power fail. Error must be checked and perhaps be up-
“image.bin” are defective!
occurred during reading the file. Flashdisk dated.
defective. Not enough memory location on If possible send the file image.bin for
the Flashdisk during storage. check to the customer service.
Check the general function with shutdown
and new start of the RSV.
S335 Initialization info: Already defective program was stored in Read in programs of the latest backup.
The programs in the file
image.old. Error occurred during reading If possible send the file image.old for
“image.old” are defective!
the file. Flashdisk defective. check to the customer service.
Check the general function with Safe
Project, shutdown and new start of the
RSV.
S336 Initialization info: The file is missing. Check the general function with shutdown
The file “image.bin” could not be
FlashDisk defective. and new start of the RSV.
read!
Wrong file format due to manipulations on After reading of image.old the programs
the file. must be checked and perhaps be up-
dated.
S337 Initialization info: The file is missing. Read in programs of the latest backup.
The file “image.old” could not be FlashDisk defective. Check the general function with Safe
read! Wrong file format due to manipulations on Project, shutdown and new start of the
the file. RSV.
S341 TCP_Output:
analog output <number> is
beyond
the range 0 - <number>

S343 Transformation error: An axis/frame number was entered in the Execute correct calibration. Check
No calibration matrix does exist! group table for which there exists no machine data IAXES_DESCR[x] Bit07
calibration matrix. and ITOOLAXES_DESCR[x] Bit 14 for
static frames and ITOOLAXES_DESCR[x]
Bit 07 for workpiece interpolation!
S344 Transformation error: An axis that is not defined as additional Execute correct calibration. Check
Axis was not defined as additional axis in the machine data program was machine data IAXES_DESCR[x] Bit 01 !
axis! entered in the group table.
S345 The value of the machine data The indicated machine data is too big or Enter a value within the valid range.
<name> is beyond its value range! too small.
S346 The machine data Wrong adjustment of the machine data Adjust machine data such that frequency
ISPEED_CNTRL_CLK and and cycle time correspond to the following
ISPEED_CNTRL_FREQ result in relation:
different cycle times. f = 1 / T; or T = 1 / f
Adapt one of the two values.
S347 Process controller error The process controller is configured in For switching on the process controller
approximation not possible." _IPC_SWITCH for "Cutting/Separating" only use #ON instead of #ON_FLYBY and
and the switching on/off is to be for switching off only use #OFF instead of
approximated. In the configuration #OFF_FLYBY
"Cutting/Separating" approximation,
however, is not possible
S348 Command not admitted since Position steps are not allowed between Modify program
external movement being active! EXTERN_MOVE #ON und
EXTERN_MOVE #OFF.
S349 Robot is asynchronous Synchronize robot
S350 Different PLC applications are The PLC programs have not yet been Match the PLC programs with the
running on the Server and the transferred from the Server to the Client. RobOffice-Tool ”RSV Filetransfer” .
Client ! The programs have been changed on the
Server and/or the Client.
S351 Safe production: The control reduces the speed of the Acknowledge message.
robot due to the requested operating
The flange speed of the robot is mode "Safe production". This is a purely
reduced to <number> mm/s! informative message.
S352 Safe production: The control reduces the speed of the Acknowledge message.
robot due to the requested operating
The axis speeds of the axes <axis mode "Safe production". This is a purely
counting> are reduced! informative message.
S353 Error during deletion of the file Flashdisk defective. Repeat procedure. Change the CPU
“image.old” !
Problems during access to Flashdisk. board.
Defective CPU-board.
S354 Error during renaming of the file Flashdisk defective. Repeat procedure. Change the CPU
“image.bin” to “image.old” !
S355 Error during writing of the file Not enough location on the Flashdisk. Repeat procedure. Change the CPU
“image.bin” !
Flashdisk defective. board.
Problems during access to Flashdisk.
S356 Error during opening of the file Flashdisk defective. Repeat procedure. Change the CPU
“image.bin” !
S357 External movement impossible! The speed and acceleration settings in the Check the setting of the data
Check the settings for speed and
machine data are faulty and don't allow RAXES_NOM_SPEED,
acceleration for the axis(es)<axis
indication>. any calculation of the PTP movement. RAXES_NOM_ACCEL,
RAXES_MAN_SPEED and
RAXES_MAN_ACCEL for the
corresponding axes and correct them in
the program MDPROG. In case you are
not sure, contact Reis Robotics.
S358 Data length too big A variable cannot be inscribed since the Extend definition. Correct the program.
definition is too small.
S360 Different frames for start and A frame change with active external Change settings in _PEXTPOS.
destination position!
movement is not allowed.
S361 All positions in the marked range When using MINMOVE a range has been Program the positions that are to be
have to be established with the marked that contains positions that had processed later with MINMOVE with the
same tool. been programmed with various tools. same tool.
S362 Oscillation coordinate system
cannot be calculated.
Reason: Zero vector in binormal
or tangent.
S363 free
S364 Wrong OCS fine mode The system variable _IOSC_SUBMOD Select one of the following values:
was incorrectly programmed. - 0: binormal= neg. Z-axis of the tool
frame)
- 1: binormal= neg. X-axis of the tool
frame)
- 2: binormal= neg. Y-axis of the tool
frame)
S365 Wrong OCS mode The system variable _IOSC_MODE was Select one of the following values:
incorrectly programmed. - 0: programmed OCS
- 1: Auto-OCS with path-specific
constant binormal.
- 2: Auto-OCS with variable binormal.
- 3: Auto-OCS with OCS completely from
the tool coordinate system.
S366 Oscillation auxiliary point and start The oscillation auxiliary point must be at Increase distance of oscillation auxiliary
point are identical least 5mm away from the oscillation start point.
point - this is the last position programmed
before the oscillation auxiliary point.
S367 Oscillation auxiliary point and start The oscillation auxiliary point and the Select identical coordinate systems.
point oscillation start point - this is the last Change oscillation auxiliary point or
in different frames position programmed before the oscillation start point.
oscillation auxiliary point - are
programmed in different coordinate
systems.
S368 No oscillation auxiliary point Program oscillation auxiliary point or
programmed select AUTO-OCS mode.
S369 free
S370 PLC command WDB, RDB: Wrong parameters programmed in one of Correct the PLC program and restart PLC.
Data start + data length will result the commands WDB or RDB.
in exceeding the marker range
limit!
The PLC was stopped!
S371 PLC command WDB, RDB: The third parameter in the command WDB Correct the PLC program and restart PLC.
Data length too big! or RDB is higher or identical to the
The PLC was stopped! number of array elements of _IPLC[].
S372 PLC command WDB, RDB: not applicable Correct the PLC program and restart PLC.
A WDB or RDB is already active!
Multiple calls are not allowed!
The PLC was stopped!
S373 PLC command WDB, RDB: Term zero is missing when reading the Correct the PLC program and restart PLC.
Name length will result in variable name from the marker byte
exceeding the marker range limit! programmed in the command. Thus,
The PLC was stopped! range limit is exceeded.
S374 PLC command WDB, RDB: not applicable Correctly allocate the name in the PLC
Definition not found or not program.
initialized or no array! Add the global definition.
The PLC was stopped! Restart PLC.
S375 PLC command WDB, RDB: The number of double words (third Correct the number of double words in the
The array is too small! parameter) programmed in WDB or RDB PLC command.
The PLC was stopped! is higher than the actual number of array Extend the number of array elements of
elements of the corresponding definition. the definition.
Restart PLC.
S376 PLC command WDB, RDB: not applicable Change the type of variable definition to
The variable is not of the Integer integer (letter I as first character in the
type! variable name).
The PLC was stopped! Restart PLC.
S377 File is not compatible
S378 Wrong order of the I-steps in FB not applicable Change the order. The following order is
section of definition! correct for each parameter:
I D ............
I T M..........
I --------------
S379 Error in FB section of definition, No special characters are allowed in the Correct the I-step in the PLC program.
step x. Inscriptor or parameter inscriptor. Only the characters ‘0’ to ‘9’ are
address contains wrong ASCII- allowed as parameter address.
characters!
S380 Too many parameters in the FB The max. number of 40 parameters is Correct the definition parts in the PLC
section of definition or no exceeded or the definition part only program.
parameters defined! contains the end identification I ENDDEF.
S381 Wrong step in FB section of The step x is no I-step and no PLC Delete the not allowed step or add the
definition, refer to step number x! comment or the definition part is not missing end identification.
terminated with I ENDDEF.
S382 Number of parameters does not The FB-command (FB-call) has been Match the FB-call with definition part in
coincide with FB section of changed via the edit step or the definition the function module.
definition! part of the function module has been
changed.
S383 Error in FB inscriptor No.: x! The inscriptor of the parameter x Adapt the inscriptor to the setting in the
programmed in the FB-call (PLC- FB section of definition. Both texts have to
command FB) contains wrong ASCII- be identical.
characters.
S384 Error in FB parameter No.: x! The parameter x programmed in the FB- Correct the relative parameter.
call (PLC-command FB) contains wrong
ASCII-characters.
S385 error in the PLC-program An error was recognized in the indicated Check the relative command and correct it
<text> program. accordingly.
and step <number>!
S386 The Safety-Controller - PLC The max. program size of 10,000 bytes is Shorten the PLC programs in the directory
programs are too large! exceeded. S:/$CONFIG/$SAFETY/PLC.
Requires password level4.
S387 free
S388 DNC-connection interrupted Bad transmission quality Check of communication interface
S389 controller not ready for reception Program memory processing is active if a Repeat program transmission
program shall be read-in via DNC
S390 free
S391 Coordinate interface: The transferred states contain requests Change requests. Perhaps some requests
Invalid operating mode that cannot be fulfilled by the RSV. are not yet implemented.
S392 Coordinate interface: With the axis supply some axes are not Extend supply, so that all axes will be
activated in the status field. All main and transferred.
In case of axis-wise supply all additional axes must be transferred.
kinematic axes must be moved.
S393 Coordinate interface: For Cartesian transmission there must be Change supply. Adapt status.
indicated a frame information and the
For the Cartesian supply not all three space coordinates.
the data are available. TCP or
frame information missing.
S394 Coordinate interface: For the Cartesian supply there must be Transfer orientation (Eulerian angles or
transferred an orientation. vectors of the tool coordinate system) and
For the Cartesian supply not all consider it in the status.
the data are available. Orientation
information missing.
S395 Coordinate interface: An RSV traversing module (manual Activate the coordinate interface
movement, program mode) is activated separately.
Conflict with another supply simultaneously with the coordinate
module. interface.
S396 Coordinate interface: Supply Before a supply can be made, there Request initialization via status variables.
without preceding init request. always must be executed an initialization. Then supply data.
S397 Coordinate interface: An error has been signaled by the Remove error on the external device.
coordinate interface.
External device signals error.
S398 Coordinate interface: A STOP1 (e.g. drives off) was released Eliminate cause for stop.
Stop and drives off while the robot is moved over the
coordinate interface.
from the control.
S399 Coordinate interface: A STOP2 (e.g. via stop key or movement Eliminate cause for stop.
Stop from the control. key) was released while the robot is
moved over the coordinate interface.
S402 The Boolean expression is no The advancing evaluation delivered TRUE Check the print-out. Check program
longer TRUE! as a result and the synchronous sequence. Check peripheral signals.
evaluation delivered FALSE.
S403 not allowed tool components Error in the tool definition. Notify manufacturer.
Error is given by the commands TOOL
and EXT_TOOL.
S404 Invalid step number
S405 Coordinate interface active
S406 Camera error: The system times in the sensor computer Adaptation of the synchronization factor
Error in the time synchronization and in the robot control are different. This _RCRYSTAL_SYNC.
between sensor computer and causes an error when allocating the Notify manufacturer.
robot control! camera measuring value to the robot axis
position.
S407 Camera error:
The camera calibration has been made • Check the camera position.
There are no camera measured with activated average value formation
values with formation of average (_ISPECIAL_FKT Bit 22 = 1). No valid • Check the pattern adjustment/selection
value being activated! measured values have been transferred in the camera system.
from the camera to the robot control.
• Check the physical connection
between robot control and sensor
computer.
S408 Camera_error:
The sensor control circuit for the height Allocate with zero the I-share (= system
The sensor control circuit for the guiding or the side guiding was variable _RIGAIN[x]) and the II-share (=
camera height/side guiding is programmed with an I-share or an II- system variable _RIIGAIN[x]).
activated with an integral share. share.
In case an I-share is requested explicitly,
Remedy: then the error message <S 408> may be
Inscribe the system variable switched off by setting bit 29 in the system
_RIGAIN with the value zero. variable _ISPECIAL_FKT.
S409 Camera error:

Formation of the average value is • Check the camera position.
There are no camera measured activated (_ISPECIAL_FKT Bit 22 = 1). No
values with formation of average valid measured values have been • Check the pattern adjustment/selection
value being activated! transferred from the camera to the robot in the camera system.
control. At the same time
_IPD_CONTROL BIT12 = 1 so that this • Check the physical connection
message will be given instead of S407. between robot control and sensor
computer.
S411,2 Conveyor error 2
• Calibration was forgotten. Calibrate conveyor station again.
• Data for calibration of the conveyor

station (S:/$CONFIG/$SYSDAT) were
deleted.
• Bit 7 in the IAXES_DESCR entry of the

conveyor axis was deleted manually.
S411,3 Conveyor error 3 Calibrate conveyor station again.

• Calibration was forgotten.

deleted.

Wrong speed and acceleration preset for Change _RCONV_CTRL[2] and [3] to a
jump-on in _RCONV_CTRL positive value unequal to zero by means
of a COPY command.
S411,5 Conveyor error 5 Calibrate conveyor station again.
• Calibration was forgotten.

deleted.


• Calibration was forgotten. • Calibration was forgotten.
• Data for calibration of the conveyor • Data for calibration of the conveyor
station (S:/$CONFIG/$SYSDAT) were station (S:/$CONFIG/$SYSDAT) were
deleted. deleted.
• Bit 7 in the IAXES_DESCR entry of the • Bit 7 in the IAXES_DESCR entry of the
conveyor axis was deleted manually. conveyor axis was deleted manually.
Wrong speed and acceleration preset for Change _RCONV_CTRL[2] and [3] to a
jump-off in _RCONV_CTRL positive value unequal to zero by means
of a COPY command.

deleted.



deleted.

S412 Conveyor error: For conveyor jump-on the programming of Program INTERPOL #PTP or #LINEAR
Jump-on/-off only allowed in movement mode CIRC or SPLINE is prior to conveyor jump-on or jump-off.
movement mode PTP and useless, because anyway an interpolation
LINEAR. matched for the conveyor movement and
based on the LINEAR move mode is
executed.
S413 Conveyor error: A jump-on shall be executed without the Release synchronization pulse before
Counter of the conveyor axis synchronization pulse being given once executing a conveyor jump-on.
hasn't been reset. since the last control start.
S418 The linear transmitter axes Message finished for synchronization of not applicable
<axes> have been synchronized the axes with Rexroth linear transmitter
just now. They are ready for systems.
operation unrestrictedly.
S419 Motor initialization of the axes Message finished for the initialization step not applicable
<axes> is finished. of the axes with Rexroth linear transmitter
For synchronization they have to systems
be moved via the reference
markings.
S420 The linear axes <axes> require a The mentioned axes with Rexroth linear Perform the basic initialization.
motor initialization! transmitter system are asynchronous and
Perform initialization: require a basic initialization
-> <Run> -> Cal/Sync -> LinMot-

Init
S423 The Remote-PLC-test has already Key sequence: Run, Test PLC, Remote not applicable
been started! Test on have been operated a second
time.
S424 Wrong password. Access to The I-step with the identification Set equal both passwords.
network refused! ”REMOTE_PLC” in the Client-program
NET_CNF contains another password
than the I-step with the identification
”REMOTE_PASS” in the Server-program
NET_CNF.
S425 Missing or wrong entry in The step ”I REMOTE_PLC ...” is missing Establish the I-step as described under
S:/$CONFIG/$CNF/PROTECT! or contains wrong data. item 5.1 in the documentation titled
“Remote-PLC-Test”.
S426 Error in the network connection to General communication error, connection Terminate the Remote-PLC-Test and start
...! between Client and Server interrupted. again. Check connection to the Server
with the PC-command "ping". Reboot PC
and/or RSV.
S427 Physical connection disturbed Establishment of connection impossible Check of communication interface
S428 Program cannot be deleted Attempt was made to delete the The MDPROG cannot be deleted. It may
MDPROG. only be overwritten for read-in from disk or
while restoring a backup.
S429 The program <path>/MDPROG The MDPROG was not copied into the The MDPROG must be copied into the
has no effect at this position! given path. directory ”S:/$CONFIG/$DATA”.
S430 The program <name> A program KEY_CNF1, KEY_CNF2, These programs are no longer required
has no effect at this position! from version 8.1 on.
KEY_CNF3 or KEY_CNF4 was copied.
Observe update regulation! (see update regulation for 8.1)
S431 Renaming / moving is not possible Attempt was made to rename the The MDPROG cannot be renamed or
shifted into another directory.
MDPROG or to shift it into another
directory.
S432 Directory cannot be deleted Operator guidance not applicable
S433 You require <number> of empty Operator guidance not applicable

formatted disk(s).
Please insert disk <number>.
S434 Please insert disk <number>. Operator guidance not applicable
S435 no sufficient memory available, 1. When creating backup: Change the CPU board
to read in the backup CPU board with too less RAM
2. Read in backup Memory extension is necessary
Backup is bigger than available SRAM
S436 Directory cannot be copied into
itself!
S437 Back-up was not possible ! Defective program memory Storage of the individual programs on disk
Program memory must be completely
restored
S438 No backup established yet Before saving the backup program, it has Establish or read-in backup
to be created first.
S439 No sufficient memory available, in The CPU board does not correspond to Change the CPU board.
order to create a backup. the hardware prerequisites or the memory
components are defective.
S440 Backup created Operator guidance
S441 MDPROG is faulty
S442 No step marked
S443 Marking impossible Attempt to mark program start, program These steps must not be marked.
end, "." and/or ".." steps
S444 No block marked No block marked for block operations in Mark the block
the editor
S445 Too many blocks marked More than one block marked for block Unmark all blocks except one
operations in the editor
S446 Destination must be situated One block shall be copied into itself during Set the cursor to a step outside the block
outside the block block operations
S447 Copying impossible
S448 Directory is not empty Deletion of a directory program which is Delete the directories and programs under
not empty this directory
S449 Directory cannot be moved inside
itself!
S450 Program is invalid Attempted access to an invalid program Remove program and read-in anew
S451 Error during reading of the Date stored on FlashDisk cannot be read FlashDisk of the CPU must be checked.
FlashDisk in again Exchange CPU.
S452 Error step coincidence: Internal problem with determination of a Switch off diagnostic message by
Fast stop return calculation not nominal value correction after fast stop. resetting bit 11 in the machine data
possible! ISPEC_CONFIGS.
Notify Reis Robotics.

S453 Error step coincidence: Internal problem with return calculation ofSwitch off diagnostic message by
Sensor/oscillator return calculation oscillator or sensor offsets after resetting bit 11 in the machine data
not possible! interruption on a sensor path or oscillatedISPEC_CONFIGS.
path. Notify Reis Robotics.
S454 Error step coincidence: Internal problem with calculation of the Switch off diagnostic message by
Shifting via system variable path start correction. resetting bit 11 in the machine data
_RCART_PATH_OFFSET not ISPEC_CONFIGS.
possible! Notify Reis Robotics.
S455 Error step coincidence: Internal problem with advance Switch off diagnostic message by
Advance transformation not transformation. resetting bit 11 in the machine data
possible! ISPEC_CONFIGS.
Notify Reis Robotics.
S456 PROFI-BUS-master: The total number of data bytes (total of all Reduce the number of data bytes in the I-
Error in PROFICNF! I-steps) exceeds the maximum value of steps.
Number of data bytes is too large! 2048 bytes for send data or for receive
data.
S457 PROFI-BUS-master: For a PROFI-Bus master the program Reduce the number of the I-steps.
PROFICNF includes too many I- PROFICNF may include maximum 1024 I-
steps! steps for the variable transfer.
S458 PROFI-BUS-master: The maximum number of I-steps for send Reduce the number of the I-steps.
PROFICNF includes too many I- variable is 512.
steps for send variable!
S459 PROFI-BUS-master: The maximum number of I-steps for Reduce the number of the I-steps.
PROFICNF includes too many I- receive variable is 512.
steps for receive variable!

S460 PROFI-BUS-master: The permitted value range from 0x000 to Correct the offset in the I-step.
Error in PROFICNF step ..! 0x7FF for receive or from 0x800 to 0xFFF
Data offset too big! for send is exceeded.
S461 CAN-error: This node found an internal error and tried Check CAN circuit and node and replace
The node with the Id to announce this via emergency telegram. the node if needed
<NUMBER1> in CAN-circuit It sets itself OFFLINE then
<NUMBER2> does no longer
work correctly.
S462 CAN-remark: Not used at the time being
Wrong number of parameters in
the re-init macro
S463 CAN-error: This CAN circuit <NUMBER2> is entered Activate circuit and install the Mmodule if
CAN-circuit <NUMBER1> not for this node <NUMBER3> in the needed and wire again
activated! CAN_CNF. Mmodule <NUMBER1> is
Mmodule no. <NUMBER2> is not required for this purpose. This Mmodule is
available. not available
Node No. <NUMBER3> in the
concerned circuit not recognized
S464 CAN-remark: Configure this node with an admissible
Node no. <NUMBER>1 in circuit node id. and set accordingly
<NUMBER2> is beyond the
admissible range (1-61)
S465 CAN-error:
The node with the Id<number in
the CAN circuit <number> cannot
be set into <text> mode.
S466 CAN-remark: Check all nodes in this circuit whether
The node with the Id <number> in they provide the IDs indicated in the
CAN-circuit <number> does not CAN_CNF. Change wrong node ID or
exist. retrofit node if needed
Wrong indications during re-init?

S467 CAN-remark: This CAN circuit <NUMBER2> is entered Activate circuit and install the Mmodule if
for this node <NUMBER3> in the needed and wire again
CAN-circuit <number> not CAN_CNF. Mmodule <NUMBER1> is
activated! required for this purpose. Its
M-module no. <number> is not communication parameters are not
occupied in the machine data.
configured.
Knoten Nr. <Zahl>
in dem betroffenen Kreis
nicht erkannt
S468 CAN-remark: Correct the entry in the CAN_CNF
Circuit no. <number> is beyond
the admissible range (1-8)
S469 CAN-message: communication Communication has broken down Check circuit completely
error completely in this circuit. Perhaps there is
no active node or a node has a wrong
in the CAN-circuit: <text> on
baud rate.
Mmodule No. <number>
S470 No connection to node <number> Aborted connection when receiving the Check CAN circuit completely
in circuit <number> node information for the messages S471 /
S472
S473 CAN-message: device has recognized internal error Analyze error and take suitable
counter-measures, e.g. reduce the
Node no. <number> in circuit number of error frames
<number> transmits emergency
telegram: <text>
S474 CAN-message: Device recognized during start-up, but Check CAN_CNF, whether
cannot be set to the desired operating configuration is also suitable for this
Node no. <number> in circuit mode. device
<number> is no longer initialized!
If CAN_CNF is o.k, try again to
exchange device in case of repeated
faulty trials
S475 CAN-message: Recognized the same Id several times Check CAN_CNF and allocate each Id
during initialization only once per circuit
Node no. <number> in circuit
<number> is announced several
times!
S476 MMODULE-error:
Mmodule no. <number> doesn't
communicate anymore!
S477 CAN-message: This node did not announce during Check node and reboot system.
Node no. <number> in circuit SDO-inquiry in the start-up phase.
<number> not recognized
S478 CAN-message: This node did not send any If this error message cannot be
synchronous PDO any more in n cycles acknowledged, the system must be
Node no <number> in circuit following one after the other. This node rebooted.
<number> doesn't transmit probably failed.
synchronous data any more! This error may be released by mistake
when using the "RSV-File transfer"
(only when using the CPU60 and only if
the CPU60 is transmitting data).
S479 CAN-warning <text>
S480 CAN-error <text>
S481 CAN-error:
The servos couldn’t be booted.
Check baud rate of all CAN-
circuits and of all CAN-devices.
S482 CAN-remark: This input byte is entered several times in Correct the entry in the CAN_CNF
Input allocated twice: <ZAHL> the CAN_CNF

S483 Check wiring and CAN-node of this circuit.
CAN-error: • very disturbed environment
• defective CAN-subscriber
<number> error frames per sec. in • Problem due to wiring
CAN-circuit <number>.
Completely check this CAN-
circuit.
S484
CAN-remark CAN_CNF: Step no. • An unknown Device Type is entered in • Correct the Device Type
the first column of the file • Use only Device Types as indicated in
<number> contains not admitted the documentation
DeviceType or syntax error S:/$CONFIG/$CNF/CAN_CNF
• Exactly observe the syntax in the
• Syntax error: e.g. entry not exactly documentation (Tab-Structure)
under a T-character
S486 • Reduce the number to <number1>
CAN-EMCY-CONFIG: Admitted • More than <number1> valid I-steps
number of <number1> telegrams with telegrams to be masked are
exceeded in line <number2> entered
S487 • Enter exact number <number1> in this

CAN-EMCY-CONFIG: Wrong line in the program
number of tabulators Required S:/$CONFIG/$CNF/CAN_EMCY
are <number1> tabulators in line
<number2>

S488 • Delete step and enter anew
CAN-EMCY-CONFIG: Error with • Faulty step
step continuation in program
<text> in line <number>
S489 • Correct the indications acc. to
CAN-EMCY-CONFIG: Syntax • Wrong indications
documentation
error in program <text> wrong • Indication does not begin exactly
indication or range exceeded in under the T-character
line <number1> column
<number2>
The program <text>, the variable is to •

S490 Restore program in the correct
ONLINE-ParameterChange-Error: • directory
program <text> not found be written back to, is no longer
available or in the wrong directory • Ensure that the program will not be
deleted or shifted during runtime
S491
ONLINE-ParameterChange-Error:
Retranscription:
Step <number> in program

<Name> is no COPY command
S492 Ensure that no shifting will be made in the
ONLINE parameter change error: program memory during runtime
Retranscription: Definition of
variable <text> was relocated
subsequently.

S493 Ensure that no shifting will be made in the
ONLINE-ParameterChange-Error: • COPY command is no longer the
program memory during runtime
Retranscription: Destination of the same as it was with beginning of the
COPY command is not the adjustment
variable <text>. Shifted
subsequently?
S495 Ensure, that the robot was measured
One or several positions in the Deviation of the internally calculated tool exactly
segment translation are vectors to each other exceeds the limit
value.
programmed too imprecisely or Program positions more precisely
the robot is not exactly
calibrated.
S496 In segment rotation there are not Wrong number of position steps Program either no or exactly 3 positions
included 3 position steps. XXX programmed
steps are programmed.
S497 Wrong number of position steps Program at least 4 (robot with 6 degrees
The number of position steps in programmed of freedom) or 3 positions (robot with less
segment translation does not degrees of freedom)
correspond to the minimum
number. xxx steps are
programmed.
S498 Error in PROFICNF For simple variables (no array) a number Set the number of data elements = 1.
step<number> of data elements > 1 is not permitted.
Number of data elements too big!

S499 PROFI-BUS-slave x: The maximum number of I-steps for send Reduce the number of the I-steps.
PROFICNF includes too many I- variable is 60.
steps for send variable!
S500 PROFI-BUS-slave x: The maximum number of I-steps for Reduce the number of the I-steps.
PROFICNF includes too many I- receive variable is 61.
steps for receive variable!
S501 Error in PROFICNF step The array index is missing in the step Correct the variable name in the I-step.
<number> marked with y. The definition is an array.
The variable is an array! Wrong variable name entered.
S502 Error in PROFICNF step self-explaining Correct the array index in the I-step.
<number>
Array index is too big or too small!
S503 Error in PROFICNF step In the step marked with y an array index is Correct the variable name in the I-step.
<number> indicated though the definition is not an
The variable is no array! array.
Wrong variable name entered.
S504 Error in PROFICNF step The array index is not correctly indicated. Correct the array index in the I-step.
<number> The index consists of the brackets and the
Syntax error in the array index! digits 0 through 9.
Example: [23]
S505 Calibration not possible Faulty termination of the 6D mouse Execute calibration anew.
calibration.
S506 Calibration error <number> see chapter 3.10
S507 Error in tool calibration! Syntax Not applicable Check the syntax and correct, if
error in the calibration program necessary
<number>

S508 Error in tool calibration! Distance Not applicable Program the positions in such way that
of the tool flange between pos. the distance increases.
<number> and pos. <number> is
too small.
S509 Error in tool calibration! For definition of the tool orientation the Program the positions in the segment
Orientation of the positions in the corresponding used positions have to be ROTATION with the same orientation.
segment rotation is not identical. programmed with the same orientation.
S510 Error in tool calibration! Internal not applicable Please inform Reis Robotics.
calculation error <number>.
S511 Error with tool calibration! • Tool variable was not defined. • Define tool variable (VAR "Toolname")
Tool definition not found or a • A tool variable that must not be • Use other tool variable
blocked tool variable is used.. inscribed was used.
S512 PROFI-BUS-slave x: The total number of data bytes (total of all Reduce the number of data bytes in the I-
Error in PROFICNF! I-steps) exceeds the maximum value of steps.
Number of data bytes is too large! 240 bytes for send data or 244 bytes for
receive data.
S513 Error in PROFICNF step y! The requested access authorization is not This system variable cannot be
Read/write variable given for the indicated system variable. transferred. Delete the I-step.
not permitted! The access authorizations are firmly set in
the system and cannot be changed via the
operator surface.
S514 Error in PROFICNF step y! Wrong variable name programmed. Correct the variable name in the I-step.
Variable not found!
S515 Wrong transfer direction in The designation of the transfer direction is Change the designation. The designations
PROFICNF step y! wrong. ”receive” and ”send” are correct.

S516 PROFI-BUS-slave x: All I-steps must include the same station Change the station number.
Different station numbers in number per PROFI-Bus slave.
step y and step z!
S517 The station number is too big A station number must not be higher than Change the station number.
in PROFICNF step y! 125.
S518 PROFI-BUS-slave x: Per PROFI-Bus master the program Reduce the number of the I-steps to
PROFICNF includes too many I- PROFICNF may include maximum 121 I- maximum 121.
steps! steps for the variable transfer.
S519 PROFI-BUS-slave x: The program PROFICNF includes no valid Insert valid I-steps.
PROFICNF contains no I-step, neither for the marker transfer nor
configuration data! for the variable transfer.
S520 PROFI-BUS-slave x: Simultaneous marker and variable Delete the I-steps with the wrong transfer
In PROFICNF simultaneous transfer is not permitted. Per PROFI-Bus mode or invalidate them.
marker and variable transfer was slave only one transfer mode is permitted.
configured!
S521 Error in tool calibration! By means of the documentation check
A required system variable was which system variable is concerned and
not inscribed. inscribe the variable with the correct value
S522 Error in tool calibration! The frame indicated for the light barrier is Change the calibration of the "light barrier
Only one static frame no static frame. frame" so that it is a static frame.
is allowed for the light barrier.
S528 Second parameter missing or not Syntax error in the PLC command SS or Modify command SS or RS.
allowed! RS. Second parameter may only be
inscribed in the command in case of
access to real elements.

S529 Wrong variable type! The variable type (second letter in the Reset command SS or RS. Correct the
variable name) is not allowed in variable type.
conjunction with the PLC commands SS
and RS.
S530 Structure element missing or The PLC command SS or RS can only Correct or insert structure element behind
unknown! access to individual elements of structure the variable name.
variables.
S533 PROFI-BUS-master:
The node with the Id <number> is
beyond the admissible range (1-
61)
The node with the Id <number>
was not recognized
Profi-Bus Master does no longer
communicate!
S536 PROFI-BUS-master: • Check the connections to the
The node with the ID <number> corresponding node
does no longer work correctly • Perhaps replace node
S537 PROFI-BUS-master: You entered an invalid device designation Enter valid device designation (must
Node no. <number> contains not in the program CAN_CNF for a profibus always end with..._SR)
admitted DeviceType node.
S538 PROFI-BUS-master: You entered two profibus nodes with the Modify the node numbers accordingly and
Node no. <number> is announced same designation in the program check the settings at the corresponding
several times! CAN_CNF. nodes

S539 PROFI-BUS-master: The profibus was configured but no Plug the profibus master board into the
Board not found profibus master board was plugged. rack.
data from node <number> not
available.
S540 PROFI-BUS slave: A station number has been allocated Change the station numbers in
Same station number for slave 1 twice. PROFICNF.
and slave 2!
S541 PROFI-BUS master: 2. The firmware on the master board Exchange master board
Timeout doesn't start within the defined time of
Board cannot be started! 10 seconds.
S542 PROFICNF contains no The program PROFICNF doesn't contain
configuration data! any I-steps. Insert the I-steps in PROFICNF.
S543 PROFI-BUS-slave x: Concerns the I-step for slave x Generate the I-step as described in the
PROFICNF contains wrong documentation.
number of parameters!
S544 PROFICNF contains wrong board self-explaining The correct board type can be taken from
type! the documentation or from the program
PROFICNF.
S545 PROFI-BUS-slave x: The value range of a parameter is not The value ranges can be taken from the
PROFICNF contains wrong reached or exceeded. documentation or from the program
parameter values! PROFICNF.
S546 PROFI-BUS slave: Programming error in the program Select the start markers so that no range
Range intersection of the PLC PROFICNF. Parts of the PLC markers are intersection can occur.
markers for slave 1 and slave 2 occupied for slave 1 and for slave 2 at the
same time.
S547 PROFI-BUS-slave x: The firmware on the slave board x doesn't Replace the slave-board.
Timeout start within the defined time of 10
Board cannot be started! seconds.
S548 Window division cannot be The window division shall be canceled Stop the running program or change-over
canceled!
during program run and the current to the window in which the program is
Stop the current program
or change the window first window is not the one in which the processed and then only cancel the
program is processed. window division.
S549 No macro allowed
S550 path too long
S551 Macro definition error The definition part of the macro contains a Check syntax of the definition part and
Step: <step number> syntax error. Perhaps the separator, the program/correct missing or faulty
descriptor, or the type definition is information steps.
missing.
S552 Macro memory error <number
No storage location available
S553 No macro definition found The macro allocated to a key doesn't exist Check and correct the entries in the
in the program memory. Perhaps a wrong configuration programs.
macro name was entered in a MENUCNF
or KEY_CNF file.
S554 Macro is no subprogram
S555 ENDDEF not recognized The END-identification is missing in the Program the END identification ”I
definition part of the macro. ENDDEF” into the macro.
S556 The command has no executor
release and must not be
executed.
Remedy:
Change the appropriate
configuration program
S557 The command has no editor
release and must not be added.
Remedy:
Change the appropriate
S558 no fast treatment allowed
S559 type conversion not allowed
S560 There is no command word

allocated to the operated key
S561 Fatal error <number> in a see chapter 3.11
S562 Program "<text>" doesn't exist
Remedy:
Switch-over to another
configuration program or load or
generate a configuration program
S563 Program "<text>" doesn't exist.
The system must be restarted.
S564 This position type conversion is
not allowed by editing.
S565 Faulty compiler call <number>
S566 Executor initialization error
<number>
S567 Error <number> in a
S568 Compiler error <no.> A text program is to be read into the robot Improve the text program with a text
program <name>; step <no.>; editor. For this purpose please observe
control/RobOffice. There is an error at the
the Reis robot language.
column <no.> place indicated in this program <name>. Significance of the Compiler error is
described in the appendix of the
documentation concerning the ”Text-
Transfer-Function”.
S569 Step <number> in <text> is faulty.
Please correct or delete.
S570 I-step with tabulators is missing in
<text>.
Please insert behind the
beginning of program step.
S571 Invalid program type
S572 Only one single program can be A text program is to be read into the robot Store each robot program individually as
imported.
control/RobOffice. The text program text file and one after the other read into
contains more than one robot program. the robot control/RobOffice.
S574 input error
S575 Step doesn't contain any program
name
S576 Program is already selected

S577 the current program is no DIR For reading a disk, the RS has to be in the Press DIR key.
DIR mode.
S578 ”<text>”
already exists
S579 dest. program already existing
S580 Dest. path is no pure path
indication
S581 Dest. path does not exist
S582 The configuration program The program does not exist in this The program must be correctly copied into
S:/$CONFIG/$CNF/SER_CNF directory or is defective. the indicated directory.
does not exist or is defective
S583 The current program is
unchangeable
S584 Configuration error : The entry of the baud rate or the data Correct the settings according to the
S:/$CONFIG/$CNF/SER_CNF format does not correspond to the admissible values in the comment lines
Baud rate or data format are faulty admissible values.
S585 Configuration error : The entry of the baud rate or the data Correct the adjustment according to the
S:/$CONFIG/$CNF/SER_CNF format does not correspond to the admissible values in the comment lines
COM – interfaces activated admissible values. and observe that each COM interface
several times or faulty status must only be active once.

S586 Selection of a user program on

this drive not possible
S589 The start-up mode is active. The start-up mode was activated via the Deactivate mode, log in as level 4 or set
Drive on is only possible in set-up password menu. the key-operated switch to setting.
mode or as level 4.
S590 No access possible to the disk Disk not inserted, defective or incorrectly Insert correctly formatted, faultless disk
drive. formatted into the drive
Possible cause:
Defective disk,
unknown format
Error: <number>
S591 Reading error on disk Disk defective or incorrectly formatted Insert correctly formatted, faultless disk
into the drive
S594 The disk is write-protected The write protection of the disk is Deactivate the write protection
activated
S595 No disk inserted No disk is in the disk drive of the control / Please insert a suitable, formatted disk.
RobOffice
S596 There is no free storage location The available storage location on the disk Check the admissible file size (1,4 MB).
on the disk is not sufficient Delete data perhaps no longer required on
the disk.

S597 Storage error: see chapter 3.12

File wasn't stored S597 / archiving error
Error <number>
S605 Language conversion is
incomplete!
S607 Axes must stand still for One of the selected axes is still moving. Only start procedure if all selected axes
setting/synchronization. are in resting position.
S608 Coupled axes must be The axis mask does not contain all axes Establish the axis mask again and add
set/synchronized together. entered in ICOUPL_AXES[] or not all axes coupled axes, even if those are already
of an electric shaft. synchronous.
S609 Time error 1 for communication At least one of the servos did not answer Check servos (7-segment display).
with servoamplifier. to the command ”setting” or Acknowledge all error messages (info,
”synchronization” within the given time. Error enable). Check CAN-bus.
Repeat procedure.
S611 System programs could not be up- An error occurred when entering the Check machine data program MDPROG.
dated. values in the machine data
IENC_OFFS_HOME.
S612 Time error 2 for communication At least one of the servos did not send the Check servos (7-segment display).
with servoamplifier. status ”axis is synchronous” within the Acknowledge all error messages (info,
given time. Error enable). Check CAN-bus.
Repeat procedure.
S613 Time error 3 for communication At least one of the servos did not send the Check servos (7-segment display).
with servoamplifier. status ”end of command” within the given Acknowledge all error messages (info,
time. Error enable). Check CAN-bus.
Repeat procedure.


S614 Error during actual value check. For at least one of the axes the position Check axis position by the marking and
actual value deviates for more than 2048 correct if needed. Repeat this procedure.
increments from the value of
RHOME_POS.
S615 Machine data RHOME_POS[x] The value from RHOME_POS converted Select another reference point for the axis
too big or too small! into increments is lower than 0xF8000001 x. Enter the correct value in
or higher than 0x07FFFFFF. RHOME_POS.
S617 Wrong position actual value for
axis <number>! Resynchronize
machine!
S618 time error when switching the The commands of the control for switching - check IACT_AXES in mdprog.mpr
the drives are not observed by the servo, - restart installation again or execute a
drives axis
because hardware reset on the servo
- an axis is entered in IACT_AXES, - perhaps replace servo
although it does not exist in reality
- the corresponding servo does no
longer react
- there is a hardware fault on the servo
S619 Time error during stop-1- Execution of a stop 1 (ramp stop) took a restart installation again or execute a
too long time, because no acknowledge
execution hardware reset on the servo
message was given due to a ”stuck”
Axis servo.

S620 Watchdog axis regulator: The Slave-Command sent from the servo restart installation again or execute a
is not valid any more, since a servo
The alive-signal of the servo isn't probably has stuck. hardware reset on the servo
received any more.
S626 Initialization from Servo <axis The initialization bit of the corresponding - IACT_AXES contains more axes than
servo was not received by the control.
number> not yet executed! really existing – Please check in
mdprog.mpr
- The machine data have not been sent
to the servo - Please start the
installation anew
- The corresponding servo has stuck
during power-up - Please notify
manufacturer
S627 Error in tool calibration! No automatic tool calibration is provided Manually determine the tool data
for the indicated robot type
No tool calibration is possible for (IROBOT_TYP_E).
this robot type.
S628 SENSOR error: There is an application with advancing Check the seam type, optimize pattern
laser band sensor. With median filter
The number of invalid median recognition of the laser band camera, if
being activated there are too many
filter corrections exceeds the correction values rejected with sensor needed increase the value from the
programmed number from correction formation. system variables _ISTATISTICS[2] and
_ISTATISTICS[2] or _ISTATISTICS[4]
_ISTATISTICS[4] !

S629 IU-Loader Update still has to be The automatic start macro was not Check whether the macro start.mac is
performed or performed faulty.
performed! existing in the directory s:/$config/$mac.
S630 IU-Loader-Update is active! Attempt was made to switch on the drives The drives cannot be switched on during
during the update.
<axis indication> the update.
Please wait...
S631 Error in the program memory!
<number>
ID: <number>fct: <number>prg:
<text>
Data loss is possible!
Please note down
S632 Program <name>: The program <name> is faulty. Save user programs with normal archival
Length of program is wrong! storage function.
The defective program perhaps cannot be
completely saved on disk.
S633 SENSOR error: The position detected by a search process Check seam start on the workpiece.
The found seam initial position is is beyond the tolerance range. Check sensor.
If needed, increase the max. tolerances in
beyond the max. tolerance of
_RFINDPOS_RANGE[1 .3].
_RFINDPOS_RANGE[1..3]

S634 SENSOR error: The sensor does not recognize a seam Check whether a workpiece is available.
No valid measuring values are start point. Check sensor.
available during search of seam
start point.
S635 SENSOR error: There exists no recording file for the Generate data file in the sensor recording
There exists no data file for the sensor playback mode! mode
sensor playback mode!
S636 SENSOR error: An interpolation in sensor playback mode Notify manufacturer!
Faulty interpolation in sensor is not possible.
playback mode!
S637 SENSOR error: Memory displacements have been Remove commands which influence the
Memory relocation not possible executed during active sensor playback memory.
during sensor playback mode! operation, e.g.: Delete programs, 6D-
shifting etc.
S638 SENSOR error: The sensor playback mode was started Generate data file in the sensor recording
The sensor data file doesn't with a data file which doesn't correspond mode.
contain any U-variable! to the requested syntax.
S639 SENSOR error: The sensor correction direction cannot be Teach oscillation auxiliary point, if
Invalid correction direction vector! calculated, e. g. because the oscillation necessary.
auxiliary point is not defined. Notify manufacturer.

S640 SENSOR error: This error only occurs in conjunction with Clean sight window.
There are no valid camera optical laser sensors. Perhaps the sight Check sensor adjustments.
measured values available along window of the sensor is dirty or the sensor
the advance distance! doesn't deliver any measured values due
to incorrect sample adjustment.
S641 Servo error UNUSED
S642 Servo error DUMMY
S643 Servo-error (IU): An inadmissible axis mode was requested Which axis modes are admissible results
Inadmissible axis mode (C167 \ for this axis, e. g. passive switching for an from the machine data IAXES_DESCR.
P1) axis which must not be freed.
Perhaps there is a not allowed change of
the axis mode when using the FORCE-
Control-functions
(see documentation ”FORCE-Control”).
S644 Servo-error (IU): see error message 643 see error message 643
Inadmissible axis mode (TMS)
S645 Servo-error (IU): Machine data which must only be switch off drives before
Data modification with active modified with drives being switched off
drives inadmissible were modified with active drives.

S646 Servo-error (IU): The control defines a too high speed for Lower CP speed
Reference axis speed too high this axis. Change position
(FIPO-1) Too high axis speed in CP mode.
A stop 1 was released (stop true to path).
S647 Servo-error (IU): The axis could not follow the set reference - Reduce acceleration or speed
Tracking distance too big (stop 1) value. A stop 1 was released (stop true to - Reduce handling weight
path).
- Change unfavorable robot position
S648 Servo-error (IU): The axis has left the set standstill position. - Eliminate the cause for the error.
Standstill monitoring Possible causes:
- external force influences on the
standing still axis
- faulty use of the FORCE-Control-
functions (e.g. switching flexible)
- heavy errors in the machine data (e.g.
amplifier parameters)
S649 Servo-error (IU): For a short time the control sets a much The error in general occurs at a certain
Inadmissible nominal value too high speed which cannot be place of the user program (e.g. passages)
branch. Perhaps there is an error processed by the servo-amplifier (nominal Programming at this place should be
in the path control. value branch). changed such that the not allowed
nominal value branch will be avoided.

S650 Servo-error (IU): A value was entered in the MDPROG Check these machine data.
Machine data exceed range of which exceeds the admissible range.
values. List of the possible reason machine data:
For details see system error list. ISPEED_KP[axis]
ISPEED_KI[axis]
ISPEED_KD[axis]
ICURR_KP[axis]
ICURR_KI[axis]
ICURR_KD[axis]
IMOTOR_POLES[axis]
ISERVO_SPEED_MAX[axis]
RENC_SHIFT_ANGLE[axis]
Possible further reasons are parameters

for linear drives or for a second current
limit.

S651 Servo-error (IU): The error also occurs as consequential Notify customer service.
Faulty communication to ADSP error due to other errors. First remove the
original error.
In reasonable cases this service message
There is a general communication error to can be faded out until correction of error
the power pack of the amplifier. This error (bit 19 in ISERVO_SWITCH).
may have many reasons.
The exact reason (8-digit error code) for
all axes can be read out with the service
program PROG_ERR.MPR.
PROG_ERR.MPR:
- is stored under S:/§CONFIG/ SERVICE/
SERVO/ in the program system (as of
RSV9.2.3) and can be started after
acknowledge of all error messages.
S652 Servo-error (IU): Setup data of the servo (axis number, Check whether several servos with
New setup-data (node number Baud rate) were changed. identical axis number exist which is not
allowed and restart the robot.
/Baud rate) are set.
Please restart the control!

S653 Servo-error (CU-7): 1. Failure of the supply voltage. - check voltage (fuses?)
Over- or undervoltage 2. Hardware defect - check external disconnections of the
3. Fault in connected load 380V-supply voltage
- Check the correct connections of the
intermediate circuit voltage of the
Undervoltages may be caused by faults in
brake lines of the amplifiers.
the voltage supply.
Overvoltages are due to power-driven
braking of robots. Same cause this fault
only, if the decrease of overvoltages via
brake resistances of the amplifiers is
disturbed.

S654 Servo-error (CU-6): 1. Failure of the supply voltage. - Replace amplifier

Power pack error ! 2. Hardware defect - Check voltage
For acknowledgment of the error it 3. Overload / short-circuit on the motor - perhaps retrofit of ferrite cores in the
is perhaps required to completely side motor phases (especially IRT4009,
disconnect the amplifier (only type otherwise acc. to RQR-documentation)
4020). - IRT4020 (only old hardware versions):
For being able to acknowledge an
error effect perhaps occurred only
once, (overload/short-circuit), you have
to switch off the control cabinet and
then switch off the amplifier (e.g. by
pulling the 4-pole plug on the
Convertec-power pack). Thus, the
internal storage of the error status is
reset.
S655 servo error (CU-d): - Defect in connected load
Short to ground of the motor
phases

S656 Servo-error (CU-4): 1. Servo-amplifier is overloaded - Exchange amplifier if fan is defective.

excess temperature of the power 2. Fan has failed
electronics 3. Ambient temperature too high
For checking the end stage temperature
perhaps use the IRT-USER software.
Attention:
From 65°C on, there already begins a
reduction of performance that may
influence the machine behavior.

S657 Servo-error (CU-2): Continuous load of the axis is too high. - Reduce acceleration / other load
I^2*t Monitoring! The motor is protected against - Check (reduce) amplifier parameters
overheating.
Motor overloaded in the cycle! - Eliminate recognized cause
Possible causes are:
- Overload of axis
- Sluggish mechanics
- programmed axis position cannot be
exactly reached
- Current vibrations, unfavorable
amplifier parameters
- current limit RCURRENT_RMS too low
- for electronic shaft: distortion problems
due to the mechanics or wrong setting
of the axes.

S658 Servo-error (CU-3): - Overload of axis (see error 657) - see S657
excess temperature motor - Broken cable - Check motor cable.
- Current vibrations, unfavorable
amplifier parameters
In case of combination of amplifiers Amplifiers 4000AT with old motors:

4000AT with old Baumüller motors (year
For details regarding debugging please
of construction 2002 and older):
see the update regulation of the RSV-
This fault is perhaps released by mistake
PCX.
in case of a thermostat poled on the motor
side.
S659 Servo-error (CU-9): - Insufficient ground connection of the - Check grounding of the installation.
ADSP has recognized failure of total installation / other faults - Perhaps exchange amplifier.
the Reis processor! - Hardware defect of the servo-amplifier
S660 Servo-error (CU-F): Data loss in the amplifier Replace amplifier or notify customer
ADSP-firmware wrong service
S661 Servo-error (CU-E): Data loss in the amplifier Replace amplifier or notify customer
ADSP-parameter faulty service

S662 Servo-error (CU-5): - Resolver defective - Check line (shielding!)

Resolver signals faulty! - Problem in the resolver wiring - Check resolver (replace motor if
The axis is set asynchronous. necessary)
- see hardware-RQR “Cycle
synchronization & resolver signals”
S663 Servo-error (IU): - Machine data edited or - Check machine data
Machine data RCURRENT_MAX read in from disk RCURRENT_MAX.
is too big for this amplifier - Servo-amplifier was exchanged Perhaps a too low value was entered.
- Check performance data of the servo-
amplifier.
S664 Servo-error (IU): - Check type of the servo-amplifier
I_max < = 0 - Notify customer service
S665 Servo-error (IU): 1. Machine data edited or - Check machine data
Machine data RCURRENT_RMS read in from disk RCURRENT_RMS.
is too big for this amplifier 2. Servo-amplifier was exchanged Perhaps a too low value was also
entered.
- Check performance data of the servo-
amplifier.
S666 Servo-error (IU): - Check type of the servo-amplifier
I_rms <= 0 - Notify customer service

S667 Servo-error (IU): A failure of the CAN-bus was recognized - Check ground connection
CAN-Watchdog (CAN-A!) - Check CAN-line
Possible causes: - Check terminal resistor
- Control was stopped (RESET)
- Extremely disturbed environment/HF - perhaps also see ”CAN-specification
and installation instructions”
- Wiring problem CAN-line
- missing terminal resistor
S668 Servo-error (IU): A failure of the Reis signal processor was - Replace amplifier
TMS-Watchdog recognized!
Hardware defect of the servo-amplifier
S669 Servo-error (IU): A failure of the microcontroller was - Replace amplifier
SAB-Watchdog recognized!
-> Hardware defect of the servo-amplifier
S670 Servo-error (IU): A failure of the IRT signal processor was - Check line
ADSP-Watchdog recognized! - Replace amplifier
1. Insufficient ground connection of the
total installation
2. Extremely disturbed environment
3. Hardware defect of the servo-amplifier

S671 servo error (CU-b): Unfavorable adjustment of the current and Reduce amplification!
ADSP Overspeed. speed regulator Check the adjusted maximum speed
Unfavorable amplifier adjustment. (ISERVO_SPEED_MAX[axis]).
S672 Servo-error (IU): 1. Machine data IFILTER or Change parameters in the user program
Reference value filter not IMAN_FILTER was edited or read-in
adjustable from disk
2. Faulty filter adjustment in the user
program
3. Interpolation cycle was reduced
S673 servo error (CU-C): One or several of the three motor supply - Check motor cable.
Line interruption in the motor lines is faulty! - Perhaps check contactors in the motor
phase 1. Broken cable line.
2. Defective contactors don't establish - Perhaps exchange motor.
connection to the motor
3. Motor defective
The error may also occur in case of heavy

mis-parameterization of the current
regulation.

S674 Servo-error (IU): The preset reference position was not - Reduce acceleration.
Reference position left or kept or could not be reached. - Check handling weight and reduce if
not reached: needed.
- Check regulation parameters
- Check the free approachability of the
position
S675 Servo-error (IU): An internal error occurred in the nominal Remove the preceding servo error that
Error in the filtered reference value filter of the axis. was also displayed on the PHG.
value Probably already another servo error is
the cause (S675 as consequential error).
S676 Servo-error (IU): - Machine data IIPO_FACT or Check machine data (IIPO_FACT must be
Error in the cycle relation IPO to IPOS_CNTRL_FACT was edited even-numbered)
position regulator - Machine data were read in from disk
S677 Servo-error (IU): The machine data RHOME_POS was Check machine data RHOME_POS in
Reference point angle was modified! Since the reference position is MDPROG.
modified (machine data changed by this, the system will be set
RHOME_POS). The axis is set asynchronous!
asynchronous. 1. Machine data was edited or read-in
from disk
2. New servo-amplifier was installed

S678 Servo-error (IU): The machine data IENC_OFFS_HOME Check machine data IENC_OFFS_HOME
Offset angle was modified. was modified! Since the reference position in MDPROG.
(machine data is changed by this, the system will be set
IENC_OFFS_HOME). asynchronous!
The axis is set asynchronous. 1. Machine data was edited or read-in

from disk
S679 Servo-error (IU): The machine data IAXES_DIR was Check machine data IAXES_DIR in
Movement direction was modified. modified! Thus, the movement direction of MDPROG.
(Machine data IAXES_DIR). The the corresponding axis is turned. In order
axis is set asynchronous. to grant a safe condition, the system is set
asynchronous!
1. Machine data was edited or read-in
from disk

S680 Servo-error (IU): There was a loss in power supply of the - Check supply voltage: Reference
Checksum error backup data (AC- axis amplifiers not being correctly value = 220 V AC
Fail) announced before (by the AC-Fail signal - Check output voltage: Reference value
of the power pack). = 6.5 V DC
The axis is set asynchronous.
Possible causes: - Check voltage at the servo-amplifier
- Hardware defect in the external power - Check wiring of the AC-Fail signal
pack of the servo-amplifiers
- Check wiring and function of the
(Convertec-power pack)
accumulator buffering
- defective connection of the buffer
accumulator
- Wiring problem of the AC-Fail line (ext.
power pack servo-amplifier)
S681 Servo-error (IU): The position values stored when switching - synchronize anew
Resolver position out of tolerance off the installation have changed after new
(channel CAN-B) start. Perhaps the axis had been moved in
switched-off status or parts had been
replaced (exchange of motors, exchange
of servos ?).

S682 Servo-error (IU): The position values stored when switching - synchronize anew
Resolver position out of tolerance off the installation have changed after new
(channel CAN-A) start. Perhaps the axis had been moved in
switched-off status or parts had been
replaced (exchange of motors, exchange
of servos ?).
S683 Servo-error (CU-h): Overbraking. This error may occur as sequence error - eliminate releasing stop-0-error
A generatoric overvoltage was from preceding stop-0-errors (the stop - Check the parallel wiring (from servo
generated. produced a generatoric overvoltage). to servo) of the servo-intermediate
Reason for this may be a previous circuit voltage
stop-0 error.
S684 Servo warning (IU): The named axis controllers contain an Acknowledge message
CU-firmware must be updated! obsolete firmware for the control unit Have this firmware brought to the
latest revision by a service technician
S685 servo warning (RSV): Execute resolver calibration anew.
Resolver calibration was
interrupted! Please calibrate once
again!

S686 Servo-error (IU): - old hardware version of the IU board of Notify customer service!
Error_Write_call with invalid error the amplifier - Exchange of the amplifier / the IU-
no. board to the latest state-of-the-art
Please inform the customer
service.
S687 Servo-error (IU): This error may have many reasons. Notify manufacturer!
General servo-error TMS Many of these reasons are not directly
relevant to the functions, i.e., perhaps the
installation can still run trouble-free.
can be faded out until correction of error
The exact reason (8-digit error code) for (bit 19 in ISERVO_SWITCH).
PROG_ERR.MPR:

S688 Servo-error (IU): There is a hardware failure on the IU (only Exchange amplifier (or IU-board).
Communication error DPORT for old IU_versions smaller than HW-
C32. version 6.4).
service.
S689 Servo-error (IU):
First initialization Baud rate
S690 Servo-error (IU): see S688 see S688
Communication error DPORT
C167.
service.

S691 Servo-error (IU): This error may have many reasons. Notify manufacturer!
General servo-error P1 Many of these reasons are not directly
relevant to the functions, i.e., perhaps the
installation can still run trouble-free.
can be faded out until correction of error
The exact reason (8-digit error code) for (bit 19 in ISERVO_SWITCH).
PROG_ERR.MPR:
S692 Servo-error (IU): see <S693>
IU-Resolver:
Position actual value acquisition
could not be executed (Timeout)!
S693 Servo-error (IU): - Problem in the resolver calibration. - Repeat resolver calibration.
IU resolver signals faulty! - Problems in the resolver wiring - Check line.
The axis is set asynchronous. - also see ”S662 resolver error (CU–5)”

S694 Servo-error (IU): see <S693>

Bad quality of the
IU resolver signals!
S695 Servo-error (IU): Problems in the two-channel position A) Robot still synchronous:
The counter readings of the actual value acquisition. Move the robot to reference position
position-actual-value (RUN / RefPos) and check same !
modules are unequal! B) Robot asynchronous:
Synchronize robot anew
Check the correct axis position
prior to new start and inform the Notify manufacturer
customer service.
S696 Servo-error (IU): Necessary Notify manufacturer!
Power Down software functions
cannot be installed!
S697 Servo warning (IU): Current consumption of the motor Check for a possible collision and check
Maximum current in the cycle exceeds the adjusted maximum positive the adjusted monitoring limits.
exceeded! current in the current monitoring mode.
- Collision perhaps.
- Current setting value too low.

S698 Servo-error (IU): The axis could not follow the set reference It has to be clarified why a stop with the
Tracking distance much too big! value. A stop 0 was released (immediate error S647 (single tracking distance) was
A stop-0 was released. switch-off). no longer possible.
- see S647
S699 Servo warning (IU): Attention: Not any modification forcing the Execute resolver calibration.
Resolver calibration not yet new resolver calibration (servo exchange
executed! or amplifier exchange) also generates the - see documentation “Resolver
warning message. Resolver calibration is calibration”
also required after these modifications if
this message does not appear.
S700 Servo error (xU): - for internal diagnosis purposes only

700

S701 TECHIPO error: Program name incorrectly written Please check, whether the reference
Wrong path indication program PROGRAM NAME exists at all
The reference program was not and if so, whether it is defined as main
found or subprogram. Reference programs
may be main or subprograms!
Please check, whether path indication
is correct.
Please check, whether path indications
in the system variable
_SMAC_PATH_I[] are correct.
S702 TECHIPO error: Wrong position type in the reference Please adapt all position types in the
program. range, in which the TECHIPO-function
The position types of the shall be effective.
Wrong frame in the reference program
reference program
All positions must be in the same frame
do not coincide with the current like the path to be moved along,
path. (please refer to documentation
TECHIPO_0400)
S703 TECHIPO error: Preallocate variable with meaningful
value
The CP speed in the variable
<text>in the technology program
<text>
is indicated with 0

S704 TECHIPO error: Provide PATH_VELOC command with

meaningful value
The CP Speed
in the technology program <text>
is indicated with 0
S705 TECHIPO error: Preallocate variable with meaningful
value
The CP speed in the variable
<text>in the technology program
<text> is indicated higher than
2000mm/s
S706 TECHIPO error: It is no integer (Ivar) or real (Rvar) Use only integer or real variables, see
variable documentation TECHIPO_0400
The variable <text> in the
It is an array variable. Those are not Replace array variables by individual
technology program <text> is not
admitted at the time being variables
admitted
S707 TECHIPO error: A not admitted command is A not admitted command is
programmed in a technology program. programmed in a technology program.
Inadmissible command in the This command must be eliminated.
technology program <text> Admitted are only the commands:
'WRITE_BIT', 'COPY', 'PATH_VELOC'
and 'C', see in the documentation
TECHIPO_0400

S708 TECHIPO error: In the WRITE_BIT command the In the command 'WRITE_BIT' of the
Bit_No or the Byte-No is indicated as technology programs the output
Inadmissible variable in the variable channel must be entered directly.
WRITE_BIT command of the Please replace the variable by a
In the WRITE_BIT command a variable
technology program <text> is indicated as destination. Variables as numerical value, see in the
destination of the WRITE_BIT documentation TECHIPO_0400
command are not admitted at the time As destination indicate only #MERKER
being or #OUTPUT
S709 TECHIPO error: The order of the COPY and The order of the COPY and
PATH_VELOC commands is not PATH_VELOC commands must be
The order of the COPY and exactly identical. exactly identical in all technology
PATH_VELOC commands in the programs, see in the documentation
technology programs <text> and TECHIPO_0400.
<text> is different Please adapt the following technology
programs to the first technology
program (initial position). Please check
whether not admitted commands are
contained in the technology program
and remove them in case of need.

S710 TECHIPO error: Either there was programmed a speed In order to ensure that the 'TECHIPO'-
= 0 or no speed was programmed and function can correctly vary the path
The CP-speed in the current the default speed in the system variable speed according to the defaults in the
program '_RDEF_VEL_CP' = 0. technology programs, a path speed
is indicated with 0 higher than zero must have been
programmed before switching on the
'TECHIPO'-function.
S711 TECHIPO error: A not admitted command is The not admitted command must be
programmed in this reference program. eliminated. Admitted are only the
Inadmissible command in the commands: 'TOOL', 'RELATIVE',
reference program <text> 'INTERPOL', 'POS', 'CALL' and 'C'
(comment) A certain order must be
kept, see in the documentation
TECHIPO_0400
S712 TECHIPO error: The reference program does not Please define a reference distance
contain a position. according to description given in the
The reference program <text> has documentation TECHIPO_0400 or
no position step remove the command 'TECHIPO'.
S713 TECHIPO error: The reference program contains just Please define a reference distance
one position. No reference straight line according to description given in the
The reference program <text> has can be determined with this. documentation TECHIPO_0400 or
only just one position step remove the command 'TECHIPO'.

S714 TECHIPO error: RELATIVE command after POS Generate the reference program strictly
command. If the reference distance according to the instruction in the
The reference program shall be manipulated by a relative shift, documentation TECHIPO_0400
contains too many RELATIVE the 'RELATIVE' command must be
commands before the first position in the reference
program. This message particularly
also appears if RELATIVE commands
are used in the wrong way.
S715 TECHIPO error: The relative variable indicated in the Indicate correct variable
The relative variable reference program was not found. Please check whether the variable is
<text> defined and introduce definition if
needed and allocate a meaningful
was not found, it is value to the variable. Describing should
used in the reference program take place during one search
<text> procedure.
.

S716 TECHIPO error: The relative variable indicated in the Validate indicated variable and
reference program is not described or allocate a meaningful value to the
The relative variable invalidated. variable. Describing should take place
<text> during one search procedure.
is invalid, it is used in the Indicate correct variable
reference program
<text>
.
S717 TECHIPO error: After a 'POS' command there is only Strictly keep the order POS-CALL
admitted a 'CALL' command, after a according to instructions given in the
In the reference program 'CALL' command only a 'POS' documentation TECHIPO_0400
<text> command. The only exceptions are Please also check whether not
comments and 'INTERPOL' admitted commands are contained in
the order of the
commands. the reference program and remove
POS – U_PROG commands is not them in case of need.
kept
S718 TECHIPO error: In the reference program the d. position No auxiliary positions are admitted in
is an auxiliary position the reference program. Please remove
The <number> position in the all positions with P-type and generate
reference program <text> is of the reference program according to chapter
wrong type (P-Pos) 8.1 in the documentation
TECHIPO_0400

S719 TECHIPO error: Positions of the reference program All positions in the reference program
programmed in different frames must be programmed with the same
The <number> position in the position type. Admitted are normal
reference program positions (N-type) in the same frame,
<text> but no auxiliary positions (P-type).
Generate the reference program
is in the wrong frame according to the instruction in the
documentation TECHIPO_0400
S720 TECHIPO error: The d. position lies in tangential The positions in the reference program
direction closer to the initial point than must be continuously programmed in
The <number> position in the its preceding position. tangential direction from the initial point
reference program to the end point. Please check order of
<text> the positions and correct if necessary.
Generate the reference program
is discontinuous on the reference according to the instruction in the
straight line documentation TECHIPO_0400
S721 TECHIPO error: Programmed reference path length = 0. The distance given by the reference
Initial and end position of the reference program is zero. No useful function is
The programmed reference path straight line are identical possible with this. Please define a
length in the reference program reference distance (reference program
<text> is equal to 0 according to description given in the
documentation TECHIPO_0400) or
remove the command 'TECHIPO'.

S722 TECHIPO error: The string variable indicated in the Indicate correct variable
reference program was not found. Please check whether the variable is
The variable <text>
defined and introduce definition if
for indirect indication of a needed and allocate a meaningful
technology program value to the variable.
in the technology data program
<text> was not found
S723 TECHIPO error: The string variable indicated in the Validate variable and
reference program does not contain a allocate a meaningful value to the
The variable <text> for indirect valid program name or itself is invalid. variable or
indication of a technology program
in the reference program <text> is Indicate correct variable
invalid
S724 TECHIPO error: Name of the technology program is Check whether it exists at all and if so,
written incorrectly whether it is a subprogram. Technology
The technology data program of programs must be subprograms!
Technology program does not exist
the type UPR
Wrong path indication Setting the correct search path in
<text> _SMAC_PATH_I[]
Technology program no subprogram
does not exist, it is called Indication of the correct program name
and search path
in the reference program <text>

S725 TECHIPO error: The reference program contains more Check number and limit to 100
than 100 positions positions
In the reference program
Generate a further reference program if
<text> needed
too many positions are included
S726 TECHIPO error: More than one command Remove all others except one
PATH_VELOC contained in technology command PATH_VELOC
A second command VELOC_CP program
is not admitted in the technology
data program <text>
S727 TECHIPO error: The integer or real variable indicated in Indicate correct variable
the technology program was not found. Please check whether the variable is
The variable <text> in the
defined and introduce definition if
technology data program <text>
needed and allocate a meaningful
was not found value to the variable.
S728 TECHIPO error: The integer or REAL variable indicated Validate variable and
in the technology program does not allocate a meaningful value to the
The variable <text> in the contain valid data or itself is invalid. variable or
technology data program <text> is
invalid Indicate correct variable

S729 TECHIPO error: No array variables are admitted in Replace array variables by individual
technology programs variables
The array variable <text> in the
inadmissible
S730 TECHIPO error: The technology program contains more A maximum of 10 COPY commands
than 10 valid COPY commands. per technology program is admitted
Number of COPY commands in
the technology data program
<text>
is exceeded
S731 TECHIPO error: This variable type is not admitted in Only integer and real variables are
technology programs admitted in technology programs
The variable (type) <text> in the
inadmissible
S732 TECHIPO error: Only integer and real variables are Indicate correct variable or
admitted in the COPY commands in the remove commands
The parameter (type) <number> technology programs.
<text>
is inadmissible

S733 TECHIPO error: This element of the destination variable enter correct array element or
does not exist. enter correct variable or
The array indication <number>
extend array definition and describe
of the variable <text>
with meaningful values
<text>
is beyond the definition
S734 TECHIPO error: The order of the COPY commands is The order of the COPY commands
not exactly identical. must be exactly identical in all
The order of the technology programs, see in the
COPY commands in documentation TECHIPO_0400.
the technology data programs Please adapt the following technology
<text> data programs to the first technology
program (initial position). Please check
and whether not admitted commands are
<text> contained in the technology program
and remove them in case of need.
is different
S735 TECHIPO error: More than 3 reference programs Not more than 3 reference programs
desired simultaneously can be processed at the same time.
More than 3 reference programs Please switch off all reference
requested simultaneously. programs not required.
Current request:
<text>

S736 TECHIPO error:

The position variable
<text>
was not found, it is
used in the reference program
<text>
.
S737 TECHIPO error:
The position variable
<text>
is invalid, it is used in the
reference program
<text>
.
S738 Free
S739 Free
S740 Free

S741 ARC-Sensor: • Operating mode in element 10 of • Check operating mode and describe it
Rvar[10] is incorrectly allocated correctly
undefined operating mode
• PSI-determination selected, not • Select correct operating mode
implemented at the time being
S742 ARC-Sensor: Ravr[10] is no array or has less than 10 Program Rvar[10] correctly and then
elements describe anew
Variable <text>
too small
S743 ARC-Sensor:
K-factor determines
Value: \f
S744 ARC-Sensor:
reference values determined,
height: \f
page: \f
S745 ARC-Sensor: • Welding process was too much • Optimize welding process
troubled to deliver sufficient useful • Take a longer path for determination of
NO K-factor determined, measured values the K-factor. The trouble-free welding
time too short
• Welding time was too short time should be approx. 20 sec.

S746 ARC-Sensor: • Welding process was too much • Optimize welding process
troubled to deliver sufficient useful • Take a longer path for determination of
NO reference values determined, measured values the reference values. The trouble-free
time too short
• Welding time was too short welding time should be approx. 30 sec.
S747 ARC-Sensor: Element 1 in Rvar[10] contains no valid Determine new K-factor (and
value or is "0" subsequently also the reference values)
Invalid K-factor or enter a suitable known K-factor
for reference value determination
or guiding
S748 ARC-Sensor: Element 2 in Rvar[10] contains no valid Determine new reference values or enter
value or is "0" known height reference value
Invalid height nominal value
with guiding
S749 ARC-Sensor: Element 3 in Rvar[10] contains no valid Determine new reference values or enter
value known side reference value
Invalid side nominal value
with guiding
S750 ARC-Sensor: Oscillation frequency chosen too small in Increase oscillation frequency. For
the oscillation pattern program sufficient side guiding the oscillation
Oscillation frequency too small
frequency should be selected higher than
for sensor guiding 1 Hz.
it must be greater than
\f

S751 ARC-Sensor: No analog input or a wrong analog input Check variable content and inscribe
written in this variable correctly, see chapter 8.1 (documentation
Number of the analog input LIBOSEN_0400)
in the variable <text>
is invalid or not
in the range 0 – 22
S752 ARC-Sensor: The indicated Rvar[10] was not found • Indicate correct variable
Variable <text> • Adapt search path for variable

• Introduce variable anew and describe it
not found
correctly
S753 ARC-Sensor: No analog input or a wrong analog input Check variable content and inscribe
written in this variable correctly, see chapter 8.1 (documentation
Number of the analog input LIBOSEN_0400)
in the variable <text>
is invalid or not
in the range 3 – 22
S754 ARC-Sensor:
Call variable must be of the REAL
type

S755 ARC-Sensor: Element 9 in Rvar[10] contains no valid Determine current limit anew or enter
value known value
Current limit for pulse procedure
must be valid for determination of
reference values
or guiding
S756 ARC-Sensor: Element 9 in Rvar[10] contains the valid Determine current limit anew or enter
value “0” known value
Current limit for pulsed procedure
must not be 0
S757 free
S758 free
S759 free
S760 ARC-Sensor: Wrong operating mode selected select correct operating mode
Undefined operating mode
S761 free
S762 ARC-Sensor: invalid oscillator
assignment \n detected
S763 ARC-Sensor: \n invalid oscillation
change during reference value
calculation

S764 ARC-Sensor: \n function not Wrong function mode selected select correct mode
implemented
S800 Oscillation error:
S801 Oscillation error: Call function with valid oscillation pattern
Oscillation without valid oscillation
pattern
S802 Oscillation error: More than 2 copy/write steps per Do not program more than 2
Too many (>2) Copy or oscillation position are not allowed If you nevertheless require more, copy the
Write-Bit commands with position and put it directly behind same for
oscillation position <number> being able to program another 2
copy/write steps.
in oscillation pattern program
in step no. <text>
S803 Oscillation error: Wrong program name Enter correct program name
Program not contained in the paths Indicate path in _SMAC_PATH_I[] or
Oscillation pattern program <text> indicated in _SMAC_PATH_I[] copy program into the indicated path
not found Enter program name with complete
indication of path

S804 Oscillation error: There is only a certain number of Inform yourself, how many outputs
outputs per variable there exist for this variable and enter
Too high number in the array the corresponding number
of the variables
<text>
in the oscillation pattern program
<text>
in step no.
S805 Oscillation error: Wrong REAL-number constant entered Enter REAL-number in the admissible
If value is given via a variable, this range
The oscillation frequency \f variable is occupied with an Correctly preoccupy content of the
is beyond the inadmissible value used variable
range >0 – 10 Hz
<text>
in step no.
S806 Oscillation error: The variable is written in the wrong Observe the spelling
manner Use only variables that are admitted for
Invalid variable <text> in the The variable is not admitted PAGA
oscillation pattern program <text>
in step no.

S807 Oscillation error: Position type of the second position in Program OCS definition acc. to
the OCS definition differs from the type instructions given in the documentation
No OCS auxiliary position of the first position of the oscillator
<text>
in step no.
S808 Oscillation error: A variable has several outputs, the Indicate output number in [ ] behind the
program requires the output number variable name
The variable <text>
must be defined as array
<text>
S809 Oscillation error: Oscillation pattern indicated with more Program oscillation pattern with at least
than 100 oscillation positions 5 positions and 100 positions at
More than 100 oscillation maximum.
positions in the oscillation pattern
program <text>
in step no.

S810 Oscillation error: Write-protected variables must not be Do not use write-protected variables
written via the PAGA- function
The variable <text>
<text>
in step no.
is write-protected
S811 Oscillation error: Program less stop times
Too many stop times
programmed.
Please reduce number of the
$STOP indications"
S812 Oscillation error: reduce the filter adjustment
The filter adjustment is too big for reduce the oscillation frequency
the oscillation frequency.
Please reduce frequency or filter
time
S813 Oscillation error: Program OCS definition acc. to
Second auxiliary position in the instructions given in the documentation of
oscillation pattern program <text> the oscillator
in step no. recognized

S814 Oscillation error: Max. 2 interpolations allowed at the Switch off one interpolation in order to
Interpolation is made already same time switch on a new one
twice. 2 interpolations switched on, one is Attach same position once again and
$LIN_IPO switched off at pos X, another one is switch on the required interpolation at
is not allowed any more in the switched on at pos. X. this position
oscillation pattern program
in step no.
S815 Oscillation error: Program oscillation pattern with at least 5
Too few (>4) oscillation positions positions and 100 positions at maximum.
<text>
S816 Oscillation error: Check oscillation pattern program and
remove double parameter
Parameter <text>
twice in the oscillation pattern
program
<text>
in step no.
S817 Oscillation error: Unfavorable position distribution in the Slight variation of position of the last
oscillation pattern program oscillation pattern position
Compensation during calculation
of the relative oscillation times
gives a result of 100 %.

S818 Oscillation error: All OCS definition positions are Program OCS definition acc. to
programmed as auxiliary positions instructions given in the documentation
The OCS-definition in the one OCS definition position forgotten of the oscillator
oscillation pattern program
<text>
in step no.
is wrong
S819 Oscillation error: Switch on interpolation only once for a
The variable is already variable, then it is interpolated until
interpolated. New switch-on not switch-off. Intermediate values are
allowed in the oscillation pattern automatically included for interpolation
program in step no.
instructions given in the documentation
Tangent in the OCS definition of of the oscillator
the oscillation pattern program
<text>
in step no.
is 0mm


instructions given in the documentation
Binormal in the OCS definition of of the oscillator
<text>
in step no.
is 0mm
S822 Oscillation error: $LIN_IPO or $NO_IPO are in front of Observe arrangement of the steps
Copy command with the variable the corresponding variable
does not exist or comes after the
interpolation step in the oscillation
pattern program in step no.
S823 Oscillation error: Instead of a REAL-number constant Enter REAL-number constant in the
there was entered a variable or a HEX- admissible range
Parameter <text> with faulty value constant
<text>
<text>
in step no.

S824 Oscillation error: Observe correct notation of the

Spelling of the variable varies from
variables
copy to interpolation step
The variable of the interpolation
step does not coincide with the
one in the copy command in the
oscillation pattern program in step
no.
S825 Oscillation error: For a position further in the oscillation
pattern program, switch on interpolation
No interpolation had been
to the desired variable
switched on yet. Switch-off
therefore is not allowed in the
oscillation pattern program in step
no.
S826 Oscillation error: If interpolation is made between integer Observe the difference of the entered
values, X must not adopt values from -1 values during input of a variable
Interpolation is not possible with a
to 1
difference of
S827 Oscillation error: At least one of the following agreements is Enter missing parameter(s)
The parameter <text> is missing missing:
or doesn't have a valid value yet given frequency
in the oscillation pattern program given amplitude
<text> in step no.
oscillation pattern definition

S828 Oscillation error: All positions in the OCS definition and

the oscillation pattern must be
Different frames in the positions in programmed in the same frame.
<text> in step no.
S829 Oscillation error: Observe that the variables are not
"The variable Variable name in one
identical
The variable in one position exists position exists in two copy commands in
in two copy commands in the the oscillation pattern program Program
oscillation pattern program in step name in step no. Number”
no.
S830 Oscillation error Keyword spelled in the wrong manner Observe the spelling
in step no.
an invalid key word was entered”
S831 Oscillation error Use only digit constants as first
Variable entered as first parameter
The first parameter of the copy parameter for copy commands in the
command must be a digit constant oscillation pattern program.
in step no.

S832 Oscillation error: Double indication regarding period Only use one indication for
In the oscillation pattern program duration of oscillation movement determination of the period duration
<text> an oscillation frequency is (frequency or period distance)
programmed in step no.
<number> and a period distance
is programmed as period in step
no. <number>.
S833 Oscillation error: Contradictory indications regarding Frequency oscillation and constant
An oscillation frequency with oscillation speed TCP speed are mutually exclusive.
constant TCP speed is Either cancel the constant TCP speed
programmed in the oscillation or activate the distance oscillator.
pattern program <Text>.
S834 Oscillation error: PSI Faulty indication in the indicated system Make correct indications
determination not released. variable
Variable <variable name> is
invalid or has wrong value
S835 Oscillation message: PSI Result of the PSI-determination is
determination: <text> indicated in <text>, e.g. the determined
value

S836 Oscillation error: NO PSI path was too short for the required PSI Extend path or move at reduced speed
determined. determination
time too short
S837 Oscillation error: invalid oscillation The oscillation movement must not be
change during PSI determination modified during PSI determination
S838 Oscillation error: PSI PSI determined with the result <value>. Manually enter the result in <name>
determination: <value> entry in The result could not be entered in
<name> not executed <name>.
S839 The value could not be calculated supplementary message concng. S835
S840 Oscillation error: PSI request PSI determination only once
determination requested twice
S841 PDA message: This variable type <TEXT> cannot be
Variable type <TEXT> not allowed used for PDA documentation
S842 PDA message:
PDA data program can only be
generated in the operating mode
HAND.
S843 PDA message:
PDA data program is generated.
please wait

S844 PDA message:

PDA data program is generated
S845 PDA message: Formatting This formatting character <TEXT> cannot
character \<TEXT> not permitted! be used for PDA documentation
S846 PDA message: Enter admissible number
Number of lines incorrectly
entered, value = <text>
Value has to be in the range
between 1 and <number>
S847 PDA message:
Not enough HEAP for program
generation
S848 free
S849 free
S850 Data <text> could not be sent to
the <text> #<number> circuit
#<number> !
Reason: <text>

S851 The system variable <text> cannot

be generated in the device map
table of the <text>!
S852 CAN-error:
Reading-back machine data
failed!
Reason: <Text> Index: <text>
S853 CAN-error:
Too many data in queue
Reason: <text>
S854 Safety-Controller: Concerns the level3 backup: for exchange Start the system anew, then the
Checksum cannot be read! of the Safety-Controller a person would checksums will also be exchanged anew.
have to confirm this with level4 password.
Normal operation is not impaired.
S855 Safety-Controller: Concerns the level3 backup: for exchange Start the system anew, then the
Checksum invalid!
of the Safety-Controller a person would checksums will also be exchanged anew.
have to confirm this with level4 password.
Normal operation is not impaired.

S868 Cam definition: <Name of the For definition of a safepos cam the Delete the addition FAST and perhaps
cam>
addition FAST was used. The SafePos use another SafePos cam.
Usage of fast stop is not possible.
Cams were not transferred cam 3 does not support this
completely!
S869 Cam definition: A cam was allocated to a not existing axis. Correct the axis indication of the cam
<name of the cam>
number of axes not allowed.
Cams were not transferred
completely!
S870 Cam definition: <text> The maximum number of a cam type has Reduce number
been exceeded
Too many cams of this type.
completely
S871 Cam definition: <Text> Additional axes were calibrated and the Program SAFECNF anew: if necessary,
Positionssatz nicht im Safety- positions in the program SAFECNF were calibrate safety frame beforehand, set
not programmed in the safety frame. zero tool, approach positions and take-
Frame geteacht.
over anew
completely
S872 Cam definition: <text> Cam type doesn't exist. I-step in the file Check I-steps
SAFECNF contains incorrect cam type
Unknown cam. Cams were not
transferred completely!

S873 Cam definition: <text> The number of corners for Cartesian cams Rectify number of positions
is too high or too low (4..15). Indicate less
Too many or not enough than two positions for axis cams
positions.
completely!
S874 Cam definition: <text> The maximum number of 9 axes has been Reduce number of axes: Only those axes
exceeded which influence the TCP may be
Too many axes are entered in indicated!
ISC_AXEX. Cams were not
S875 Cam definition: <text> The syntax of an I-step used as position Check position I-steps
definition is faulty.
Position definition faulty. Cams
were not transferred completely!
S876 Cam definition: <text> The program SAFECNF in Copy the program to the correct position
S:/$CONFIG/$SAFETY was not found
SAFECNF program not found.
S877 Cam definition: <text> The serial number of the cam is < 1 or Check cam numbers
higher than the allowed number or already
Cam number not allowed or occupied.
already existing. Cams were not

S878 Cam definition: <text> Only the outputs -08 to +08 are allowed. Check outputs in SAFECNF
Syncpos cam is without output allocation!
Cam output not allowed. Cams
were not transferred completely!
S879 Cam definition: <text> The syntax of the cam definition doesn't Check cam step
correspond to the specification. E. g. the
Format error in the step. number of parameters in the I-step is not
Cams were not transferred correct or wrong parameters have been
completely! indicated.
S880 Safety-Controller No entry for the SC-version in the file Enter I SC_REQ_VER
Version in the program SAFECNF SAFECNF
cannot be determined!
S881 Safety-Controller: Program version in the SC is inferior to Update the SC
the one requested in SAFECNF
Existing version is not sufficient!
Please perform an update or an
adaptation of the SC-firmware.
S882 Safety-Controller: The minimum version in the SC entered in Adapt SC_REQ_VERSION or execute
SAFECNF does not exist in the system RSV-update with the correct SC-version
Requested version not existing! software
S883 Safety-Controller:
Indicated version is not plausible!

S884 Safety-Controller: A servo-loader update sets the Safety A reference movement has to be
Synchronizing movement is Controller asynchronous performed after the update.
requested!
Machine data must be
acknowledged!
The reduced speed was
exceeded!
S887 Safety-Controller: The safe-
production speed
was exceeded!
The flange is situated in the cam:
<text>


S892 Cam definition: Cart. cam: Correct the corresponding range
<Name of the cam> Minimum height (50mm) remained under
Error in the cam range. Axis cam:
Range is too big or too small. End angle < Start angle
completely!
S893 Drives switched off by the Safety-
Controller.
S894 The Safety-Controller is not ready.
Please restart the control.
S895 Cam definition: The positions in the program SAFECNF Select tool _TNULL, approach positions,
<Name of the cam> Position step have not been programmed with the tool check and take-over anew, if necessary.
not programmed with zero tool. _TNULL.
completely!
S896 Cam definition: Transformation error in the position step. Correct the position and check
<Name of the cam>
Transformation error in the
position step!
Nocken wurden nicht vollständig
übertragen!


S897 Cam definition: The wrong frame was used in the program Program all position steps in the program
<Name of the cam> Position step SAFECNF. SAFECNF in the $BASE frame.
not programmed in the base
frame.
completely!
Old software version in the Safety-
Controller.
Update necessary.
Additional axes not released
during synchronization.
S900 Too many cam operations The maximum number of 16 PLC-cam Reduce number.
programmed! operations has been exceeded.
<Step number>
completely!
S901 Cam operation is not allowed! PLC-cam operation: Correct the cam operation
<Step number> or <name of the - Wrong operand
cam> - Marginal conditions not observed (see
Cams were not transferred 7.2.2.4)
completely!


S902 Mixed cam operation! <Step PLC-cam operation: Correct the cam operation
number> AND and OR must not be mixed at this
Cams were not transferred position
completely!
S903 Step error SAFECNF! The program SAFECNF contains a If possible, delete SAFECNF and read-in
<Step number> defective step anew, then restart the control.
completely!
S904 Unexpected step! PLC-cam operation: Correct the cam operation
<Step number> - Allocation is missing
Cams were not transferred - Cam type not allowed at this position
completely!
S905 Cam not defined! <Step number> PLC-cam operation: Define cam in the definition part
or <name of the cam> Cam was linked but not defined!
completely!
S906 Double allocation of output! <Step PLC-cam operation: Select other output
number> This output was allocated in another cam
Cams were not transferred operation.
completely!
S907 Too many inputs allocated! <Step PLC-cam operation: Solve cam operation in a different manner
number> Maximum number of inputs (16) was
Cams were not transferred exceeded.
completely!

S908 Cam defined but not linked! PLC-cam operation: Invalidate cam step or delete cam
<Name of the cam> A defined cam was not used in the linkage completely
Cams were not transferred part.
completely!
S951 Path control: Internal error: May occur with new PC- Consultation with manufacturer
TCP calculation has failed. board, if the numeric coprocessor is not
activated.
S952 Path control: Internal error: If the error occurs at an orientation
Orientation calculation has failed. reverse, set _IORI_TENS= 0.
If this not the case, notify manufacturer.
S953 Path control: A zero was entered in the PTP_RADIUS Rectify the command.
PTP_RADIUS= 0 is not allowed. command.
S954 Path control: A speed profile was calculated which Notify manufacturer.
Error in PTP preparation. Speed would cause overswing of an axis. The error may perhaps be avoided by
profile cannot be calculated. reprogramming positions.
S955 Path control: CP path without A path where only the orientation has to Program PATH_TIME.
traversing way. be reset is moved along in a Cartesian
Program PATH_TIME. movement mode.

S956 Path control: During programming of a circular path the Adapt programming: A full circle which
Inadmissible circle programming. start point and the end point are identical. may be desired must be composed of two
circular segments.
Start and end point identical.
S957 Path control: Perhaps a position was programmed Switch off approximation or delete the
CP path with identical positions. twice. position which had been programmed
twice.
Approximation impossible.
S958 Path control: Two positions shall be approximated Switch off approximation.
CP path without traversing way. which only differ in orientation. This is
Approximation impossible. impossible.
S959 Path control: Two identical positions shall be Switch off approximation for the following
CP path with identical positions approximated. This is impossible. two positions.
follows. Approximation impossible.

S960 Path control: Two positions shall be approximated Switch off approximation for the following
CP path without traversing way which only differ in orientation. This is two positions or delete position which is
follows. Approximation impossible. impossible. perhaps programmed twice.
S961 Path control: A path where only the orientation has to Program PATH_TIME for the next path.
CP path without traversing way be reset is moved along in a Cartesian
follows. Program PATH_TIME. movement mode.

S962 Path control: The error only occurs in conjunction with Notify manufacturer.
Start impossible. START/STOP. Step preselection is generated.
S963 Path control: The error only occurs in conjunction with Notify manufacturer.
Start impossible. START/STOP. Step preselection is generated.
S964 Path control: At two adjacent points the orientation is Program _IORI_WEIGHT= 100 for one of
At two adjacent points the not approached, but interpolated. This is the two positions.
orientation is not approached. only possible for isolated positions.
Program _IORI_WEIGHT= 100.

S965 Path control: At a point the orientation belonging to a Program IORI_WEIGHT= 100 or change
Positions belonging to paths path without traversing way is not position.
without traversing way must have approached, but interpolated.
full weight. Program
_IORI_WEIGHT= 100.
S966 Path control: During configuration of the robot control a Consultation with manufacturer
User variable for Dump not found. configuration file was not adapted
correctly.
Adapt system program
S:/$CONFIG/$DATA/BST_DU
MP.MPR.

S967 Path control: Too short paths were programmed. The Suppress error output (by setting bit 1 in
Preparation not yet finished. time is not sufficient to prepare these the system variable _IPATH_MODE) or
Reduce speed. paths. reduce speed.
S968 Path control: POSITION steps were programmed in Switch over to movement mode PTP or
Change of coordinate system on different frames being part of a CP path. program POSITION steps in identical
CP paths inadmissible. frames.
S969 Path control: The position could not be transformed Notify manufacturer.
Transformation error. forward/back.
S970 Path control: There are not sufficient points available to Notify manufacturer.
Start impossible due to prepare the next path.
Proximity to position with
_IORI_WEIGHT unequal 100.
S971 Path control: Duration of a Cartesian movement is Extend duration of the Cartesian
The time is not sufficient to defined by the path. Reset of additional movement by increasing PATH_TIME or
axis is not possible within the nominal decreasing the path speed.
reset the additional axis(axes).
data.
Reduce speed.

S972 Path control:

Before the conditional branch
with CIRC the auxiliary point
must not coincide with the end
point.
S973 Path control: Positions of different frames may only be Set the movement mode to PTP if you
Change of the coordinate system approached in the PTP movement mode. want to change between positions of
only allowed via PTP. different frames.
S974 Path control: If a #ON occurs for CP-paths and Adapt speeds or increase PATH_ACCEL
The acceleration is not sufficient approximation, when e.g. a short path is (max. 200%).
to compensate the speed to be run at low speed between two long If 200% are not enough, the value of the
difference: paths at high speed, and same cannot be system variable _racc_max may be
reached with the programmed increased after consultation with the
Adapt speeds or
acceleration. manufacturer.
increase PATH_ACCEL (max.
200%).

S975 Path control: not applicable not applicable

The HGP acceleration is not
sufficient to compensate the
speed difference:
Adapt speeds or
increase HGP_ACCEL (max.
200%).
S976 HGP interpolation not allowed The HGP interpolation has been Select another interpolation (TCP
programmed. However, it is not released interpolation).
for the existing robot/axis constellation
S977 Programmed limit switch Approach to the current position is not Check the variable contents when
program: <name> possible, because the programmed limit approaching a position variable.
switches are exceeded. Check all possible relative shiftings and
Step: <step number>
palletizing displacements.
Approach of the destination
position is not possible. Check Check the set tool data.
destination position, tool data and Check the positions in the generated
relative shiftings! program when using 6D-shifting.
S 991 Error Master/Slave: There is a PHG-coupling of all LAN- Synchronize the operating modes e.g. by
A wrong operating mode is subscribers and all robots shall be moved operating the QUIT keys.
adjusted on the subscriber in HAND-mode. The operating modes are
”<Name>” ! different.

S 992 Error Master/Slave: There is a PHG-coupling of all LAN- With PHG-coupling being active the
The control of a subscriber is subscribers and all robots shall be moved manual movement mode can be
running in another movement in HAND-mode. The manual movement synchronized by selecting the manual
mode! modes are different. movement mode once again on the
master PHG.
S 993 Error Master/Slave: The control monitors the status of the key The positions must coincide with key
The PHG key switch is adjusted in switch on the PHG. This adjustment switch monitoring being activated.
a different manner on the differs from the key switch position of the
subscriber ”<name>” ! other LAN-subscribers
S1001 Several operating modes are
requested!
Perhaps the key-operated switch
or a line is defective.
S1002 One of the coding bridges
PHG/operating panel has been
opened!
S1003 The power contactor (K1) doesn't
open!
S1004 The power contactor was Return of the contactor closed although it Check cables or program sequence
is still switched on. Perhaps there is a
switched off externally!
cable break or a wrong program cycle

S1005 Safety-Controller: Fault in the Can circuit A or B Check Can circuits

Inform the manufacturer
The Sync-pulse on <text>
failed.
S1006 Safety-Controller: The SC found an internal fault. Check apparatus connected to the SC
and wiring for short circuits.
Found faulty hardware. <text> Perhaps replace SC
Before the safety-controller is
replaced, please check the
connected peripheral equipment
regarding short circuits etc.
S1007 Safety-Controller: Check machine data and cams
The transferred machine data do
not seem to be plausible.
The Alive-signal of the RSV is
faulty.
T-Sync-Impuls der RSV ist
fehlerhaft.

S1010 Cam definition: Check cams

Die Ausgangsdefinition einer
Nocke Ist nicht eindeutig.
S1011 Cam definition: A not defined cam was requested. Check cam requests and definitions.
A not defined cam was requested.

S1012 Cam definition: A not allowed output was allocated to a Check cam definitions.
cam.
A not allowed output was
allocated to a cam.
S1013 Safety-Controller: Cycle faults in the acknowledgment macro Inform the manufacturer
The burning command had been

given, although the ring buffer is
not yet empty.
S1014 Safety-Controller: The SC did not recognize any operating Check line and key switch on the PHG
modes
The PHG does not send any
operating mode.

S1015 Safety-Controller: The SC recognized several operating Check line and key switch on the PHG
modes
The PHG sends several operating
modes.
S1016 Brake ramp:
Control error Inform the manufacturer
Braking was not started
after half the brake time (or max.
0,5s).
S1017 Brake ramp:
Control error Increase machine data only after having
Standstill not reached at the end IBREAK_TIME_AUTO or clarified the slowing-down paths and the
of the brake time. IBREAK_TIME_PROG to low possible dangers
Programming error Check the cycle of AWP-program and
A SafePos has been left! PLC
Programming error Check the cycle of AWP-program and
The standstill was left! PLC


Failure of the corresponding amplifier Check amplifier and replace if needed
A necessary regulator does
no longer send on CAN A.
<axes>
The SC became asynchronous.
Failure of the corresponding amplifier Check amplifier and replace if needed
A necessary regulator does no
longer send on CAN B.
<axes>
Fault in the Can circuit A Check Can circuits
A redundant regulator sends on Inform the manufacturer
CAN A.
<axes>
Fault in the Can circuit B Check Can circuits
A redundant regulator sends on Inform the manufacturer
CAN B.
<axes>


Fault in the Can circuit A Check Can circuits
A regulator does not send any Inform the manufacturer
valid position actual values on
CAN A.
<axes>
Fault in the Can circuit B Check Can circuits
A regulator does not send any Inform the manufacturer
valid position actual values on
CAN B.
<axes>
The Alive-signal of an amplifier is Fault in the Can circuit A Check Can circuits
faulty on CAN A. Inform the manufacturer
<axes>
The Alive-signal of an amplifier is Fault in the Can circuit B Check Can circuits
faulty on CAN B. Inform the manufacturer
<axes>
The SC became asynchronous


S1028 Safety-Controller: Modification of machine data / cams Switch the control off and on again
without restart of the installation
Incorrect check sum of the
machine data.
The MDPROG probably was
changed without rebooting the
control.
Due to switching off the outputs,
one of the following hardware
error messages might appear.
S1029 Safety-Controller: Switch in OP setting or switch off
SafeProduction
SafeProduction is requested and
the SC is asynchronous. The
drives can only be switched on in
the operating mode setting.
S1030 Safety-Controller: The SC found an internal error and Switch the installation off and on again.
Internal error found. <text> switched off all outputs. Notify the manufacturer if the error occurs
repeatedly
Due to switching off the outputs,
one of the following hardware
error messages might appear.

S1031 Servo-error (IU): An existing accumulator buffering is not Configure accumulator buffering correctly
C167-exception error. Reset was configured in ISERVO_SWITCH . in ISERVO_SWITCH!
released. Notify manufacturer!
Exchange amplifier if needed.
S1032 Servo-error (CU): The PWM-synchronization signal is either - Check CAN cable between the axis
not correctly sent by the axis 1 (*) or not
Defective PWM synchronization amplifiers.
correctly recognized by an axis.
signal from the master axis. - Exchange servo amplifier of axis 1
(*) in this case, all other axes must resp. the corresponding axis.
recognize the error.
The error message is given only once per
please refer to the RQR regarding the axis.
hardware: In special cases the error monitoring may
”Cycle synchronization & resolver signals” be switched off via bit 27 in the machine
data ISERVO_SWITCH.
SC-synchronizing movement
requested.

S1034 Servo-error (IU): The error mainly occurs as sequence First remove the causing error given
switch error brake error due to previous errors. parallel.
internal cause:
There is a deviation of the two nominal If the switch error occurs alone, inform the
states and the actual state of the brake. customer service.
S1035 Servo-error (IU): The error mainly occurs as sequence First remove the causing error given
switch error drives error due to previous errors. parallel.
internal cause:
There is a deviation of the two nominal If the switch error occurs alone, inform the
states and the actual state of the drives. customer service.
S1036 MIN_PATH offset of the axis is not The offset saved in the servo does not Synchronize the corresponding axis.
correct! coincide with the offset saved on the CPU Test the buffering.
board.
Servo or CPU board have been replaced.
The buffered storage range has been
deleted (HEX-key to 00)
S1037 Servo-error (IU): There occurred an internal initialization Synchronize all axes of the robot anew
RSV actual value generation: error. until the error message does no longer
The error perhaps may occur in occur.
Error in the overflow counter
conjunction with the exchange of CPU-
boards or axes amplifiers.

S1038 Servo-error (IU): The error only occurs with activated ”RSV- Inform the customer service, if the error
RSV-Cycle regulation: Error in the cycle regulation”. repeats.
tool cycle distribution - Check the CAN-busses CAN-A and
CAN-B.
S1039 Servo-error (IU): Extremely disturbed CAN-B- - Check CAN connection.

CAN-B: buffer overflow communication: Telegrams to be sent - Check terminal resistor
cannot be transmitted.
There probably is a fault of the - if the error frequently only occurs on
CAN-circuit B. At least 2 participants have to be one axis, this axis amplifier should be
connected to the CAN-circuit (only servos exchanged.
and SafetyController).
S1040 Servo-error (IU): There occurred a not admitted - Check machine data.
Machine data not admitted ! combination of machine data. - was only valid up to RSV 9.0:
For details please refer to the In ISERVO_SWITCH the bits 8 and 9
system error list. couldn’t be set simultaneously.
S1041 Servo-error (IU): An admissible axis speed was exceeded Check the nominal preset values
Reference axis speed much too more than twice per nominal speed. produced by the user program or the PLC
high (FIPO-0). A stop 0 was released (immediate switch- movement of the axis.
off). - see S646 FIPO-1


1042
S1043 Servo-error (IU): Despite closed brake the motor of axis X Notify customer service
Brake test failed !\ could move by more than
IBRKTEST_TOL increments during brake
The brake of the axis is defective!
test.
Replace the motor and start brake
test manually!

S1044 Servo-error (IU): The Sync-object A) With displayed error the red WD-LED A) Check axis amplifier axis 1 (*):
on CAN-B is missing. of all amplifiers (except A1) lights: Does amplifier exist and is the axis
Perhaps there is a defect in the The master-servo (axis1) does not number correctly set? Perhaps the
master axis. send a synchronization object to CAN- amplifier is defective.
B. B) Check the axis amplifier concerned
B) With displayed error only the red WD- (not axis 1):
LED of the amplifier lights that Probably this amplifier is defective.
indicates the error: A) and B)
An axis has a disturbed CAN-B-
Also check the correct setting of all axes’
connection and does not correctly
numbers of the amplifiers in conjunction
recognize the synchronization object.
with the amplifiers announced in
C) Seldom special case: IACT_AXES.
Up to version RSV9.1 the error could
Check all CAN-cables with CAN-B-signals
be indicated sporadically in an
(between the servos, from servo to the
unauthorized manner (very seldom).
Safety Controller).
This only happens with start-up of the
robot and then cannot be repeated
with new start-up. (*) “axis 1”: In this case there is always
meant the first axis entered in the
machine data IACT_AXES, i.e., nearly
Possible sequence errors:
always the axis 1.
Due to the missing CAN-B communication
the Safety Controller cannot be In special cases the error monitoring may
synchronized. be switched off via bit 27 in the machine
RSV-Fehlermeldungen_1600 06/05 gb data ISERVO_SWITCH. 182
S1045 Servo-error (IU): There are problems with change of the In between the various axes modes
FORCE-Control (P1): axis mode. always switch back to the axis mode
”active” (also refer to documentation ”axis
There is an inadmissible change
command”).
of axis mode.
S1046 Servo-error (IU): There are problems with change of the In between the various axes modes
FORCE-Control (TMS): axis mode. always switch back to the axis mode
”active” (also refer to documentation ”axis
There is an inadmissible change
command”).
of axis mode.
S1047 Servo-error (IU): An internal timing problem occurred Perhaps the machine data IIPO_FACT
Force-Control : Data transfer error during start of the momentum mode. may be increased after consultation with
for the axis mode Reis Robotics.
MOMENT_CONST.
S1048 Servo-error (IU): The machine data had not been correctly Start robot again.
Machine data not received. transmitted to the servos with robot start-
up.
Please restart the robot.

S1049 Servo-error (IU): In the machine data ISERVO_SWITCH Check the CAN-bus or deactivate the
Nominal value failure. perhaps the feature ”fast sequence of ”Fast sequence of nominal values”.
nominal values” is activated (bit 11).
Timing of the reference value
transfer to the amplifier is Cyclic transfer of axes nominal values via
disturbed. Please restart the the CAN-A is disturbed.
robot.
S1050 Servo-error (IU): Configuration An unknown CAN-telegram occurred in Check the connected CAN-participants.
error CAN-B the CAN-B circuit. Notify the manufacturer if needed.

S1051 servo error (IU): A) The message appears in the logbook: A) There is no error status
Servo switch-off with drives being This message is always entered in the B) Check the AC-Fail-wiring for
active. RSV logbook in case of a normal switch- intermittent contacts.
If the PHG displays this message off with drives being still active. Check the CONVERTEC-power pack.
there is a failure in the voltage The message then is no longer displayed
supply. For details see system on the PHG.
error list.
A) The message appears in the PHG:
The axis amplifier concerned by mistake
has recognized an AC-fail signal although
there was no switch-off.
The error can also be recognized due to
the fact that the amplifier concerned,
deviating from all other amplifiers, is in
PowerDown or in the Loader-(Flash)
status.
S1052 Servo-error (IU): An unknown CAN-telegram occurred in Check the connected CAN-participants.
Configuration error CAN-A the CAN-A circuit. Notify the manufacturer if needed.

S1053 Servo-error (IU): The Master-Command sent by the control Start robot again if needed
The alive-signal of the control isn't is no longer valid
- Transmission error in the M-module Always restart the robot via the main
received anymore.
- Failure of the control (RSV-CPU)
switch, i.e., do not use the reset key of the
(RSV-Watchdog)
CPU.
Check the bus CAN-A or inform
the customer service.
S1054 Servo-error (IU): various causes are possible, e.g. standstill This message is an informative message
There occurred a stop 0 released monitoring, brake ramp monitoring or of the servo and not switched on as
by the Safety-Controller. brake time monitoring by the SC. standard default (switch-on via bit 26 in
ISERVO_SWITCH).
For further finding of cause please use the
documentation for the SC.
S1055 Servo-error (IU): various causes are possible, e.g. This message is an informative message
There occurred a fast stop EMERGENCY-OFF or violation of safety of the servo and not switched on as
released by the Safety-Controller. grid. standard default (switch-on via bit 26 in
relevant machine data: STOP1_CTRL ISERVO_SWITCH).
For further finding of cause please use the
documentation for the SC.

S1056 Servo-error (IU): - The axis concerned often has an - The machine data
Plausibility check of the motor unfavorable amplifier adjustment (long SPEED_DIR_CTRL_TIME shall be
speed failed (channel B). overswing in case of stop or direction 200
inversion) - If the error continues to happen,
The Safety Controller is set
asynchronous (request of a - Or the axis is moving at the current optimize the amplifier parameter (in
reference movement). limit general by increasing ISPEED_KP)
- In seldom cases there is a defect on - Perhaps reduce acceleration
the resolver of the motor - check resolver
- Inform the manufacturer
S1057 Servo-error (IU): - The axis concerned often has an - The machine data
Plausibility check of the motor unfavorable amplifier adjustment (long SPEED_DIR_CTRL_TIME shall be
speed failed (channel A). overswing in case of stop or direction 200
inversion) - If the error continues to happen,
The Safety Controller is set
asynchronous (request of a - Or the axis is moving at the current optimize the amplifier parameter (in
reference movement). limit general by increasing ISPEED_KP)
- In seldom cases there is a defect on - Perhaps reduce acceleration
the resolver of the motor - check resolver
- Inform the manufacturer

S1058 Servo-error (IU): - Discontinuity in the position nominal - This message in general occurs
Plausibility check of the motor values often recognized simultaneously with the tracking
position failed (channel B). - In seldom cases there is a defect on distance message <S 698> (ibidem)
The Safety Controller is set the resolver of the motor - check resolver
asynchronous (request of a - Inform the manufacturer
reference movement).
S1059 Servo-error (IU): - Discontinuity in the position nominal - This message in general occurs
Plausibility check of the motor values often recognized simultaneously with the tracking
position failed (channel A). - In seldom cases there is a defect on distance message <S 698> (ibidem)
The Safety Controller is set the resolver of the motor - check resolver
asynchronous (request of a - Inform the manufacturer
reference movement).

S1060 Servo-error (IU): Servointernal hardware error (e.g. old Exchange servoamplifier or IU-board.
Internal semaphore error C167 version of the IU-board) The following was applicable for software
Please inform the customer versions smaller than RSV10.1 or
service. Attention with calibration of resolver: RSV9.5:
In this case perhaps the error may be Exchange servoamplifier or IU-board.
given by mistake (when switching off the If replacement is not possible
drives after calibration of resolver) Please immediately, operation of the installation
ignore the message in this special case. perhaps may be continued in an
”emergency operation”.
Emergency operation:
Set bit19 and bit23 in the machine date
ISERVO_SWITCH. In case of repeated
malfunctions of the axis in emergency
operation, further operation is not possible
and the amplifier has to be replaced.

S1061 Servo-error (IU): The function ”Special position amplifier - Correct the adjustments in the
Configuration error linear drive: linear drives” (bit28 in IAXES_DESCR) machine data
There probably is an inadmissible must not be activated for Not-EnDAT- - Check the amplifier type
combination of adjustments in the amplifiers.
machine data. The function ”Special position amplifiers
linear drives” must be activated for
EnDAT-amplifiers.
S1062 Servo-error (IU): A function inadmissible for EnDAT-
Function inadmissible for EnDAT- amplifiers was called (e.g. synchronization
linear drive of axis).
S1063 Servo-error (IU): Exceeding the calculation time of a Inform the customer service if the problem
Calculation time C32 exceeded. processor of the IU occurred with the occurs again.
One processor of the IU is software. Perhaps an update of the RSV software is
overcharged. recommended.
S1064 Servo-error (IU): Exceeding the calculation time of a Inform the customer service if the problem
Calculation time C167 exceeded. processor of the IU occurred with the occurs again.
One processor of the IU is software. Perhaps an update of the RSV software is
overcharged. recommended.
S1065 Servo-error (IU): reserved
1065

S1066 Servo warning (IU): <axes> As from amplifier temperature 60° there is see error ”<S656> servo error (CU-4):
The amplifier temperature is an automatic limitation of the motor excess temperature of the power
higher than 60 degrees! There is current. The limitation is linear from Imax electronics”
an automatic limitation of capacity. at 60° to 0A at 90°. This warning will only
be displayed in relation with the error
”<S647> Tracking distance too big (Stop
1)”.
S1067 Servo-error (IU): <axes> Subscribers on the CAN-circuit CAN-B are Check the CAN-B. The cable connections,
Communication on CAN-B all amplifiers and the Safety Controller. individual subscriber nodes, the terminal
disturbed. Probably there are too Problems are occurring here due to resistance or external interferences may
many error frames. electric faults or interferences. be the reason for this.
Note:
This monitoring currently is not active as a
standard feature but only in the start-up/
service mode (*1).
(*1) Bit26 in the machine data
ISERVO_SWITCH is set

S1068 Servo-error (IU): <axes> This error only occurs on the linear drives Check accumulator buffering.
Asynchronous start-up of the equipped with Rexroth transmitter Try to avoid power switch-off for the entire
linear motor! Cause perhaps is a systems. Being switched off these axes “hall power supply”.
failure of the voltage buffering. are not braked and consequently become
asynchronous, when the accumulator
buffering (UPS) of the system fails. If, due
to this reason, the axis became
asynchronous, the corresponding error
message will be given with start-up.
S1069 Servo-error (IU): <axes> Error during an automatic update of the Do not switch off the installation, since
IU-Loader-Update: servo loader software: otherwise perhaps booting the amplifiers
The control does no longer The corresponding servo recognized that will no longer be possible.
receive any data. Please d o n o the control does no longer send any data.
t switch off the installation and Please notify manufacturer!
notify manufacturer!

A checksum error of the loader Faulty data written into the memory of the will no longer be possible.
code was recognized in the flash. corresponding servo.
Please d o n o t switch off the Please notify manufacturer!
installation and notify
manufacturer!
Error recognized by the corresponding will no longer be possible.
Error occurred when receiving
loader code. Please d o n o t servo when sending the loader code.
switch off the installation and Please notify manufacturer!
notify manufacturer!
S1072 Servo-error (IU): <axes> An unexpected error occurred when trying Try to execute synchronization again.
Synchronization of the linear to synchronize the linear drive. Notify the manufacturer if this is not
motor failed. successful.
S1073 Servo error (xU): reserved
1073
1074


1075
S1076 Servo-error: <axes> Internal error of the servoamplifier. If the message appears again even after a
new start of the control, please contact the
Time excess E2. The processor customer service.
was overcharged.
S1077 Servo-error: <axes> Internal error of the servoamplifier. If the message appears again even after a
Time exceeded E3. The processor customer service.
was overcharged.
S1078 Servo-error (CU): <axes> Internal error of the servoamplifier. If the message appears again even after a
General CU-error! customer service.
S1079 Servo-error (P2): <axes> This is a consequential error due to other Please first process the original error
servo-errors. messages.
Error buffer overflow!
S1080 Servo-error (P2): <axes> A: A:
Quality of the resolver signals is Check the resolver signals!
Resolver calibration channel B: unsatisfactory.
Too high difference between sine B: B:
and cosine signal! The amplifier is defective. Exchange the defective amplifier!

S1081 Servo-error (P2): <axes> see S1080 see S1080
Resolver evaluation: Too high

deviation during unit value
determination!
S1082 Servo-error (P2): <axes> Internal error of the servoamplifier. If the message appears again even after a
new start of the control, exchange of the
Wrong frequency or failure of the defective amplifier is required.
SOC-signal!
Access to illegal address! customer service.
Time exceeded E1! (channel B) customer service.
Failure of the main processor customer service.
recognized! (Watchdog)
Internal SCI-error (receiving buffer customer service.
overflow)

Internal SCI-error (transmitting customer service.
buffer overflow)
Internal SCI-error (transmission customer service.
error)
Internal SCI-error (receiving buffer customer service.
empty)
Internal SCI-error (transmitting customer service.
buffer empty)
Internal SCI-error (wrong number customer service.
of data)
Internal SCI-error (wrong customer service.
checksum)

Internal SCI-error (receiving error customer service.
map data)
S1094 Servo-error (P2): <axes> Communication on CAN-B is disturbed. If the error is still present after a new start
of the control (and the amplifiers), please
CAN-B: Receiving buffer overflow! first check for the following possible
reasons:
- bad wiring (shielding, terminal resistor)
- extremely disturbed environment
(EMC)
- defective subscriber on the CAN-B (an
amplifier or the SafetyController)
- several amplifiers with identical axis
number
CAN-B: Transmitting buffer

overflow!
CAN-B: Warning level reached!

CAN-B: Passive level reached!


CAN-B faults occurred!
S1099 Servo-error (P2): <axes> A fault caused a constant deviation of the Please restart the control (main switch!).
time behavior.
Cycle of the individual amplifiers is
no longer synchronous! Please
restart the robot.
S1100 INFO_PLC-error: Syntax error There must be no blank between operand remove blanks
Blank not allowed in line x type and indication of number
S1101 INFO_PLC-error: Range error with range limit exceeded enter correct value for this operand
operand OP Allowed: min – max
in line x
S1102 INFO_PLC-error: Wrong operand None of the specified operands indicated use specified operands only
OP in line x
S1103 INFO_PLC-error: Wrong number None or wrong number of tabulators first I-step must contain 5 tabulators
of tabulators Y tabulators are indicated in the first I-step
required in line x
S1104 INFO_PLC-error: Syntax error use specified operands
Operand is missing in line x


S1105 INFO_PLC-error: Syntax error missing bit number or wrong range enter the correct syntax
Operand OP missing or wrong indication (letter)
indication in line x
S1106 INFO_PLC-error: Syntax error integer or bit variable shall be represented use suitable representation format
Indicated format Y doesn't match as real
the operand OP in line x
S1107 INFO_PLC-error: Syntax error enter real value for bit or integer variable, use suitable set-value
Indication of value VALUE for value too big / too small for this operand
operand OP not allowed in line x
S1108 INFO_PLC-error: Syntax error in Not specified error that may occur with correctly adapt all columns
line x (Tabulator shifting ? ) editing of the tabulator line
S1109 INFO_PLC-error: Admitted Too many valid indication lines entered in limit the number of valid lines to the
number of VALUE operands INFO_PLC indication VALUE
exceeded in line x
S1110 – INFO_PLC-error: reserved
S1119
S1120 COMLIST_PLC-message:
Processing finished
S1121 COMLIST_PLC-message:
Process PROGNAME step no. x


S1122 COMLIST_PLC-error: Protected The marked PLC program PROGNAME is Remove program protection or cancel
program PROGNAME shall be protected against editing marking
edited
S1123 COMLIST_PLC-error: Error when Internal error Perhaps program memory full or comment
adding the comment to program contains undefined ASCII-characters
PROGNAME in line x
S1124 COMLIST_PLC-error: Error with Internal error Please check program
step continuation in program
PROGNAME in line x
S1125 COMLIST_PLC-error: Syntax Only Operand indicated Operand must be followed by comment
error Comment is missing in line x
S1126 COMLIST_PLC-error: Syntax Comment does not begin with ‚;’ or is Correct the comment
error Comment too long or longer than 200 characters
incorrectly started in line x
S1127 COMLIST_PLC-error: Syntax missing bit number or wrong range enter the correct syntax
error Operand OP missing or indication (letter)
wrong indication in line x
S1128 COMLIST_PLC-error: Wrong None of the specified operands indicated use specified operands only
operand OP in line x


S1129 COMLIST_PLC-error: Range error range limit exceeded enter correct value for this operand
with operand OP Allowed: min –
max in line x
S1130 COMLIST_PLC-error: Syntax There must be no blank between operand remove blanks
error Blank not allowed in line x type and indication of number
S1131 Error with step continuation in
program PROGNAME in line No. inconsistent step in the configuration Delete and enter anew
program
S1132 No entry for variable event No. Program the requested condition or delete
NUMBER in program The indicated program exists, but does this event from _IEVENT_CTRL
PROGNAME not contain a condition for the event
NUMBER
S1133 Wrong number of tabulators in
program PROGNAME Required Number of tabulators too small with Enter correct number of tabulators, see
are REFNO tabulators in line No reference to the column definition section error! Reference source could
not be found.
S1134 Entry "PARAMETER" could not be
read in the program PROGNAME Parameter contains not allowed Correct the parameter
line NO characters
S1135 Missing entry TABNO in program
PROGNAME line NO Parameter in column TABNO does not Enter parameter
exist


S1136 Variable VARNAME from program
PROGNAME line NO not found The indicated variable was not found in check and correct name
the user program or the RSV.
S1137 Range error in variable
VARNAME in program Requested variable is no array variable, check and correct name
PROGNAME line NO, definition: but so is its definition (or vice-versa).
VARDEF
array index of the requested variable
larger than the definition
S1138 Variable type or var. element
VARNAME in program This variable type is not admitted I- and R-variables or elements are
PROGNAME line NO not allowed admitted only
S1139 Entry "PARAMETER" is not
admitted in program PROGNAME The indicated condition is not defined or correct the entry
line NO the entry must consist of a continuous
character string
S1140 Variable type and comparative
value have different types in the The comparative value in column 3 does correct the type of the comparative value
program PROGNAME line NO not match the variable type in column 1
S1141 comparative value is faulty in the
program PROGNAME line NO The comparative value in column 3 correct the size or the indications of the
exceeds the possible range of values or comparative value
contains not admitted characters


S1142 Number of the variable event is
beyond the range BEGINNING - wrong event number Allocate admitted event number from the
END in the program PROGNAME range BEGINNING - END
line NO
S1143 Number of possible variable-
events NUMBER exceeded in Limit the number of configuration lines to
program PROGNAME as of line NUMBER
NO
S1144 Entry "PARAMETER" is not
written under tabulator in the Parameter entry does not begin exactly make entry under tabulator
program PROGNAME in line NO under a tabulator
S1145 program "PROGNAME" for event
number NO not found program does not exist or is in the wrong establish program in the correct path or
path deactivate event
number NO is no MACRO define program as MACRO or deactivate
event
number NO must not be executed program is not released for execution establish program in the correct path and
(protection) or is in the wrong drive release for execution or deactivate event
S1148 variable event NUMBER1
allocated twice in the program the same event NUMBER1 is indicated in each event may contain one condition
PROGNAME in line NUMBER2 two valid entries in the program only
PROGNAME

S1149 Event controller error: The Event-Controller cannot execute the • Check whether the macro exists
Program " name“ not found or required macro. • Check whether the program is a
program is no macro must not be macro program.
executed!
S1150 reserved reserved
S1151 LOGBOOK syntax error: Error this step has not been correctly
with step continuation in program recognized
PROGNAME in line NUMBER
S1152 LOGBOOK syntax error: Wrong The first I-step has been provided with the correctly enter the number of column
number of tabulators in the wrong number of T’s markers (T’s)
program PROGNAME. Required
are NUMBER1 tabulators in line
NUMBER2
S1153 LOGBOOK syntax error: wrong only enter the admitted variable types
variable type VARTYPE in the
program PROGNAME in line
NUMBER
S1154 LOGBOOK syntax error: syntax • user variable or structure member correct the indications
error in column NUMBER1 in the in column 1
program PROGNAME in line • wrong time indicated in column 2
NUMBER2


S1155 LOGBOOK syntax error: number limit entries to the admitted number
of possible variable entries
NUMBER1 exceeded in the
program PROGNAME as of line
NUMBER2
S1156 LOGBOOK syntax error: No no access possible to the message
access to messages in program memory
PROGNAME as of line NUMBER
S1157 LOGBOOK syntax error: message the message NUMBER1 indicated in use correct message number
NUMBER1 in the program PROGNAME was not found
PROGNAME in line NUMBER2
not found
S1158 reserved
S1159 reserved
S1160 LOGBOOK syntax error: program the step after the local Uvar is not the end In case a new plain text conversion is
PROGNAME already contains step insisted on: Delete all steps after the Uvar
plain text as of line NUMBER step
S1161 Safety-PLC-error: For operation of the Safety-PLC at least Provide the SafetyController with the
Version <text> in the version <Text> is necessary in the necessary firm ware
SafetyController is not sufficient. SafetyController
version <text> is required at least
S1162 Safety-PLC-error: It was not possible to establish a Check the SafetyController as well as the
connection has failed connection with the SafetyController CAN circuit 1

S1163 Safety-PLC-error: The SafetyController does not provide a Wrong firm ware version in the
SafetyController does not make space for Safety-PLC. SafetyController. Load current version or
available sufficient location exchange SafetyController
S1164 Safety-PLC-error: The user program in the Safety-PLC is Reduce the user program, e.g. by removal
RSV does not make available bigger than the available space in the of comments
sufficient location RSV-PCX
S1165 Safety-PLC-error: The user program in the Safety-PLC is Reduce the user program, e.g. by removal
Safety-PLC application is too big bigger than the available space in the of comments
SafetyController
S1166 Safety-PLC-error: During data transfer at least one data Check the CAN circuit 1, especially of the
during up/download block could not be transferred. SafetyController and of the RSV and try
again
S1167 Safety-PLC-error: Data manipulation in the RSV-PCX, of the Check the CAN circuit 1, especially of the
different up/download length SafetyController or during data transfer SafetyController and of the RSV and try
again
S1168 – reserved
S1180
S1181 RRTN-error: RSV-PCX does not make available Reduce program <name> to what is
no sufficient memory available sufficient memory for analysis of the absolutely necessary (with PC-
program <name> configurator).

S1182 RRTN-error: error in the binary structure of the program Check and if required correction of the
Error with step continuation in <name> program <name> (with PC-configurator).
program <name> in line
<number>
S1183 RRTN-error: Only the character range 0-9, a-z, A-Z and Remove non-admitted characters
non-admitted ASCII-character in the following special characters are especially tabulator entries from the
program <name> in line admitted: !”§$%&/\()=?*+~#’-_.:,;<>[] @{} program <text> (with PC-configurator).
<number> CarriageReturn LineFeed
S1184 RRTN-error: configuration error <name> of the variable or
variable <name> of the subscriber Check and correct allocation <name> to
<IP-Address> is a non-admitted <IP-address> or the indicated length (with
system variable, has no valid PC-configurator).
structure element or the length is
wrongly indicated
S1185 RRTN-error: configuration error Check variable <name> and enter correct
array variable <name> of the array element (with PC-configurator).
subscriber <IP-address> is
beyond the array range

S1186 RRTN-error: general error with faulty variable indication Check and correct notation of the variable
Variable <name> of the subscriber <name> and its type allocation for this
<IP-address> or the definition is subscriber <IP-address> and correct (with
no array or wrong variable type. PC-configurator).
S1187 RRTN-error: Check and correct allocation of the IP-
storage range for the subscriber in address to slot of the subscriber in
slot <number> not found "RRTN_CNF" (with PC-configurator) and
"NET_CNF"
S1188 RRTN-error: The indications in the program Correct the program "RRTN_CNF" (with
The subscriber with the IP <IP- "RRTN_CNF" don't coincide with the PC-configurator). The indications given in
address> is not agreed or is indications in the program "NET_CNF" "NET_CNF" are the settings.
missing in the network
S1189 RRTN-error: Syntax error in program "RRTN_CNF" Correct the program "RRTN_CNF" (with
Missing end of the CDSect- PC-configurator)
Declaration.
Cannot find the source <name> of PC-configurator)
target <IP-address>
XML-data could not be entered in PC-configurator)
the Parser table

RRTNMember could not be PC-configurator)
generated or not be read
Faulty XML-prolog. PC-configurator)
Faulty XML<text> declaration PC-configurator)
Missing end of the XML- <text> PC-configurator)
declaration.
Faulty XML-process instruction PC-configurator)
Faulty XML-comment agreement PC-configurator)
Contents of the XML-element PC-configurator)
<text> is faulty or cannot be read.
Name of an XML-element cannot PC-configurator)
be read.

Attribute of the XML-element PC-configurator)
<text> cannot be read.
End of the XML-element <text> is PC-configurator)
missing or cannot be read.
Faulty name in an attribute PC-configurator)
Faulty CDSect-Declaration. PC-configurator)
Mapping could not be read PC-configurator)
Source could not be read PC-configurator)
Faulty XML-root element. PC-configurator)
Faulty XML-Misc PC-configurator)


Missing end of the XML-process PC-configurator)
instruction.
S1209 RRTN-error: Syntax error in program "RRTN_CNF"r Correct the program "RRTN_CNF" (with
Missing end of the XML-comment PC-configurator)
Faulty EndTag of the XML- PC-configurator)
element <text>"
Faulty attribute <text1>: missing PC-configurator)
<text2>
Faulty attribute <text1: Faulty PC-configurator)
attribute value
Faulty XML-element, contents is PC-configurator)
not of the "CharData" type

S1214 RRTN-error: Different programs "RRTN_CNF" used Use the same configuration file
Differences found in the "RRTN_CNF" for ALL subscribers
configuration file between
subscriber <IP-address1>and <IP-
address2>
S1215 RRTN-error: The subscriber <IP-address> omitted • Check network and build up
The application APPLICATION telegrams or sent them to the application correctly
found an interruption in the APPLICATION twice. • Generate application (on PC)
sending sequence for the (The application, e.g. the coordinate accordingly with regard to error
subscriber with the IP <IP- interface, checks) tolerances
address>
S1216 RRTN-error: The subscriber <IP-address> uses Use uniform software versions from all
Wrong protocol version <number> another transmission protocol. (RSV-PCX-) network subscribers, perform
found for subscriber with the IP the corresponding Up- or Downdates
<IP-address>
S1217 RRTN-error: The indications in the program Correct the program "RRTN_CNF" (with
Different slot or network "RRTN_CNF" don't coincide with the PC-configurator). The indications given in
configuration found for subscriber indications in the program "NET_CNF" "NET_CNF" are the settings.
with the IP <IP-address>

S1218 RRTN-error: Name or type of a variable not entered or Correct the program "RRTN_CNF" (with
Name or type of a variable cannot reading error in the program "RRTN_CNF" PC-configurator)
be read.
S1219 RRTN-error: Check, whether the file <name> exists in
File <name> not found. the directory S:/$CONFIG/$CNF and add,
if needed.
S1220 RRTN-error: Collective error message, the <number> Correct the program "RRTN_CNF" (with
Syntax error <number> in the refers to the messages 1181 - 1219 PC-configurator)
configuration file "RRTN_CNF"

S1226 Machine data The axis resolution in a main axis (RV Check and correct the axis resolutions of
faulty <text> types, axis 1...6) has the value zero the main axes in MDPROG.
The number of encoder pulses per motor Check and correct the encoder pulses per
revolution (RV types) is zero motor revolution in MDPROG.
The compensation factor of the pressure Check and correct motor constants of the
cylinder has a negative value main axes in MDPROG
The motor constant of a main axis (RV Check and correct compensation factor in
types, axis 1...6) has the value zero MDPROG
The compensation factor of the pressure Check and correct coupling and coupling
cylinder has a negative value factors in MDPROG
There is a coupling between two axes and

the corresponding coupling factor has the
value zero.
S1227 No model existing for this robot You want to use the optimizer function for Switch off the optimization with OPTIMIZE
type a robot type no internal robot model is #PTP,0.
existing for.

S1228 No model existing for one of the You want to use the optimizer function for Switch off the optimization with OPTIMIZE
used axis types a robot type equipped with an axis no #PTP,0.
internal model is existing for.
S1229 Robot model: Necessary data of the robot model are not Run up the control again.
No access to the configuration available.
data
S1230 Dynamic model data are faulty. There was recognized an error for the not applicable
Correct the machine data or dynamic model in the machine data and
switch off function via the machine the dynamic model is to be used.
data IDYN_MODEL_CTRL (Bit 0).
S1231 Elastic model: The elastic model is to be used for a In case the elastic model is not necessary,
The model data are faulty. simulation, however, there are no or only please set bit 1 to 0 in the machine data
Correct the machine data or faulty data available. IDYN_MODEL_CTRL. In case it is
switch off function via the machine required, please contact Reis Robotics in
data IDYN_MODEL_CTRL (Bit 1). order to get the data.
S1232 Elastic model: Set bit 1 in the machine data
No elastic model existing for this IDYN_MODEL_CTRL to 0 in order to
robot type. switch off the elastic model.
Please switch off the function via
machine data
IDYN_MODEL_CTRL (Bit 1).

S1241 SENSOR error: Internal error None

Generation of the data file does
not work.
Reason: Faulty compiling process
not work.
Reason: Faulty decompiling
process
not work.
Reason: Variable not found
not work.
Reason: Faulty checksum


S1245 SENSOR error: Error in the program sequence: Change programming.
Generation of differences does Generation of differences is called with U-
not work. variables that are not released for this
purpose by the system.
Reason: No 6D-shifting for the
reference data
S1246 SENSOR error: Error in the program sequence: Change programming.
Generation of differences does Generation of differences is called with U-
not work. variables that are not released for this
purpose by the system.
Reason: No current sensor data
available
S1247 SENSOR error: An error occurred during data smoothing. If reason is indicated, eliminate same.
Data smoothing does not work. For most of the errors the exact reason is Otherwise please inform Reis Robotics.
given in the additional text.
Reason: <text>
S1248 SENSOR error: The U-variables indicated for differences Check whether the U-variables were
Generation of differences does generation contain data in different frames recorded in different frames.
not work. or there is not available enough system
memory or there occurred an internal
Reason: Allocating or distance
error.
problem

S1251 Robot-amplifier-simulation: An Simulation was aborted due to a faulty Check model data and configuration and
error occurred. Simulation was configuration. start up function again.
switched off.
S1252 Robot-amplifier-simulation: Matrix Internal calculation could not be executed. Check model data and configuration and
inversion failed. start up function again.
S1253 Robot-amplifier-simulation: The time given for model calculations is Increase the value for _ISIMU_IPO_FACT
System variable not sufficient. acc. to documentation ”Robot Simulation”.
_ISIMU_IPO_FACT is set too low.
S1261 System variables The system variable _IOPTI_RANGE has Enter value within the admissible limits
_IOPTI_RANGE a value below 0 or higher than 100
exceed the range limits.
S1262 System variables _IOPTI_FACT The system variable contains a value Enter admissible value
exceed the range limit. below or equal to 0
S1263 System variables The system variable contains a value Enter admissible value
_IOPTI_CALC_PTS below or equal to 0
exceed the range limits.
S1264 Axis optimization: Optimization may be executed at full Set the override to 100%.
No optimization possible, override speed only.
is unequal to 100%.

S1265 Axis optimization: Program sequence must not be This cycle is not used for optimization.
no optimization in the current interrupted during axis optimization. You may acknowledge the message and
cycle, measurement was start again.
interrupted.
S1266 Axis optimization: Nesting of the optimization ranges is Check the program and correct it.
Not allowed instruction nesting. overlapping.
S1267 Axis optimization: The variable array containing the Extend the number of array elements of
Factor array doesn’t have enough acceleration factors doesn’t have enough the variable.
elements. elements to receive the axes to be
optimized.
S1268 Axis optimization: The variable name of the acceleration Correct the wrong variable name.
Variable names don’t coincide. factors is a different one for the switching
on command than it is for the switching off
command.
S1269 Axis optimization: The value of the cycle current in Please contact Reis Robotics and ask for
Machine data RCURRENT_CYCLE is smaller than or the correct value of your machine.
RCURRENT_CYCLE is faulty. equal to 0.

S1270 PTP-optimization: The PTP optimizer was switched on • Complete the model data for your
No model existing or model although there are no model data existing robot (Inform the Reis Robotics
deactivated. or use of the model data is not allowed. Service Dept.)
• Switch on the model application
(IDYN_MODEL_CTRL Bit 0 = 1) if you
are sure that the data are correctly set.
In case of doubt inform the Reis
Robotics Service Dept.
S1276 Axis speed is too high. is no longer used Omitted
<axis indication>
S1277 Axis speed is much too high. is no longer used Omitted
<axis indication>
S1281 Machine data <name> exceeds Adjust the mentioned machine data to a
valid data range from <number< valid value. In case you are not sure,
to <number> contact Reis Robotics.
S1282 RSV warning: <axis number< The admissible current limit was Current limit was either adjusted too low
Maximum current in the cycle exceeded during a current-monitored or the robot had collision with an obstacle.
exceeded! movement Adjust the current limit accordingly or
remove the obstacle from the robot path.

S1283 Error in the filtered reference Please inform Reis Robotics

value: <axis number>
S1284 Inadmissible nominal value Please inform Reis Robotics
branch: <axis number>
Perhaps there is an error in the
path control.
S1285 New filter value was not adopted Modification of the nominal value filter
by the servo <axes>. (IFILTER or IMAN_FILTER in mdprog.mpr Please notify manufacturer!
or the system variable _ifilter) was not
acknowledged by the corresponding
servo. It is possible that the robot
movement will not be executed with the
provided filter value.
S1286 Program The program Perhaps the program
S:/$CONFIG/$CNF/NET_CNF\ S:/$CONFIG/$CNF/NET_CNF was not S:/$CONFIG/$CNF/NET_CNF was
doesn’t exist ! found during run-up of the control. deleted. Program can be read in again if a
backup exists.
S1287 No suitable entry for an FTP There is a faulty entry during initialization Check the FTP configuration (acc. to
Server of communication with an FTP Server example in the comment) and execute the
corrections.

S1288 FTP get failed Access to data on an FTP Server failed. Perhaps the data are not existing on the
Data cannot be transferred Server or they are in another directory.
Perhaps check the file name (for
capitalization, syntax)
S1289 General error in NET_CNF The file NET_CNF could not be read. Check the entries for inadmissible
characters (acc. to example) or observe
the corresponding documentation.
S1290 FTP: Faulty user program memoryWith data transmission there was Perhaps the source file is defective.
detected an error when swapping the
program data
S1291 Error LAN-configuration: An error in the LAN-configuration was Entry for the network master or the
The IP addresses do not match to stated during run-up of the control. This network slave has a syntax error.
the corresponding network error only occurs in conjunction with The entries are to be checked for the
subscribers in the program Master/Slave applications and use of the allowed keywords ”MASTER”,
S:/$CONFIG/$CNF/NET_CNF Ethernet interface ”SLAVE_1”, ”SLAVE_2”, ”SLAVE_3” and
”SLAVE_4”.
There perhaps occur ambiguities with
allocation of the IP addresses. IP-
addresses must be uniquely defined in the
LAN.
Perhaps more than 5 subscribers have
been defined. This is not allowed.

S1292 Error LAN-configuration: Too many network slaves have been The max. number of the network slaves is
Too many network slaves are recognized during run-up of the control. limited to four. More than four network
defined in the program slaves have been recognized in the
S:/$CONFIG/$CNF/NET_CNF. program S:/$CONFIG/$CNF/NET_CNF.
Reduce the number of entries for the
network slaves to four.
S1293 Error LAN-configuration: Too many network masters have been In LAN only one control can adopt the
Too many network masters are recognized during run-up of the control. network master. Several network masters
defined in the program have been recognized in the program
S:/$CONFIG/$CNF/NET_CNF. S:/$CONFIG/$CNF/NET_CNF. Reduce
the number of entries for the network
master to one.
S1294 Error Master/Slave: On one subscriber in the LAN there was The connection of the Ethernet interface
The UDP-Broadcast was not recognized the failure of another has to be checked, perhaps there is a
received. subscriber. cable break or the connection does not
exist.
This error message also occurs when
switching off a subscriber of the LAN.
S1295 Error Master/Slave: There is a PHG-coupling of all LAN- Drives must be switched on/off on the
Drives are switched off on the subscribers and all robots shall be moved corresponding subscriber.
subscriber ”<name>”! in HAND-mode. The drive states of the
subscribers are different.

S1296 Error Master/Slave: There is a PHG-coupling of all LAN- The corresponding control has to be
The control of one subscriber is subscribers and all robots shall be moved synchronized.
asynchronous ! in HAND-mode one control not yet being
synchronized.
S1297 Error Master/Slave: An error occurred on one subscriber that Eliminate and acknowledge the error on
The control ”<name>” is in the is also displayed to the other subscribers. the subscriber.
error state:
Error number: <xxx>
Error reaction: <xxxxh>
S1298 Error Master/Slave: There is a PHG-coupling of all LAN- Drives must be switched on/off on the
Drives are switched on on the subscribers and all robots shall be moved corresponding subscriber.
subscriber ”<name>”! in HAND-mode. The drive states of the
subscribers are different.
S1299 FTP: Heap-memory full The data transfer cannot be executed due Check whether perhaps several network
to missing system resources services are simultaneously active and if
needed terminate those not necessarily
required any more.
S1300 Load identification: Load identification will be performed in Perform load identification in automatic
setting or single-step mode. mode.
Function neither provided for
setting nor for single-step
operation.

S1301 Load identification: Function exclusively provided for RV Data have to be determined elsewhere.
Function for this robot type not kinematics.
implemented.
S1302 Load identification: No model data for the robot existing. Check via update instructions regarding
Machine data not complete or not
optimizer function whether model data are
set for optimizer operation at all. available.
S1303 Load identification: No memory could be provided or RAM Set override regulator to 100 %, reduce
Not enough working memory. overflow did occur. movement range of axis 5 or 6, increase
programmed speed.
Load identification:
Provided program sequence was The program structure is determined and Start program execution with step 1.
S1304 must not be modified.
either not kept or interrupted.
S1305
Load identification: An evaluation is not possible due to Movement range of axis 5 or 6 to be
Not enough measured values insufficient measuring values. extended
existing for an evaluation.
S1306
Load identification: The robot axes are not in the provided Check position data of axes 2, 3, 4 and 5
Position error in axis xy. Check position.
programmed positions.
S1307 –
S1309 reserved

S1310 No access possible to the mail Faulty configuration for the E_Mail Check the settings in the file "NET_CNF"
server! Check the physical communication in the file ”NET_CNF”. and/or possibly check the settings of the
connection and the settings in mail server (by the EDP representative).
NET_CNF. Check of the physical connection.
S1311 The e-mail was not sent. Observe Communication failure between robot Check the settings in the file "NET_CNF"
the file: S:/$OFFICE/$MAILSEND/ control and mail server and/or possibly check the settings of the
<MailDir>/Errorlog mail server (by the EDP representative).
Check of the physical connection.
S1312 n e-mails were received. Doing After selection of the e-mail receiving Checking of the entries in the file Errorlog.
so, errors did occur. Observe the macro the receipt of -mails will be Introduce corresponding measures.
file: indicated. Record errors or errors
S/$OFFICE/$MAILRECV/<MailDir regarding the attachment possibly
>/Errorlog occurred will be documented in file
Errorlog.
S1313 n e-mails were received. After selection of the e-mail receiving The message is a reference only. No
macro the receipt of e-mails will be further measures will be necessary.
indicated.
S1314 reserved

S1315 No access possible to the GSM Communication fault between robot Check of the physical connection between
unit. Check the physical control and GSM unit (mobile phone). robot control and GSM unit. Check the
connection and activate the settings in the SER_CNF file regarding
settings in GSM unit and possibly activate the correct
S:/$CONFIG/$CNF/SER_CNF settings. Check whether GSM unit is
active.
S1316 SMS was not transmitted to GSM GSM unit possibly is not suitable for Reset GSM unit by switch off/on, check
unit! transmission mode or is not ready for whether the GSM unit meets the
operation. requirements.
S1317 SMS was not read in GSM unit possibly is not suitable for Reset GSM unit by switch off/on, check
transmission mode or is not ready for whether the GSM unit meets the
operation. requirements.
S1321 CP-Optimizer: An optimizing section may only be run Select the Ipo-mode with the command
The Ipo mode cannot be changed with a set Ipo mode. IPO_MODE and do not change it within
between OPTIMIZE_CP #On and the optimization bracket.
OPTIMIZE_CP #Off.
S1322 CP-Optimizer: The feed motion or the path before the Program a minor PTP acceleration, switch
The robot is too fast when getting command OPTIMIZE_CP #ON will cause off the PTP optimizer during path
the command OPTIMIZE_CP oscillations. The result of these will be that optimization, set a smaller path radius in
#ON. Adapt movement parameter the path accuracy cannot be adhered to. the first path position.
and start optimization again

S1323 CP-Optimizer variable:<name> Information for operator not applicable

profile was adapted.
Time: sec
max. path dev. approx.: mm
min. speed: mm/sec
Max. speed: mm/sec
next run: further profile adaptation.
S1324 CP-Optimizer: The memory variable of the path section Restart optimization. If the problem still
Memory variable not found was not found exists: Notify manufacturer.
S1325 CP-Optimizer: Change the movement mode to PTP in Prior to INTERPOL #PTP program the
A change to PTP is not possible the optimizer brackets command OPTIMIZE_CP #Off
between OPTIMIZE_CP #ON and
OPTIMIZE_CP #Off
S1326 CP-Optimizer: Step preselection in automatic mode Change over to a test operating mode
Step preselection between
OPTIMIZE_CP #ON and
OPTIMIZE_CP #Off is not
possible.


profile adaptation finished.
Time: sec
min. speed: mm/sec
Max. speed: mm/sec
next run: clear memory
S1328 CP-Optimizer: Two OPTIMIZE_CP #On or #Off Change programming. #On must always
The command OPTIMIZE_CP commands one after the other or be followed by #Off. This message may
#ON must be followed by overrunning the #Off command in test be ignored in test mode.
OPTIMIZE_CP #Off. The mode
command OPTIMIZE_CP #ON is
only processed in AUTO mode.
Both commands must be in the
same program.
S1329 CP-Optimizer: see description Set Bit 12 of the machine data
In RobOffice the filter on the ISERVO_SWITCH to 1.
control must be activated (set
ISERVO_SWITCH Bit No.12)

S1330 CP-Optimizer: see description Abbreviate the name of the memory

The name of the memory variable variable
is too long.
S1331 CP-Optimizer: Program was modified afterwards. Observe no program changes will be
The stored profile doesn't match made after or during the optimization.
the path. Approximation must not be switched on or
off afterwards. If the problem still exists:
limit profile was determined.
next run:
calculate start profile
start profile was calculated.
next run:
profile adaptation.
S1334 CP-Optimizer: Internal error If the problem still exists: Notify
Optimization of this section has to manufacturer.
be started again. Delete the
corresponding U-variable.

S1337 CP-Optimizer: An error did occur resulting in the fact that Restart optimization.
The status of optimization has optimization has to be restarted.
been reset for this section.
S1336 CP-Optimizer: An error did occur resulting in the fact that Restart optimization.
The status has been reset. optimization has to be restarted.
Optimization for this section has to
be started again.
S1337 CP-Optimizer: The filter was changed within the Avoid filter exchange within the brackets.
A filter change between optimizer brackets. If there was no filter change, activate the
OPTIMIZE_CP #ON and filter on the control via ISERVO_SWITCH
OPTIMIZE_CP #Off is not bit No. 12 = 1.
possible.
S1338 CP-Optimizer: Subsequent shifting of the user program Restart optimization. If the problem still
Optimization has been aborted memory. exists: Notify manufacturer.
due to shifting of the user program
memory.
S1339 CP-Optimizer: see description Enter the corresponding machine data.
The dynamic model is not
available.

S1340 CP-Optimizer: see description Set override to 100%.

The override must be set to 100%
during test runs.
Memory was edulcorated.
Time: sec
min. speed: mm/sec
Max. speed: mm/sec
Optimization finished.
S1350 FTP: error with (de-) compiling Internal compiler error Please inform Reis Robotics
S1361 Number ‘(’ unequal to number ‘)’! Example: RX = (3 + 4 Add missing parenthesis or delete the
redundant one.
S1362 Number ‘[’ unequal to number ‘]’! Example: Example: Add missing parenthesis or delete the
redundant one.
S1363 The formula doesn’t contain any Example: RX Add missing assignment or delete the
redundant one.
or too many allocations!
S1364 Two identical operators one after Example: RX = 3 + + 4 Delete one operand or add the missing
one.
the other!

S1365 Invalid character on the left hand Example: RX/3 = 5 Correct the name of the result variable.
side of the assignment!
S1366 Invalid character at the end of the Example: RX = 3 + Delete invalid character or complete the
formula.
formula!
Formula incomplete
S1367 Type of the result variable wrong Example: Example: Correct the variable name.
or inadmissible!
S1368 Blanks between letters or Example: RX 3
numbers!
S1369 First character after ‘[’ must be a Example: RX[Ri] = 3 Correct the array index. May only be an
integer constant or an integer variable.
number or I !
S1370 Two invalid operators one after Example: IA = IB <+ 3 Delete one operand or add the missing
one.
the other!
S1371 Variable name too long! Variable name or constant contains more Modify name.
than 60 characters.
S1372 Function name too long! Function name has more than 8 Modify name.
characters
S1373 Invalid function name! Wrong spelling of the function name or the Modify name.
function is not implemented.
S1374 First character in the variable Example: RA = RB + (+RC) Modify name.
name is not admitted!

S1375 Wrong variable type during Example: RX = RA.x Modify variable type (variable name). Use
structure variables only.
access to the structure element!
S1376 Characters in the variable name Example: Delete characters.
RX = IAB#CD
or in the structure element not
RX = POS.#x
admitted!
S1377 The operator is missing after ‘)’ ! Example: RX = (3 / 4) IA Add missing operator.
S1378 Inadmissible operation with a Example:

system variable!
S1379 Error in the symbol table! Internal RSV-error Customer service.
S1380 Invalid character in a number! Example: RX = 123$45 Delete characters.
S1381 Parentheses set wrongly! Example: RX = ) 3 / 4 ( - IA Keep the order open/close parenthesis.
S1382 Pointer on formula without blanks Internal RSV-error Customer service.

doesn’t exist!
S1383 Variable or number contains more Example: RX = POS.x.x Modify structure access.
than one point!
S1384 The formula is too long! The formula contains more than 512 Split formula or chose shorter variable
characters name.
S1385 Memory cannot be allocated! Internal RSV-error Customer service.
S1386 Value range of a number constant self-explaining Modify number constant.

exceeded!

S1387 Variables have different frames! The operands of a vector addition or Use only variables with identical frames.
vector subtraction contain different
frames.
S1388 Division by zero! self-explaining Test the divisors for zero before
calculating the formula.
S1389 The Boolean expression is The expression only consists of the Add the Boolean expression
missing! characters ‚(‚ and ‚)’
S1390 The Boolean expression does not Each expression must begin with the Add “left parenthesis” as first character in
start with open brackets '('! character ,(, This character is missing in the expression.
this case.
S1391 The Boolean expression does not Each expression must end with the Add “right parenthesis” as last character in
end with '('! character ,), This character is missing in the expression.
this case.
S1400 Gear measuring system: <axes> Missing entry in the file mdprog.mpr In the file mdprog.mpr for the selected
No machine data allocated for this Wrong address selected axis there must be allocated a parameter
axis! block via one of the machine data
IGWC_SETTINGS[ ]
S1401 Gear measuring system: <axes> Invalid values entered in the machine data The machine data RGWC_RES_FREQ[ ]
Invalid machine data entered for and IGWC_FREQ_FACT[ ] must be
this axis! higher than 0.
S1402 Gear measuring system: The system calculated an invalid value for Check the value for the frequency of
Exceeding of range for the system the system variable _RPTP_SPEED resonance of the axis to be measured
variable _RPTP_SPEED!

S1403 Gear measuring system: <axes> Invalid value for the number of measuring At least 14 measurements have to be
inadmissible number of measuring cycles selected executed in normal case
cycles!
S1404 Gear measuring system: The The override is not 100% Set override to 100%
override must be set to 100%!
S1405 Gear measuring system: <axes> An inactive axis has been selected for Check machine data IGWC_SETTINGS[ ],
This axis is not active! measurement IACT_AXES and IAXES_SHORTCUT
S1421 Programming assistant: Not enough definition positions existingProgram the missing definition positions
Not enough positions existing for Definition positions are not marked or mark the definition positions or
definition of the contour. eliminate the valid positions in the
A valid position has been found between
definition part
the definition positions.
S1422 Programming assistant: The definition positions are set in an Program the definition positions again
Contour cannot be calculated. unfavorable manner (e.g. circle = straight
Check positions for contour line)
definition.
S1423 Programming assistant: The definition positions are set in an Program the definition positions again
The normal cannot be calculated. unfavorable manner (e.g. circle with very
small radius)

One-channel opening of an input.
<number>
Please check peripheral
equipment.
The EsalanCompact is not in Run-
Mode. Start the system again.
S1451 CAN-initialization error: Plain text output of the former Cxx-7- Check this CAN circuit, especially this
segment message. device (node).
The device with the Id
Replace device if necessary.
<NUMBER1> in circuit Error in the connected device
<NUMBER2> does not
acknowledge any data
("<CxxNUMBER>")
<NUMBER2> does not accept any
data ("<CxxNUMBER>")

<NUMBER2> does not change to
Loader Mode ("<CxxNUMBER>")
<NUMBER2> does not safeguard
the firmware ("<CxxNUMBER>")
<NUMBER2> does not start the
application ("<CxxNUMBER>")
<NUMBER2> gives message for
not admitted version
("<CxxNUMBER>")

S1457 CAN-initialization error: Install identical servo types

The servos with the Id
<NUMBER1> and the Id
<NUMBER2> have different
hardware states (4000 / 4000-AT)
("<CxxNUMBER>")
S1460 Initialization message: Machine Remounting of the amplifiers of the 4000 Adapt machine data according to
data for amplifiers 4000AT don’t series; amplifiers of the 4000-AT series instructions
match the recognized amplifiers had been mounted before
4000. Please adapt machine data
manually
S1466 Update-message:Without the The <device> does not have the required Perform update
firmware update for <device> NO firmware
drives can be switched on
S1467 Update message: <device> Update for <device> is performed, current Wait for the end of the update
update: <Text1> <Text2> status is displayed in <Text1> and
<Text2>
S1468 Update message:Test <device> Status test of the <device> has this Information displayed during update
<result> <result> procedure
S1469 Update message:Update of Information displayed during update
<device> successfully executed procedure


S1470 Update message: An error Remember further information on this, e.g. Try update again, restart the installation
occurred during update from message S1451ff for this purpose. Remember further
information on this, e.g. message S1451ff
<device>
S1471 Update message: No active axes
existing
S1472 Update message: A device is to be updated that had not Perhaps the device is defective or not
correctly adjusted. Check the settings on
Expected device <device name> been recognized on the CAN bus. the device and the correct connection on
with the ID <number> not the CAN-bus.
recognized.
Update impossible
S1473 reserved
S1474 reserved
S1475 reserved
S1476 reserved
S1477 reserved
S1478 reserved
S1479 reserved
S1480 reserved


S1481 Recording function: Transformation error occurred during Correct the position concerned
Transformation error. recording. The position concerned
perhaps has an unfavorable configuration,
e.g. at the rim of a singularity position
S1482 Recording function: The internal memory could not be Change trigger conditions / the distances
reserved for further positions so that recording of not too many
Not enough memory available.
positions will be required
S1483 Recording function: Wrong program name or program type Check program name and type and
correct
Generation of program <name>
not possible.
S1484 Recording function: A not allowed bit was set in a system Inscribe the allowed bits only.
variable
This function is not allowed.
S1485 Recording function: Occurs when the destination program was 1. Global definition of the tool variable
generated anew. In this case there is to 2. Generate program prior to recording
No tool change step could be
be added a tool change step with the and manually add the tool change step
added to the program <name>.
current tool names; the control does not
allow this.
S1486 Recording function: The control does not allow a position step Check program structure and step
to be added here. numbers
No position step could be added
to the program <name> step
<number>.


S1487 Recording function: The mentioned variables contain not Preallocate contents with plausible values
plausible values
Invalid content of the system
variable <name>
S1496 Recording function: Information for operator: No further not applicable
Recording function is finished. recording can be started unless the
previous recording is finished. This
Position generation is running:
procedure may last some minutes if many
<number>% ...
positions have been recorded.
S1497 Recording function: Information for operator: Recording was Release storage location: delete all
finished prematurely. programs that are no longer required (also
Recording function is finished. from the “wastepaper basket”
No further recording can be started unless
Position generation is running: S:/DEL_PROG). Continue to save storage
the previous recording is finished. This location by changing the trigger conditions
<number>% ...
procedure may last some minutes if many and distances so that recording is not
Recording was finished by the positions have been recorded. required for so many positions.
system due to ram overflow.
S1498 Recording function: Information for operator not applicable
Recording function is finished.
<number> positions have been
generated.

S1499 Recording function: Information for operator: Recording was Release storage location: delete all
finished prematurely. programs that are no longer required (also
Recording function is finished. from the “wastepaper basket”
<number> positions have been S:/DEL_PROG). Continue to save storage
generated. location by changing the trigger conditions
and distances so that recording is not
Recording was finished by the required for so many positions.
system due to ram overflow.
S1503 Collision recognition: Momentum- One or several robot axes are in Switch off collision recognition.
regulated robot axes are not momentum-regulated mode.
allowed. Please switch off
function.
S1503 Search (current): Momentum- One or several robot axes are in Search function (current) cannot be used.
regulated robot axes are not momentum-regulated mode.
allowed.
S1504 Collision recognition: Short- One or several robot axes are short- Switch off collision recognition.
circuited robot axes are not circuited.
function.
S1504 Search (current): Short-circuited One or several robot axes are short- Search function (current) cannot be used.
robot axes are not allowed. circuited.


S1505 Collision recognition: One or several robot axes are released. Switch off collision recognition.
Released robot axes are not
function.
S1505 Search (current): One or several robot axes are released. Search function (current) cannot be used.
Released robot axes are not
function.
S1506 Collision recognition: Dynamic Dynamic model is either not available or Collision recognition cannot be used if the
robot model is deactivated. Please switched off. This can be checked via the robot model is not available
switch off function. machine data IDYN_MODEL_CTRL bit 0.
S1506 Search (current): Dynamic robot Dynamic model is either not available or The function “search (current)” collision
model is deactivated. switched off. This can be checked via the recognition cannot be used if the robot
model is not available
machine data IDYN_MODEL_CTRL bit 0.
S1507 Collision recognition: Dynamic There is a fault in the robot model. Eliminate error (see documentation robot
robot model is faulty. Please model) or switch off collision recognition.
switch off function.
S1507 Search (current): Dynamic robot There is a fault in the robot model. Eliminate error (see documentation robot
model is faulty. model) or do not use the function “search
(current)”.

S1508 Collision recognition: Robot is At the moment the robot is asynchronous, Synchronize robot.
asynchronous. Please switch off a model calculation it not useful.
function.
S1508 Search (current): Robot is At the moment the robot is asynchronous, Synchronize robot.
asynchronous. a model calculation it not useful.
S1509 Collision recognition: Nominal Filtering of the position nominal values If possible, change to the mode “nominal
value filter is not running on the takes place on the servo-amplifiers, a value filter on the control“ (machine data
ISERVO_SWITCH Bit 12) or switch off
control. Please switch off function. model calculation is not useful.
collision recognition.
S1509 Search (current): Nominal value Filtering of the position nominal values If possible, change to the mode “nominal
filter is not running on the control. takes place on the servo-amplifiers, a value filter on the control“ (machine data
ISERVO_SWITCH Bit 12) or do not use
model calculation is not useful.
the function “search (current)”.
S1510 Collision recognition: Current The current actual values of the selected Making available the current actual values
actual values cannot be made axes have not been made available in the in IPO-cycle must be set in an axis-
specific manner via the system variables
available. Please switch off IPO cycle.
_ISERVOCTRL[i].
function.
S1510 Search (current): Current actual The current actual values of the selected Making available the current actual values
values cannot be made available. axes have not been made available in the in IPO-cycle must be set in an axis-
specific manner via the system variables
IPO cycle.
_ISERVOCTRL[i].

S1511 Collision recognition: No Master/slave operation set. Collision Switch off collision recognition.
master/slave operation allowed. recognition is not possible in the
Please switch off function. master/slave operating mode.
S1511 Search (current): No master/slave Master/slave operation set. The function Function "Search (current)” cannot be
operation allowed. “search (current)“ cannot be used in the used.
master/slave operating mode.
S1512 Collision recognition: A collision Standard error message with recognized a) eliminate the reason for collision in
case of real collision
was recognized. collision of the robot with environment.
b) in case of faulty release check the
load and tool data, adapt the friction
parameters or select less sensitivity
S1513 Collision recognition: A collision Standard error message with recognized a) eliminate the reason for collision in
case of real collision
was recognized. The drives were collision of the robot with environment.
switched off. b) in case of faulty release check the
load and tool data, adapt the friction
parameters or select less sensitivity
S1514 Collision recognition: A collision A collision occurred again directly after a a) eliminate reason for collision;
was recognized anew. The drives finished collision treatment. Either none or b) the nominal value buffer for the return
were switched off. an insufficient freeing movement was movement only keeps the movement
made from collision position. data for the last 2 seconds, which
perhaps means not enough values

S1515 Collision recognition: Return An error occurred with planning or Please inform the manufacturer about this
movement could not be executed. execution of the return movement. error.
S1530 Variable recording function: Error Wrong program name or program type Check program name and type and
with program generation correct
S1531 Variable recording function: Error The control does not allow an U-variable Check program name and correct
with establishing the UVAR to be added in the program. Perhaps the
variable already exists or the name is not
allowed
S1532 Variable recording function: The internal intermediate memory of the Reduce multitude of data, e.g. record less
Memory request failed control is overloaded and cannot accept parameters or increase the scanning
any further data. This depends on the interval
memory size and the current status of the
control. The intermediate memory is NOT
the program memory see messages
1536 and 1537
S1533 Variable recording function: Attempt was made to start the function Program a waiting time prior to the new
Function is already running again, although either recording is still function start
active or the program and variable
generation has not yet been finished
S1534 Variable recording function: The mentioned parameter was recognized Correct the parameter
Wrong parameter: <number> as invalid with start of the function.
<text>
S1535 System variables are allowed only (message addition to S1534)


S1536 Variable recording function: User The program memory is already so full Release memory: Delete all other
memory almost full. The function that recording would immediately be programs that are no longer required.
cannot be started. aborted. Then also delete from the directory
“S:/DEL_PROG“ (“wastepaper basket“).
S1537 Variable recording function: The function will be aborted since the Cyclic interrogation of the system variable
program memory could not accept the _IREC_MEMORY. The function must be
User memory full. Function was recorded data any more. finished before the variable is set to 0.
aborted by the system. Otherwise same remedy as with message
1536
S1538
S1539
S1540 Servo-error (P2): A: A:
Resolver evaluation (channel B): unsatisfactory.
The signals are overamplified! B: B:
The amplifier is defective. Exchange the defective amplifier!
S1541 Servo-error (P2): see S1540 see S1540
Resolver evaluation (channel B):

The signals have the wrong offset
value!
S1542 Servo-error (P2): A machine data important for the position Please restart the robot if needed.
determination has been recognized as Synchronize the robot anew.
Movement direction was modified! modified.

S1543 Servo-error (P2): Internal error of the servoamplifier. If the message appears again even after a
Time-out: Position actual value customer service.
acquisition!
Time-out: Monitoring functions! customer service.
Time-out: Communication with customer service.
main processor!
Time-out: CAN-B-communication! customer service.
S1547 Servo-error (P2): A fault caused a constant deviation of the Please restart the control (main switch!).
time behavior.
Cycle deviation to the main
processor
S1548 Servo-error (P2): see S1540 see S1540
Resolver signals faulty! (Channel

B) The axis is set asynchronous.
Main processor not initialized! customer service.

S1550 Servo-error (P2): The value of the set machine data Set a value that contains 4.
IIPO_FACT does not contain 4. Standard values are e.g. 20, 24, 28 ..:
Invalid value for the interpolation This condition only applies for amplifiers Significance:
cycle ! A value containing 4 must 4000AT. 20 == 1 IPO-cycle equal 10.88 ms
be set in the machine data
IIPO_FAKT.
S1551 Servo-error (P2): Axis number of the amplifier was reset. Check the set axis numbers of the drive
amplifiers and restart the control.
The node number was modified!
No release for switching the customer service.
drives!
S1553 Servo-error (CU-L): A: A:
amplifier defective exchange defective amplifier
Calibration of the current
measuring module defective! B: B:
Perhaps a current measuring Installation problem of the motor lines correctly install the motor lines
module is defective (amplifier).
S1554 Servo-error: Internal error of the servoamplifier. If the message appears again even after a
Internal SCI-error main processor customer service.
(checksum error)

S1555 Servo-error: Communication on CAN-A is electrically If the error is still present after a new start
disturbed. of the control (and the amplifiers), please
General CAN-A error! first check with regard to existing error-
not that often: frames.
- several BUS-subscribers with identical Please use the teach pendant (PHG) and
axis number the display of the following system
- abnormally high bus loads due to e.g. variables:
activated special functions or many axes _ICAN1_STAT
with short IPO-cycle. (Input via INFO / VARIABLE / ...)
The following information is displayed:
[1]: load (Mmodule)
[2]: absolute number of data frames
[3]: absolute number of error frames
[4]: number of data frames per second
[5]: number of error frames per second
[6]: max. load (Mmodule)
The input [5] except for individual error-

frames should always be 0 in normal
operation.
The input [3] should have a number as
low as possible (depending on the robot
runtime after the last new start up to now).
The input [1] depends on the number of
axes and on IIPO_FACT. The value
normally should never exceed 60 %.

S1555 To continue see remedy Please check for the following possible
reasons:
- bad wiring (shielding, terminal resistor
etc.)
- extremely disturbed environment
(cable distances to power electrics,
other EMC problems)
- a defective subscriber on the CAN-A
(an amplifier or the SafetyController or
Mmodule)
- several amplifiers with identical axis
number
S1556 Servo-error: There was installed a not compatible Install the correct amplifier type or correct
amplifier (Id.No.) or the software the data configuration applying the REIS
Recognized amplifier hardware configuration (or encoder type, several data management system.
does not match this amplifier channels etc.) is not correct.
software. In case of need perhaps contact the Reis
Robotics service department.
S1557 servo error (CU-A): There is an error in the amplifier settings. Inform the customer service if the
message occurs again.
The maximum current of the servo REIS data management has to be used
has been exceeded. Check the for correct establishment of data.
regulation parameters if the error
occurs again.

S1558 Servo error (xU): Internal error of the servoamplifier. If the message appears again even after a
S1558 customer service.
S1559 Servo-error (CU): Internal error of the servoamplifier. If the message appears again even after a
Error during writing into the flash customer service.
S1560 Servo-error: With each switch-off of the robot the Restart the robot only via the main switch
amplifiers usually are informed !
New start of the control accordingly (via the CAN-Bus) by the
recognized without previous shut- RSV-PCX (and their UPS module). In case the message occurs again with
down of the amplifiers. In this case a new start of the RSV was each new start of the control, please
recognized but the previous switch-off had check the following:
not been transferred to the amplifier. - correct function of the UPS module
The amplifier is totally functioning after - deviating methods with robot switch-off
having acknowledged the message.
S1561 servo error (CU-P): Factory parameterization of the amplifier Replace the amplifier.
has been recognized as invalid.
Invalid factory parameters In case an exchange of the amplifier
should not fix the problem, please contact
the service department.
S1562 Servo-error: A: A:
Resolver calibration channel A: unsatisfactory.
Too high difference between sine B: B:
and cosine signal! The amplifier is defective. Exchange the defective amplifier!

S1563 – Servo error (xU):

S1668 reserved
S1670 Machine data IIPO_FACT Set an admissible value for IIPO_FACT.
must be multiple of <factor> !

Value in the servos: <current
setting>
S1671 Machine data <name> was A machine data was modified for the Please restart the control.
complete adoption of which into the
modified!
control there is required a new start of
Please restart the control! same.
S1680 Error in CAD-function: <text> Internal error Please inform the customer service.
S1681 Warning CAD-function: <text> Internal error Please inform the customer service.
S1682 CAD-function: Internal error Please inform the customer service.
Too many or not enough positions

S1683 – reserved for CAD/CAM
S1698
S1699 CAD-function: Ram overflow Internal error Please inform the customer service.
S1700 Error with path generation: The sample program does not include any Add sample positions acc. to
or not enough positions (for closed documentation.
No sample positions found. contours minimum one, for open contours
minimum 2 positions are required).

S1701 Error with path generation: The source program required for path Check the name for correct notation.
generation from sensor date does not
Source file not found. exist
S1702 Error with path generation: Source See message text Check whether a U-variable is defined in
variable not found. the source file.
S1703 Error with path generation: Not See message text Please inform the customer service
enough system memory.
S1704 The radius around the sample The contour data do not cut any of the Program bigger radius
positions balls around the sample positions
((_ISMOOTHING_PAR[8]) is too
small."
S1705 Error with path generation: The See message text Check source file and possibly perform
source file is empty. recording run
S1706 Error with path generation: See message text See message text
Internal error, please inform the
manufacturer
S1707 – reserved for automatic path generation
S1709

3 Collective error messages system software

3.1 S10 / System errors

S10, 1016 System error 1016 This error always occurs, if programs with This system error can be suppressed via
a different number of additional axes bit 12 in the machine data
compared to what is adjusted in the ISPEC_FUNCTIONS.
machine data are read in a control.
S10, 1024 System error 1024 User program defective Error occurred with step incrementation
S10, 1026 System error 1028 User program defective PNE- resp. UPE-password not found
S10, 1028 System error 1028 User program defective No PNE-password found before PNA-
password
S10, 1052 System error 1052 The adjusted system cycle is not sufficient Gradual increase of the machine data
any more for the application. IIPO_FACT.

3.2 S44 / Sensor errors

S44,6701 Sensor error 6701 Invalid sensor mode Consultation with manufacturer
S44,6702 Sensor error 6702 Error occurred with step incrementation. Notify manufacturer.
S44,6703 Sensor error 6703 System variables are invalid. System variables must be described
anew.
S44,6704 Sensor error 6704 Too many points were generated during Select wider hose radius.
online data reduction. This caused a ram
overflow.
S44,6705 Sensor error 6705 The system variables _SSENFILE or Commands that modify these system
_RSENRADIUS were manipulated during variables must be eliminated.
sensor mode.
S44,6706 Sensor error 6706 Invalid file processed during step Generate correction file anew.
preselection or stored correction file does
not match with the processing program.
S44,6708 Sensor error 6708 The user program memory was modified Notify manufacturer.
during automatic mode and there
occurred an error during pointer update.


S44,6709 Sensor error 6709 The array brackets have been forgotten Correct array indications.
with indication of the array variable string
in the variable _SINPUT or the array index
was not indicated.
S44,6710 Sensor error 6710 The control has not enough memory Notify manufacturer.
location available in the sensor recording
mode.
S44,6711 Sensor error 6711 A number format overflow is caused in the Notify manufacturer.
sensor recording mode.
S44,6712 Sensor error 6712 The U-variable used in the sensor Generate data file with a sensor recording
playback mode is not yet initialized. mode.
S44,6713 Sensor error 6713 There was programmed an analog input Complete hardware or program existing
that does not exist. analog input.
S44,6714 Sensor error 6714 Internal pointer error in the sensor Notify manufacturer.
recording mode.
S44,6715 Sensor error 6715 Sensor error in conjunction with optical Adapt machine data and sensor
laser band sensors: calibration.
With first determination of correction there
is caused an internal calculating error Notify manufacturer.


S44,6716 Sensor error 6716 Sensor error in conjunction with optical Check calibration.
laser band sensors:
With online sensor evaluation there is Notify manufacturer.
caused an internal calculating error.
S44,6717 Sensor error 6717 Sensor error in conjunction with optical Check sensor visual field.
laser band sensors:
With interpolation between the sensor Notify manufacturer.
correction values there is caused an
internal calculating error.
S44,6718 Sensor error 6718 Sensor error in conjunction with optical Notify manufacturer.
laser band sensors:
Internal calculating error in the Delayed-
Shift-Algorithms.
S44,6719 Sensor error 6719 Sensor error in conjunction with optical Clean sight window.
laser band sensors: Set part to be processed in the sight field
There are not available any measured of the sensor.
values along the sensor advance Notify manufacturer.
distance.


S44,6720 Sensor error 6720 The laser camera could not record any Perhaps the component is not in the sight
measuring values during search process field of the laser camera or the
resp. during online path tracking. transmission between laser camera
computer and RSIV control doesn't work
anymore.
S44,6721 Sensor error 6721 System error in the sensor processing Notify manufacturer.
with laser camera connection
S44,6724 Sensor error 6724 Sensor error in conjunction with optical Check sensor calibration.
laser band sensors: Part to be processed is contaminated or
Division by zero with interpolation there is too much slag formation.
between two laser band sensor measuring Notify manufacturer.
values


S44,6728 Sensor error 6728 Sensor error in conjunction with optical Correct the machine data adjustments.
laser band sensors:
Faulty machine data adjustments
ICAM_MEAS_FILTER is adjusted less
than zero or higher than 20.
ICAM_DELAY is adjusted less than zero
or higher than 100.
RCAM_BLIND_DIST is adjusted less than
1[mm] or higher than 200[mm].
S44,6729 Sensor error 6729 Sensor error in conjunction with optical Correct the machine data adjustment via
laser band sensors: "branch answer".
The time relation between sensor Check sensor calibration.
measured values and robot articulation
angle actual values is faulty.
The machine data ICAM_DELAY and
ICAM_SMOOTH_DELAY are incorrectly
adjusted.
Faulty sensor calibration.


Sensor error in conjunction with optical The order of the approximation is not
S44,6730 Sensor error 6730 laser band sensors: programmed within the value range from
Faulty adjustment of the machine data 1 .. 2 or the adjusted number of camera
ICAM_REGR_ON_TCP . measuring values is beyond the value
range from 1 .. 60
Sensor error in conjunction with optical Check the sight window of the camera
S44,6731 Sensor error 6731 laser band sensors: and the serial interface between robot
There are no valid camera measuring control and sensor system
values for approximation of the 1st /2nd
order.
Sensor error in conjunction with optical Consultation with manufacturer
S44,6732 Sensor error 6732 laser band sensors:
The coefficient formation with
approximation of the 1st/2nd order did not
deliver a clear result.


Projection of the camera measuring
values with approximation of 1st/2nd order
could not be performed.

3.3 S61 / PLC errors

S61,7000 PLC error 7000 PLC runtime monitoring. The maximum running time for the PLC
program was exceeded. Optimize the PLC
program or the time in the system variable
_ITIME_PLC.
S61,7001 PLC error 7001 Ram overflow There is not enough user program
memory available for the linked PLC
program ready for running. Clean up the
user program memory !
S61,7002 PLC error 7002 Check error in the current PLC program. Start the PLC program anew.
S61,7003 PLC error 7003 Wrong function code. There is an unknown command in the
current PLC program (the PLC program is
not compatible to the RSV software
version). Modify program.
S61,7004 PLC error 7004 Wrong initial identification. Start the PLC program anew.
S61,7005 PLC error 7005 Storage error The current or next command to be
executed by the PLC is destroyed, start
PLC anew.
S61,7006 PLC error 7006 The marker byte number resulting from the Correct the program and restart PLC.
indirect addressing is too big or too small.


S61,7007 PLC error 7007 The max. nesting depth for subprograms Correct the program and restart PLC.
and function modules has been exceeded
or there are recursive calls.
S61,7008 PLC error 7008 Subprogram not found. The command SUI Establish missing program or correct the
Mx cannot find the corresponding PLC contents of Mx and start PLC anew.
program.
S61,7009 PLC error 7009 Collective message for errors not specified Restart PLC. In case of recurrence please
in detail. contact our service department.
S61,7010 PLC error 7010 The I/O byte number resulting from the Correct the program and restart PLC.
S61,7011 PLC error 7011 The I/O bit number resulting from the Correct the program and restart PLC.
Bit number = 0 to 7.
S61,7012 PLC error 7012 The marker bit number resulting from the Correct the program and restart PLC.
Bit number = 0 to 7.
S61,7013 PLC error 7013 The counter or timer number resulting from Correct the program and restart PLC.
the indirect addressing is too big or too
small.
Number = 0 to 127.


S61,7014 PLC error 7014 The array index in a command LS, TS, SS Correct the array index and restart PLC.
and SS is too big or too small.
S61,7015 PLC error 7015 System variable was not initialized Preallocate system variable only in an
The commands LS, SS and RS can only initialization branch.
be used for initialized system variables.
S61,7016 PLC error 7016 Divisor for TS is 0 = (division by zero) Correct the parameter in the command TS
The command TS divides the ACCU1 by and start PLC anew.
the value from the second parameter. In
this instance in the command TS the
second parameter is the figure 0.

3.4 S110 / Operating errors

S110,4016 Operating error 4016 Step preselection to SEARCH_BIN. The Execute step preselection in such way
command SEARCH_BIN shall be that the robot first must approach the start
activated although coincidence movement position of the search distance (step
has not yet been performed. preselection to POSITION before
SEARCH_BIN).
S110,4030 Observe that the variables are not As destination program the program was Check parameters of TRAFO_6D; rename
identical indicated in which the TRAFO_6D destination program
command was called.
S110,4031 Operating error 4031 Storage and 6D-shifting must not be Terminate storage prior to program start
active at the same time.
S110,4032 Operating error 4032 A constant was indicated as control Change definition of the control variable
variable.
S110,4125 Operating error 4125 Transmission error in the CAN-bus. Check connection cables; reduce line
(connection) failures as far as possible; use shielded
transmission cable
S110,4126 Operating error 4126 Transmission error in the CAN bus. (M- Test M-module; (only trained personnel;
module) perhaps consultation with Reis service or
Reis development department)

3.5 S111 / Programming errors

S111, 4001 Programming error 4001 The subprogram indicated in the
(Technology data) Subprogram not found 'OSC_PATTERN_E' command for
execution of the 'oscillation amplitude
controlled parameter output' (PAGA) could
not be found. Please check the indications
and generate the desired subprogram, if
necessary.
S111, 4002 Programming error 4002 Double key word The code words for the PAGA function
indicated in the (technology data)
subprogram occur several times,
however, the use is only permitted once
according to the operating manual.
S111, 4003 Programming error 4003 Invalid code word A code word for the PAGA function
indicated in the (technology data)
subprogram is not known here, only code
words acc. to the operating manual are
allowed.


S111, 4004 Programming error 4004 Inadmissible AWP_step in the (technology A user command programmed in the
data) subprogram (technology data) subprogram for the
PAGA-function must not be used here.
Only the commands acc. to operating
manual are allowed.
S111, 4005 Programming error 4005 (Technology data) subprogram is no The program indicated in the
subprogram 'OSC_PATTERN_E' command for
execution of the 'oscillation amplitude
controlled parameter output' (PAGA) must
be a subprogram.
S111, 4006 Programming error 4006 Output number is no number In the output commands of the
(technology data) subprogram all
indications must be registered as number
constants, variables are not allowed here.
S111, 4007 Programming error 4007 Output value is no number In the output commands of the
(technology data) subprogram all
indications must be registered as number
constants, variables are not allowed here.
S111, 4010 Programming error 4010 The total of oscillation partial phases in Please verify the indications and rectify
the 'OSC_PATTERN_E' command must the indicated values of the oscillation
be ). phase time, if necessary.


S111, 5000 Programming error 5000 Step is not defined, delete! A not defined The program belongs to another machine
control step was recognized during type or is faulty. Further processing of the
processing of the program. program should be omitted. Read-in
program anew or adjust.
S111, 5001 Programming error 5001 The command READ_PROG#WAIT_NOT Change the program in such way that first
is active at the same time with all #WAIT_NOT activities will be finished
READ_PROG#WAIT. before #WAIT comes.
S111, 5002 Programming error 5002 The command READ_PROG#WAIT_NOT The program must be changed in such
was called more than 20 times within a way that the commands
very short time and therefore could not be READ_PROG#WAIT_NOT have sufficient
processed. time for processing.
S111, 5006 Programming error 5006 Image processing is still active and cannot Program waiting loop.
take over the new command.
S111, 5007 Programming error 5007 Branch destination not found Program branch destination
S111, 5011 Programming error 5011 Nesting depth 12 for subprograms is Change program structure in such way
reached. that the nesting depth doesn't exceed 12
S111, 5012 Programming error 5012 ’SEN’-step or ’PEN’-step recognized, the Program oscillation plane auxiliary point.
oscillation plane not being defined.


S111, 5013 Programming error 5013 Additional axes were moved during CP Program movement steps anew without
operation. moving additional axes. In software
versions >V0805 the error message can
only be given if the machine data or the
user program don't belong to the robot.
S111, 5014 Programming error 5014 No oscillation pattern defined.
S111, 5015 Programming error 5015 Inadmissible control step between a Find out the inadmissible control step by
position and the oscillation auxiliary point means of the operating manual and
resp. oscillation parameter. remove it.
S111, 5017 Programming error 5017 1. Switch-over to PTP while oscillation is Switch off oscillation.
active. Program movement mode #PTP during
2. Tool change during CP operation. tool change.
S111, 5018 Programming error 5018 More than one sensor control step is Remove one sensor control step.
programmed between two positions.
S111, 5040 Programming error 5040 The user command AXIS... is in a CIRC Select control mode PTP or CP_LIN
bracket. before the command AXIS...
S111, 5041 Programming error 5041 Between the commands AXIS#PASSIVE Delete position step.
and AXIS#ACITIVE there is a position
step.


S111, 5043 Programming error 5043 One of the axes which had been freed Move the machine in manual operation
reached the software limit switch during into the admissible area; modify
free movement. installation.
S111, 5045 Programming error 5045 Step preselection to the command INDEX Make step preselection to the position
was made. before INDEX.
S111, 5046 Programming error 5046 The axis to be freed doesn't exist. Check axis indication in the command
AXIS.
S111, 5048 Programming error 5048 The axis to be activated was moved over Move axis in HAND/A mode back into the
the software limit switch after the INDEX allowed area.
command.
S111, 5051 Programming error 5051 Position and oscillation auxiliary point are File oscillation auxiliary point in the same
not filed in the same coordinate system. coordinate system as the preceding
position step.
S111, 5052 Programming error 5052 Position types of a path don't match. Teach positions anew.
- Two ZPOS steps are programmed on
a path, but the station numbers of the
steps are different.
- In a CIRC bracket auxiliary point and
end point are of same position type or
have different station numbers.


S111,5053 Programming error 5053 The command MOVE_AXES was Switch-over to movement mode PTP prior
recognized during movement mode CP. to the command MOVE_AXES.
S111,5075 Programming error 5075 Return from the root subprogram must be Correct the root layer program.
performed in the movement mode PTP.
S111,5081 Programming error 5081 The output text of the INPUT resp.
OUTPUT field doesn't fit into the window.
S111,5082 Programming error 5082 Wrong format designator indicated for the
INPUT or OUTPUT command!
S111,5083 Programming error 5083 Wrong format parameter indicated for the
INPUT or OUTPUT command!
S111,5101 Programming error 5101 Tool change step is not allowed while Switch off sensor, oscillation prior to tool
dynamic corrections are active. change step.
S111,5103 Programming error 5103 Dynamic corrections are active. Prior to activation of the search function,
the dynamic corrections such as e.g.
SENSOR, OSCILLATE etc. must be
switched off
S111,5106 Programming error 5106 Tool change step is not allowed during Remove tool change step or switch-over
control mode CP. to control mode PTP.
S111,5200 Programming error 5200 A PLC command was inserted in a robot PLC commands must only be used in PLC
program. programs.


S111,5300 Programming error 5300 Division by ZERO Check the divisor for zero and avoid the
division e.g. by special treatment
S111,5308 Programming error 5308 The program change from a subprogram Change programming.
into another program is not allowed.
S111,9001 Programming error 9001 "Oscillation without valid oscillation Call function with valid oscillation
pattern." pattern.
S111,9003 Programming error 9003 "Oscillation pattern program not found." Enter correct program name.
Wrong program name Indicate path in _SMAC_PATH_I or
Program not contained in the paths copy program into the indicated path.
indicated in _SMAC_PATH_I . Enter program name with complete
indication of path.
S111,9005 Programming error 9005 "Oscillation frequency beyond the range of Enter REAL-number in the admissible
0 -10 Hz." range.
Wrong REAL-number constant entered. Correctly preoccupy content of the
- If value is given via a variable, this used variable.
variable is occupied with an
inadmissible value.


S111,9007 Programming error 9007 "No OCS auxiliary position in the Program the OCS definition acc. to the
oscillation pattern program." instructions in chapter 8.3
- Position type of the second position in (documentation PENDEL_0400).
the OCS definition differs from the type
of the first position.
S111,9009 Programming error 9009 "More than 100 oscillation positions in the Program oscillation pattern with at least
oscillation pattern program." 5 positions and 100 positions at
maximum.
S111,9012 Programming error 9012 "Wrong OCS definition in the oscillation Program the OCS definition acc. to the
pattern program." instructions in chapter 8.3
OCS auxiliary position programmed as (documentation PENDEL_0400).
first OCS position.
S111,9013 Programming error 9013 "Second auxiliary position in the oscillation Program the OCS definition acc. to the
pattern program recognized." instructions in chapter 8.3
(documentation PENDEL_0400).
S111,9014 Programming error 9014 "OCS auxiliary position is completely Program the OCS definition acc. to the
missing in the oscillation pattern program." instructions in chapter 8.31
Second position in the OCS definition is (documentation PENDEL_0400).
no auxiliary position.


S111,9015 Programming error 9015 "Not enough oscillation positions (< 5) in Program oscillation pattern with at least
the oscillation pattern program." 5 positions and 100 positions at
Calculation of the period is not possible maximum.
with those.
S111,9016 Programming error 9016 "Double parameters in the oscillation Check oscillation pattern program and
pattern program." remove double parameter.
S111,9017 Programming error 9017 "Compensation during calculation of the Slight variation of position of the last
relative oscillation times gives a result of oscillation pattern position.
100%." Calculation of the period is not
possible with those.
Unfavorable position distribution in the
oscillation pattern program.
S111,9018 Programming error 9018 "Wrong OCS definition in the oscillation Program the OCS definition acc. to the
pattern program." instructions in chapter 8.3
All OCS definition positions are (documentation PENDEL_0400).
programmed as auxiliary positions.
One OCS definition position was
forgotten.
S111,9020 Programming error 9020 "Tangent in the OCS definition of the Program the OCS definition acc. to the
oscillation pattern program is 0 mm." instructions in chapter 8.3


S111,9021 Programming error 9021 "Binormal in the OCS definition of the Program the OCS definition acc. to the
oscillation pattern program is 0 mm." instructions in chapter 8.3
S111,9022 Programming error 9022 "All relevant oscillation pattern positions For calculation of the period cycle there
have the same tangential data." Thus, the must be available a period longer than
period length equals zero and no zero. Adapt oscillation pattern
calculation of the period is possible. accordingly.
Oscillation pattern was only
programmed in normal and binormal
direction.
S111,9023 Programming error 9023 "Parameter with faulty value in the Enter REAL-number constant in the
oscillation pattern program." admissible range.
Instead of a REAL-number constant
there was entered a variable or a HEX-
constant.


S111,9027 Programming error 9112 "One important parameter is missing in Enter missing parameter(s).
the oscillation pattern program." At least
one of the following agreements is
missing:
given frequency
given amplitude
oscillation pattern definition
S111,9028 Programming error 9028 "Different frames in the positions in the All positions in the OCS definition and the
oscillation pattern program." oscillation pattern must be programmed
in the same frame.
S111,9112 Programming error 9112 "Wrong path indication during search for Check and correct path indications.
the oscillation pattern program."
An invalid path indication is given in the
system variable _SMAC_PATH_I .
The path indicated directly in the call is
invalid.


S111,1103xx programming error 1103xxx error in the Dump-program “ARCDUMP“ Remove the program since it is only
x • XXX = 000: Variable has in the directory “S:/$CONFIG/$DATA“ used for special examinations
wrong size
• XXX = 001: variable is no
LOC_VAR
• XXX = 002: Wrong variable
name

3.6 S126 / Trafo_6D errors

S126,1 Trafo 6D-error 1 The program "reference source" was not Generate program "reference source";
found. check parameters of the command
TRAFO_6D.
S126,2 Trafo 6D-error 2 "Reference source" contains invalid step. Validate all steps in "reference source"
S126,3 Trafo 6D-error 3 Wrong number of the positions in Check syntax of the program "reference
"reference source". source"; check in control register whether
the correct transformation type was
selected.
S126,4 Trafo 6D-error 4 Positions in "reference source" do not Check positions in "reference source"
build a coordinate system. (distances, angles).
S126,5 Trafo 6D-error 5 Increments of the additional axes in Adjust increments of the additional axes in
"reference-source" are not identical. an identical manner.
S126,6 Trafo 6D-error 6 "Reference source" contains a wrong Check syntax of "reference source"
number of steps. depending from the transformation type.
S126,7 Trafo 6D-error 7 "Reference source" contains wrong step. Check syntax of "reference source"
depending from the transformation type.
S126,8 Trafo 6D-error 8 Definition of a variable / constant in Program the variable / constant definition.
"reference source" not found.


S126,9 Trafo 6D-error 9 Variable / constant in "reference source" Inscribing the variable / constant with a
not initialized. valid value.
S126,10 Trafo 6D-error 10 Positions in "reference source" have a too Check positions; adjust distance > 50 mm.
little distance.
S126,11 Trafo 6D-error 11 Angle between positions in "reference Check positions; adjust angle > 30
source" is too small. degrees.
S126,12 Trafo 6D-error 12 Number of additional axes in the machine Modify machine data; teach in positions
data (JZUSANZ) and in the position step anew.
in "reference source" does not coincide.
S126,13 Trafo 6D-error 13 "Reference source" contains positions Teach all positions in "reference source"
with different position type (#N/#Z) and "reference destination" in the same
coordinate system.
S126,14 Trafo 6D-error 14 #Z-position in "reference source" contains Teach all #Z-positions in "reference
wrong station number. source" at the same station.
S126,15 Trafo 6D-error 15 Error with rotary table world Check positions in "reference source";
transformation in "reference source". check calibration of additional axes; check
station number.
S126,50 Trafo 6D-error 50 Real variable in "reference source" is not Correct the definition of the real variable.
defined as array


S126,51 Trafo 6D-error 51 Real array in ”reference source" has Correct the definition of the real array.
wrong number of elements Adjust number of elements acc. to
definition depending on the type of
transformation.
S126,101 Trafo 6D-error 101 The program "reference destination" was Generate program "reference destination";
not found. check parameters of the command
TRAFO_6D.
S126,102 Trafo 6D-error 102 "Reference destination" contains invalid Validate all steps in "reference
step. destination"
S126,103 Trafo 6D-error 103 Wrong number of the positions in Check syntax of the program "reference
"reference destination". destination"; check in control register
whether the correct transformation type
was selected.
S126,104 Trafo 6D-error 104 Positions in "reference destination" do not Check positions in "reference destination"
build a coordinate system. (distances, angles).
S126,105 Trafo 6D-error 105 Increments of the additional axes in Adjust increments of the additional axes in
"reference destination" are not identical. an identical manner.
S126,106 Trafo 6D-error 106 "Reference destination" contains a wrong Check syntax of "reference destination"
number of steps. depending from the transformation type.
S126,107 Trafo 6D-error 107 "Reference destination" contains wrong Check syntax of "reference destination"
step. depending from the transformation type.


S126,108 Trafo 6D-error 108 Definition of a variable / constant in Program the variable / constant definition.
"reference destination" not found.
S126,109 Trafo 6D-error 109 Variable / constant in "reference Inscribing the variable / constant with a
destination" not initialized. valid value.
S126,110 Trafo 6D-error 110 Positions in "reference destination" have a Check positions; adjust distance > 50 mm.
too little distance.
S126,111 Trafo 6D-error 111 Angle between positions in "reference Check positions; adjust angle > 30
destination" is too small. degrees.
S126,112 Trafo 6D-error 112 Number of additional axes in the machine Modify machine data; teach in positions
data (JZUSANZ) and in the position step anew.
in "reference destination" do not coincide.
S126,113 Trafo 6D-error 113 "Reference destination" contains positions Teach all positions in "reference source"
with different position type (#N/#Z). and "reference destination" in the same
coordinate system.
S126,114 Trafo 6D-error 114 #Z-position in "reference destination" Teach all #Z-positions in "reference
contains wrong station number. destination" at the same station.
S126,115 Trafo 6D-error 115 Error with rotary table world Check positions in "reference destination";
transformation in "reference destination". check calibration of additional axes; check
station number
S126,150 Trafo 6D-error 150 "Reference destination" has the same Check name of "reference destination";
name as "reference source". check transformation type


S126,151 Trafo 6D-error 151 "Reference destination" does not have the Check name of "reference destination";
same name as "reference source" check transformation type/parameters
S126,201 Trafo 6D-error 201 Source program not found. Generate source program; check
parameter of the TRAFO_6D command.
S126,202 Trafo 6D-error 202 Number of additional axes in the machine Modify machine data; teach in position
data (JZUSANZ) and a position in the anew.
source program do not coincide.
S126,203 Trafo 6D-error 203 Error with rotary table world Check positions in the source program;
transformation in the source program. check calibration of additional axes; check
station number.
S126,204 Trafo 6D-error 204 Error with world rotary table Check positions in the source program;
transformation in the source program. check calibration of additional axes; check
station number
S126,205 Trafo 6D-error 205 #Z-position in the source program Check positions in the source program;
contains wrong station number. check station number of the reference
programs.
S126,206 Trafo 6D-error 206 Source program contains VAR_POS-step The used position variable is invalid or the
with a faulty or invalid indication of position variable is not defined.
position variables


S126,301 Trafo 6D-error 301 Destination program exists already. Change check register of the command
TRAFO_6D (admit overwriting); change
name of the destination program.
S126,302 Trafo 6D-error 302 No memory for destination program. Check user program memory; if needed,
back-up and delete programs
S126,401 Trafo 6D-error 401 Check register contains invalid value. Check value of the check register and
enter valid value acc. to definition.
S126,402 Trafo 6D-error 402 Check register contains invalid Check value of the check register and
transformation type. enter valid value acc. to definition.
S126,403 Trafo 6D-error 403 Check register contains invalid Check value of the check register and
transformation parameter. enter valid value acc. to definition.
S126,501 Trafo 6D-error 501 Internal error when copying the source Back up current user memory and data.
program. Inform REIS ROBOTICS
S126,502 Trafo 6D-error 502 Internal error during transformation. Back up current user memory and data.
Inform REIS ROBOTICS
S126,503 Trafo 6D-error 503 Internal error during reading of the Back up current user memory and data.
position data. Inform REIS ROBOTICS:
S126,504 Trafo 6D-error 504 Internal error with determination of the Check position steps of the source
axis signs in the source program program.


axis signs in the destination program. program; check transformation type and
parameters; check source and destination
coordinate systems.
axis signs in the destination program. program; check transformation type and
parameters; check source and destination
coordinate systems.
S126,507 Trafo 6D-error 507 Internal error with the axes' factors of the Check machine data; correctly adjust
additional axes. axes' factors of the additional axes.

3.7 S 234 / Path switch errors

S234,1 Path switch error 1 More than eight PATH_SWITCH Reduce number of the PATH_SWITCH
commands are used along a path. commands or distribute to several paths.
S234,2 Path switch error 2 Wrong control mode System internal error that generally can
only occur after an executed software
update.
Consult REIS ROBOTICS
S234,3 Path switch error 3 In the modes #PATH or #TIME the Adapt trigger time
programmed trigger time is beyond the
current path.
S234,4 Path switch error 4 No integer system variable was Only integer system variables can be
programmed in the mode #VARIABLE. controlled. Program the parameter
No integer or real system variables have "Variable" with integer or real system
been programmed in the mode variables.
#SYSTEM.

3.8 S 283 / Collective errors with multi-layer welding

S283,1 Multi-layer welding: Sample program not found. Adapt sample programs.
sample program.
S283,2 Multi-layer welding: Pattern program is directory. Adapt sample programs.
sample program.
S283,3 Multi-layer welding: General error during scanning the pattern Notify manufacturer.
Error 3 during processing of program.
sample program.
S283,4 Multi-layer welding: Use of variables in the oscillation angle Replace variable by constant.
Error 4 during processing of command in the sample program.
sample program.
S283,5 Multi-layer welding: Format of the sample program is wrong: Modify sample program or correct the top
Error 5 during processing of 1. Normal and oscillation auxiliary layer number in the command
sample program. positions are programmed in the TOPLAYER.
wrong order.
2. Not enough positions.
3. Position variables are used.


S283,6 Multi-layer welding: Error 6 during The positions in the pattern program are Program positions in the same frame.
processing of sample program. not programmed in the same frame.
S283,7 Multi-layer welding: Error 7 during Step in the sample program not defined. Remove faulty step.
processing of sample program.
S283,8 Multi-layer welding: Error 8 during Distance of positions in the positions of Correct the positions.
processing of sample program. the pattern program defining the
oscillation coordinate system is too small.
S283,9 Multi-layer welding: Error 9 during The positions in the sample program Correct the positions.
processing of sample program. defining the oscillation coordinate system
are situated on a straight line.
S283,10 Multi-layer welding: Error 10 The top layer position in the sample Change the position into a normal
during processing of sample program must be a normal position. position.
program.
S283,11 Multi-layer welding: Error 11 The distance between the top layer Improve position in the pattern program.
during processing of sample position and the reference position (first
program. programmed position) in the sample
program is too small.

3.9 S 284 / Collective errors with multi-layer welding

S284,1 Multi-layer welding: Error 1 during Error occurred during processing of the OCS data file must not be manipulated by
generation of top layer program OCS data file. the user. Validate a perhaps invalid
definition of U_VAR.
S284,3 Multi-layer welding: Error 3 during General error during generation of the top Notify manufacturer.
generation of top layer program layer program.
S284,4 Multi-layer welding: Error 4 during No position variables must be contained in Remove position variables from the root
generation of top layer program the root layer program. layer program.
S284,5 Multi-layer welding: Error 5 during Root layer program does not coincide any The root layer program must not be
generation of top layer program more with the status during processing of modified any more after OCS recording.
the command ROOTLAYER.
S284,6 Multi-layer welding: Error 6 during The position in the root layer program is Program positions in the same frame.
generation of top layer program not programmed in the same frame as the
top layer position in the pattern program.
S284,7 Multi-layer welding: Error 7 during Faulty step in the top layer program. Notify manufacturer.
generation of top layer program
S284,8 Multi-layer welding: Error 8 during One displaced top layer position is not in Check positions in the pattern program.
generation of top layer program the robot work envelope. Reprogram positions.


S284,9 Multi-layer welding: Error 9 during The number of main axes and additional Correct the program.
generation of top layer program axes in the root layer program does not
coincide with the actual number.

3.10 S506 / Calibration error

S506,200 Calibration error: 200 The control recognizes a wrong syntax in Correct the syntax of the calibration
the info commands. program.
S506,201 Calibration error: 201 The TOOL command in the calibration Define the tool step.
program is missing or is invalid.
S506,202 Calibration error: 202 Error with step incrementation. This concerns an internal system error
that perhaps hints at a defective CPU.
Notify Reis customer service.
S506,203 Calibration error: 203 During parsing the group table the control Check syntax and correct it in the
recognizes a syntax error in the info calibration program.
commands.
S506,204 Calibration error: 204 No positions were taught in the calibration Check syntax and correct it in the
program. calibration program.
S506,205 Calibration error: 205 Internal system error during allocation of Notify Reis customer service.
memory location.
S506,207 Calibration error: 207 Internal system error Notify Reis customer service.
S506,208 Calibration error: 208 The calibration position was taught in a Check syntax and correct it in the
frame which is different from the base calibration program.
frame or it is a POSITION #P.


S506,209 Calibration error: 209 Less than three or more than ten More or less positions were used for
calibration positions per axis have been calibrations.
taught.
S506,210 Calibration error: 210 An axis shall be calibrated several times Calibrate axis only once.
in one calibration program.
S506,211 Calibration: 211 The difference of the calibration positions Increase position difference.
is less than 20 degrees or 100 mm.
S506,212 Calibration: 212 Calculation of center point is impossible. Check calibration positions, perhaps they
are situated on a straight line or there
exist identical calibration positions.
S506,213 Calibration error: 213 There was defined an undefined station Check station number and correct.
number or a group number.
S506,214 Calibration error: 214 Error when programming the positions for The three calibration positions must stand
calibration of external tools. upright on each other.
S506,215 Calibration error: 215 Internal system error Notify Reis customer service.
S506,216 Calibration error: 216 An extended additional axes calibration Start simple calibration or teach second
was started without second auxiliary auxiliary level.
plane.
S506,217 Calibration error: 217 An extended additional axes calibration Teach and nominate different auxiliary
was started with two identical auxiliary planes.
planes.


S506,218 Calibration error: 218 An extended calibration was started for This is not allowed.
external tools.
S506,219 Calibration error: 219 Undefined axis number defined in the Adapt axis number.
calibration program.
S506,220 Calibration error: 220 For calibration of the $SAFETY frame Adapt axis number.
number 90 was not used as static axis
number.
S506,224 Calibration error: 224 During calibration of the $SAFETY frame The $SAFETY frame can be moved by a
more than three additional axes were maximum of three additional axes.
connected. Consult the manufacturer.
S506,225 Calibration error: 225 The kinematic order between the The kinematic orders must be identical.
$SAFETY frame and another calibrated
station don't coincide.
S506,226 Calibration error: 226 Frame calibration will be performed by Notify manufacturer.
means of position variables. An error did
occur during parsing the VAR_POS
command.
S506,227 Calibration error 227 Frame calibration will be performed by Verify used position variables. Define
means of position variables. The position position variables as global variables.
variable used in the VAR_POS command
was not defined.


S506,228 Calibration error 228 Frame calibration will be performed by Verify used position variables. Completely
means of position variables. The position inscribe position variables e.g. with the
variable used in the VAR_POS command ACTUAL_POS command
was not initialized.
S506,229 Calibration error 229 Frame calibration will be performed by Verify used position variable arrays.
means of position variables arrays. The Check the index of the array element.
array variable used in the VAR_POS
command is faulty.
S506,230 Calibration error 230 Frame calibration will be performed by Program the array index of the position
means of position variables arrays. The variable array element with a digit
array index used in the VAR_POS constant
command represents an INTEGER
variable. This is not allowed.
S506,240 Calibration error 240 The Frame calibration will be performed Frames/Peri-axes may only be calibrated
with several calibration programs and the once in the different calibration programs.
existing calibrations shall not be
overwritten. The Frame/Peri-axis used in
the Frame group/station to be calibrated is
already being used in an existing Frame
group/station.


S506,241 Calibration error 241 The Frame calibration will be performed The Frame name may only be used once
with several calibration programs and the in the different calibration programs.
existing calibrations shall not be
overwritten. The used symbolic Frame
name is already being used in an existing
Frame group/station.
S506,300 Calibration error 300 Syntax error in the 2D-sensor calibration Program the missing vector variables.
program with regard to the four vector Check syntax of the calibration program.
variable definitions.
S506,301 Calibration error 301 Syntax error in the 2D-sensor calibration Program the TOOL-command with valid
program with regard to the TOOL- data.
command.
S506,302 Calibration error 302 Syntax error in the 2D-sensor calibration Program the missing calibration position.
program with regard to the programmed
calibration positions.
S506,303 Calibration error 303 Syntax error in the 2D-sensor calibration Program the subprogram calls for
program with regard to the subprogram measuring value recording.
calls.
S506,304 Calibration error 304 2D-Sensor calibration: Consultation with manufacturer
Internal pointer error


S506,305 Calibration error 305 2D-Sensor calibration: Teach calibration positions with max.
Calculation error with determination of the possible distance. Check transmission of
calibration matrix measured values and vector variables
containing the measured values. The
Division by zero due to calculation formula
differences of the measured values in the
from calibration positions and
sum must coincide with the calibration
corresponding measured values.
position differences
S506,306 Calibration error 306 The 2D-measuring value difference is Increase 2D calibration positions 1 to 3 in
smaller than 5.0 mm. the distance or check the measured value
transmission. (Perhaps an identical
measured value was transferred)
S506,307 Calibration error 307 the position difference of the calibration increase the distance between the 2D-
positions is smaller than 5.0 mm calibration positions 1 to 3
S506,308 Calibration error 308 2D-Sensor calibration: Consultation with manufacturer
Internal pointer error when parsing the
calibration sample program
S506,309 Calibration error 309 The machine data Correctly adjust the machine data
ICAM_MOUNTED_AXE is incorrectly ICAM_MOUNTED_AXE. It must have the
adjusted axis number the laser band camera is
fixed to.


S506,310 Calibration error 310 Transformation error in the measured Check the machine data
value transformation for applications for ICAM_MOUNTED_AXE and
which the camera is not fixed to the last RHOME_POS.
kinematic axis. Consult the manufacturer.
S506,400 Calibration error 400 syntax error in the 3D-sensor-calibration Program the missing vector variables.
program with regard to the five vector Check syntax of the calibration program.
variable definitions
S506,401 Calibration error 401 syntax error in the 3D-sensor-calibration Program the TOOL-command with valid
program with regard to the TOOL- data.
command
S506,402 Calibration error 402 syntax error in the 3D-sensor-calibration program missing calibration positions.
program with regard to the programmed
calibration positions
S506,403 Calibration error 403 syntax error in the 3D-sensor-calibration Program the subprogram calls for
program with regard to the subprogram measuring value recording.
calls
S506,404 Calibration error 404 3D-sensor calibration: Consultation with manufacturer
Internal pointer error
S506,405 Calibration error 405 the measuring value differences to the check the measuring value transmission
3D-calibration are too small or identical to the ROBOTstarV. Perhaps increase the
distance of the 3D-calibration positions


S506,406 Calibration error 406 3D-sensor calibration: Check transmission of the measured
Calculation error with determination of the values to the control.
calibration matrix
The measured values belonging to the
calibration position are almost identical
and therefore do not match.
S506,407 Calibration error 407 3D-sensor calibration: Teach calibration positions with max.
The programmed positions are already possible distance.
programmed too tight towards each other
in the calibration sample program.
The distance between the calibration
positions is too short.
S506,408 Calibration error 408 3D-sensor calibration: Consultation with manufacturer
Internal pointer error when parsing the
calibration sample program


S506,1000 Calibration error 1000 General calibration error: Execute calibration before using the
The 2D/3D-sensor calibrating matrix is not command MS_TRAFO_ON.
initialized when the command
MS_TRAFO_ON is processed
There was transformed a measured value
to the robot frame without having
executed a sensor calibration before.
S506,1001 Calibration error 1001 General calibration error: Adapt machine data RAXES_RESOL
For the 5-axes kinematics of the fueling
robot the "short-circuited" sixth axis 6
must be adjusted with a transmission
factor (RAXES_RESOL) unequal to zero.
The machine data RAXES_RESOL of the
6th axis is adjusted to the value zero.
S506,1002 Calibration error 1002 General calibration error: Short-circuit axis 6
For the 5-axes kinematics of the fueling
robot the axis 6 must be "short-circuited".
Axis 6 is not short-circuited.


S506,1003 Calibration error: 1003 error during copying into the system Maybe that the back-up copy of the
program SYSDAT.MPR system variable _FCALSEN does not
exist in the system program
S:/$SYSTEM/$DATA/SYSDAT .
S506,1004 Calibration error: 1004 error during copying into the system the system program
program SYSDAT.MPR S:/$SYSTEM/$DATA/SYSDAT does not
exist or does not have the back-up
variable to the system variable
_FCALSEN.
S506,1005 Calibration error: 1005 The array index of the system variables or Internal system error.
auxiliary variables is too small, so that Notify Reis customer service.
storing of the calibration results is
impossible.
S506,1007 Calibration error: 1007 internal system error during calculation of
the programming tool. Notify Reis customer service.
S506,1008 Calibration error: 1008 The calibration positions are programmed Program the positions with one and the
with different tools. same tool.

3.11 S561 / Fatal error <xxx> in a configuration program

S561,33 Fatal error 33 in a configuration An incorrect mode was defined during The modes ”PASTE” and ”MAK” are
program. entry into the configuration files. allowed for macro programming. Check
these entries in the files ”KEY_CNF” and
”MENUCNF” and program them correctly.
S561,99 Fatal error 99 in a configuration System internal configuration problem Notify manufacturer
program when generating the Hash table
S561,201 Fatal error 201 in a configuration System internal configuration problem Notify manufacturer
program when generating the system variable table

3.12 S597 / archiving error

3.13

3.14
S597,1 Storage error Reading from disk not possible Insert disk, read-in directory anew
File wasn't stored
Error: 1
S597,2 Storage error Writing on disk not possible Remove write protection, insert disk
File wasn't stored
Error: 2
S597,3 Storage error Disk defective Use new disk
File wasn't stored
Error: 3
S597,4 Storage error Formatting error Format disk (only possible on separate
File wasn't stored PC)
Error: 4
S597,5 Storage error Disk access error (volume already Start new access, if necessary reset disk
File wasn't stored mounted) driver software via <Order><reset>
Error: 5
S597,6 Storage error Disk access error (cannot unmount Reset disk driver via <Order><reset>
File wasn't stored volume)
Error: 6


S597,7 Storage error Disk access error (volume not mounted) Reset disk driver software via
File wasn't stored <Order><reset>
Error: 7
S597,8 Storage error Error in the file name Read-in directory of the disk anew, repeat
File wasn't stored reading process
Error: 8
S597,9 Storage error File name exists already e.g. during storage of directories, change
File wasn't stored of directory name
Error: 9
S597,10 Storage error Disk is full Use new disk or delete files on the disk
File wasn't stored which are no longer needed
Error: 10
S597,11 Storage error Disk access error Reset of the floppy driver with
File wasn't stored (semaphore error) <order><reset> or control reset.
Error: 11
File wasn't stored (read error on disk) <order><reset> or control reset.
Error: 12


File wasn't stored (write error on disk) <order><reset> or control reset.
Error: 13

4 Application-oriented error messages

4.1 injection molding

P1 FAULT IMM Robot in the range IMM and IMM open Check initiator
(E8.3) is missing Acknowledge error, set key switch on the
PHG to position "HAND", operate
acknowledgment key and move robot out
of the range of the IMM.
Check interface signal "IMM open".
P2 FAULT IMM The signals IMM open (E8.3) and IMM Check initiator
closed (E8.4) are active at the same time. Check interface signals.
Messages can only be acknowledged

after the error has been eliminated.
P3 FAULT IMM The signals ejector ahead (E8.5) and Check initiator
ejector in the rear (E8.6) are active at the Check interface signals.
same time.
P4 FAULT IMM


P11 FAULT IMM 2 Robot in the range IMM and IMM open Check initiator
(E10.3) is missing. Acknowledge error, set key switch on the
PHG to position "HAND", operate
acknowledgment key and move robot out
of the range of the IMM.
Check interface signal "IMM open".
P12 FAULT IMM 2 The signals IMM open (E10.3) and IMM Check initiator
closed (E10.4) are active at the same Check interface signals.
time.
P13 FAULT IMM 2 The signals ejector ahead (E10.5) and Check initiator
ejector in the rear (E10.6) are active at the Check interface signals.
same time.
P14 FAULT IMM

RSV-PCX Error messages
4.2 Rotary table

P21 Activate light barriers when Light barrier interrupted
moving to home position!
P22 Switch over to setting! Check and wrong/missing signal on an initiator Check initiators
acknowledge initiators at the
rotary table!
P23 Switch over to setting! Move robot Rotary table not in end position Move robot to safe position
to Safepos; bring rotary table 1 in Index rotary table in a station
a position!
P24
P25
P26
P27 Robot has not left safe position!
Check limit switches!

5 Messages of the initialization phase via 7-segment display

No message can be given yet on the PHG (teach pendant) during initialization phase. In case there occurs an error nevertheless, it
is transferred to the 7-segment display of the no-break power supply and is indicated there.

5.1 Significance of the error codes in the 7-segment display
The display of the error codes always begins with a blank (7-segment display dark or only "."), followed by a letter and two digits,
the decimal point is not of importance here.
The messages are roughly divided into the following ranges:

• Message begins with ”A”: problems during initialization of the M-module / the CAN-circuits
• Message begins with ”B”: problems during communication with the PHG
• Message begins with ”D”: problems when booting the M-modules
• Message begins with ”H”: problems with hardware identification on the VME-bus

5.1.1 The ”A”-messages
error display Cause Remedy
„ A00“ M-MODUL does not react any more to Life-Guarding => MMODULE new start, exchange M-module
stopped resp. broken or defective?
Observe status of the luminous diodes on MMODULE, see 5.1.2
„ A01“ collective error during initialization of the CAN-circuits new start, check hardware, exchange if
needed
„ A02“ Collective error during setting of asynchronous master functions of the

CAN-"circuits
„ A03“ Collective error during definition of CAN-nodes
„ A04“ Collective error during initialization of the internal CAN-circuit table.
„ A05“ Collective error during starting of the CAN-communication.
„ A06“ M-module 100% running to capacity Too many nodes at a too low baud rate in
a circuit

„ A07“ Switch-over of the node conditions in the command page of the M- M-module defective? Or due to not
module not effected. announced A09 error set to extremely low
Baud rate, so that the M-module is nearly
running to capacity.
„ A08“ Slave-nodes not recognized when starting the CAN communication
„ A09“ Error in CAL-Library during starting of the CAN communication. Usually

caused by nodes with different Baud rates or with incorrect Baud rate
adjustment at a CAN_circuit.
„ A10“ Inadmissible command during starting of the CAN-communication
„ A11“ Timeout error during starting of the CAN-communication M-module defective?
„ A12“ Not enough memory during initialization of the internal CAN circuit table. System HEAP too small?
„ A13“ Access conflict with previous access to the M-module during initialization M-module defective?
of the internal CAN-circuit table
„ A14“ Timeout error during initialization of the internal CAN-circuit table M-module defective?
„ A15“ Storage problem on the M-module during initialization of the internal M-module defective? M-module
CAN-circuit table overcharged?

„ A16“ Storage problem on the M-module during initialization of the internal M-module defective? M-module too much
CAN-circuit table fragmented?
„ A17“ Too many data required for a CAN-circuit, no location in the coupling
ram.
„ A18“ Wrong CAN-circuit indication during initialization of the internal CAN-

circuit table (beyond the range 1 – 8 )
„ A19“ PDOPACKERR during initialization of the internal CAN-circuit table M-module defective? System too
fragmented?
„ A20“ Access conflict with previous access to the M-module during definition of M-module defective?
the CAN-nodes
„ A21“ Timeout error during setting of asynchronous master functions of the M-module defective?
CAN-circuits
„ A22“ Access conflict with previous access to the M-module during setting of M-module defective?
asynchronous master functions of the CAN-circuits
„ A23“ Timeout error during setting of asynchronous master functions of the M-module defective?
CAN-circuits
„ A24“ Access conflict with previous access to the M-module during initialization M-module defective?
of a CAN-circuit

„ A25“ Timeout during initialization of a CAN circuit communication M-module defective?
„ A26“ Parameter error during initialization of a CAN circuit communication M-module defective? Wrong parameters
indicated?
„ A27“ Parameter error during setting of asynchronous master functions of the M-module defective? Wrong parameters
CAN-circuits indicated?
„ A28“ Parameter error during definition of the CAN-nodes M-module defective? Wrong parameters
indicated?
„ A29“ Collective error in CAL-Lib during definition of the CAN nodes M-module defective?
„ A30“ Error during starting of the CAN-PHG connection M-module or PHG defective? PHG not
existing (any more)? PHG at the wrong
CAN circuit? Communication disturbed?
„ A31“ Access conflict with previous access to the M-module with connection of MMODULE defective?
the CAN-PHG
„ A32“ Timeout error during starting of the CAN-PHG connection MMODULE defective?
„ A33“ PHG node during re-init of the CAN-PHG connection no longer in the System unstable?
internal administration list

„ A34“ PHG-node cannot be reset for reanimation. Command error? Communication

disturbed?
„ A35“ System is initializing the PHG M-module or PHG defective? PHG not
existing (any more)? PHG at the wrong
CAN circuit? Communication disturbed?
„ A36“ PHG-node cannot be reset for reanimation (Timeout) Communication disturbed?
„ A37“ PHG-node cannot be reset for reanimation. Communication disturbed?
„ A40“ Collective error before booting of the PHG via CAN bus M-module defective?
„ A41“ Access conflict with previous access to the M-module before booting of M-module defective?
the PHG via bus
„ A42“ Timeout error before booting of the PHG via bus M-module defective?
„ A44“ System has stuck during booting of the PHG M-module or PHG defective? PHG not
existing (any more)? Communication
disturbed?
„ A45“ System has stuck during booting of the PHG M-module or PHG defective? PHG not
disturbed?

„ A46“ System has stuck after reset of the PHG after the boot procedure M-module or PHG defective? PHG not
disturbed?
„ A47“ System has stuck after reset of the PHG after the boot procedure. M-module or PHG defective? PHG not
disturbed?
„ A48“ System has stuck after reset of the PHG after the boot procedure. M-module or PHG defective?
„ A49“ System has stuck after reset of the PHG after the boot procedure. M-module or PHG defective?
„ A50“ Error during restarting of the CAN-PHG connection M-module defective? PHG not
connected/recognized?
„ A51“ Access conflict with previous access to the M-module during restart of M-module defective?
the CAN-PHG connection
„ A52“ Timeout error during restarting of the CAN-PHG connection M-module defective?
„ A53“ Timeout error during status change of the PHG after restarting the CAN- M-module or PHG defective?
PHG connection
„ A55“ System has stuck during initialization of the PHG after booting M-module or PHG defective? PHG not
disturbed?

„ A56“ System has stuck during testing with regard to the correct working mode M-module or PHG defective? PHG not
after booting existing (any more)? Communication
disturbed?
„ A57“ Address conflict during booting of the PHG System unstable?
„ A58“ Timeout during transfer of the boot SDOs to the PHG M-module or PHG defective?
„ A59“ Error during transfer of the boot SDOs to the PHG M-module or PHG defective? System
unstable?
„ A60“ PHG-node cannot be reached any more after restarting of the CAN-PHG M-module or PHG defective?
connection
„ A61“ Too many data for status change of the PHG transferred System unstable?
„ A62“ PHG node after restarting of the CAN-PHG connection no longer in the System unstable?
„ A63“ PHG-node cannot be reached any more during Sync pulse for restarting M-module or PHG defective?
the CAN-PHG connection
„ A64“ Too many data transferred to the PHG as Sync pulse System unstable?
„ A65“ PHG-node during Sync pulse for restarting the CAN-PHG connection no System unstable?
longer in the internal administration list

„ A66“ Timeout error during transfer of the Sync pulse to the PHG M-module or PHG defective?
„ A70“ Time-out error when starting all !! nodes M-module defective?
„ A90“ time-out errors when booting the servos M-module defective?
„ A91“ Time-out error during transfer of machine data to the servos M-module defective? Servos defective?
„ A92“ Timeout error during switch-over to asynchronous CAN-bus before M-module defective?
booting the servos
„ A93“ Timeout error during switch-over to synchronous CAN-bus after booting M-module defective?
the servos

5.1.2 The luminous diodes of the M-module

On each M-module there are located three luminous diodes (LEDs) indicating different operating states. In the normal case the red
LED flashes with approx. 0.1Hz and signalizes that the M-module is orderly working. The yellow and the green LED are
permanently lighting and thus indicate that both CAN-circuits are o.k.
If the red LED does not change for a longer period (approx. 20 sec.), the M-module is working at the limit of its capacity or not at all
any more. This is an error resulting from the sum of the bus loads resp. the error frames. It is also possible that the M-module
stopped due to faults on the bus.
The green LED is allocated to the CAN-circuit 1 and the yellow LED to the CAN-circuit 2 of a M-module. If one of the two LEDs
flashes, this indicates a high number of error frames in this circuit. If one LED is off, this circuit is in the BUS-OFF state and thus
totally switched off.
It may happen during initialization that all three LEDs are working as “running light”. In this case the RSV is not able to load the
firmware into the M-module. This indicates problems with the VME-bus.

5.1.3 The ”B”-messages
“ B01” Transfer status of the PHG telegram constant. System cannot announce System / PHG incorrectly initialized?
a new telegram to PHG Communication disturbed?
“ B02” PHG sends XOFF Communication disturbed?
“ B04” System cannot enter a new display telegram to PHG System / PHG incorrectly initialized
“ B05” System cannot announce a new keyboard telegram to PHG System / PHG incorrectly initialized?
“ B06” System cannot enter a new keyboard telegram to PHG System / PHG incorrectly initialized?
“ B07” System cannot reach PHG PHG defective or unplugged? System /

PHG incorrectly initialized
“ B08” System wants to transfer too many data to the PHG display System / PHG incorrectly initialized?
“ B09” System cannot find PHG in the internal administration System incorrectly initialized?
“ B10“ System cannot reach PHG. System / PHG incorrectly initialized? PHG
defective or unplugged?
“ B11“ System wants to transfer too many data to the PHG display System / PHG incorrectly initialized?

“ B12“ System cannot find PHG in the internal administration System incorrectly initialized?
“ B30“ PHG Device during re-init of the CAN-PHG connection no longer in the System unstable?

5.1.4 The "C" messages

Concerned by these messages are the communication with the Safety Controller and with the PHG before and during loading or
checking the corresponding firm ware. The PHG display is for distinction. Have messages been displayed regarding the status of
the run-up ("Check TP: OK", Servo check: ..... "), then these messages concern the Safety Controller.
“ C00 Unit does not react on version inquiry Switch on the system anew, try again,
exchange unit
“ C01” Unit does not react on status inquiry Switch on the system anew, check the
CAN connection, exchange unit or line
“ C02” Unit does not react on ID inquiry Switch on the system anew, try again,
exchange unit
“ C03” Unit does not accept any data. Switch on the system anew, try again,
exchange unit
“ C04” Unit will not react on status inquiry after start of firmware download Switch on the system anew, try again,
exchange unit
“ C05 RSV not able to send further data to the unit, previous transmissions Switch on the system anew, try again,
have not been collected exchange unit
“ C06 It was not possible to reset the unit into the loader Switch on the system anew, try again,
exchange unit

“ C07 Unit does no longer react after loading the firmware Switch on the system anew, try again,
exchange unit
“ C08 RSV cannot send the command "Go into the loader" to the unit, previous Switch on the system anew, try again,
transmissions have not been collected exchange unit
“ C09 RSV cannot send the command "Start the application" to the unit, Switch on the system anew, try again,
previous transmissions have not been collected exchange unit
“ C10 Unit did NOT store the transmitted data Switch on the system anew, try again,
exchange unit
“ C11 RSV cannot send any machine data to the Safety Controller Firmware version of Safety Controller
insufficient? Load current firmware; Switch
on the system anew, try again, exchange
unit
“ C12 Unit does no longer react after starting the firmware Switch on the system anew, try again,
exchange unit
“ C13 Safety PLC: invalid data format Switch on the system anew, try again,
exchange unit
“ C14 Safety PLC: Safety Controller does not return any PLC data to the RSV Switch on the system anew, try again,
exchange unit


5.1.5 The ”D”-messages
“ D01” Time-out error when deleting the interrupt on the M-module (initial M-module defective?
program loader)
“ D02” Timeout error during waiting for M-module having fetched the previous M-module defective?
data block of the boot data
“ D03” Timeout error during waiting for the M-module starting-up after booting M-module defective?
“ D04” Time-out error during waiting for M-module adjusting the desired memory M-module defective?
block after start-up

5.1.6 The ”H”-messages
" H01" error during access to odd VME bus address of the arc interface board board defective? CPU-rack (backplane)
defective? CPU board defective ?
" H02" error during access to odd VME bus address of the first M-module (slot M-module 1 defective? M-module carrier
1) board defective? CPU-rack (backplane)
" H03" error during access to odd VME bus address of the second M-module M-module 2 defective? M-module carrier
(slot 2) board defective? CPU-rack (backplane)
" H04" error during access to odd VME bus address of the third M-module (slot M-module 3 defective? M-module carrier
" H05" error during access to odd VME bus address of the fourth M-module (slot M-module 4 defective? M-module carrier
" H06" error during access to odd VME bus address of a M-module M-module defective? M-module carrier
board defective? CPU-rack (backplane)

" H07" error during access to odd VME bus address of the first Profibus slave Profibus board defective ? CPU-rack
board (DMS board) (backplane) defective? CPU board
defective ?
" H08" error during access to odd VME bus address of the second Profibus Profibus board defective ? CPU-rack
slave board (DMS board) (backplane) defective? CPU board
defective ?
" H09" error during access to odd VME bus address of the Profibus master Profibus board defective ? CPU-rack
board (DMS board) (backplane) defective? CPU board
defective ?
" H10" error during access to odd VME bus address of the Homag PLC board PLC board defective? CPU-rack
(backplane) defective? CPU board
defective ?
" H11" error during access to odd VME bus address of the Berghoff PLC board PLC board defective? CPU-rack
(backplane) defective? CPU board
defective ?
" H20" NO M-module has been recognized in the first slot during power-up M-module 1 defective? M-module carrier
board defective? CPU-rack (backplane)

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RSV-PCX ERROR MESSAGES

Title: Error messages of the ROBOTstarV-PCX

Control version: RSV-PCX

Software revision: as of 16,0

Documentation for level: as of level 2

Project-ID not applicable

Release: i.A. Elter

Date Version SW Vers. Author Description of changes

2 SURVEY OF ERROR MESSAGES ......................................... 5

3 COLLECTIVE ERROR MESSAGES SYSTEM SOFTWARE

3.1 S10 / System errors ................................................................. 278

3.2 S44 / Sensor errors .................................................................. 279

3.3 S61 / PLC errors ....................................................................... 286

3.4 S110 / Operating errors ........................................................... 289

3.5 S111 / Programming errors ..................................................... 290

3.6 S126 / Trafo_6D errors............................................................. 303

3.7 S 234 / Path switch errors ....................................................... 310

3.8 S 283 / Collective errors with multi-layer welding................. 311

3.9 S 284 / Collective errors with multi-layer welding................. 313

3.10 S506 / Calibration error.......................................................... 315

3.11 S561 / Fatal error <xxx> in a configuration program........... 326

3.12 S597 / Archiving errors .......................................................... 327

4 APPLICATION-ORIENTED ERROR MESSAGES.............. 330

4.1 Injection molding ..................................................................... 331

4.2 Rotary table .............................................................................. 333

5 MESSAGES OF THE INITIALIZATION PHASE VIA 7-

5.1 Significance of the error codes in the 7-segment display.... 335

2 Survey of error messages

Error No. Message Cause Remedy

Error No. Message Cause Remedy

S11 EMERGENCY-OFF <text>

Error No. Message Cause Remedy

Error No. Message Cause Remedy

Error No. Message Cause Remedy

Error No. Message Cause Remedy

Error No. Message Cause Remedy

S38 The system variable <text> cannot

Error No. Message Cause Remedy

S44 Sensor error see chapter 3,2

Error No. Message Cause Remedy

Error No. Message Cause Remedy

Error No. Message Cause Remedy

Error No. Message Cause Remedy

Error No. Message Cause Remedy

Error No. Message Cause Remedy

The 6D-mouse is defective.

Error No. Message Cause Remedy

S102 error module swap: UP faulty Internal error Notify manufacturer

Error No. Message Cause Remedy

Error No. Message Cause Remedy

Error No. Message Cause Remedy

3. During step preselection to the current

Error No. Message Cause Remedy

Error No. Message Cause Remedy

• The distances of the positions for

Error No. Message Cause Remedy

Error No. Message Cause Remedy

Error No. Message Cause Remedy

Programm nicht vorhanden

Error No. Message Cause Remedy

Error No. Message Cause Remedy

The control follows the If yes, start cycle.

Error No. Message Cause Remedy