Error Messages C3G

Messages with Cause & Remedy for C3G Software Version 5.
5x
514 0-INFO Request canceled
Cause:
An I/O request was canceled, usually due to a reset issued by one

of the programs.
Remedy:
None.
516 0-INFO Channel table full
Cause:
There are too many devices and/or files being accessed at once.
Remedy:
Decrease the number of simultaneous device and file open requests.
519 0-INFO Device id error
Cause:
The referenced device cannot be found.
Remedy:
Reference the correct devices.
520 0-INFO I/O request timeout
Cause:
An I/O operation did not complete in the allowable time.
Remedy:
Determine the cause of the device failure and retry it.
521 0-INFO EOF detected
Cause:
The referenced file is at its end.
Remedy:
Close the file and reopen it.

522 0-INFO EOM detected
Cause:
The RAM disk is full. No more files can be created, no more data
can be written to it.
Remedy:
Delete some unused or obsolete files to make room for more.
527 0-INFO Not enough buffers
Cause:
There are no more available buffers in the system. This error can
occur if too many files are opened in the system.
Remedy:
Reduce the number of files opened in the system.
531 0-INFO Not enough direct channels
Cause:
There are no more available channels in the system. This error can
occur if too many files are opened in the system.
Remedy:
Reduce the number of files opened in the system.
534 0-INFO No read access
Cause:
A read was attempted on a device or LUN that is for writing only.
Remedy:
Correct the program.
535 0-INFO No write access
Cause:
A write was attempted on a device or LUN that is for reading only.
Remedy:

576 0-INFO File already exists
Cause:
A new file cannot be created because a file by the same name

already exists.
Remedy:
Change the new file name or delete the existing file.
577 0-INFO File does not exist
Cause:
No file by the specified name exists.
Remedy:
Specify only existing files for read, update, delete, rename, etc.
578 0-INFO No space for file
Cause:
There is no room on the disk to create the new file.
Remedy:
Delete some old or obsolete files to make room for new ones.
579 0-INFO Invalid file name
Cause:
The file name is too long or contains invalid characters.
Remedy:
Specify a correct file name.
581 0-INFO File already open
Cause:
The referenced file is already opened by this program.
Remedy:
582 0-INFO Cannot delete file
Cause:
The file cannot be deleted, probably because it is a read-only,
hidden or system file.
Remedy:
Change the file's attributes if it really should be deleted.
583 0-INFO File opened exclusively
Cause:
The file cannot be opened because another program has opened it for
exclusive access.
Remedy:
Wait until the file has been closed by the other program.
768 0-INFO Root directory full
Cause:
The RAM disk can only contain a fixed number of entries, and it is
currently full.
Remedy:
Delete some unused files from the RAM disk.
769 0-INFO No available UFCB's
Cause:
Too many files are open; no new ones can be accessed.
Remedy:
Reference fewer files at a time in your programs.
770 0-INFO No available FCB's
Cause:
Too many files are open; no new ones can be accessed.
Remedy:
Reference fewer files at a time in your programs.
772 0-INFO Open files on device
Cause:
The disk cannot be dismounted because one or more files are
currently open on it.
Remedy:
Close all open files before dismounting.
782 0-INFO Volume not mounted
Cause:
The disk being referenced is not mounted.
Remedy:
Mount the disk before using other commands on it.
783 0-INFO Invalid medium format
Cause:
The disk cannot be mounted because it is not in the correct format.

It has either not been formatted or has been corrupted in some way.
Remedy:
Format the disk before trying to mount it.
785 0-INFO Not enough directory buffers
Cause:
A directory cannot be referenced because too many other directories

are open.
Remedy:
This error should not occur in this version of the system.
788 0-INFO File not directory
Cause:
An attempt was made to reference a non-directory file as though it

were a directory.
Remedy:
Make the correct reference to the file.
65281 0-INFO Invalid opcode
Cause:
Severe internal system software error.
Remedy:
Contact Comau.
65282 0-INFO No free memory
Cause:
Remedy:
Contact Comau.
65283 0-INFO Uninit work area
Cause:
Remedy:
Contact Comau.
65284 0-INFO Must be zero field
Cause:
Remedy:
Contact Comau.
65285 0-INFO Invalid parameter
Cause:
Remedy:
Contact Comau.
65286 0-INFO Invalid CPU
Cause:
Remedy:
Contact Comau.
65287 0-INFO No control blocks
Cause:
Remedy:
Contact Comau.
65288 0-INFO ID error
Cause:
Remedy:
Contact Comau.
65289 0-INFO Timeout
Cause:
Remedy:
Contact Comau.
8193 0-INFO Invalid S-record received
Cause:
An invalid record was read during a download from the floppy disk,
PC or host computer.
Remedy:
Make sure to download correct program absolute record files.
8194 0-INFO Timeout
Cause:
Communications with the floppy disk or PC timed out. A mismatched

baud rate, bad connection, or improper PC setup may cause this.
Remedy:
Check for a bad connection, improper software or improper setup on

the PC.
8195 0-INFO Bus error during load
Cause:
A software load file attempted to load into an invalid region of

the controller's memory.
Remedy:
Make sure to load the proper software on the controller.
8196 0-INFO No target CPU currently set
Cause:
Various commands cannot be executed until a target CPU is

specified.
Remedy:
Use the TARGET command to specify a CPU to access.
8197 0-INFO Target not found on system
Cause:
The specified CPU is not configured on the controller.
Remedy:
Enter the TARGET command with a correct CPU name. Use SHOW BUS to
display the current configuration.
8198 0-INFO Checksum verification failure
Cause:
The loaded software failed to pass a validity check. This is a

serious situation, as the software cannot be certified to work
correctly.
Remedy:
Reload the software on the affected CPUs.
8199 0-INFO Diagnostic failure
Cause:
One or more of the startup diagnostics failed.
Remedy:
Correct the problem and restart the controller.
8200 0-INFO No response from target CPU
Cause:
The target CPU is configured on the controller but is not

responding to commands from the main CPU.
Remedy:
Try restarting the controller. If the problem persists, the target

CPU board may be defective.
8201 0-INFO Software not loaded
Cause:
There is no software loaded on the CPU.
Remedy:
Load the system software.
8202 0-INFO Invalid target memory address
Cause:
A memory address was specified that does not exist for the target
CPU.
Remedy:
Enter a valid memory address.
8203 0-INFO Invalid target command
Cause:
The target cannot execute the specified command.
Remedy:
Enter a valid command.
8204 0-INFO Exception on target CPU
Cause:
A serious error occurred on the target CPU while executing the

previous operation.
Remedy:
Repair the target CPU board.
8205 0-INFO Invalid response code
Cause:
The target CPU did not respond correctly to a command.
Remedy:
Restart the controller and try again. If the problem persists

there may be a hardware problem.
8206 0-INFO Command not applicable to current target
Cause:
The command is not valid for the target that is currently selected.
Remedy:
Enter a valid command or select a new target.
8207 0-INFO Not valid from command procedure
Cause:
The command is not valid within a command procedure (.BCF file).
Remedy:
Remove the command from the file before running it again.
8208 0-INFO System not powerfail recoverable
Cause:
The system is not in the proper state for doing a complete

powerfail recovery.
Remedy:
There is no remedy; a cold start will be performed instead.
8209 0-INFO Not valid from teach pendant
Cause:
The teach pendant download command cannot be issued from the teach
pendant.
Remedy:
Bring up BootMON on another device and issue the command.

8210 0-INFO TP software download failed
Cause:
The teach pendant download has failed; there is no valid software

loaded on the teach pendant. The teach pendant cannot be used on
the controller.
Remedy:
Retry the download operation by issuing the TPLOAD command again.
8211 0-INFO TP did not respond after download
Cause:
The teach pendant download has failed; there is no valid software

loaded on the teach pendant. The teach pendant cannot be used on
the controller.
Remedy:
Retry the download operation by issuing the TPLOAD command again.
9217 0-INFO No free memory
Cause:
The system has run out of memory.
Remedy:
Unload programs and data to free up some memory.
9218 0-INFO Not enough heap memory
Cause:
The system has run out of memory.
Remedy:
Unload programs and data to free up some memory.
9224 0-INFO Pool corrupted
Cause:
Remedy:
Contact Comau.
9225 0-INFO Bad pointer in call to FREE
Cause:
Remedy:
Contact Comau.
9226 0-INFO Bad pointer in call to SYS_FREE
Cause:
Remedy:
Contact Comau.
9227 0-INFO Bad pointer in call to SHR_FREE
Cause:
Remedy:
Contact Comau.
9228 0-INFO Bad pointer in call to MEM_FREE
Cause:
Remedy:
Contact Comau.
9229 0-INFO Zero length allocation request
Cause:
Remedy:
Contact Comau.
10245 0-INFO Too many parameters

Cause:
The command was entered with too many parameters.
Remedy:
Enter the correct parameters for the command.
10246 0-INFO Ambiguous verb or qualifier
Cause:
Two or more commands or options start with the same characters.
Remedy:
Enter enough characters to make the command or options unique.
10247 0-INFO Item not found
Cause:
An invalid option was entered.
Remedy:
Enter correct options.
10248 0-INFO Invalid verb
Cause:
An invalid command was entered.
Remedy:
Enter a valid command.
10249 0-INFO Required parameter not present
Cause:
A parameter required by the command was omitted.
Remedy:
Enter the command with the correct parameters.
10250 0-INFO Previous command not parsed
Cause:
An invalid command was entered.

Remedy:
Enter the command correctly.
11272 0-INFO Task active
Cause:
Internal system software error.
Remedy:
Contact Comau.
11273 0-INFO No memory available
Cause:
Remedy:
Contact Comau.
11274 0-INFO No default device
Cause:
Remedy:
Contact Comau.
11275 0-INFO Device not mounted
Cause:
Remedy:
Contact Comau.
11276 0-INFO Task not active
Cause:
Remedy:
Contact Comau.
11277 0-INFO Invalid device
Cause:
Remedy:
Contact Comau.
11278 0-INFO Device is mounted
Cause:
Remedy:
Contact Comau.
11279 0-INFO Device not a disk
11281 0-INFO Bad parameter format
Cause:
Remedy:
Contact Comau.
11284 0-INFO File protected
Cause:
Attempt to delete or write over a file that was set to read-only.
Remedy:
Correct the reference to the file, or change its attribute if you

really want to delete or update it.
11286 0-INFO Device not a port
Cause:
Attempt to do a serial port operation on a non-port device.
Remedy:
Make the correct device reference.

11290 0-INFO Kermit request failed
Cause:
Kermit request did not complete. Usually another error message

will be shown with more specific information.
Remedy:
Take action according to the additional message.
11291 0-INFO Software checksum invalid
Cause:
The software failed to pass a validity check. The integrity of the

system software is in doubt.
Remedy:
Reload the system software.
11294 0-INFO Power failure
Cause:
The request failed due to a power failure. This message usually

appears after the controller has restarted when power returns.
Remedy:
None.
11296 0-INFO Request aborted
Cause:
The requested operation was aborted due to some other error.
Remedy:
Determine the actual cause of the failure.
11297 0-INFO No response from CPU
Cause:
The diagnostic that checks for correct communication among the

multiple CPUs has detected a failure. This may halt the system.
Remedy:
Restart the controller and check the startup diagnostics for more
information.
11300 0-INFO No memory for decompression work area
Cause:
There is not enough free memory to allocate the space that is

required to process the file that is to be extracted from the
compressed archive file.
Remedy:
Unload some programs and data from memory and retry the operation.
11301 0-INFO Wrong file archive version
Cause:
The archive file was created by an incompatible version from the

software on the controller.
Remedy:
Archive the files using the correct version of the utilities.
11302 0-INFO File not in archive
Cause:
The requested file does not exist in the specified archive file.
Remedy:
Specify a valid, existing file name to be extracted.
11303 0-INFO Invalid or corrupted archive file
Cause:
The specified file is not a valid archive file or has been

corrupted in some way.
Remedy:
Make sure that the archive file was created by a supported

archiving utility program and that it was transferred correctly to
the controller.
11304 0-INFO Error creating or writing extracted file
Cause:
An error occurred while creating or writing to the file that was

being extracted from an archive file.
Remedy:
Make sure there is sufficient room on the RAM disk to hold the file
that is being extracted.
11305 0-INFO Checksum error in extracted file
Cause:
The checksum of the file that was extracted from the archive file
does not match the checksum of the original file. The archive file
may be incorrect or damaged. The extracted file should not be
used.
Remedy:
Make sure that the archive file was created by a supported

archiving utility program and that it was transferred correctly to
the controller.
11306 0-INFO No pipe resources
Cause:
If writing to a pipe, this indicates that the pipe already contains

messages that have not yet been delivered and there is no room to
write any more messages. If reading, this means there is already
one or more programs waiting to read messages from the pipe and
this request cannot be carried out.
Remedy:
Make sure that the program that is on the other end of the pipe is
active and is reading or writing data correctly. The I/O operation
can also be retried after a time delay period. It is not
recommended to repeatedly retry this operation, since this could
cause the program to go into an indefinite loop.
11307 0-INFO Device already mounted
Cause:
In the system there can be just one device of this kind mounted at
a time.
Remedy:
Check where the device is mounted.
11308 0-INFO Not all files transferred
Cause:
During a transfer of multiple files to the controller, one or more

of the files could not be read because the file already exists on
the controller and is a read-only or system file.
Remedy:
Check the other messages that were displayed during the transfer to
see which files were not transferred. If it is necessary to
retransfer it, change its attributes first.
11309 0-INFO PC file transfer request failed
Cause:
A file transfer between the controller and the attached PC failed

to complete successfully.
Remedy:
see if any specific error was detected. Retry the operation.
11310 0-INFO PC file transfer record sequence error
Cause:

Remedy:
11311 0-INFO PC file transfer protocol error
Cause:

Remedy:
11312 0-INFO File not found on PC
Cause:

because the requested file was not found on the PC.
Remedy:
Move the file to the correct directory on the PC and make sure that
it is available.
11313 0-INFO File can not be created on PC
Cause:
The file cannot be transferred from the controller to the PC

because it cannot be created on the PC.
Remedy:
Make sure that the default directory is valid on the PC. If a file
of the same name exists on the PC, make sure that it is not set to
read-only.
11314 0-INFO File can not be deleted on PC
Cause:
A file delete request from the controller to the PC cannot be

completed.
Remedy:
Make sure that the requested file on the PC is not set to

read-only.
11315 0-INFO File can not be renamed on PC
Cause:
A file rename request from the controller to the PC cannot be

completed.
Remedy:
Make sure that the requested file on the PC is not set to

read-only.
11316 0-INFO Error reading or writing file on PC
Cause:
A fatal error was encountered on the PC while reading or writing

the requested file.
Remedy:
Check to see if the requested file on the PC is valid, and that the
disk does not have any errors.
11317 0-INFO PC disk is full
Cause:
A file cannot be transferred from the controller to the PC because
the PC's disk is full.
Remedy:
Delete some files on the PC to make room for the new files.
11318 0-INFO PC file transfer communications error
Cause:
A file tranfer failed due to a communications error between the C3G

and the PC.
Remedy:
Check the connections and try the operation again. If it continues

to fail, try using a lower baud rate.
11319 0-INFO Diskette not inserted on PC
Cause:
A file transfer failed because there was no diskette inserted in

the drive on the PC.
Remedy:
Insert a diskette.
11320 0-INFO Not all files deleted
Cause:
During a deletion of multiple files, one or more of the files

could not be deleted because the file already is a read-only or
protected file.
Remedy:
see which files were not deleted. If it is necessary to delete it,
change its attributes first.
11321 0-INFO Serial port readahead buffer overflow
Cause:
The internal buffer that is used to store incoming characters from

the serial port has filled up. Some received characters were
probably lost. This is due to characters being received faster than
the application program is reading them.
Remedy:
If the program can notbe changed to read characters more often or
to read more at a time, then a larger readahead buffer is required.
12289 0-INFO Bus error
Cause:
An invalid memory or hardware address was referenced. This usually

indicates a software error or possible hardware failure.
Remedy:
Contact technical support.
12290 0-INFO Address error
Cause:
Internal system software failure.
Remedy:
12291 0-INFO Illegal instruction
Cause:
Remedy:
12292 0-INFO Divide by zero
Cause:
Remedy:
12293 0-INFO CHK instruction
Cause:
Remedy:

12294 0-INFO TRAPV instruction
Cause:
Remedy:
12295 0-INFO Privilege violation
Cause:
Remedy:
12296 0-INFO Line emulator
Cause:
Remedy:
12297 0-INFO 68881 protocol violation
Cause:
Remedy:
12298 0-INFO Spurious interrupt
Cause:
Possible hardware failure.
Remedy:
12299 0-INFO FPCP branch cond
Cause:
Remedy:
12300 0-INFO FPCP inexact result
Cause:
Remedy:
12301 0-INFO FPCP divide by zero
Cause:
Remedy:
12302 0-INFO FPCP underflow
Cause:
Remedy:
12303 0-INFO FPCP operand error
Cause:
Remedy:
12304 0-INFO FPCP overflow
Cause:
Remedy:
12305 0-INFO FPCP signal NAN
Cause:
Remedy:
12306 0-INFO Trace exception
Cause:
Remedy:
12307 0-INFO Uninitialized vector
Cause:
Remedy:
13313 0-INFO CP protocol violation
Cause:
Faulty communication with the control panel hardware.
Remedy:
Contact Comau.
13314 0-INFO CP buffers busy
Cause:
Remedy:
Contact Comau.
13315 0-INFO CP msg too long
Cause:
Remedy:
Contact Comau.
13316 0-INFO CP parity error
Cause:
Remedy:
Contact Comau.
13317 0-INFO CP char framing error
Cause:
Remedy:
Contact Comau.
13318 0-INFO CP UART overrun
Cause:
Remedy:
Contact Comau.
13319 0-INFO CP checksum error
Cause:
Remedy:
Contact Comau.
13320 0-INFO CP receive timeout
Cause:
Remedy:
Contact Comau.
13321 0-INFO CP response timeout
Cause:
Remedy:
Contact Comau.
13322 0-INFO CP failure
Cause:
Remedy:
Contact Comau.
13323 0-INFO CP communications OK
13329 2-WARNING TP protocol violation
Cause:
Faulty communication with the teach pendant.
Remedy:
Contact Comau.
13330 2-WARNING TP buffers busy
Cause:
Remedy:
Contact Comau.
13331 2-WARNING TP msg too long
Cause:

Remedy:
Contact Comau.
13332 2-WARNING TP parity error
Cause:
Remedy:
Contact Comau.
13333 2-WARNING TP char framing error
Cause:
Remedy:
Contact Comau.
13334 2-WARNING TP UART overrun
Cause:
Remedy:
Contact Comau.
13335 2-WARNING TP checksum error
Cause:
Remedy:
Contact Comau.
13336 2-WARNING TP receive timeout
Cause:
Remedy:
Contact Comau.
13337 2-WARNING TP response timeout
Cause:
Faulty communication with the teach pendant, or the teach pendant

was improperly disconnected.
Remedy:
Make sure teach pendant is connected correctly.
13338 2-WARNING TP char check error
Cause:
Faulty communication with the teach pendant, or the teach pendant

was improperly disconnected.
Remedy:
Make sure teach pendant is connected correctly.
13339 4-PAUSE TP failure
Cause:
Teach pendant appears to be connected but is not communicating

properly.
Remedy:
Check connections, contact Comau.
13340 2-WARNING TP communications OK
13353 2-WARNING CRT_emu protocol violation
Cause:
Faulty communication with the CRT_emu utility.
Remedy:
Contact Comau.
13354 2-WARNING CRT_emu buffers busy
Cause:
Remedy:
Contact Comau.
13355 2-WARNING CRT_emu msg too long
Cause:
Remedy:
Contact Comau.
13356 2-WARNING CRT_emu parity error
Cause:
Remedy:
Contact Comau.
13357 2-WARNING CRT_emu char framing error
Cause:
Remedy:
Contact Comau.
13358 2-WARNING CRT_emu UART overrun
Cause:
Remedy:
Contact Comau.
13359 2-WARNING CRT_emu checksum error
Cause:
Remedy:
Contact Comau.
13360 2-WARNING CRT_emu receive timeout
Cause:
Remedy:
Contact Comau.
13361 2-WARNING CRT_emu response timeout
Cause:
Remedy:
Contact Comau.
13362 4-PAUSE CRT_emu failure
Cause:
Remedy:
Contact Comau.
13363 2-WARNING CRT_emu communications OK
14338 0-INFO Device not a window
Cause:
A window-specific operation was attempted on a device that is not a

window.
Remedy:
Correct the reference in the program.
14341 0-INFO Window not active
Cause:
The specified window is not currently active.
Remedy:
Activate the window and retry.

14342 0-INFO Window already active
Cause:
An attempt was made to activate a window that was already active.
Remedy:
14343 0-INFO Screen not defined
Cause:
A screen that does not exist was referenced.
Remedy:
Correct the reference or create the screen first.
14344 0-INFO Window not defined
Cause:
A window that does not exist was referenced.
Remedy:
Correct the reference or create the window first.
14346 0-INFO Pop-up window already displayed
Cause:
A pop-up window was requested that is already displayed on the

screen.
Remedy:
Correct the reference.
14347 0-INFO No memory for pop-up window
Cause:
The pop-up window cannot be created due to a lack of available

memory.
Remedy:
Delete unused pop-ups to make room for new ones.
14348 0-INFO No memory for fixed window

Cause:
A window cannot be created due to a lack of available memory.
Remedy:
Delete unused windows to make room for new ones.
14349 0-INFO Fixed window not found
Cause:
A referenced window does not exist.
Remedy:
Correct the reference or create the window first.
14350 0-INFO Pop-up window not found
Cause:
A referenced pop-up window does not exist.
Remedy:
Correct the reference or create the pop-up window first.
14351 0-INFO Window already used on screen
Cause:
A window was requested for display that is already active on the

specified screen.
Remedy:
Correct the window reference.
14353 0-INFO Window already defined
Cause:
A window definition was requested with the same name as that of an

existing window.
Remedy:
Correct the window name to make it unique.
14355 0-INFO No memory for window
Cause:
A window cannot be created due to a lack of available memory.
Remedy:
Delete unused windows to make room for new ones.
14356 0-INFO No space for pop-up on fixed win
Cause:
There is no room to display the pop-up on the fixed window.
Remedy:
Remove one or more other pop-ups to make room for this one.
14357 0-INFO Cannot overlay fixed window
Cause:
An attempt was made to define a fixed window that overlaps another

fixed window.
Remedy:
Define fixed windows so that they do not overlap on the screen.
14358 0-INFO Bad row size
Cause:
The specified number of rows is not valid. It is probably too

large.
Remedy:
Correct the number of rows.
14359 0-INFO Bad column size
Cause:
The specified number of columns is not valid. It is probably too

large.
Remedy:
Correct the number of columns.
14363 0-INFO Window not on screen
Cause:
The specified window is not currently on the screen.

Remedy:
Put the window on the screen first.
14364 0-INFO Input not allowed on window
Cause:
Input was requested in a window that was defined without input

support.
Remedy:
Correct the reference or the window definition.
14365 0-INFO Window not defined for device
Cause:
The specified window was not defined for the current device.
Remedy:
Correct the reference or window definition.
14366 0-INFO Press any key to continue
Cause:
This is the normal message that appears when a full window of text
has been displayed in windows that support this feature. The
system waits for a key to be pressed so that information is not
scrolled out of the window before it can be read.
Remedy:
Press a key to allow more lines to be displayed.
14367 0-INFO Command has been aborted
Cause:
The current command has been aborted because of a key that was
pressed.
Remedy:
This is a normal message as a result of aborting a command that was

in progress.
14369 0-INFO TP has been disconnected
Cause:
A teach pendant operation cannot be done because the teach pendant
has been disconnected.
Remedy:
Reconnect the teach pendant.
14373 0-INFO No space for fixed window
Cause:
The specified window will not fit on the screen.
Remedy:
Change the window size or the reference to it.
14374 0-INFO Window covered by pop-up
Cause:
The contents of a window on the screen cannot be saved because

there is a pop-up window in front of the fixed window.
Remedy:
Remove all pop-up windows before deactivating the current screen.
14375 0-INFO Invalid character set
Cause:
The specified character set is not valid.
Remedy:
Specify a valid character set.
14376 0-INFO Alternate character set not available
Cause:
There is not an alternate character set available on this device.
Remedy:
Correct the reference.
14377 0-INFO Screen active
Cause:
An attempt was made to delete a defined screen while it is the

currently active screen.
Remedy:
Deactivate the screen before deleting it.
14378 0-INFO Screen attached to toggle screen key
Cause:
An attempt was made to delete a defined screen while it is still

attached to the list of screens that are activated by the screen
toggle button.
Remedy:
Remove the screen from the screen toggle list before deleting it.
14379 0-INFO CRT_Emu has been disconnected
Cause:
A CRT operation cannot be done because the CRT_Emu link has been
disconnected and there is no built-in CRT.
Remedy:
Reconnect the CRT_Emu link.
15361 0-INFO DDCMP protocol mounted
Cause:
The DDCMP protocol handler has been mounted on one of the serial
ports and is attempting to communicate with the handler on the
other end of the serial communications link.
Remedy:
This is an informational message
15362 0-INFO DDCMP protocol started
Cause:
The DDCMP protocol has been initialized with the protocol handler
on the other end of the serial communications link.
Remedy:
This is an informational message.
15363 0-INFO No resources

Cause:
The communications software cannot be started due to lack of

internal system resources, usually available memory.
Remedy:
Unload unused programs and data to free up memory.
15364 0-INFO DDCMP protocol dismounted
Cause:
The DDCMP protocol handler is no longer operating on its serial

port.
Remedy:
This is an informational message in response to a user command.
15365 0-INFO DDCMP protocol halted
Cause:
The DDCMP protocol has been halted on the serial line.
Remedy:
This is an informational message in response to a command.
15366 0-INFO Maint mode received
Cause:
The DDCMP handler is operating in normal mode but received a

maintenance mode message from the handler on the other end of the
serial line.
Remedy:
Put both ends of the link into the same mode of operation.
15367 0-INFO DDCMP protocol restarting
Cause:
The protocol handler is restarting the protocol due to an

unrecoverable error.
Remedy:
Determine the reason for the error and correct it. Looking at the
DDCMP statistics may be helpful for this.
15368 0-INFO Data truncated
Cause:
Received data was truncated because the program's buffer is shorter

than the size of the message.
Remedy:
Specify a larger receive buffer size.
15369 0-INFO Data too long
Cause:
The size of the data request for a write operation on a SINEC

association is too long for the defined SINEC buffer size. Or, on
a connect request, the application relation name or server
reference name is longer than the maximum allowable size.
Remedy:
If the data request is too large, either shorten the length of the
data or reconfigure the connection to use a larger buffer. If
making a connection request, specify valid names.
15370 0-INFO Wrong state
Cause:
The communications handler cannot process the request at this time

because it is in the wrong state of operation.
Remedy:
Correct the request to the handler.
15371 0-INFO Invalid operation
Cause:
The specified operation is invalid for the communications handler.
Remedy:
Correct the operation request.
15372 0-INFO Not loaded
Cause:
The required communications support software is not loaded on the

controller.
Remedy:
Load the correct software.
15373 0-INFO BCC/CRC error
Cause:
A fatal block check error has occurred.
Remedy:
Fix the communications path and retry.
15374 0-INFO Read error
Cause:
An error has occurred while the communications handler was reading

a message.
Remedy:
Determine the cause of the error and correct it.
15375 0-INFO Sinec H1 mounted
Cause:
The Sinec H1 network support has been mounted on the controller and
is starting operation.
Remedy:
15376 0-INFO Sinec H1 dismounted
Cause:
The Sinec H1 network support has been dismounted and is no longer

in operation.
Remedy:
15377 0-INFO Board returned error
Cause:
A communications fault has occurred due to an error reported by the

installed communications support board.
Remedy:
Contact Comau.
15378 0-INFO No board resources
Cause:
A communications error occurred due to lack of dynamic resources on

the installed communications support board.
Remedy:
Contact Comau.
15379 0-INFO TCP/IP mounted
Cause:
The TCP/IP communications protocol handler is mounted on the

controller and is ready for communication.
Remedy:
15380 0-INFO TCP/IP dismounted
Cause:
The TCP/IP communications handler has been dismounted and is no

longer active.
Remedy:
This is an information message.
15381 0-INFO Connection refused
Cause:
The program cannot connect to the specified application or socket.
Remedy:
Make sure to specify a correct destination in the connection

request. Also make sure that the destination program is working
correctly.
15382 0-INFO Link disconnected
Cause:
The logical link, circuit, or association was disconnected during

communication. This may be due to a communications failure or on
request of the remote application.
Remedy:
Determine the exact cause and make corrections if necessary.
15383 0-INFO Remote receiver stopped
Cause:
For ACS communications only, this indicates that the application to

whom a message was sent has stopped receiving messages on its CAP.
Remedy:
Retry the transmission later or take other corrective action.
15384 0-INFO ACS error
Cause:
For ACS communications only, this indicates an error within the ACS
support software.
Remedy:
15385 0-INFO Server <index> started
Cause:
A communications server has been started on the controller.
Remedy:
15386 0-INFO Server <index> stopped
Cause:
A communications server has been stopped.
Remedy:
15387 0-INFO Message decoding error
Cause:
The remote application has sent an erroneous message to the local

server or other program.
Remedy:
Fix the problem with the remote application.
15388 0-INFO Unsupported request
Cause:
The protocol handler does not support the requested operation.
Remedy:
Correct the request and retry.
15389 0-INFO Protocol error
Cause:
An error in the type or sequence of messages has occurred while

communicating with the remote application.
Remedy:
Restart the applications.
15390 0-INFO Transaction in progress
Cause:
A new transaction was requested, but one was already in progress.
Remedy:
Correct the remote application and restart it.
15391 0-INFO Cannot encode response
Cause:
This is an internal software error.
Remedy:
Contact Comau.
15392 0-INFO Version mismatch
Cause:
The remote application is using a different version of the

application protocol than the controller is using.
Remedy:
Make sure that all programs are at the same revision level.
15393 0-INFO Invalid server request
Cause:
The server cannot carry out the requested operation.
Remedy:
Correct the request and retry.
15394 0-INFO AP monitor started
Cause:
The AP monitor process for the Sinec network support has

successfully started.
Remedy:
This is a normal informational message.
15395 0-INFO Sinec start-sync received
Cause:
The start-sync message has been received from the Sinec interface
board. Connections can now be made on the Sinec network.
Remedy:
This is an information message.
15396 0-INFO Sinec end-sync received
Cause:
An end-sync message has been received from the Sinec interface

board. All current connections must be terminated. No connections
on the network are possible until a start-sync message is received.
This condition is usually caused when the switch on the Sinec board
is moved out of the "RUN" position for network database management
operations.
Remedy:
Move the switch back to the "RUN" position.
15397 0-INFO No application relation
Cause:
The requested application relation name for a Sinec connection does
not exist. Application relation names must be predefined in the
Sinec database that resides on the option board.
Remedy:
Use a defined application relation name or change the database

using NML.
15398 0-INFO No server reference
Cause:
The server reference name for a Sinec connection does not exist.
Server reference names must be predefined in the Sinec database
that resides on the option board.
Remedy:
Use a defined server reference name or change the database using

NML.
15399 0-INFO Sinec communications error
Cause:
An error was returned from the Sinec communications option board.
Remedy:
Obtain the exact error codes then look them up in the Sinec
documentation.
15400 0-INFO AP communications stopped
Cause:
The AP protocol on the Sinec option board has been stopped either
due to the switch on the board being moved from "RUN" to "STOP" or
due to the NML database being updated by an external system
connection.
Remedy:
The protocol will restart when the database update is completed

and/or when the switch is moved back to the "RUN" position.
15401 0-INFO Object already defined
Cause:
The object that the user is trying to define is already defined in

the system database.
Remedy:
Define the object using a different name.
15402 0-INFO Object not found
Cause:
There are references to an object that have not been defined in the
object's database.
Remedy:
Define the object in the database or verify that the name specified
for the object is correct.
15404 0-INFO DDCMP restart: no remote buffers
Cause:
The remote system cannot accept the data being sent because it does
not have any memory in which to store the message. This may also
occur because there is no program active on the remote system to
read the messages.
Remedy:
Investigate the problem at the remote system or correct the

application programs.
15405 0-INFO DDCMP restart: too many NAKs received
Cause:
The remote system sent too many consecutive negative

acknowledgements when the local system was trying to send data
messages. This usually indicates a bad connection. A cable too long
with no modem or line driver can also cause this.
Remedy:
Check the physical communication line connections.
15406 0-INFO DDCMP restart: too many REPs received
Cause:
The remote system has sent a message but is unable to read the
response from the local system. This is usually caused by a bad
communications line connection.
Remedy:

15407 0-INFO DDCMP restart: STRT message received
Cause:
The remote system restarted the protocol due to errors that it

detected.
Remedy:
Check the messages on the remote system for more information.
15408 0-INFO DDCMP restart: no receive buffers
Cause:
The remote system is sending a message, but there is no place on

the local system to store the data. This is usually caused by not
having an application program that is reading from the DDCMP port.
Remedy:
Correct the application programs. Stay in synchronization with the

remote system application.
15409 0-INFO DDCMP restart: sent too many NAKs
Cause:
Messages from the remote system were received with errors detected
several consecutive times. This usually indicates a communications
line problem such as noise on the line or using too long a cable.
Remedy:
15410 0-INFO DDCMP restart: sent too many REPs
Cause:
Messages were sent to the remote, but the acknowledgement was not
received. This is usually due to a communications line problem.
Remedy:
15411 0-INFO Client request failed
Cause:
A client request to a server on the network has failed to complete

successfully.
Remedy:
Check the request to make sure that it is supported by the server
and that other parameters are correct.
15412 10-DRIVE OFF Server <index> fatal error
Cause:
A server has exited due to the detection of a fatal error, such as

a communications adapter failure or incorrect startup parameters.
Remedy:
Determine the cause of the fatal error and correct it.
15413 10-DRIVE OFF Sinec board failed: cls <siemens_error> cod

<siemens_error>
Cause:
The Sinec communications option board has detected a fatal error

condition. This may be due to a total communications transceiver or
line failure, or some internal error on the board.
Remedy:
Correct the fault condition if it can be determined. Then restart

the controller by powering it down and then up.
15414 0-INFO 3964R protocol mounted
Cause:
The 3964R protocol has been mounted on a serial port and is trying
to communicate with the handler of the opposite side of the link.
Remedy:
15415 0-INFO 3964R protocol dismounted
Cause:
The 3964R protocol is no more active on the serial port.
Remedy:
15416 2-WARNING 3964R protocol timeout
Cause:
Critical communication with the 3964R protocol.
Remedy:
Verify that the serial link is not interrupted. Verify that all
devices are configured with the same speed and/or the same
communication parameters (parity, stop bits, etc..).
15417 2-WARNING Data section too long
Cause:
The request of data related to a write operation seems to be too

long respect to the dimension allowed by the protocol.
Remedy:
Use shorter data packets.
15418 2-WARNING Time out on wait
Cause:
A requested operation between the C3G-EIM and RBC timed-out
Remedy:
Re-attempt your request and if it fails again, restart (warm or

cold) the controller.
15419 2-WARNING No free server
Cause:
The limit of number of servers allowed at once has been reached.
Remedy:
Check who is connected and if necessary terminate a session.
15420 2-WARNING Insufficient access right
Cause:
The user does not have the access rights for the operation.
Remedy:
Either change the access rights or ask someone with the appropriate
rights to perform the operation.
15421 2-WARNING Buffer in use
Cause:
A client command was issued and the user then aborted the command.
Time is needed for the actual network to respond to the abort.
Remedy:
Wait until the command has completed. The time is dependant on the
network.
15422 2-WARNING C3G-EIM error: <error>, <info>
Cause:
The C3G-EIM operating error <number> occured.
Remedy:
Report to Comau
15423 2-WARNING Invalid $NET_L initialisation setting
Cause:
One of the $NET_L_ system variables was incorrectly set.
Remedy:
Check that all three have been set correctly.
15424 2-WARNING Invalid $NET_B setting
Cause:
One of the $NET_B_ system variables was incorrectly set.
Remedy:
Check that all values have been correctly set.
15425 2-WARNING Login failed
Cause:
Unable to login to the remote server
Remedy:
Check that access is possible to remote server.
15426 2-WARNING Boot configuration failed
Cause:
The boot configuration failed because either the system variables

have not been correctly set or because the remote server did not
contain the files.
Remedy:
Check the $NET_B parameters and that the remote server is correctly
setup.
15427 2-WARNING FTP error: <error>, <info>
Cause:
A FTP error has occured.
Remedy:
Check FTP manual/section.
15428 10-DRIVE OFF C3G-EIM fatal error: <error>
Cause:
One of the tasks on the C3G-EIM board has failed.
Remedy:
Report this problem to Comau with the last commands executed.
15429 10-DRIVE OFF New NET: settings. Controller Reset required
Cause:
The $NET_L settings are different from C3G-EIM's values and in

order to have effect the controller needs to be reset.
Remedy:
Reset the controller at a appropriate moment.
15430 2-WARNING No Host, User or Password specified for connection
Cause:
One of the $NET_C.... parameters has not been set.
Remedy:
Check all have been set.
15431 2-WARNING Connection fail
Cause:
An attempt to connect to a remote server has failed.

Remedy:
Check that the remote server is operating and that access is

available.
15432 2-WARNING Invalid IP address
Cause:
The IP address is invalid. It should be in aaa.bbb.ccc.ddd format.
Remedy:
Check the system variables.
15433 2-WARNING Client command interrupted
Cause:
The user has request an abort.
Remedy:
No action necessary.
15434 2-WARNING FTP not mounted
Cause:
The FTP network support has been dismounted or never mounted.
Remedy:
15435 10-DRIVE OFF C3G-EIM FTP version mismatch
Cause:
The system software loaded on the C3G-EIM does not match with the
C3G system software version.
Remedy:
Make sure that all versions are at the same revision level.
15436 10-DRIVE OFF FTP server fatal error <error>
Cause:
The FTP server has exited due to the detection of a fatal error,
such as a communications adapter failure or incorrect startup
parameters.
Remedy:
Determine the cause of the fatal error and correct it.
15437 2-WARNING FTP mounted <version>
Cause:
The File Transfer Protocol (FTP) server is mounted on the

controller and is ready for communication.
Remedy:
15438 10-DRIVE OFF FTP Watch Dog
Cause:
The File Transfer Protocol (FTP) server is no more active.
Remedy:
Report this problem to Comau with the last commands executed.
15439 2-WARNING C3G-EIM/EDN powerfail detected
Cause:
The File Transfer Protocol (FTP) server has detected a power

failure on the C3G-EIM or C3G-EDN board. The server is going to
restart.
Remedy:
15440 2-WARNING C3G newer than EIM/EDN
Cause:
The software loaded on the EIM or EDN board cannot support some new
features that have been added in the software of the RBC2 board.
Remedy:
If new features are required, it is needed to update the software

of the EIM or EDN board.
16384 0-INFO No memory for var access
Cause:
The memory resources currently available on the system are not
sufficient for handling the required operation.
Remedy:
Check the configuration of the memory and/or remove something from

memory.
16385 0-INFO Not yet implemented
Cause:
The required feature is not yet available in the system.
16386 0-INFO Data type conflict between var and request
Cause:
This error occurs when the data type specified by the user in a
WRITE request is not the same as the one of the variable loaded in
memory.
Remedy:
Check which is the correct data type of the variable required.
16387 0-INFO Operation not allowed on this kind of var
Cause:
The required operation cannot be applied to the requested variable.
Remedy:
Check which are the limitations imposed by the system for a

particular operation also in relation to a particular class of
variable.
16388 0-INFO Variable limits overcome
Cause:
This error occurs when the value to be assigned to a certain

variable do not belong to the variable range.
Remedy:
Check the valid range for the values of the required variable.
16389 0-INFO Variable field not existing
Cause:
This error occurs when the field specified is not present in the
RECORD declaration of the specified variable.
Remedy:
Check which are the fields for the data type to which the variable
belongs.
16390 4-PAUSE DV_CNTRL timed out
Cause:
The requested asynchronous DV_CNTRL has timed out and therefore has
not been completed. The system variable $DV_TOUT is used to set the
timeout value with one such variable per system.
16391 4-PAUSE DV_CNTRL bad LUN
Cause:
The requested DV_CNTRL operation could not be undertaken as the

supplied LUN is not suitable for the type of operation. For
example, to issue DV_CNTRL on the network the LUN must have been
opened on the device NET0:.
Remedy:
Review the DV_CNTRL operation and if necessary OPEN FILE on the

specific network channel and pass the LUN to the DV_CNTRL.
16392 4-PAUSE Bad server index
Cause:
The server index number supplied in the DV_CNTRL is not correct.

Server numbers are from 1 to 16 and are returned in the DV_CNTRL
when starting a server.
Remedy:
Check the value supplied to the DV_CNTRL for starting, stopping or

accessing the server.
16393 0-INFO Nested records not handled yet
Cause:
This error occurs when referencing fields of records that are

assumed to be record as well. This kind of variables are not
handled yet.
Remedy:
Wait until nested records are implemented.

16394 0-INFO Variable with read-only access
Cause:
This error occurs because the variable can only be read.
Remedy:
Check that the variable is not "read-only" before doing an

operation different from READ.
16395 0-INFO Missing parameter specification
Cause:
This error occurs when a required parameter has not been specified.
Remedy:
Check which parameters are required for the desired operation

before re-issuing the command.
16396 0-INFO Uninit variable referenced
Cause:
A variable not initialized has been referenced.
Remedy:
Check which is the uninit variable and assign an initial value to

it before referencing it.
16397 10-DRIVE OFF NIO feature not yet configured
Cause:
Some of the system variables parameters are not configured, or are

improperly configured and the NIO service cannot be activated.
Remedy:
Check that both the 'Par_sysv' and the 'Nio' parameters are
properly set. Remember that the 'Par_sysv' parameters are not saved
in the C3G.SYS while the 'Nio' are saved there. Use the SN_INST
utility in order to properly configure the NIO feature system
variables parameters.
16398 10-DRIVE OFF Bad NIO sysvar value(s)
Cause:
Some of the system variables are initialized with bad values.
Remedy:
Use the SN_INST utility to configure the NIO feature system
variables with the proper values.
16399 2-WARNING Bad server operation
Cause:
The attempted operation on the server cannot be undertaken.
Remedy:
Check that the type of server can accept the type of operation.
17408 0-INFO Unimplemented feature
Cause:
A feature used on the statement being translated is not yet

implemented.
Remedy:
Make sure proper software is loaded on the system. It may be

necessary to rework the program to avoid using the unimplemented
feature.
17413 0-INFO Ran out of local memory
Cause:
The translation process ran out of free heap memory.
Remedy:
There is a fixed amount of heap memory and it can't be changed by

the user.
17414 0-INFO Invalid data type used in an expression
Cause:
An operand is an invalid data type. For example, the NOT operator

can only be applied on INTEGER and BOOLEAN operands. An operand of
any other data type will cause this error.
Remedy:
Fix the operand(s) used in the expression.
17415 0-INFO String value too long
Cause:
A STRING literal exceeds the maximum length of 254.
Remedy:
Use multiple shorter strings instead of one long string in the

program.
17416 0-INFO Invalid ASCII specification in a string value
Cause:
An invalid ASCII specification has been detected in a STRING

literal. This means a non-digit character is used in the
nn
notation or the number specified is not a valid ASCII character
code. For example, 'test 12a error' will cause this error since
"12a" is not a valid 3 digit number.
Remedy:
Use a proper 3 digit number in the

nn notation of a STRING
literal.
17417 0-INFO BOOLEAN expression expected
Cause:
The expression must result in a BOOLEAN value. For example, "IF 5

THEN" will cause this error since the expression for an IF
statement must result in a BOOLEAN value.
Remedy:
Fix the expression so it results in a BOOLEAN value.
17418 0-INFO INTEGER expression expected
Cause:
The expression must result in an INTEGER value. For example "DELAY

5.6" will cause this error since the expression for a DELAY
statement must result in an INTEGER value.
Remedy:
Fix the expression so it results in an INTEGER value.
17419 0-INFO REAL expression expected
Cause:
The expression must result in a REAL value. If the expression

results in an INTEGER value, it will be converted to a REAL
automatically. However, if the expression results in any other
data type, this error will be detected. For example, "MOVE AWAY
TRUE" will cause this error since the value of the expression is
not INTEGER or REAL.
Remedy:
Fix the expression so it results in a REAL value.
17420 0-INFO VECTOR expression expected
Cause:
The expression must result in a VECTOR value. For example, "MOVE

RELATIVE 5 IN BASE" will cause this error since 5 is not a valid
VECTOR value.
Remedy:
Fix the expression so it results in a VECTOR value.
17421 0-INFO Positional typed expression expected
Cause:
The expression must result in a POSITION, JOINTPOS, or XTNDPOS

value. For example, "MOVE TO 6" will cause this error since the
destination expression does not result in a POSITION, JOINTPOS, or
XTNDPOS value.
Remedy:
Fix the expression so it results in a POSITION, JOINTPOS, or

XTNDPOS value.
17422 0-INFO Invalid INTEGER operator
Cause:
The operator cannot be used with INTEGER operands. For example,

the "@" operator cannot have INTEGER operands.
Remedy:
Make sure the proper operands and operators are specified in the
expression.
17423 0-INFO Invalid REAL operator
Cause:
The operator cannot be used with REAL operands. For example, the
"@" operator cannot have REAL operands.
Remedy:
expression.
17424 0-INFO Invalid BOOLEAN operator
Cause:
The operator cannot be used with BOOLEAN operands. For example,

the "+" operator cannot have BOOLEAN operands.
Remedy:
expression.
17425 0-INFO Invalid STRING operator
Cause:
The operator cannot be used with STRING operands. For example, the
"+" operator cannot have STRING operands.
Remedy:
expression.
17426 0-INFO Invalid VECTOR operator
Cause:
The operator cannot be used with VECTOR operands. For example, the
"DIV" operator cannot have VECTOR operands.
Remedy:
expression.
17427 0-INFO Illegal statement context
Cause:
A statement is used in the program in an invalid statement context.

For example, all variable declarations must be in a VAR section and
cannot appear between the BEGIN and END of the program. If a VAR
declaration is between the BEGIN and END this error will be
detected.
Remedy:
Move the statement to the proper context.
17428 0-INFO Fields cannot be user-defined data types

Cause:
A field of a record or node definition cannot be a record or node

type.
Remedy:
Rework the program to get around the requirement of having a field

be a record or node type.
17429 0-INFO Input file <file_name> not found
Cause:
The file being translated does not exist.
Remedy:
Make sure the file name was properly entered.
17430 0-INFO Error reading the input file
Cause:
The FILER TRANSLATE command detected an error while reading the

file being translated.
Remedy:
No remedy.
17431 0-INFO Error closing the input file
Cause:
The FILER TRANSLATE command detected an error while closing the

file being translated.
Remedy:
No remedy.
17432 0-INFO Incomplete program
Cause:
The FILER TRANSLATE command processed the entire input file but did
not receive an entire valid program. For example, if the "END"
statement for the program is missing, this error will be detected.
Remedy:
The translation process will attempt to complete the program. If

it is successful, a proper .COD file will be generated. Otherwise,
the .COD file will not be generated. For example, if the "END"
statement for the program is missing, the translation process will
attempt to add the "END" statement automatically.
17433 0-INFO Identifier <id> undefined
Cause:
An identifier is used in the statement which has not yet been

declared. All identifiers used in a PDL2 program must be declared
before any references to the identifiers are declared.
Remedy:
Check spelling of the identifier to be sure it is the proper

identifier to be used. If so, add a proper declaration for the
identifier.
17434 0-INFO Id <id> must be an INTEGER constant
Cause:
This error is detected when an identifier is used as the size of a

STRING, ARRAY dimension, arm number, etc. and the identifier is not
an INTEGER user-defined constant. Only INTEGER user-defined
constant identifiers can be used. The following example would
cause this error since "myvar" is a variable and not a user-defined
constant.
-
- VAR
- �myvar� : INTEGER
- �s� : STRING[�myvar�] -- Error since myvar is a variable
Remedy:
Change the reference to a valid INTEGER user-defined constant or an

INTEGER literal.
17435 0-INFO Invalid STRING size
Cause:
An invalid size was specified in a STRING declaration. The size

must be greater than 0 and less than the maximum size for a STRING
which is 254. For example, "VAR s : STRING[356]" would cause this
error since 356 is too large.
Remedy:
Change the size of the STRING to be in the range 1..254.
17436 0-INFO Program name too long
Cause:
The length of the specified program name is greater than 8.
Remedy:
Shorten the length of the program name.
17437 0-INFO Program identifier expected
Cause:
A program identifier is expected but the translation process

detected some other kind of identifier or literal. For example, if
"myvar" is declared as a variable, the "PAUSE myvar" statement
would cause this error since "myvar" is not a program identifier.
Remedy:
Fix the identifier referenced to be a program identifier.
17438 0-INFO Identifier <id> previously declared
Cause:
A user-defined identifier name can only be used once within the

same scope. For example, if the main program declares "myvar" as a
variable, the name "myvar" cannot be used as the name of a routine,
user-defined constant, user-defined type, or another variable
declared in the main program.
Remedy:
Choose a different name.
17439 0-INFO Identifier not a record structure
Cause:
A user-defined record type identifier is expected but the

translation process detected some other kind of identifier. The
following example would cause this error since "myvar" is not a
user-defined RECORD type identifier.
-
- VAR
- �recvar� : �myvar� -- Error since myvar is a variable
Remedy:
Fix the identifier referenced to be a user-defined record type

identifier.
17440 0-INFO Invalid target in an assignment stmt
Cause:
This error occurs due to an invalid left operand of the assignment
statement. The left operand must be a valid variable, parameter,
or local variable reference. For example, "5 := a" will cause this
error since "5" is not a valid variable identifier reference.
Remedy:
Fix the left operand of the assignment statement to be a valid

variable, parameter, or local variable reference.
17441 0-INFO Data type mismatch in assignment stmt
Cause:
The data type of the right operand of an assignment statement is

not compatible with the left operand variable reference. The left
and right operands must be of the exact same data type with the
exception that the right operand can be INTEGER if the left is
REAL. The following example will cause this error to occur since
6.7 is REAL and incompatible with an INTEGER variable.
-
- VAR
- �yourvar� : REAL
- . . .
- BEGIN
- -- Valid statement (can assign INTEGER to REAL)
- �yourvar� := �myvar�
-
- -- Invalid statement (can't assign REAL to INTEGER)
- �myvar� := 6.7
Remedy:
Fix the assignment statement so the operands are compatible data

types.
17442 0-INFO Asgn not permitted on var of this type
Cause:
Not all variables can be assigned a value using the assignment

statement. This error is the result of trying to perform an
assignment to a variable whose data type is not permitted. For
example, if "myvar" is declared as a SEMAPHORE variable, it cannot
be used as the left operand in the assignment statement ("myvar :=
...").
17443 0-INFO Ran out of shared memory
Cause:
The translation process ran out of free memory.
Remedy:
Erase all unnecessary programs and variables from memory and
retranslate. If the error was detected while editing a program,
suspend from the editor to perform the erasing so previous changes
to the program are not lost.
17444 0-INFO Implicitly declaring variable <var_id>
Cause:
In some cases, the data type information of an undeclared

identifier can be determined by the context of its usage. In these
cases, the translation process will automatically insert a variable
declaration for the identifier in the program. This warning is
given each time an identifier is implicitly declared in the
program. For example, if "myvar" is not declared in the program,
the "myvar := 0" statement will produce this warning and a
declaration for "myvar" will be added which declares "myvar" to be
an INTEGER variable.
Remedy:
This is just a warning but if a typing mistake was made and the
translation process declared a new variable, the typing mistake
should be fixed and then the added declaration should be deleted.
17445 0-INFO Invalid ARRAY size
Cause:
An invalid size was specified in an ARRAY declaration. The size

must be greater than 0 and less than the maximum size for an ARRAY
dimension which is 65535. The following example would cause this
error since 66666 is too large.
-
- VAR �ari� : ARRAY[66666] OF INTEGER
Remedy:
Change the size of the ARRAY dimension to be in the range 1..65535.
17446 0-INFO Wrong id after END - replacing with <id>
Cause:
This is detected when the identifier following the END does not
match the name of the routine or program being ended. This is just
a warning and the translation process will automatically replace
the improper identifier with the proper routine or program
identifier.
Remedy:
No remedy since it is automatically fixed.
17447 0-INFO Inserting missing CONST keyword

Cause:
Each new user-defined constant section must begin with the CONST
keyword. This warning is given if the translation process has to
automatically add the keyword.
Remedy:
17448 0-INFO Inserting missing VAR keyword
Cause:
Each new variable declaration section must begin with the VAR
Remedy:
17449 0-INFO Arrays do not have the same dimensions
Cause:
This error is detected when an assignment is performed between two

ARRAYs and the ARRAYs do not have the same number of dimensions.
The assignment statement in the following example would cause this
error since "ar1" is only one dimensional but "ar2" is two
dimensional.
-
- VAR
- �ar1� : ARRAY[10] OF INTEGER
- �ar2� : ARRAY[10, 20] OF INTEGER
- . . .
- BEGIN
- �ar1� := �ar2� -- Error due to dimension mismatch
Remedy:
Make sure both ARRAYs have the same number of dimensions.
17451 0-INFO Invalid identifier class
Cause:
This error is detected when an identifier is used in the wrong

context. For example, if "mytype" is declared as a RECORD in the
TYPE section, "SQRT(mytype)" would cause this error because mytype
is a TYPE and not a variable.
Remedy:
Make sure the identifier being used is of the proper classification

for the context.
17452 0-INFO Identifier cannot be indexed or fielded
Cause:
Only ARRAY, JOINTPOS, and a PATH node table can be indexed. Only
records and PATH nodes can be fielded. This error is detected when
an identifier other than one of these types is indexed or fielded.
For example, if "myvar" is declared as an INTEGER variable,
"myvar[4]" would generate this error. Likewise, "myvar.fld" would
also generate this error.
Remedy:
Make sure the identifier being indexed is an ARRAY, JOINTPOS, or

PATH node table before using the [] notation. Make sure the
identifier is a record or PATH node before using the field (.)
notation.
17453 0-INFO Invalid indexing of an identifier
Cause:
If a variable is a one-dimensional ARRAY, it can only be indexed

using one index value. However, if the variable is a
two-dimensional ARRAY, it can only be indexed using two index
values. This error is detected when only one index value is
specified for a two-dimensional ARRAY or two index values are
specified for a one-dimensional ARRAY.
-
- VAR
- �ar1� : ARRAY[10] OF INTEGER
- �ar2� : ARRAY[10, 20] OF INTEGER
- . . .
- BEGIN
- �ar1�[2, 4] := 56 -- Error since ar1 is one-dimensional
- �ar2�[5] := 23 -- Error since ar2 is two-dimensional
Remedy:
Use the proper number of index values when indexing an ARRAY

variable.
17455 0-INFO Invalid indexing of a JOINTPOS
Cause:
A JOINTPOS variable can be indexed using one index value only.

This error is detected when two index values are specified. For
example, if "myvar" is declared as a JOINTPOS variable, the
"myvar[5, 7]" reference will cause this error.
Remedy:
Use only one index value for indexing a JOINTPOS variable.

17456 0-INFO Default arm attribute already specified
Cause:
This error is detected when multiple default arm attributes are

specified on the PROGRAM statement.
Remedy:
Choose the proper default arm attribute and delete the other(s).
17457 0-INFO Invalid value specified for arm attr
Cause:
An invalid arm number is specified in the default arm attribute of

the PROGRAM statement. The arm number must be greater than 0 and
less than 33.
Remedy:
Choose a valid arm number.
17458 0-INFO Program type attribute already specified
Cause:
Multiple program type attributes are specified on the PROGRAM

statement. There can be only one of the HOLD, NOHOLD, or PLC
attributes specified on the PROGRAM statement.
Remedy:
Choose the proper program type attribute and delete the other(s).
17459 0-INFO Priority attribute already specified
Cause:
The priority attribute can only be specified once on the PROGRAM

statement.
Remedy:
Choose the proper priority and delete the other(s).
17460 0-INFO Invalid value spec for priority attribute
Cause:
An invalid priority is specified in the priority attribute of the

PROGRAM statement. The priority must be greater than 0 and less
than 4.
Remedy:
Choose a valid priority value.
17461 0-INFO Stack size attribute already specified
Cause:
The stack size attribute can only be specified once on the PROGRAM
statement.
Remedy:
Choose the proper stack size attribute and delete the other(s).
17462 0-INFO Invalid value spec for stack size attribute
Cause:
An invalid stack size is specified in the stack size attribute of

the PROGRAM statement. The stack size must be greater than -1 and
less than 65535.
Remedy:
Choose a valid stack size.
17463 0-INFO Invalid or missing program header
Cause:
The PROGRAM statement is invalid or not contained in the file being

translated. The translation process will stop since a program is
not valid without a PROGRAM statement.
Remedy:
Edit the file being translated and fix/add the PROGRAM statement.
17464 0-INFO Error opening output file
Cause:
The .COD file cannot be opened. This is generally due to a full

RAM disk.
Remedy:
Erase all unnecessary files and issue the FILER TRANSLATE command
again. If this error is detected while editing, suspend the editor
and erase the unnecessary files. Then return to the editor and
issue the SAVE command so that the modifications to the program are
not lost.
17465 0-INFO Not enough disk space for output file
Cause:
The .COD file could not be closed properly. This error is usually
caused by not having enough disk space for the file.
Remedy:
again. If this error is detected while editing, suspend the editor
and erase the unnecessary files. Then return to the editor and
issue the SAVE command so that the modifications to the program are
not lost.
17466 0-INFO Label <label_id> is undefined
Cause:
A label is used in a GOTO statement but is not actually used to

label a line of code. This error is detected when the program is
saved and loaded as well as when the editor checks for errors.
Remedy:
Make sure the labels used in the GOTO statements are properly
typed. If so, add the label to the appropriate line so that it
gets defined.
17467 0-INFO INTEGER LUN expected
Cause:
An INTEGER LUN identifier is expected in a FILE statement. The

translation process detected some other type of identifier. The
following example would cause this error since "myvar" is not a
valid INTEGER LUN.
-
- VAR �myvar� : VECTOR
- . . .
- BEGIN
- -- Error since myvar is not an INTEGER variable
- CLOSE FILE �myvar�
Remedy:
Change the LUN to a valid INTEGER variable reference.
17468 0-INFO Invalid assignment action
Cause:
An invalid assignment action is detected. This is due to an

expression being used for the right operand instead of a single
variable reference, literal, or constant identifier reference. The
following example will cause this error since the right operand of
the assignment action is an expression.
-
- VAR �a�, �i� : INTEGER
- . . .
- BEGIN
- CONDITION[3]:
- WHEN $DIN[4]+ DO
- -- Error since expression is used in the action
- �a� := 4 * �i�
- . . .
- ENDCONDITION
Remedy:
Fix the right operand so that it is a single variable reference, a

literal, or a constant identifier reference.
17469 0-INFO Invalid arm number
Cause:
An invalid arm number has been specified. Arm numbers must be

greater than 0 and less than 33. This error is detected for arm
specifications in the declaration section of a program.
Remedy:
Use a valid arm number in the range 1..32.
17470 0-INFO Routine identifier expected
Cause:
Only a routine identifier can be used in a routine call. This

error is detected when an identifier is used in a routine call that
is not declared as a routine. The following example would cause
this error since "myvar" is not a routine.
-
- VAR �myvar� : INTEGER
- . . .
- BEGIN
- -- Error since myvar is not a ROUTINE
- �myvar�(4, �i�, 8.6)
Remedy:
Make sure the proper identifier is used in the routine call. If

undefined, add a declaration for the routine.
17471 0-INFO Too many arguments
Cause:
Too many arguments are specified in a routine call. The following

example would cause this error since 3 arguments are specified in
the routine call but the routine is declared as having only 2
parameters.
-
- ROUTINE �myrout�(�i�, �j� : INTEGER) EXPORTED FROM �utils�
- . . .
- BEGIN
- �myrout�(2, 4, 6) -- Error since too many arguments
Remedy:
Remove the incorrect arguments from the routine call. Verify the
routine call against the routine declaration.
17472 0-INFO Not enough arguments
Cause:
Not enough arguments are specified in a routine call. The

following example would cause this error since 1 argument is
specified in the routine call but the routine is declared as having
2 parameters.
-
- ROUTINE �myrout�(�i�, �j� : INTEGER) EXPORTED FROM �utils�
- . . .
- BEGIN
- �myrout�(26) -- Error since not enough arguments
Remedy:
Add missing arguments to the routine call. Verify the routine call
against the routine declaration.
17473 0-INFO Argument data type doesn't match the parameter
Cause:
The data type of an argument doesn't match the declaration of the

corresponding parameter. The data types of the argument and its
corresponding parameter must be compatible. This means they must
be exactly the same type with the exception that an INTEGER
argument can be passed by value to a REAL parameter. The following
example would cause this error since the data type of the argument
is BOOLEAN and is not compatible with the INTEGER parameter
declaration.
-
- ROUTINE �myrout�(�i� : INTEGER) EXPORTED FROM �utils�
- . . .
- BEGIN
- -- Error since the parameter is INTEGER
- -- but the argument is BOOLEAN
- �myrout�(TRUE)
Remedy:
Fix the routine call to be sure corresponding arguments and

parameters are compatible. Verify the routine call against the
routine declaration.
17474 0-INFO Mismatch in ARRAY dim of argument
Cause:
The number of dimensions of an ARRAY argument must be equal to the

number of dimensions of the corresponding ARRAY parameter. The
following example will cause this error since we cannot pass a 1
dimensional ARRAY argument to a 2 dimensional ARRAY parameter.
-
- VAR �myvar� : ARRAY[5] OF INTEGER
- . . .
- ROUTINE �myrout�(�ai� : ARRAY[*, *] OF INTEGER)
- BEGIN
- . . .
- END �myrout�
- . . .
- BEGIN
- -- Error since param is 2 dim and argument is 1 dim
- �myrout�(�myvar�)
Remedy:
Fix the routine call to be sure corresponding ARRAY arguments and

parameters have the same number of dimensions. Verify the routine
call against the routine declaration.
17475 0-INFO Address argument expected
Cause:
The built-in routine being called expects an argument to be passed

by reference. This means the argument must be a valid variable,
parameter, or local variable reference. For example, the
VAR_UNINIT function expects the argument to be a variable reference
which means the "VAR_UNINIT(3)" routine call will cause this error
since 3 is not a valid variable reference.
Remedy:
Fix the argument so it is passed by reference.
17476 0-INFO Routine <rout_id> is not a function
Cause:
Only a function routine can be invoked in an expression. A

procedure routine must be called as a single statement. The
following example will cause this error since "myrout" is a
procedure routine.
-
- . . .
- ROUTINE �myrout�(�i� : INTEGER) EXPORTED FROM �utils�
- . . .
- BEGIN
- -- Error since myrout is not a function
- �myvar� := �myrout�(5)
Remedy:
Make sure the proper routine is being called. If it is a

procedure, then put the call in the appropriate statement form.
17477 0-INFO Routine <rout_id> is not a procedure
Cause:
Only a procedure routine can be invoked as a single statement. A

function routine must be called in an expression. The following
example will cause this error since "myrout" is a function routine.
-
- ROUTINE �myrt�(�i� : INTEGER) : REAL EXPORTED FROM �utils�
- . . .
- BEGIN
- �myrt�(5) -- Error since myrout is not a procedure
Remedy:
Make sure the proper routine is being called. If it is a function,

then put the call in the appropriate expression form.
17478 0-INFO PLC programs can only use PLC built-in routines
Cause:
Only the PLC built-in routines can be called from a program having
the PLC program type attribute. All other built-in routines are
disallowed.
Remedy:
If the program is not a PLC type program, remove the PLC attribute
from the PROGRAM statement. If it is to be a PLC type program,
then eliminate the call to a non-PLC built-in routine.
17479 0-INFO List of programs expected
Cause:
A list of program identifiers is expected. Instead, the line

contained an empty list or the ALL specification. For example, the
"ACTIVATE ALL" statement will cause this error since ALL is not a
valid option for the ACTIVATE statement.
Remedy:
Replace the empty list or ALL specification with the appropriate

list of program identifiers.
17480 0-INFO List of programs or ALL expected
Cause:
A list of program identifiers or the ALL specification is expected.

Instead, the line contained an empty list. For example, the
"UNPAUSE" statement will cause this error since an empty list is
not a valid option for the UNPAUSE statement.
Remedy:
Replace the empty list with the ALL specification or the

appropriate list of program identifiers.
17481 0-INFO Statement not permitted in a PLC program
Cause:
The statement is not permitted in a program having the PLC program

attribute. There is a limited set of statements permitted in PLC
programs.
Remedy:
Remove the invalid statement or remove the PLC attribute.
17482 0-INFO Invalid port variable
Cause:
An invalid port was specified in the statement. For example, the

PULSE statement can pulse $DOUT and $BIT only. Therefore, the
"PULSE $SDIN[2] FOR 200" statement will produce this error.
Remedy:
Use a valid port specification in the statement.
17483 0-INFO PLC prog cannot include user-defined variables
Cause:
Programs having the PLC program type attribute cannot contain

user-defined variables. The only variables accessible from a PLC
type program is the predefined ports mentioned in the
documentation.
Remedy:
Delete the variable declarations and their usages or remove the PLC
attribute.
17484 0-INFO Cannot implicitly declare vars in routine
Cause:
The automatic declaration of undefined variables is only permitted
in the program. All undefined identifiers in a routine cause this
error.
Remedy:
Check the spelling of the identifier name. If correct, add a local

declaration of the identifier.
17485 0-INFO Cannot import routine variables
Cause:
The EXPORTED FROM clause is not permitted on local variable

declarations. If specified, this error will be detected.
Remedy:
Remove the EXPORTED FROM clause from the local variable

declaration.
17486 0-INFO Id <id> must be an INTEGER variable
Cause:
Several statements in the language require an INTEGER variable

reference. If an identifier of any other type or kind is
specified, this error is detected. The following program segment
shows two example statements that will cause this error.
-
- CONST �myconst� = 8
- VAR �myvar� : REAL
- . . .
- BEGIN
- -- Error since myvar is not an INTEGER
- FOR �myvar� := 1 TO 10 DO
- . . .
- -- Error since myconst is not a variable
- FOR �myconst� := 1 TO 10 DO
Remedy:
Replace the identifier with a valid INTEGER variable reference.
17487 0-INFO Unknown system variable <sys_var_id>
Cause:
A system variable is referenced that is not known to the system.
Remedy:
Check the spelling of the system variable name and use the proper
spelling.
17488 0-INFO No direct access to system var <sys_var_id>
Cause:
Direct access to the system variable is not permitted. Instead,

the SYS_VAR_SET and SYS_VAR_GET routines must be used to access
this system variable.
Remedy:
Use the appropriate built-in routine for accessing the system

variable.
17489 0-INFO Invalid use of identifier <id>
Cause:
This error indicates an invalid indexing or fielding of an

identifier that is not a variable.
Remedy:
Use the proper variable identifier in the statement.
17490 0-INFO System var <sys_var_id> only has READ access
Cause:
The system variable cannot be given a new value by a PDL2 program.

This means it cannot be used as the left operand in an assignment
statement and it cannot be used in the READ statement.
Remedy:
No remedy.
17491 0-INFO Port variables must be indexed
Cause:
A port variable cannot be accessed as an entire ARRAY. It must be

indexed. Therefore, the "avar := $DIN" statement is invalid since
$DIN is not indexed.
Remedy:
Index the port using the proper indexing value.
17492 0-INFO GOTO in a PLC program must jump forward
Cause:
The GOTO statement in a PLC program must jump to a label that is

defined after the GOTO statement. This error is detected if the
GOTO statement jumps to a label that is defined prior to the GOTO
statement.
-
- PROGRAM �myprog� PLC
- . . .
- BEGIN
- . . .
- �mylabel�::
- . . .
- -- Error since label precedes the GOTO Statement
- GOTO �mylabel�
Remedy:
Fix the logic in the program so that the GOTO does not jump
backwards.
17493 0-INFO PLC prog cannot access system var <sys_var_id>
Cause:
The statement being translated contains a reference to a system

variable that cannot be accessed by a program having the PLC
program type attribute.
Remedy:
Remove the reference to the system variable or remove the PLC

attribute.
17494 0-INFO Operator not permitted in a PLC program
Cause:
The statement being translated contains a reference to an operator

that cannot be used by a program having the PLC program type
attribute.
Remedy:
Remove the use of the operator or remove the PLC attribute.
17495 0-INFO PLC programs cannot contain REAL values
Cause:
The statement being translated contains a REAL literal which cannot

be used in a program having the PLC program type attribute.
Remedy:
Remove the use of the REAL literal or remove the PLC attribute.
17496 0-INFO Adding ADVANCE to PULSE as required in PLC prog

Cause:
All PULSE statements are automatically advanced when executed by

the software or hardware PLC. The PULSE statement being translated
does not include the ADVANCE option so the translation process will
automatically add it. This warning is given to indicate the
automatic insertion of the ADVANCE option.
Remedy:
17497 0-INFO RETURN statement only permitted in routines
Cause:
The RETURN statement is only permitted in the executable section of

a routine. If specified in the executable section of the program,
this error is detected.
Remedy:
Delete the RETURN statements from the executable section of the

program.
17498 0-INFO RETURN from a function need a value
Cause:
The RETURN statement requires a function return value when

contained in the executable section of a function routine. This
error is detected if the function return value is omitted from the
RETURN statement.
Remedy:
Add the function return value to the RETURN statement.
17499 0-INFO RETURN from a proc cannot specify a value
Cause:
The RETURN statement is not permitted to have a function return

value when contained in the executable section of a procedure
routine. This error is detected if the function return value is
included on the RETURN statement of a procedure.
Remedy:
Remove the function return value from the RETURN statement.
17500 0-INFO Id <id> must be a SEMAPHORE variable
Cause:
Several statements in the language require a SEMAPHORE variable
-
- . . .
- BEGIN
- -- Error since myvar is not a SEMAPHORE
- SIGNAL �myvar�
- . . .
- -- Error since myconst is not a variable
- SIGNAL �myconst�
Remedy:
Replace the identifier with a valid SEMAPHORE variable reference.
17501 0-INFO Code follows the END of the program
Cause:
Statements other than comments follow the END of the program.
Remedy:
Either delete them or move them above the END statement.
17502 0-INFO Invalid variable in a READ statement
Cause:
Items in the list of a READ statement must be valid variable

references. If an identifier that is not a variable is specified
in the READ statement, this error is detected.
Remedy:
Fix the identifier reference so that it is a valid variable

reference.
17503 0-INFO Cannot READ variables of this data type
Cause:
A variable specified in the READ statement cannot be read because

of its data type. For example, if "myvar" is declared as a PATH,
the "READ(myvar)" statement would cause this error since it cannot
read variables of type PATH.
Remedy:
The individual components will have to be READ.

17504 0-INFO Cannot AND conditions in a TIL
Cause:
The AND operator cannot be used to combine conditions in a TIL

clause.
Remedy:
Use multiple TIL clauses to check multiple conditions.
17505 0-INFO Invalid context for a label
Cause:
A label cannot be used to label a middle line of a

CONDITION..ENDCONDITION statement, a MOVE..ENDMOVE statement, or
OPEN FILE..ENDOPEN statement. Only the first line of such
statements can be labeled.
-
- BEGIN
- -- Valid since on first line of stmt
- �mylabel1�:: CONDITION[3]:
- . . .
- -- Error since in middle line of stmt
- �mylabel2�::
- ENDCONDITION
Remedy:
Move the label before or after the multi-lined statement.
17506 0-INFO Invalid variable in a DECODE statement
Cause:
Items in the list of a DECODE statement must be valid variable

references. If an identifier that is not a variable is specified
in the DECODE statement, this error is detected.
Remedy:
Fix the identifier reference so that it is a valid variable

reference.
17507 0-INFO Cannot DECODE variables of this data type
Cause:
A variable specified in the DECODE statement cannot be used because

the "DECODE(myvar)" statement would cause this error since we
cannot decode variables of type PATH.
Remedy:
The individual components will have to be used in the DECODE
statement.
17508 0-INFO Identifier <id> must be a STRING variable
Cause:
Several statements in the language require a STRING variable

-
- CONST �myconst� = 'Junk string'
- . . .
- BEGIN
- -- Error since myvar is not a STRING
- ENCODE(�myvar�, 8)
- . . .
- -- Error since myconst is not a var
- ENCODE(�myconst�, 8)
Remedy:
Replace the identifier with a valid STRING variable reference.
17509 0-INFO STRING expression expected
Cause:
The expression must result in a STRING value. For example, the

expression for the file name in an OPEN FILE statement must result
in a STRING value. Therefore, the following example will cause
this error.
-
- . . .
- BEGIN
- -- Error since 5.6 is not a STRING exp
- OPEN FILE �myvar� (5.6, 'ro')
Remedy:
Fix the expression so it results in a STRING value.
17510 0-INFO Cannot ENCODE variables of this data type
Cause:
A variable specified in the ENCODE statement cannot be read because

the "ENCODE(s, myvar)" statement would cause this error since it
cannot encode variables of type PATH.
Remedy:
The individual components will have to be ENCODED.
17513 0-INFO Statement not permitted in a NOHOLD program
Cause:
The statement is not permitted in a program having the NOHOLD

program attribute. All statements related to motion of an arm are
disallowed in a NOHOLD program.
Remedy:
Remove the statements that are disallowed or remove the NOHOLD

attribute.
17514 0-INFO Routine declaration conflicts with the previous
Cause:
When a function routine is exported, the routine header containing

the EXPORTED FROM clause and the actual routine header must be
identical. If the function return type does not match, this error
is detected. The following example will cause this error since one
ROUTINE declaration indicates an INTEGER return value and the other
indicates a REAL return value.
-
- PROGRAM �myprog�
- . . .
- ROUTINE �myrt�(�i� : INTEGER) : REAL EXPORTED FROM �myprog�
- . . .
- -- Error since return type doesn't match
- ROUTINE �myrt�(�i� : INTEGER) : INTEGER
- BEGIN
- . . .
- END �myrt�
Remedy:
Fix the declarations so that they match.
17515 0-INFO Parameter list decl conflicts with the previous
Cause:
When a routine is exported, the routine header containing the

EXPORTED FROM clause and the actual routine header must be
identical. If the number of parameters or the data type of
corresponding parameters does not match, this error is detected.
The following example will cause this error since one ROUTINE
declaration indicates "myrout" has 2 parameters and the other
indicates only 1 parameter.
-
- PROGRAM �myprog�
- . . .
- ROUTINE �myrout�(�i�, �j� : INTEGER) EXPORTED FROM �myprog�
- . . .
- -- Error since number or param mismatch
- ROUTINE �myrout�(�i� : INTEGER)
- BEGIN
- . . .
- END �myrout�
Remedy:
Fix the declarations so that they match.
17516 0-INFO Adding CYCLE to BEGIN as required for a PLC program
Cause:
The BEGIN statement being translated does not include the CYCLE
option so the translation process will automatically add it. A PLC
program is automatically cycled when executed by the software or
hardware PLC. Therefore, the CYCLE option on the BEGIN statement
is required. This warning is given to indicate the automatic
insertion of the CYCLE option.
Remedy:
17517 0-INFO Ignoring CYCLE as not permitted on a routine BEGIN
Cause:
The routine BEGIN statement being translated includes the CYCLE

option so the translation process will automatically ignore it. A
routine cannot be cycled. Therefore, the CYCLE option on the
routine BEGIN statement is removed. This warning is given to
indicate the automatic removal of the CYCLE option.
Remedy:
17518 0-INFO Parameters not allowed in rout of PLC program
Cause:
User-defined routines owned by PLC programs cannot have parameters.
Remedy:
Remove the parameters from the routine or remove the PLC attribute
from the PROGRAM statement.
17519 0-INFO PLC program cannot contain function routines
Cause:
User-defined routines owned by PLC programs cannot be functions.

Remedy:
Make the routine a procedure or remove the PLC attribute from the
PROGRAM statement.
17520 0-INFO PLC prog cannot contain imported/exported routines
Cause:
A PLC program cannot import or export user-defined routines.
Remedy:
Remove the import/export declaration or remove the PLC attribute

from the PROGRAM statement.
17521 0-INFO EXIT CYCLE in PLC prog cannot have a prog list
Cause:
The EXIT CYCLE statement cannot specify other programs if contained

within a PLC program. This means a PLC program can only effect its
own execution cycle.
Remedy:
Remove the program list from the EXIT CYCLE statement or remove the
PLC attribute from the PROGRAM statement.
17522 0-INFO Must be a predefined constant identifier
Cause:
The identifier used must be a predefined constant. This error is

detected when an identifier not a predefined constant is used as
the value for a user-defined constant.
Remedy:
Replace the reference with a literal value or a predefined constant

identifier.
17523 0-INFO Built-in routines cannot be actions
Cause:
Built-In routines cannot be called as interrupt service routines.

This means they cannot be listed as an action in a condition
handler.
Remedy:
Remove the built-in routine from the action list. If the built-in
needs to be called, put the call in a user-defined routine and add
that user-defined routine in the action list.
17524 0-INFO Arg of this type must be passed by ref to ISR
Cause:
Arguments to an interrupt service routine can only be passed by

value if they are INTEGER, REAL, or BOOLEAN. All other types must
be passed by reference to an interrupt service routine.
Remedy:
Pass the argument by reference.
17525 0-INFO Inserting END
Cause:
The translation process did not get an END for a BEGIN statement.
This warning indicates the appropriate END is automatically being
added.
Remedy:
17526 0-INFO Inserting ENDFOR
Cause:
The translation process did not get an ENDFOR to terminate a FOR

statement. This warning indicates the appropriate ENDFOR is
automatically being added.
Remedy:
17527 0-INFO Inserting ENDWHILE
Cause:
The translation process did not get an ENDWHILE to terminate a

WHILE statement. This warning indicates the appropriate ENDWHILE
is automatically being added.
Remedy:
17528 0-INFO Inserting ENDIF
Cause:
The translation process did not get an ENDIF to terminate a IF
statement. This warning indicates the appropriate ENDIF is
Remedy:
17529 0-INFO Missing WHEN clause
Cause:
A CONDITION..ENDCONDITION statement does not have any WHEN clauses.

This is an empty condition handler definition.
Remedy:
Add the appropriate WHEN clause and action list or delete the
CONDITION..ENDCONDITION statement.
17530 0-INFO Inserting ENDCONDITION
Cause:
The translation process did not get an ENDCONDITION to terminate a

CONDITION statement. This warning indicates the appropriate
ENDCONDITION is automatically being added.
Remedy:
17531 0-INFO Local variables not permitted in conditions
Cause:
Local variables and parameters are not permitted in the definition

of a condition handler. Only program variables can be used.
-
- . . .
- ROUTINE �myrout�(�myparam� : INTEGER)
- BEGIN
- CONDITION[1]:
- -- Error since myparam is not a program variable
- WHEN �myparam� = 5 DO
- . . .
- ENDCONDITION
- . . .
- END �myrout�
Remedy:
Remove all local variable and parameters from the conditions.
17532 0-INFO Invalid data type used in relational condition

Cause:
Relational conditions in a WHEN, TIL, or WAIT FOR can only compare

INTEGER, REAL, or BOOLEAN values. This error is detected when
other data types are used.
Remedy:
Change the statement to compare either INTEGER, REAL, or BOOLEAN

operands.
17533 0-INFO Relational condition must contain a variable
Cause:
One of the operands of a relational condition in a WHEN, TIL, or

WAIT FOR must be a program variable. For example, the "WHEN 5 = 9
DO" statement will cause this error.
Remedy:
Replace one of the relational operands with a program variable

reference.
17535 0-INFO BOOLEAN variable or port expected
Cause:
A BOOLEAN program variable or a BOOLEAN port reference must be used

in this type of condition. For example, if "myvar" is an INTEGER
program variable, the "WHEN myvar DO" statement will cause this
error since myvar is not BOOLEAN.
Remedy:
Change the reference to be a BOOLEAN program variable or a BOOLEAN

port reference. If the reference is an INTEGER or REAL program
variable, a relational condition can be used.
17536 0-INFO Cannot AND event conditions
Cause:
The AND operator cannot be used to combine multiple event

conditions in a WHEN, TIL, or WAIT FOR. It can be used if one of
the operands is a state condition. The following example will
cause this error since both START and POWERUP are event conditions.
-
- . . .
- CONDITION[2]:
- -- Error since both are event conditions
- WHEN START AND POWERUP DO
- . . .
- ENDCONDITION
Remedy:
Make sure at least one of the operands of the AND is a state

condition or replace the AND with an OR (whichever is correct for
the logic of the program.)
17537 0-INFO Invalid data type for local variable
Cause:
Local variables (those declared in a routine) cannot be of type

SEMAPHORE or PATH. This error is detected when such a declaration
is translated.
Remedy:
Remove the declaration and use a parameter or global variable.
17538 0-INFO Value used twice in same SELECT statement
Cause:
A value can only appear once in the CASE clauses of a SELECT

statement. This error is detected when multiple instances of the
same value are detected in the same CASE or the same value appears
in multiple CASE clauses of the same SELECT. The following program
segment contains two example statements what will cause this error.
-
- . . .
- BEGIN
- SELECT �myvar� OF
- CASE(5):
- . . .
- -- Error since 5 is already used in a CASE
- CASE(�myconst�):
- . . .
- -- Error since 6 appears more than once
- CASE(6, 7, 6):
- . . .
- ENDSELECT
Remedy:
Make sure each value appears only once in the same SELECT
statement.
17539 0-INFO Cannot compare these types in a condition
Cause:
The operands used in a relational condition are of incompatible

types. This means one is BOOLEAN and the other is either REAL or
INTEGER.
Remedy:
Use the appropriate operands in the relational condition.
17540 0-INFO Invalid BOOLEAN condition operator
Cause:
Only the equality (=) and inequality (<>) operators can be used
with BOOLEAN operands. This error is detected when the operands
are BOOLEAN but a different operator is used in a condition.
Remedy:
Use the appropriate = or <> operator or change the operands in the

condition.
17541 0-INFO Should be <res_word/symbol>
Cause:
The translation process detected an invalid identifier, operator,

or literal.
Remedy:
Replace the invalid item with the appropriate valid information.
17542 0-INFO Missing <res_word/symbol>
Cause:
The translation process detected a missing identifier, operator, or

literal.
Remedy:
Insert the appropriate missing item.
17543 0-INFO Inserting ENDSELECT
Cause:
The translation process did not get an ENDSELECT to terminate a

SELECT statement. This warning indicates the appropriate ENDSELECT
is automatically being added.
Remedy:
17544 0-INFO Inserting UNTIL TRUE

Cause:
The translation process did not get an UNTIL to terminate a REPEAT

statement. This warning indicates the "UNTIL TRUE" statement is
Remedy:
The "UNTIL TRUE" statement should be modified to replace "TRUE"

with the proper terminating expression.
17545 0-INFO Trajectory value <id> is invalid
Cause:
The specified value is invalid for a trajectory of a MOVE

statement. The only valid values for the trajectory are LINEAR,
CIRCULAR, and JOINT.
Remedy:
Use one of the valid trajectory values.
17546 0-INFO Adding ADVANCE to PULSE as in an action
Cause:
The PULSE action statement being translated does not include the
ADVANCE option so the translation process will automatically add
it. A PULSE action is automatically advanced. Therefore, the
ADVANCE option on the PULSE action statement is required. This
warning is given to indicate the automatic insertion of the ADVANCE
option.
Remedy:
17547 0-INFO Action asgn disallowed on vars of this type
Cause:
Assignment action statements are only valid if the left operand is

an INTEGER, REAL, or BOOLEAN variable. For example, if "myvar" is
declared as a STRING variable, the "myvar := 'invalid'" action
statement is invalid since it involves the assignment of a STRING
variable.
Remedy:
Either remove the invalid action statement or put it in a routine

and add a routine call to the action list.
17548 0-INFO Last action must be a routine call

Cause:
All routine actions must be at the end of the action list and
cannot be intermixed with other types of action statement. This
error occurs if the translation process detects an action other
than a routine call following the first routine call action.
Remedy:
Move all routine call actions to the end of the action list.
17549 0-INFO Invalid POSITION operator
Cause:
The operator cannot be used with POSITION operands. For example,

the "+" operator cannot have POSITION operands.
Remedy:
expression.
17550 0-INFO Identifier <id> must be a label
Cause:
The identifier specified is not a label. This error is detected

when a label identifier is expected. For example, if "myvar" is
declared as a variable, the "GOTO myvar" statement would result in
this error since myvar is not a label.
Remedy:
Check the spelling of the identifier and make sure it is a label

identifier.
17551 0-INFO Must specify at least one joint value
Cause:
The joint list in a MOVE statement must include at least one joint
value. The translation process detected the { } without any joint
values.
Remedy:
Add the appropriate joint values. Use consecutive commas for empty
values.
17552 0-INFO Inserting the identifier to END statement
Cause:
Each END statement must include the routine or program identifier
name of the routine or program being ended. This warning is given
if the translation process has to automatically add the identifier
name to the END statement.
Remedy:
17554 0-INFO Incomplete statement
Cause:
The translation process detected an incomplete statement that it

could not determine how to automatically finish.
Remedy:
Complete the statement with the appropriate information.
17556 0-INFO Cannot WRITE expression of this data type
Cause:
An expression specified in the WRITE statement cannot be written

because of its data type. For example, if "myvar" is declared as a
PATH, the "WRITE(myvar)" statement would cause this error since it
is invalid to write variables of type PATH.
Remedy:
The individual components of each node will have to be written.
17557 0-INFO Invalid use of sys var in asgn action
Cause:
It is invalid to use an assignment action in a condition handler if

the target of the assignment is a system variable that requires
locking. In addition, the limited access predefined node fields
cannot be used as the target of an assignment action. If the
target is a system variable or predefined node field that requires
limit checking, it is an error if the value being assigned is NOT a
constant or literal. The following example will cause this error
since $MOVE_TYPE requires limit checking and the value being
assigned is a variable.
-
- CONDITION[1]:
- WHEN $DIN[1]+ DO
- $MOVE_TYPE := �myvar�
- ENDCONDITION
Remedy:
Either remove the assignment action or put it in a routine and add

the routine call to the action list.
17558 0-INFO Program and file name must match
Cause:
This error is detected during the FILER TRANSLATE process. The

identifier name used in the PROGRAM statement must match the name
of the file being translated (without the file extension.) This
error is the result of a mismatch between those two names.
Remedy:
Either rename the file or edit the file and change the identifier
in the PROGRAM statement.
17559 0-INFO Data type of expression not matching function definition
Cause:
The data type of the expression used in the RETURN statement must
be compatible with the function return type definition. This error
results if there is a mismatch. The following example will cause
this error since a BOOLEAN expression is not compatible with the
defined INTEGER return type.
-
- -- Return type is INTEGER
- ROUTINE �myrout�(�i� : INTEGER) : INTEGER
- . . .
- BEGIN
- . . .
- RETURN(TRUE) -- Error since value is not INTEGER
- END �myrout�
Remedy:
Either fix the expression being used in the RETURN statement or

change the data type of the return value from the function.
17560 0-INFO Inserting <res_word/symbol>
Cause:
The translation process did not get the specified reserved word or
symbol while translating a statement. This warning indicates the
specified word or symbol is automatically being added in order to
continue translation of the statement.
Remedy:
No remedy since it is automatically fixed. However, if the

translation process chose the improper word or symbol, the
statement may have to be edited.
17561 0-INFO Replacing with <res_word/symbol>

Cause:
The translation process detected an invalid item and can continue

translation if it is replaced with the specified information. This
warning is given to indicate the automatic replacement is being
made.
Remedy:
17562 0-INFO Ignoring <string>
Cause:
The translation process detected an invalid item and can continue

translation if it is ignored. This warning is given to indicate
the automatic deletion of the specified item.
Remedy:
17563 0-INFO Invalid token <string>
Cause:
The translation process detected an invalid item in the statement

being translated.
Remedy:
Replace the invalid item with the appropriate valid information.
17564 0-INFO Errors detected during translation
Cause:
Errors were detected during the translation process. This means

the program cannot be loaded into memory for execution.
Remedy:
Edit the program and fix all of the errors.
17565 0-INFO Warnings detected during translation
Cause:
The translation process detected some warnings during translation.

There were no errors which means the program CAN be loaded into
memory for execution.
Remedy:
No remedy. The warnings are informational.
17567 0-INFO Cannot change the program name
Cause:
The identifier name in the PROGRAM statement must match the name of
the file. This error results if you try to change the identifier
name in the PROGRAM statement.
Remedy:
Leave the name alone.
17568 0-INFO Missing CASE clause
Cause:
A SELECT..ENDSELECT statement does not have any CASE clauses. This

is an empty SELECT statement.
Remedy:
Add the appropriate CASE clauses or delete the SELECT..ENDSELECT

statement.
17569 0-INFO Inserting BEGIN and END of the routine
Cause:
The translation process did not get a BEGIN or END statement for a
routine. This warning indicates the appropriate BEGIN and END
statements are automatically being added.
Remedy:
17570 0-INFO System variable field <sys_var_field_id> is unknown
Cause:
The field used in a structured system variable reference is

unknown. For example, the "$ARM_DATA[1].myvar" will produce this
error since "myvar" is not a known system variable field.
Remedy:
Check the spelling of the field name and make sure it is a valid
field for the structured system variable being referenced.
17571 0-INFO System variable field <sys_var_field_id> is invalid
Cause:
The field used in a structured system variable reference is not a
valid field for that system variable.
Remedy:
field for the structured system variable being referenced.
17572 0-INFO Inserting ENDOPEN
Cause:
The translation process did not get an ENDOPEN to terminate a

multiple lined OPEN statement. This warning indicates the
appropriate ENDOPEN is automatically being added.
Remedy:
17573 0-INFO Inserting ENDMOVE
Cause:
The translation process did not get an ENDMOVE to terminate a

multiple lined MOVE statement. This warning indicates the
appropriate ENDMOVE is automatically being added.
Remedy:
17574 0-INFO System var <sys_var_id> not permitted in a WITH
Cause:
The specified system variable cannot be used in a WITH clause.
Remedy:
Check the spelling of the system variable name and be sure it can
be used in a WITH clause.
17575 0-INFO Invalid context for WITH clause
Cause:
The system variable used in a WITH clause is invalid for the

current statement context. For example, $FL_SWAP can be used in a
WITH clause but only in an OPEN FILE statement. Therefore, this
error will result if it is used in the WITH clause of a MOVE
statement.
Remedy:
Make sure the appropriate system variables are used in the current
statement context.
17576 0-INFO Invalid sys var <sys_var_id> in WITH clause
Cause:
The specified system variable cannot be used in a WITH clause.
Remedy:
Check the spelling of the system variable name and be sure it can
be used in a WITH clause.
17577 0-INFO Changing to SYNCMOVE since stmt is not FLY
Cause:
The translation process detected a SYNCMOVEFLY clause but the MOVE

statement didn't indicate FLY. Therefore, the SYNCMOVEFLY is
automatically being replaced with SYNCMOVE to match the MOVE
statement.
Remedy:
17578 0-INFO Changing to SYNCMOVEFLY since stmt is FLY
Cause:
The translation process detected a SYNCMOVE clause but the MOVEFLY

statement indicates FLY. Therefore, the SYNCMOVE is automatically
being replaced with SYNCMOVEFLY to match the MOVEFLY statement.
Remedy:
17579 0-INFO Invalid routine return type
Cause:
A function cannot return all data types. For example, the "ROUTINE
dog : SEMAPHORE" will cause this error since a function cannot
return a SEMAPHORE value.
Remedy:
Fix the return type specification in the routine header.
17580 0-INFO Predefined field <field_id> is invalid

Cause:
The field name of a predefined data type is invalid. The following

example causes this error since AUX is not a valid predefined field
for the POSITION data type.
-
- VAR �myvar� : POSITION
- . . .
- BEGIN
- -- Valid since X is valid field of a POSITION
- �myvar�.X
- -- Error since AUX is not a valid field of a POSITION
- �myvar�.AUX
Remedy:
Use a valid predefined field name.
17581 0-INFO Error opening trans.err file
Cause:
The file containing the translation error and warning messages

could not be opened. This could be caused by not having enough
disk space for the file.
Remedy:
again.
17582 0-INFO Invalid port used in event condition
Cause:
Only certain ports can be used in port event conditions. The

translation process detected an invalid port.
Remedy:
In case of positive or negative transition (for example WHEN

$DIN[1]+), it is only allowed to use the following ports: $DIN,
$DOUT, $SDIN, $SDOUT, $BIT. In case of BIT_FLIP routine, only
analogue ports, except $TIMER, can be passed as first parameter to
the routine.
17584 0-INFO String value <string> is invalid
Cause:
The translation process detected an invalid STRING literal.
Remedy:
Fix the literal so it is a valid STRING.

17585 0-INFO REAL value <real_value> is invalid
Cause:
The translation process detected an invalid REAL literal value.
Remedy:
Fix the literal to be a valid REAL value.
17586 0-INFO Frame value <frame> is invalid
Cause:
The frame specification in the MOVE statements can be either BASE

or TOOL. The translation process detected some other identifier.
Remedy:
Change the frame reference to be either BASE or TOOL.
17587 0-INFO Invalid second argument in SYS_VAR routine
Cause:
The second argument to the SYS_VAR_GET and SYS_VAR_SET routines

must be a user-defined variable reference. The translation process
detected either a system variable or a non-variable reference.
Remedy:
Change the second argument to be a user-defined variable reference.
17588 0-INFO Only one format spec permitted on SYS_VAR arguments
Cause:
Only one format specifier can be used on the arguments for the
SYS_VAR_GET and SYS_VAR_SET routines.
Remedy:
Remove the extra format specifiers.
17589 0-INFO Invalid sys var argument in SYS_VAR routine
Cause:
The system variable reference in the SYS_VAR_GET and SYS_VAR_SET

routines must be a system variable reference that is not a port.
Remedy:
Fix the argument to be a system variable reference that is not a

port. Also make sure it is passed by reference to the routine.
17590 0-INFO Invalid type for the target in SYS_VAR routine
Cause:
The target argument in the SYS_VAR_SET and SYS_VAR_GET routine

cannot be a NODE, RECORD, ARRAY OF RECORD, PATH, SEMAPHORE, ARRAY
OF STRING, ARRAY OF JOINTPOS, XTNDPOS, or ARRAY OF XTNDPOS.
Remedy:
Individual components of these types must be used instead of the

entire variable at once.
17591 0-INFO Argument in SYS_VAR rout cannot be a port
Cause:
The target of the SYS_VAR_GET and SYS_VAR_SET routines cannot be a

port reference.
Remedy:
Use a non-port variable reference as the target.
17592 0-INFO Can't have format specifiers for an expression
Cause:
Format specifiers are not permitted on expression arguments of the

SYS_VAR_GET and SYS_VAR_SET routines. They are only permitted on
those arguments that are passed by reference.
Remedy:
Remove the format specifiers from the expression arguments.
17593 0-INFO Inserting BEGIN and END of the program
Cause:
The translation process did not get a BEGIN or END statement for
the program. This warning indicates the appropriate BEGIN and END
statements are automatically being added.
Remedy:
17594 0-INFO Prog has references to undefined labels
Cause:
A label is used in a GOTO statement but is not actually used to
label a line of code. This error is detected when the program is
saved and loaded as well as when the editor checks for errors.
Remedy:
Make sure the labels used in the GOTO statements are properly
typed. If so, add the label to the appropriate line so that it
gets defined.
17595 0-INFO Missing fields in TYPE definition
Cause:
A RECORD..ENDRECORD or NODEDEF..ENDNODEDEF statement does not have

any field definitions. This is an empty user-defined type
definition.
Remedy:
Add the appropriate field definitions or delete the type definition

statement.
17596 0-INFO Inserting ENDRECORD
Cause:
The translation process did not get an ENDRECORD to terminate a

RECORD declaration. This warning indicates the appropriate
ENDRECORD is automatically being added.
Remedy:
17597 0-INFO Inserting ENDNODEDEF
Cause:
The translation process did not get an ENDNODEDEF to terminate a

NODE declaration. This warning indicates the appropriate
ENDNODEDEF is automatically being added.
Remedy:
17598 0-INFO Replacing with ENDRECORD
Cause:
An ENDNODEDEF statement was used to terminate a RECORD definition.

This warning is issued indicating the ENDNODEDEF is automatically
being replaced with ENDRECORD.
Remedy:
17599 0-INFO Replacing with ENDNODEDEF
Cause:
An ENDRECORD statement was used to terminate a NODE definition.

This warning is issued indicating the ENDRECORD is automatically
being replaced with ENDNODEDEF.
Remedy:
17600 0-INFO Inserting missing TYPE keyword
Cause:
Each new user-defined type section must begin with the TYPE
Remedy:
17601 0-INFO Field <field_id> already declared in this TYPE
Cause:
A field name can only be used once within the same user-defined
type declaration. This error is the result of the translation
process detecting a field name that has already been used in the
same type declaration.
-
- TYPE �mytype� = RECORD
- �i� : INTEGER
- . . .
- -- Error since i is already a declared field
- �j�, �i� : INTEGER
- ENDRECORD
Remedy:
17602 0-INFO Field <field_id> is invalid for this TYPE
Cause:
The specified field name is invalid. The following example will

cause this error since "fld2" is not declared as a field for type
"mytype".
-
- TYPE �mytype� = RECORD
- �i� : INTEGER
- �j� : INTEGER
- ENDRECORD
- . . .
- VAR �myvar� : �mytype�
- . . .
- BEGIN
- -- Valid since i is a field of mytype
- �myvar�.�i� := 98
- . . .
- -- Error since fld2 is not a field of mytype
- �myvar�.�fld2� := 98
Remedy:
field. If it is a valid name, add the field definition to the TYPE
declaration.
17603 0-INFO Translating <file_name>:
Cause:
Remedy:
No remedy.
17604 0-INFO Invalid access to system variable <sys_var_id>
Cause:
The specified system variable cannot be accessed in a manner used

in the statement being translated.
Remedy:
Fix the reference to the system variable.
17605 0-INFO NODISABLE already specified
Cause:
This warning is detected when the NODISABLE option is specified

more than one time on a CONDITION statement. The extra
specifications are ignored.
Remedy:
17606 0-INFO ARM already specified

Cause:
This error is detected when multiple arm options are specified on

the CONDITION statement.
Remedy:
Choose the proper arm option and delete the other(s).
17607 0-INFO CYCLE already specified
Cause:
If the CYCLE option is already specified on the BEGIN statement the

program cannot contain a CYCLE statement. In addition, if the
CYCLE statement exists the CYCLE option cannot be added to the
BEGIN statement. This error is detected when both CYCLEs exist.
Remedy:
Remove the incorrect CYCLE specification.
17608 0-INFO CYCLE not permitted in routines
Cause:
The CYCLE option is not permitted on the BEGIN statement for a

routine. If specified, it will be ignored and this warning will be
issued.
Remedy:
17609 0-INFO CYCLE statement not permitted in PLC program
Cause:
Programs having the PLC program attribute cannot contain the CYCLE
statement since the CYCLE option is mandatory for the BEGIN
statement.
Remedy:
Delete the CYCLE statement or remove the PLC attribute.
17610 0-INFO Fields cannot be SEMAPHORE data type
Cause:
The field of a user-defined type cannot be a SEMAPHORE.
Remedy:
Delete the SEMAPHORE field.
17611 0-INFO Condition not permitted for use in a TIL
Cause:
Not all conditions are permitted in a TIL clause. The translation

process has detected an invalid condition in a TIL clause.
Remedy:
Remove the invalid condition from the TIL clause.
17612 0-INFO Missing ADVANCE on FLY motion
Cause:
It is advised to use the ADVANCE option on all FLY motion in order

to have the full advantages of the FLY. This warning indicates the
ADVANCE option is missing on a FLY motion.
Remedy:
The ADVANCE option should be added to the FLY motion.
17613 0-INFO Rout <rout_id> must be decl before it is used
Cause:
The translation process detected a routine call before the

declaration of the routine. All routine declarations must come
before any calls to those routines.
Remedy:
Move the routine declaration above the call.
17614 0-INFO Identifier expected
Cause:
The translation process was expecting an identifier reference but

detected some other information.
Remedy:
Change the statement to use an identifier reference in the

appropriate spot.
17615 0-INFO System variable identifier expected
Cause:
The translation process was expecting a system variable reference

but detected some other information.
Remedy:
Change the statement to use a system variable reference in the

appropriate spot.
17616 0-INFO Operator token expected
Cause:
The translation process was expecting an operator but detected some

other information.
Remedy:
Change the statement to use an operator in the appropriate spot.
17617 0-INFO Punctuation token expected
Cause:
The translation process was expecting a punctuation token but

Remedy:
Change the statement to use the appropriate punctuation in the

appropriate spot.
17618 0-INFO INTEGER literal expected
Cause:
The translation process was expecting an INTEGER literal but

Remedy:
Change the statement to use an INTEGER literal in the appropriate

spot.
17619 0-INFO REAL literal expected
Cause:
The translation process was expecting a REAL literal but detected

some other information.
Remedy:
Change the statement to use a REAL literal in the appropriate spot.
17620 0-INFO Invalid use of NOSAVE

Cause:
The NOSAVE option is not permitted in this context. For example,

it is not permitted on a field definition in a user-defined type
declaration.
Remedy:
Remove the NOSAVE option.
17621 0-INFO Adding NOSAVE attr as required for SEMAPHORE
Cause:
SEMAPHORE variables cannot be saved in a .VAR file. Therefore, all

SEMAPHORE variables are NOSAVE by default. If not explicitly
specified, the translation process will automatically add the
NOSAVE attribute to the SEMAPHORE variable declaration.
Remedy:
17622 0-INFO Identifier <id> is invalid
Cause:
The translation process detected an invalid identifier name. All

identifiers must begin with a letter and can be followed by any
number of letters, digits, or underscores.
Remedy:
Fix the identifier to be valid.
17623 0-INFO Maximum indentation level exceeded
Cause:
The system has a maximum nesting indentation level of 31. This

means you cannot have statements nested within statements more than
31 times. The types of statements involved are loops, selection,
condition handler definition, etc. A program cannot be edited
using the PDL2 program editor if this maximum is exceeded.
Remedy:
Modify the program to avoid exceeding the maximum indentation

level.
17624 0-INFO Invalid context for initialization
Cause:
The initialization option is not valid for field definitions.
Remedy:
Remove the initialization specification.
17625 0-INFO Cannot initialize variables of this type
Cause:
Variables of type INTEGER, REAL, BOOLEAN, and STRING can be

initialized in the declaration. All other types are disallowed.
Remedy:
Remove the initialization from variable that are not INTEGER, REAL,
BOOLEAN or STRING.
17626 0-INFO Initialization value not matching var type
Cause:
This error is the result of using an initialization value that is

different than the data type of the variable. The following
example will cause this error since "myvar" is INTEGER and the
initialization value is BOOLEAN.
-
- -- Error since var is INTEGER but value is BOOLEAN
- VAR �myvar� : INTEGER (TRUE)
Remedy:
Fix the initialization value or the data type so they are

compatible.
17627 0-INFO Missing NOSAVE on initialized declaration
Cause:
Since initialized variables are assigned a new value every time the
program begins execution, it is advised to make these NOSAVE
variables. The translation process will give this warning if a
variable declaration includes the initialization option but does
not include the NOSAVE option.
Remedy:
The recommendation is to add the NOSAVE option.
17628 0-INFO Cannot initialize imported variables
Cause:
The initialization option cannot be included on variables that are

imported from a different program.
Remedy:
Remove the initialization from imported variables.
17629 0-INFO Id <id> must be a constant (predefined or user defined)
Cause:
The specified identifier must be a predefined or user-defined

constant.
Remedy:
Replace the identifier with a valid predefined or user-defined

constant reference.
17630 0-INFO Length of initial value exceeds variable length
Cause:
This error is detected when the initialization clause is included

in a STRING variable declaration. It indicates that the length of
the initialization value is longer than the maximum length defined
for the STRING. The following example will cause this error since
the length of 'Initial Value' is greater than the STRING length of
"myvar".
-
- -- Error since initialization value is longer than 5
- VAR �myvar� : STRING[5] ('Initial Value')
Remedy:
Use a shorter initialization value.
17631 0-INFO Arm state attribute already specified
Cause:
This error is detected when multiple default arm state attributes

are specified on the PROGRAM statement.
Remedy:
Choose the proper arm state attribute and delete the other(s).
17632 0-INFO Port reference expected
Cause:
Translation process is expecting a port variable reference.
Remedy:
Replace the invalid reference with a valid port variable.

17633 0-INFO Invalid port used as argument to PLC built-in
Cause:
An invalid port is used as an argument to a PLC built-in. Refer to

the documentation on the PLC built-in being referenced for the list
of valid ports.
Remedy:
Replace the invalid port with a valid port reference.
17634 0-INFO Invalid INTEGER argument to PLC built-in
Cause:
An invalid INTEGER is used as an argument to a PLC built-in. Refer

to the documentation on the PLC built-in being referenced for the
list of valid arguments.
Remedy:
Replace the invalid argument with a valid INTEGER reference.
17635 0-INFO BOOLEAN port reference or 0 expected
Cause:
An invalid port or a non-zero INTEGER is used as an argument to a

PLC built-in. Refer to the documentation on the PLC built-in being
referenced for the list of valid ports.
Remedy:
Replace the invalid argument with a valid BOOLEAN port reference or

0.
17636 0-INFO Local var not permitted as arg. of ISR
Cause:
Local variables and parameters are not permitted as arguments to

interrupt service routines.
Remedy:
Replace local variable and parameter references with valid program

variable references or literals.
17637 0-INFO ISR must have less than 17 arguments
Cause:
An interrupt service routine is limited to having at most 16
arguments.
Remedy:
Rework the program so the routine does not require more than 16
arguments.
17638 0-INFO Cannot reference this built-in
Cause:
The built-in routine cannot be referenced by a PDL2 program.
Remedy:
Remove the routine call.
17639 0-INFO Can't READ/DECODE sys vars with limits or locking
Cause:
System variables that require locking or limit checking cannot be

used in a READ or DECODE statement.
Remedy:
Remove the reference to the system variable that requires locking

or limit checking.
17640 0-INFO Identifier not a node structure
Cause:
The identifier used in a PATH variable declaration must be a NODE

type. The translation process detected an identifier which is not
a NODE type.
Remedy:
Replace the identifier with a valid NODE type.
17641 0-INFO Standard node fields must come before user-defined fields
Cause:
Standard node fields must be declared before the user-defined

fields in a NODE definition.
Remedy:
Move the standard node field definitions above the user-defined

fields.
17642 0-INFO Cannot specify arm on this standard node field
Cause:
An arm specification can only be included on JOINTPOS and XTNDPOS

type standard node fields.
Remedy:
Remove the arm specification.
17643 0-INFO Invalid standard node field
Cause:
The system variable name is not a valid standard node field.
Remedy:
Remove the invalid standard node field definition.
17644 0-INFO Invalid use of NOTEACH
Cause:
The NOTEACH option is not permitted in a RECORD type declaration.

It is only permitted on NODEDEF fields.
Remedy:
Remove the NOTEACH option.
17645 0-INFO Invalid indexing for a PATH node
Cause:
The indexing for a PATH node can include only one index value. The
translation process detected more than one.
Remedy:
Remove extra index values.
17646 0-INFO Missing index on NODE reference
Cause:
The referencing of a node field must include an indexed node. The

indexing of NODE was not detected.
Remedy:
Include the indexing of the NODE field of a PATH before the field
reference.
17647 0-INFO Id <id> must be a PATH variable
Cause:
The specified identifier must be a PATH variable. It is not.
Remedy:
Replace with a valid PATH variable identifier.
17648 0-INFO Cannot have an ARRAY of NODEs
Cause:
An ARRAY of NODE structures is invalid.
Remedy:
Remove the declaration.
17649 0-INFO Cannot use MOVE ALONG in multiple arm motions
Cause:
The MOVE ALONG clause cannot be used in a multiple arm motion.
Remedy:
Make the MOVE statement a single arm motion or remove the MOVE
ALONG clause.
17650 0-INFO Identifier not a user-defined data type
Cause:
The identifier is not a user-defined data type which is expected by

the translation process.
Remedy:
Replace with a valid user-defined data type identifier.
17651 0-INFO Local variables not permitted in actions
Cause:
Local variables and parameters are not permitted in condition

handler actions. Only program variables can be used.
Remedy:
Remove all local variable and parameters from the action list.
17652 0-INFO Implicitly declaring standard node field
<stnd_node_field_id>
Cause:
If a standard node field is used in the executable section of a

program and it is not currently defined in the NODEDEF type, the
translation process will automatically insert a declaration for the
standard node field. This warning is given each time a standard
node field is implicitly declared in a NODEDEF type.
Remedy:
17653 0-INFO ATTACH already specified
Cause:
This warning is detected when the ATTACH option is specified more

than one time on a CONDITION statement. The extra specifications
are ignored.
Remedy:
17654 0-INFO Can only ATTACH/DETACH CONDITIONS, ARMS, devices, and timers
Cause:
The ATTACH/DETACH statements can only be used for CONDITIONs, ARMs,

devices, and timers. The translation process detected some other
kind of reference in an ATTACH/DETACH statement.
Remedy:
Remove the invalid reference.
17655 0-INFO Cannot mix items in ATTACH/DETACH statements
Cause:
The items in the ATTACH/DETACH statements must all be the same

kind. The following example will cause this error since it mixes
CONDITIONs and ARMs in the same ATTACH statement.
-
- -- Error since can't mix attach items
- ATTACH CONDITION[1], ARM[1]
Remedy:
Use separate statements.
17656 0-INFO Invalid condition based on VIA point

Cause:
The translation process detected an invalid condition based on the

VIA point.
Remedy:
Remove the invalid condition.
17657 0-INFO A $MAIN_/$AUX_ field already declared in this node
Cause:
Only one $MAIN_ and/or one $AUX_ standard node field can be
specified in a NODE type declaration. The following example will
cause this error since it tries to include both $MAIN_POS and
$MAIN_XTND in the NODEDEF.
-
- TYPE �mytype� = NODEDEF
- $MAIN_POS
- $MOVE_TYPE
- -- Error since $MAIN_POS is already specified
- $MAIN_XTND
- �j� : INTEGER
- ENDNODEDEF
Remedy:
Choose the proper one and delete the other(s).
17658 0-INFO Node value not permitted
Cause:
The expression in the VIA, MOVE TO, MOVE NEAR, or MOVE FOR is a
NODE value. This can be caused by putting () around the node
reference. If the data type is a NODE in these situations, it must
be a node variable reference or indexed PATH node reference.
Remedy:
Remove the () from the expression.
17659 0-INFO Too many joint values specified
Cause:
Too many joint values are specified in the MOVE statement. The
maximum number of joints is 8.
Remedy:
Remove extra joint values from the statement.

17660 0-INFO Inserting or completing an EZ rout dcl
Cause:
The translation process is either implicitly declaring an EZ

procedure routine or it is completing one that has not been
finished. This warning indicates the appropriate ROUTINE, BEGIN,
and END statements are automatically being added. In addition, an
EXPORTED FROM declaration is created for the routine if it does not
yet exist.
Remedy:
17661 0-INFO Cannot specify this attribute with EZ
Cause:
If the EZ attribute is specified, the ATTACH, DETACH, HOLD, NOHOLD,

or PLC attributes cannot be specified. The EZ attribute implies
HOLD and ATTACH.
Remedy:
Choose the proper attributes and delete the other(s).
17662 0-INFO Inserting a forward rout dcl
Cause:
The translation process is automatically inserting a forward

routine declaration for an EZ procedure routine. This is done for
all EZ procedure routines which do not have any parameters.
Remedy:
17663 0-INFO Inserting an actual rout dcl
Cause:
The translation process is automatically inserting the appropriate

ROUTINE, BEGIN, and END statements of a routine that has been
declared in a forward (EXPORTED FROM) declaration.
Remedy:
17666 0-INFO Specify STRING length for local vars & fields
Cause:
The * notation for the STRING length can only be used in program
variable declarations. All routine STRING declarations and STRING
fields in user-defined types must include a length specification.
Remedy:
Change the * to a valid STRING length.
17667 0-INFO Specify STRING length as for ARRAY sizes
Cause:
The * notation for the STRING length cannot be used in an ARRAY

declaration if the ARRAY sizes are specified. The following
example will cause this error since the ARRAY size is specified and
the STRING length is not.
-
- -- Error since array size is specified
- VAR �myvar� : ARRAY[5] OF STRING[*]
Remedy:
Change the * to a valid STRING length.
17668 0-INFO Can't specify STRING length with no ARRAY dims
Cause:
The * notation for the STRING length MUST be used in an ARRAY

declaration if the * notation is used for the ARRAY sizes. The
following example will cause this error since the ARRAY size is not
specified and the STRING length is.
-
- -- Error since array size is not specified
- VAR �myvar� : ARRAY[*] OF STRING[5]
Remedy:
Replace actual STRING length specification with an *.
17669 0-INFO Built-in not permitted as a cond or action
Cause:
Only the built-in routines referenced in the "Condition Handlers"

chapter can be used as a condition handler condition or action.
All other built-in routines are disallowed.
Remedy:
Remove the built-in call or use one that is permitted in condition

handlers.
17670 0-INFO BOOLEAN predefined const expected

Cause:
One of the predefined BOOLEAN constants must be used. These values

are TRUE, FALSE, ON, and OFF.
Remedy:
Replace the expression with one of these values.
17671 0-INFO INTEGER variable or port expected
Cause:
An INTEGER program variable or an INTEGER port reference must be

used in this type of condition. The following example will cause
this error since "myconst" is not a program variable or INTEGER
port reference.
-
- . . .
- BEGIN
- CONDITION[3]:
- WHEN BIT_TEST(�myconst�, 5, TRUE)
Remedy:
Change the reference to be an INTEGER program variable or an

INTEGER port reference.
17672 0-INFO Specify ARRAY dims for local vars & fields
Cause:
The * notation for the ARRAY size(s) can only be used in program
variable declarations. All routine ARRAY declarations and ARRAY
fields in user-defined types must include the ARRAY size(s).
Remedy:
Change the * to a valid ARRAY size.
17673 0-INFO Bad context for sys vars with limits/locking
Cause:
System variables that require internal locking or limit checking

cannot be used as arguments that are passed by reference. This
applies to standard node fields as well.
Remedy:
Remove the reference to the system variable that requires locking

or limit checking.
17674 0-INFO STRING literal expected

Cause:
The translation process was expecting a STRING literal but detected

some other information.
Remedy:
Change the statement to use a STRING literal in the appropriate

spot.
17675 0-INFO User id with same name as used built-in
Cause:
This error results when a VAR, CONST, or ROUTINE statement is

modified or added and it declares a user-defined identifier with
the same name as a built-in routine which is used in the program.
Remedy:
Choose a different name for the user-defined identifier.
17676 0-INFO User id with same name as used predef const
Cause:
This error results when a VAR, CONST, or ROUTINE statement is

modified or added and it declares a user-defined identifier with
the same name as a predefined constant which is used in the
program.
Remedy:
Choose a different name for the user-defined identifier.
17677 0-INFO Maximum number of labels exceeded
Cause:
A program cannot have more than 250 labels. Statements such as IF,
SELECT, WHILE, FOR, REPEAT, etc. should be used to eliminate the
GOTO statements and labels.
Remedy:
Modify the program to avoid exceeding the maximum number of labels.
17678 0-INFO Maximum number of progs exceeded
Cause:
A program cannot reference more than 249 programs.
Remedy:
Modify the program to avoid exceeding the maximum number of
referenced programs.
17679 0-INFO Comment too long
Cause:
A comment exceeded the maximum length of 255.
Remedy:
Use multiple shorter comments instead of one long comment in the

program.
17680 0-INFO Sys var cannot be passed by reference
Cause:
System variables are always passed by value to routines. This

error occurs when a system variable is used as an argument to a
built-in routine that expects the argument to be passed by
reference.
Remedy:
Do not use a system variable as an argument to a built-in routine

that expects it to be passed by reference. These types of
parameters are marked in the manual as [OUT].
17681 0-INFO Can only synchronize 2 arms in a MOVE
Cause:
The maximum number of arms that can be synchronized in a single

MOVE statement is 2. This error indicates > 2 arms has been
specified.
Remedy:
Use multiple MOVE statements.
17682 0-INFO Argument must be an array
Cause:
The argument to the routine must be an array.
Remedy:
Change the argument to be an array.
17683 0-INFO ADVANCE not permitted on SYNCMOVE

Cause:
The translation process detected an ADVANCE clause in a SYNCMOVE

section. ADVANCE is only permitted on the MOVE section. Therefore,
the ADVANCE is ignored.
Remedy:
If ADVANCE is desired, add it to the MOVE section.
17684 0-INFO Id in incr or decr asgn must be declared
Cause:
The automatic declaration of undefined variables is only permitted

in regular assignments. Increment or decrement assignments to
undefined identifiers cause this error.
Remedy:
Check the spelling of the identifier name. If correct, add a

declaration for the identifier.
17685 0-INFO Id in incr/decr asgn must be int prog var
Cause:
The left operand of an increment or decrement assignment statement

must be an integer program variable. Increment or decrement
assignments to system variables or non-integer program variables
will cause this error.
Remedy:
Check the spelling of the identifier name and it's data type. If
the correct identifier is used, change the data type to be INTEGER.
If it is a system variable identifier, use a program variable
instead.
17686 0-INFO Exp in incr/decr asgn can't be sys var
Cause:
The increment or decrement amount of an increment or decrement

assignment action cannot be a system variable. For example, i +=
$MOVE_TYPE will cause this error since the increment amount is
specified as a sytem variable.
Remedy:
Use a program variable or a value instead a system variable for the

increment or decrement amount.
17687 0-INFO Invalid incr or decr assignment action

Cause:
An invalid increment or decrement assignment action is detected.

This is due to an expression being used for the right operand
instead of a single variable reference, literal, or constant
identifier reference. The following example will cause this error
since the right operand of the assignment action is an expression.
-
- VAR �a�, �i� : INTEGER
- . . .
- BEGIN
- CONDITION[3]:
- WHEN $DIN[4]+ DO
- -- Error since expression is used in the action
- �a� += 4 * �i�
- . . .
- ENDCONDITION
Remedy:
Fix the right operand so that it is a single variable reference, a

literal, or a constant identifier reference.
17688 0-INFO SCAN time already specified
Cause:
This warning is detected when the SCAN time option is specified

more than one time on a CONDITION statement.
Remedy:
Choose the proper scan time option and delete the other(s).
17689 0-INFO Invalid data type used in type cast
Cause:
The data type specified in the type cast is invalid. Valid data
types are INTEGER and REAL. Any other data type will cause this
error.
Remedy:
Fix the data type used in the type cast.
17690 0-INFO Invalid type cast
Cause:
The data type of the operand cannot be casted to the specified

type. Valid casting combinations are: * ** 1: (REAL) int_exp ** 2:
(REAL) bool_exp ** 3: (INTEGER) real_exp ** 4: (INTEGER) bool_exp *
Any other data type combination will cause this error.
Remedy:
Fix the casted expression.
17691 0-INFO Ignoring redundant casting
Cause:
This warning is detected when the data type used in the type cast
is identical to that of the casted expression.
Remedy:
No remedy required since it is automatically ignored.
17692 0-INFO Invalid type cast in a condition
Cause:
This error is detected because the data type or the operand used in
a type casting operation within a condition is invalid. Valid
casting combinations in a condition are: * ** 1: (REAL) int_var **
2: (REAL) int_exp ** 3: (REAL) int_port[n] ** 4: (INTEGER) real_var
** 5: (INTEGER) real_exp * Any other data type and operand
combination will cause this error.
Remedy:
Fix the casted condition expression.
17693 0-INFO Invalid type cast of ports in condition
Cause:
This error is detected when both operands of a relational condition

are type casted ports or when a port is type casted and then
compared with a different typed operand. When both operands are
ports, only one of them can be type casted. When a port is casted,
it must be compared to a variable or value of the type casting data
type. For example, the following two WHEN clauses will cause this
error:
-
- VAR �i� : INTEGER
- . . .
- BEGIN
- CONDITION[3]:
- -- error since type casting port to real but comparing it
to an integer
- WHEN �i� > (REAL) $AIN[4] DO
- . . .
- -- error since type casting 2 port operands
- WHEN (REAL) $AIN[7] > (REAL) $AIN[4] DO
- . . .
- ENDCONDITION
Remedy:
Fix the casted condition expression.
17694 0-INFO Invalid type cast used in action
Cause:
This error is detected when type casting is improperly used in an

assignment action. Ports and boolean variables cannot be type
casted. For example, the following two actions will cause this
error:
-
- VAR �i� : INTEGER
- �b� : BOOLEAN
- . . .
- BEGIN
- CONDITION[3]:
- WHEN �i� > 34 DO
- -- error since type casting port in an action
- �i� := (INTEGER) $DIN[2]
- -- error since type casting boolean variable in an action
- �i� := (INTEGER) �b�
- ENDCONDITION
Remedy:
Fix the casted expression in the assignment action.
17695 0-INFO Cannot have multi asgn stmt as action
Cause:
The multi-targeted assignment statement is not permitted as an

action.
Remedy:
Remove the statement from the condition handler.
17696 0-INFO Diff typed targets in multi asgn stmt
Cause:
This error occurs when the left operands of a multi-targeted

assignment statement are not the same data type. It also occurs
when the left operands are arrays but they do not have the same
number of dimensions. The left operands must all be the exact same
type. For example, "�int_var� := �real_var� := 6" will cause this
error since "�int_var�" and "�real_var�" are different data types.
Remedy:
Fix the left operands of the statement to be the same data type or
use separate statements for each group of different types.
17697 0-INFO Invalid target in multi asgn stmt
Cause:
It is invalid to use a system variable, port, predefined node field

or a node as the target of a multi-targeted assignment statement.
The following examples will cause this error.
-
- $MOVE_TYPE := �myvar� := LINEAR
- �myvar� := �mypath�.NODE[3].$COND_MASK := 34
- �myvar� := $GOUT[3] := 7
Remedy:
Remove the invalid targets from the statement and use separete
assignments for each invalid target.
17698 0-INFO Stmt cannot be in DISABLE INTERRUPT block
Cause:
Not all PDL2 statements can be issued while interrupts are

disabled. This error occurs when such a statement is included in
the DISABLE INTERRUPT block statement. Routine calls are also
disallowed.
Remedy:
Move the statement outside of the DISABLE INTERRUPT block.
17699 0-INFO Inserting ENABLE INTERRUPT
Cause:
The translation process did not get an ENABLE INTERRUPT to

terminate a DISABLE INTERRUPT statement block. This warning
indicates the appropriate ENABLE INTERRUPT statement is
automatically added.
Remedy:
17700 0-INFO Cannot use a TIL clause in SYNCMOVE
Cause:
The TIL clause cannot be used in a SYNCMOVE.
Remedy:
Move the TIL clause to the MOVE section or remove the TIL clause.
17701 0-INFO Invalid or missing data type specification

Cause:
The data type for a variable or constant is either missing or

invalid. The VAR statements in the following example would cause
this error to occur since the data type is missing in the first one
and a misspelled type in the second:
-
- VAR MyVar :
- VAR TimVar : INTGR
Remedy:
Indicate a proper data type.
17702 0-INFO Illegal statement
Cause:
The statement is invalid. This error occurs when the statement

does not follow proper PDL2 syntax rules.
Remedy:
Use proper syntax for the statement.
17703 0-INFO Ran out of memory
Cause:
Remedy:
This happens if there are too many DOS drivers loaded in main
memory. Only the lower 640K of memory is available to a DOS
application. You should try using a memory manager (i.e. EMM386)
to load some of your DOS drivers into higher memory to make more
room for the PDL2 translator. You could also just remove unneeded
drivers and TSR programs from the startup files.
18433 0-INFO Not enough memory
Cause:
The editor ran out of free memory.
Remedy:
Suspend from the editor and erase all unnecessary data from memory.
18434 0-INFO File cannot be accessed
Cause:
The specified file cannot be accessed using the editor.

Remedy:
18435 0-INFO File not found
Cause:
The specified file does not exist.
Remedy:
18436 0-INFO Editor command not available
Cause:
The editor command is not available.
Remedy:
Issue a proper valid command.
18437 0-INFO Application aid prog not ready
Cause:
The application program is not ready. This means it is not waiting

for the application aid editor command.
Remedy:
Make sure the application program is activated and that it contains

a condition handler or WAIT FOR statement using the EVENT AE_CALL
condition.
18440 0-INFO Length exceeded, line will be truncated
Cause:
The editor currently has a maximum line length of 132 characters.

When this is exceeded the line is truncated. Another cause of this
error is when the Filer Edit command is issued and a line in the
file is longer than 65535 characters.
Remedy:
Break the long line into multiple shorter lines that do not exceed
132 characters. If the error is caused by Filer Edit, do not
exceed 65535 characters.
18442 0-INFO Cannot delete this stmt

Cause:
The program editor does not permit statements to be deleted if they

cause an error in the program. For example, the ENDIF statement
cannot be deleted because it is needed for the matching IF
statement. This error will be detected if the user tries to delete
the ENDIF statement.
Remedy:
In order to delete statements like the ENDIF, the entire matching

statement must be deleted. For example, the entire IF statement
has to be deleted in order to remove the ENDIF. However, some
statements can never be deleted. For example, the BEGIN of the
main program cannot be deleted because it is absolutely required.
18443 0-INFO New stmt not compatible with old, not replaced
Cause:
The program editor does not permit a statement to be modified into

a different type of statement if it causes errors in the program.
For example, an ENDIF statement cannot be changed into an ENDFOR
statement because the matching IF statement requires an ENDIF. If
such a change is detected by the program editor, this error will be
detected and the modifications will not be made.
Remedy:
Verify the desired modifications and make sure they do not create
errors in existing statements.
18444 0-INFO Not enough memory for CUT/DELETE buffer
Cause:
The editor does not have enough memory to allocate a new CUT/DELETE
buffer large enough to hold the selected section of the file.
Remedy:
Another solution is to perform several CUT/PASTE operations using
smaller sections of the file. Smaller sections means a smaller
CUT/DELETE buffer is needed.
18445 0-INFO Var used, cannot delete dcl
Cause:
This error results when a VAR statement is either being CUT or

DELETED and the VAR statement contains variables which are
referenced in the program.
Remedy:
Each variable used in the program must be declared in a VAR
statement. Therefore, those VAR statements cannot be removed from
the program. If the unused variables are to be removed from the
declarations section, use the UNUSED command. This command will
delete the declarations of all unused variables.
18446 0-INFO Const used, cannot delete dcl
Cause:
This error is detected when a constant declaration statement is

either being CUT or DELETED and the constant declared in the
statement is referenced in the program. The constant might be used
in a variable or type declaration or in an executable section of
the program. Any such reference will cause this error to be
detected.
Remedy:
Each constant used in the program must be declared in a CONST

statement. Therefore, those statements cannot be removed from the
program. Either eliminate all references to the constant before
deleting the declaration statement or do not delete the declaration
statement.
18447 0-INFO Routine used, cannot delete dcl
Cause:
This error occurs when a routine declaration is either being CUT or

DELETED and the routine declared in the statement is referenced in
the program.
Remedy:
Each routine used in the program must be declared before its usage.
Therefore, those routine declaration statements cannot be removed
from the program. Either eliminate all references to the routine
before deleting the declaration statement or do not delete the
declaration statement.
18448 0-INFO Record used, cannot delete dcl
Cause:
This error occurs when a user-defined type declaration statement is

either being CUT or DELETED and the type declared in the statement
is referenced in the program. The type might be used in a variable
or routine declaration. Any such reference will cause this error
to be detected.
Remedy:
Each user-defined type used in the program must be declared in a

TYPE statement. Therefore, those statements cannot be removed from
the program. Either eliminate all references to the type before
statement.
18449 0-INFO Field used, cannot delete dcl
Cause:
This error occurs when a field declaration statement of a

user-defined type is either being CUT or DELETED and a field
declared in the statement is referenced in the program.
Remedy:
Each user-defined field referenced in the program must be declared

in a user-defined type declaration statement. Therefore, those
statements cannot be removed from the program. Either eliminate
all references to the field before deleting the declaration
statement or do not delete the declaration statement.
18450 0-INFO Var used, data type cannot be changed
Cause:
This error occurs when the data type of a variable which is

referenced in the program is modified. For example, if the
variable "pippo" is referenced and is currently declared as a
STRING, the variable declaration of "pippo" cannot be changed to
make "pippo" any other data type. However, if "pippo" is not
referenced in the program such a modification is permitted. The
program editor permits size modifications to a variables data type
even if it is referenced in the program. For example, even if
"pippo" is reference, the STRING length can be changed since that
doesn't change the actual data type of the variable.
Remedy:
Either remove all references to the variable before changing its

data type or don't change the data type. If the data type of a
variable needs to be changed, comment out the statements
referencing the variable so they are not actually deleted from the
program. Then uncomment them after the data type has been changed.
18451 0-INFO Const used, data type cannot be changed
Cause:
This error occurs when the value of a constant which is referenced

in the program is modified such that it now has a different data
type. For example, if the constant "pippo" is referenced and is
currently declared having a value of 3, the constant declaration of
"pippo" cannot be changed to make it have any value other than an
INTEGER value. However, if "pippo" is not referenced in the
program such a modification is permitted. The program editor
permits value modifications to a constant even if it is referenced
in the program as long as the new constant value has the same data
type as the old constant value.
Remedy:
Either remove all references to the constant before changing its

data type or don't change the data type. If the data type of a
constant needs to be changed, comment out the statements
referencing the constant so they are not actually deleted from the
program. Then uncomment them after the data type has been changed.
18452 0-INFO Command not allowed in TEXT mode
Cause:
Certain editor commands are only available while editing a PDL2

program as opposed to editing a text file. This error results when
such a command is issued while editing a text file.
Remedy:
Don't issue commands not permitted in TEXT mode or switch to using

the program editor.
18453 0-INFO Prog name cannot be changed
Cause:
The name of the program must match the name of the file. If the
program name is modified to be different this error is detected.
Remedy:
Do not change the program name.
18454 0-INFO Id not found in this context
Cause:
The identifier name specified in the RENAME command is not declared

within the current context. Context is determined by the current
cursor position.
Remedy:
Check the spelling of the identifier name.
18455 0-INFO Id has already been declared
Cause:
The new name for the identifier being RENAMED is already declared
in the current context.
Remedy:
Check the spelling of the new name or choose a different new name.
18456 0-INFO Not allowed during MARK command
Cause:
Some editor commands are not permitted while MARK is in progress.

This error is detected when such a command is issued while MARK is
currently active. For example, a line cannot be deleted while MARK
is active. If the DELETE LINE command is issued while MARK is
active, this error will be detected.
Remedy:
Finish the CUT/COPY operation or turn MARK off before issuing the
command.
18457 0-INFO CUT buffer is empty
Cause:
If the PASTE operation is performed before anything is put in the

CUT buffer, this error is detected. A CUT or COPY command must be
issued before the PASTE command.
Remedy:
CUT or COPY the appropriate section of the file into the CUT buffer
before issuing the PASTE command.
18458 0-INFO Must MARK lines before doing CUT/COPY
Cause:
A section of the file must be MARKed before issuing the CUT or COPY
command.
Remedy:
Turn MARK on by issuing the MARK command and select the appropriate
section of the file before issuing the CUT or COPY command.
18460 0-INFO Command not allowed in CODE mode
Cause:
Some program editor commands are not permitted while in CODE mode.
This error is detected when such a command is issued and the
program editor is in CODE mode.
Remedy:
Exit CODE mode before issuing the command.

18461 0-INFO Cannot enter DATA mode, edit prog active
Cause:
The program editor cannot enter DATA mode if the program being
edited is currently executing.
Remedy:
Either don't enter DATA mode or suspend the editor and deactivate
the program before entering into DATA mode.
18462 0-INFO Cannot edit dcl section in DATA/DEBUG mode
Cause:
The declaration section of a program or routine cannot be edited

while in DATA mode. This is not permitted because the program is
linked to the variables and imported routines currently loaded in
memory. Editing a program cannot alter those links, therefore, the
program editor does not permit the modification of any declaration
statement while in DATA mode.
Remedy:
Exit DATA mode before making the modification.
18463 0-INFO Command not allowed in DATA mode
Cause:
Some program editor commands are not permitted while in DATA mode.
This error is detected when such a command is issued and the
program editor is in DATA mode.
Remedy:
Exit DATA mode before issuing the command.
18464 0-INFO Var not found in this context
Cause:
The variable name specified in the DISPLAY command is not declared

within the current context. Context is determined by the current
cursor position.
Remedy:
Check the spelling of the variable name and the context of the
cursor.
18465 0-INFO Context must be in the main prog
Cause:
When continuing execution of the program from within the editor,
the context of the statement to be executed next must be the same
as the context of the last statement that was executed. This error
is detected when the context of the last executed statement was the
main program but the current cursor position is inside a routine.
Remedy:
Execution must continue with a statement in the main program.

Therefore, move the cursor to the main program and reissue the RUN
command.
18466 0-INFO Cannot mark dcl section in DATA mode
Cause:
The declaration section of a program or routine cannot be marked

while in DATA mode. This is not permitted because the program is
linked to the variables and imported routines currently loaded in
memory. Editing a program cannot alter those links so the program
editor does not permit the modification of any declaration
statement while in DATA mode. Therefore, marking of the
declaration is also not permitted.
Remedy:
Exit DATA mode before making the modification.
18467 0-INFO Cannot mark this stmt
Cause:
The program editor does not permit all statements to be marked.

For example, the BEGIN and END of the main program or a routine are
not permitted to be marked. Other statements cannot be marked
depending upon the direction of the mark. For example, the ENDIF
statement cannot be marked in a downward direction because it would
cause the IF statement to become an error. Likewise, the IF
statement cannot be marked in an upward direction because it would
cause the ENDIF statement to become an error. Marking in these
situations causes this error to be detected.
Remedy:
Some statements cannot be marked under any circumstances so there

is no remedy. However, for statements like IF and ENDIF the entire
statement must be marked which means marking must begin either
before the IF and head in a downward direction or after the ENDIF
and head in an upward direction.
18468 0-INFO Id used, cannot cut dcl
Cause:
This error occurs when a CUT command is performed and a declaration

statement is marked declaring a variable, constant, type, field,
etc. that is currently used in the program. Any statement
declaring an identifier that is referenced in the program cannot be
CUT from the program.
Remedy:
Each identifier used in the program must be declared in an

appropriate declaration statement. Therefore, those declaration
all references to the identifiers before cutting the declaration
statements or do not include the declaration statements in the CUT
operation.
18469 0-INFO Cannot execute stmt in this context
Cause:
This error occurs if the cursor is on a non-executable statement

when the RUN command is issued. For example, a VAR statement
cannot be executed and will cause this error to be detected.
Remedy:
Move the cursor to a valid executable statement before issuing the

RUN command.
18470 0-INFO Cannot enter DATA, check CP & TP switches
Cause:
edited is a holdable program and the system is not in the PROGR
state.
Remedy:
Either don't enter DATA mode or check the PROGR/AUTO switch on the
control panel and the AUTO/MANUAL switch on the teach pendant to be
sure the system is in the PROGR state before entering into DATA
mode.
18471 0-INFO Context must be in routine <rout_id>
Cause:
When continuing execution of the program from within the editor,

the context of the next executed statement must be the same as the
context of the last statement executed. This error is detected
when the context of the last executed statement was the specified
routine but the current cursor position is inside a different
routine or the main program.
Remedy:
Execution must continue with a statement in the specified routine.

Therefore, move the cursor to a statement within the specified
routine and reissue the RUN command.
18472 0-INFO Cannot enter DATA mode with a PLC prog
Cause:
edited is a PLC program (i.e. the PLC attribute is on the PROGRAM
statement).
Remedy:
Either don't enter DATA mode or remove the PLC attribute before
entering into DATA mode.
18473 0-INFO Cannot use reserved words for id names
Cause:
The new name for the identifier being RENAMED is a reserved word.
A reserved word cannot be used for any user-defined meaning.
Remedy:
Check the spelling of the new name or choose a different new name.
18474 0-INFO WARNING: Not enough free memory
Cause:
The editor is running low on memory. This is a warning so memory

can be freed up before it is needed for an important command.
Remedy:
18476 0-INFO Exec must start at line <line_num>
Cause:
Execution cannot be started in the middle of certain multi-lined

statements. Instead, execution must begin with the first line of
the multi-lined statement and continue until the end of such a
statement is reached. This error is detected when the RUN command
is issued for a line in the middle of such a multi-lined statement.
For example, execution cannot begin at an action of a condition
handler statement. Instead, it must begin at the CONDITION
statement.
Remedy:
Move the cursor to the first line of the multi-lined statement and
begin execution there.
18477 0-INFO Global pos vars not found on this stmt
Cause:
The MODIFY command can only be applied to a POSITION, JOINTPOS, or

XTNDPOS variable reference. This error is detected when the MODIFY
key is pressed and the current line (indicated by the cursor) does
not contain such a variable.
Remedy:
Move the cursor to a line containing a reference to the appropriate

POSITION, JOINTPOS, or XTNDPOS variable to be modified before
hitting the MODIFY key.
18478 0-INFO Not allowed, line <line_num> in execution chain
Cause:
This error is detected when a command is issued on a line that is

currently in the execution chain of the program. For example, if
the program is being executed in a routine, the statement
containing the call to that routine is in the execution chain.
Therefore, that statement cannot be deleted, modified, etc.
Remedy:
The program must either be deactivated or executed until the

statement is no longer in the execution chain before the operation
can be performed.
18479 0-INFO Maximum local var size exceeded
Cause:
The maximum amount of memory permitted for local variables of a

routine is 65535 bytes. This error is detected when entering DATA
mode if the maximum space is exceeded.
Remedy:
Eliminate unnecessary local variables.
18480 0-INFO Could not import rout/types/vars from prog
Cause:
The IMPORT command was not completed either due to an error or

because there was nothing in memory to import.
Remedy:
Make sure the items to be imported are actually loaded in memory

before issuing the IMPORT command. If necessary, suspend the
editor and load the appropriate programs and/or variables.
18481 0-INFO Var used, cannot delete dcl for <var_id>
Cause:
This error occurs when a VAR statement is modified to exclude the

declaration of the specified variable which is referenced in the
program.
Remedy:
Each variable used in the program must be declared in a VAR

statement. Therefore, those declaration of referenced variables
cannot be removed from the program. If the unused variables are to
be removed from the declaration section, use the UNUSED command.
This command will delete the declarations of all unused variables.
18482 0-INFO In external rout, line <line_num>
Cause:
This error indicates that the next line to be executed is in an

external routine. Execution must continue at the specified line
number.
Remedy:
The CONTINUE command must be used to continue execution when it

stops while in an external routine.
18483 0-INFO Type mismatch for vars of <prog_id>, not loaded
Cause:
This occurs when variables are to be saved because they were

modified during the edit session but the .VAR file was not
completely loaded due to a type mismatch during the load process.
Remedy:
You can either keep the old .VAR file or continue to save over it.
18484 0-INFO PDL2 stmt is too long
Cause:
The editor currently has a maximum line length of 132 characters.

When this is exceeded while generating a statement using the
statement writing aid features of the editor, this error is
detected.
Remedy:
Break the long line into multiple shorter lines that do not exceed
132 characters.
18485 0-INFO Field is used, data type cannot be changed
Cause:
This error occurs when the data type of a field which is referenced
in the program is modified. For example, if the field "pippo" is
referenced and is currently declared as a STRING, the field
declaration of "pippo" cannot be changed to make "pippo" any other
data type. However, if "pippo" is not referenced in the program
such a modification is permitted. The program editor permits size
modifications to the data type of a field even if it is referenced
in the program. For example, even if "pippo" is reference, the
STRING length can be changed since that doesn't change the actual
data type of the field.
Remedy:
Either remove all references to the field before changing its data
type or don't change the data type. If the data type of a field
needs to be changed, comment out the statements referencing the
field so they are not actually deleted from the program. Then
uncomment them after the data type has been changed.
18486 0-INFO Type used, cannot delete dcl
Cause:
This error occurs when a user-defined type declaration statement is

either being CUT or DELETED and the type declared in the statement
is referenced in the program. The type might be used in a variable
or routine declaration. Any such reference will cause this error
to be detected.
Remedy:
Each user-defined type used in the program must be declared in a

TYPE statement. Therefore, those statements cannot be removed from
the program. Either eliminate all references to the type before
statement.
18487 0-INFO Field used, cannot delete dcl for <field_id>
Cause:
This error occurs when a field declaration is either being CUT or

DELETED and a field declared in the statement is referenced in the
program.
Remedy:
Each field referenced with a variable of the owning user-defined

type in the program must be declared. Therefore, those field
declaration statements cannot be removed from the program. Either
eliminate all references to the field before deleting the
declaration statement or do not delete the declaration statement.
18488 0-INFO Vars modified for prog <prog_id>, vars were not loaded
Cause:
This error occurs when the variables are to be saved because they
were modified during the edit session but they were never loaded
from the .VAR file.
Remedy:
You can either keep the old .VAR file or continue to save over it.
18489 0-INFO Not allowed while edit prog active
Cause:
Certain editor commands are only available while the program being
edited is not executing. This error results when such a command is
issued while the program is currently active.
Remedy:
Deactivate the program before issuing the command.
18490 0-INFO Command not allowed in DEBUG mode
Cause:
Certain editor commands are not available while in the MEMORY DEBUG
environment as opposed to the PROGRAM EDIT environment. This error
results when such a command is issued while in DEBUG mode.
Remedy:
Do not issue commands not permitted in DEBUG mode or switch to

using the program editor.
18491 0-INFO Application aid prog has finished
Cause:
This is detected when the application aid program terminates.
Remedy:
Either restart the application aid program or don't issue the

application aid command.
18493 0-INFO Not allowed, multi-lined stmt in execution chain
Cause:
This error is detected when a command is issued on a line that is
part of a multi-lined statement (like a CONDITION..ENDCONDITION,
OPEN..ENDOPEN, or MOVE..ENDMOVE) currently in the execution chain
of the program. For example, the next statement to be executed is
considered in the execution chain of the program. In addition, if
the program is being executed in a routine, the statement
containing the call to that routine is in the execution chain.
Since these types of statements must be executed from beginning to
end without modifications, any line of such a statement cannot be
deleted, modified, etc.
Remedy:
Before the operation can be performed, the program must either be

deactivated or executed until the corresponding ENDxxx statement is
executed.
18494 0-INFO Unknown application aid code
Cause:
An invalid value has been specified in the application aid request

built-in. This involves a call to the APPL_REQ built-in from the
application aid program currently being executed. It has nothing
to do with the file currently being edited.
Remedy:
Check the application aid program to be sure all requests use valid
codes.
18495 0-INFO Line number not found
Cause:
This error is detected when the line number parameter in an

application aid request does not exist in the program.
Remedy:
Make sure the application aid program uses a valid line number
parameter for the APPL_REQ calls.
18496 0-INFO Error node stmt
Cause:
This error is detected when the statement being inserted by the

application aid program produces an error line.
Remedy:
The application aid program should handle this.

18497 0-INFO Bad import parameter
Cause:
This error is detected when the import parameter to the IMPORT

application aid request is invalid.
Remedy:
Make sure the application aid program uses a valid parameter for
the IMPORT APPL_REQ call.
18498 0-INFO DELETE buffer is empty
Cause:
If the UNDELETE operation is performed before the DELETE operation,

the DELETE buffer will be empty and this error is detected. A
DELETE command must be issued before the UNDELETE command.
Remedy:
DELETE a statement so the DELETE buffer is no longer empty.
18499 0-INFO Application aid not active
Cause:
The application aid program is not active.
Remedy:
Suspend the editor and activate the appropriate application aid

program.
18500 0-INFO Var prefix cannot be greater than 3 char
Cause:
The prefix for the variable name used when the REC button is
pressed cannot be greater than 3 characters in length. This error
is detected when the REC button is setup.
Remedy:
Change the prefix to something having at most 3 characters.
18501 0-INFO Bad trajectory value
Cause:
This error is detected when the trajectory parameter to the REC key
setup application aid request is invalid.
Remedy:
Make sure the application aid program uses a valid trajectory
parameter for the REC key setup APPL_REQ call.
18502 0-INFO Bad pos data type
Cause:
This error is detected when the data type parameter to the REC key
setup application aid request is invalid.
Remedy:
Make sure the application aid program uses a valid data type
parameter for the REC key setup APPL_REQ call.
18503 0-INFO Bad line number
Cause:
This error is detected when the line number specified in the GOTO
line command is invalid.
Remedy:
Use a valid line number (> 0).
18504 0-INFO Bad application aid parameter
Cause:
This error is detected when a parameter to the application aid

request is invalid.
Remedy:
Make sure the application aid program uses valid parameters for the
APPL_REQ call.
18505 0-INFO Read only file, no write access allowed
Cause:
A file may be given a read only attribute which means even if it is

modified while being edited, it cannot be saved.
Remedy:
Do not modify the file or change the file attribute before entering
the editor.
18506 0-INFO Unrecoverable error, canceling edit session
Cause:
The editor has detected an unrecoverable error. The edit session
is automatically canceled.
Remedy:
No remedy.
18507 0-INFO Error returning to old program
Cause:
If the editor cannot enter the program specified in the NEW

command, it tries to return to the program previously active in the
MEMORY DEBUG environment before the NEW command was issued. If
there is a problem returning to that program, this error is
detected. This problem could be due to a system state change or if
the program was removed from memory.
Remedy:
Exit and reenter the MEMORY DEBUG environment.
18508 0-INFO Not allowed, context in external rout
Cause:
Some editor commands are not permitted while execution of the

program is currently in the context of an external routine. This
error is detected when such a command is issued.
Remedy:
Let program execution continue until the execution returns to the

code contained in the program being edited or do not issue the
command.
18509 0-INFO Vars modified for prog <prog_id>
Cause:
This indicates that variables for the specified program have been
modified during the edit session.
Remedy:
The variables should be saved.
18510 0-INFO Type linked to other programs - can't rename
Cause:
The RENAME command will rename the identifier loaded in memory as

well as renaming the identifier in the file being edited if issued
while the editor is in DATA mode. However, the rename cannot take
place if other programs or variables are linked to the identifier
being renamed. This error is detected when the RENAME command is
issued for a user-defined type that is currently linked to other
loaded programs/data. Remember that the RENAME only effects the
file being edited.
Remedy:
Either suspend from the editor and erase the programs and/or
variables linked to the type or enter CODE mode before issuing the
RENAME command.
18511 0-INFO Var linked to other programs - can't rename
Cause:

issued for a variable that is currently linked to other loaded
programs. Remember that the RENAME only effects the file being
edited.
Remedy:
Either suspend from the editor and erase the programs linked to the
variable or enter CODE mode before issuing the RENAME command.
18512 0-INFO Routine linked to other programs - can't rename
Cause:

issued for a routine that is currently linked to other loaded
edited.
Remedy:
routine or enter CODE mode before issuing the RENAME command.
18513 0-INFO Prog linked to other programs - can't rename
Cause:

issued for a program that is currently linked to other loaded
edited.
Remedy:
program or enter CODE mode before issuing the RENAME command.
18514 0-INFO Var with new name already exists
Cause:

place if an identifier is already loaded in memory using the new
name. This error is detected when the RENAME command is issued and
a variable of the new name already exists in memory.
Remedy:
Double check the spelling of the new name or pick a different new
name.
18515 0-INFO Routine with new name already exists
Cause:

place if an identifier is already loaded in memory using the new
name. This error is detected when the RENAME command is issued and
a routine of the new name already exists in memory.
Remedy:
Double check the spelling of the new name or pick a different new
name.
18516 0-INFO Imported var/rout linked to other prog - can't rename owner
Cause:

well as renaming the identifier in the file being edited if the
command is issued while the editor is in DATA mode. However, the
rename cannot take place if it involves the renaming of a program
from which variables and/or routines are currently linked to other
programs loaded in memory. This error is detected when the RENAME
command is issued for such a program.
Remedy:
program or enter CODE mode before issuing the RENAME command.
18517 0-INFO Standard node field used, cannot delete dcl
Cause:
This error is detected when a standard node field declaration

statement of a user-defined type is either being CUT or DELETED and
a field declared in the statement is referenced in the program.
Remedy:
Each standard node field referenced in the program must be declared

in the user-defined type declaration statement. Therefore, those
all references to the standard node field before deleting the
declaration statement or do not delete the declaration statement.
18520 0-INFO Command not allowed in DEBUG mode if prog not fully loaded
Cause:
environment unless the program is loaded with the /FULL option.
This error results when such a command is issued while in DEBUG
mode for a regularly loaded program.
Remedy:
If the command is needed, exit the MEMORY DEBUG environment and

reload the program with the /FULL option before entering MEMORY
DEBUG.
18521 0-INFO Cannot issue MOD for a node without a $MAIN_ field
Cause:
The MOD key was issued for a node which does not have a $MAIN_
standard node field. The MOD modifies this field so it is an error
if one does not exist in the node definition.
Remedy:
Do not issue MOD for a node without a $MAIN_ field.
18522 0-INFO Invalid declare APPL_REQ
Cause:
The APPL_REQ for inserting a declaration has generated a bad

declaration. Error node(s) have been generated.
18523 0-INFO Hidden file, cannot edit the file

Cause:
A file may be given a hidden attribute which means it cannot be

edited.
Remedy:
Do not edit the file or change the file attribute before entering
the editor.
18524 0-INFO Program must be loaded before this appl request
Cause:
An application aid request other than stop server or refresh around

the PC has been requested before a program has been loaded into the
EDIT environment.
Remedy:
Issue the refresh around the PC request to load a program into the
EDIT environment before issuing any other request.
18525 0-INFO Cannot enter DATA, exit TEACH environment
Cause:
The program editor cannot enter DATA mode if the MEMORY TEACH
environment is active on the teach pendant.
Remedy:
Either don't enter DATA mode or exit the MEMORY TEACH environment.
In addition, if the program is holdable, check the PROGR/AUTO
switch on the control panel and the AUTO/MANUAL switch on the teach
pendant to be sure the system is in the PROGR state before entering
into DATA mode.
18527 0-INFO Command not allowed in DEBUG/FULL mode
Cause:
environment with a program that was loaded with the /FULL option.
This error results when such a command is issued while in
DEBUG/FULL mode.
Remedy:
Do not issue commands not permitted in DEBUG/FULL mode or switch to

using the program editor.
18528 0-INFO Vars can not be removed from memory

Cause:
Use of the Unused command in CODE mode will not remove the program
variables from memory. The variables will remain in memory and
saved to the variable file if the program variables are saved.
Remedy:
If you want the variables removed from memory either switch to DATA
mode before starting the Unused command, or use the command line
menus to remove the variables from memory (look at the Memory Erase
Variables command for more information).
18941 0-INFO Modify program no longer active
Cause:
The program under MEMORY DEBUG or PROGRAM EDIT in which a motion's

position is being modified is no longer active.
Remedy:
Re-activate the program.
18942 0-INFO No active motions on the arm(s)
Cause:
The MOD key was pressed in PROGRAM EDIT or MEMORY DEBUG and no
motions are currently active on the arm(s) by this program.
Remedy:
Check that the program has issued a motion.
18943 0-INFO Motion no longer active
Cause:
The motion being MODified under PROGRAM EDIT or MEMORY DEBUG is no

longer active.
Remedy:
Re-issue the motion.
18944 0-INFO Arm is in movement
Cause:
User tried to modify a position while the arm was moving.
Remedy:
Release the start or backward button; wait until the arm has
stopped; then change the position.
18945 0-INFO Current motion does not apply to this program
Cause:
The user attempted to modify a position of a segment which does not

apply to this program.
Remedy:
Only motions issued from the PROGRAM EDIT or MEMORY DEBUG program
can be modified. Either enter MEMORY DEBUG for the program which
issued the motion or do not attempt to modify the motion.
18946 0-INFO MOD not valid on MOVE clause
Cause:
User tried to modify a position which does not have an absolute

destination in that the motion clause was neither TO or VIA.
Remedy:
For this motion clause it is not possible to modify the position.

Deactivate the segment, change the position using normal MOD, and
re-execute it.
18947 0-INFO Bad MOVE state for MOD
Cause:
User tried to modify a position which has a state that doesn't

permit any change. For example the move was interrupted in fly.
Remedy:
Deactivate the segment, change the position and re-execute it.
18948 0-INFO Destination not taught position
Cause:
User tried to modify a position of a motion for which the specified

destination is not a variable.
Remedy:
Modification of an active motion can only work if the destination

position is a program variable. Motion to a positional expression,
system variable, or local variable is not permitted. For example,
"MOVE TO pnt0001p" is acceptable, but "MOVE TO $HOME" cannot be
modified.
18949 0-INFO Move not started yet
Cause:
User tried to modify a position and the move has not started yet.
By doing so, the user is building a move without space and this is
not logical.
Remedy:
It is necessary to execute at least a little piece of the move

before the modification is accepted.
18951 0-INFO REC/MOD key enabled in EDIT/DATA mode only
Cause:
User tried to issue a REC or MOD while not in DATA mode. These
teach pendant keys only have effect while in DATA mode or in the
MEMORY DEBUG environment.
Remedy:
If in the PROGRAM EDIT environment switch to DATA mode by using the

MODE key.
18952 0-INFO References are changed
Cause:
The user tried to modify a position with a different $BASE and/or

$TOOL and/or $UFRAME.
Remedy:
It is necessary to reset $BASE and/or $TOOL and/or $UFRAME .
18953 0-INFO Command not allowed. Check CP&TP switches
Cause:
The command is not permitted while the PROGR/AUTO switch is in the

current mode. Check the description of the command in the PDL2
Language Manual to determine the proper state of this switch.
Remedy:
Either change the PROGR/AUTO switch to the appropriate state or

don't issue the command.
18954 0-INFO MOD canceled by switch to AUTO
Cause:
User switched from PROG mode to AUTO mode during a MOD or REC
operation. For holdable programs this means an automatic switch
from DATA to CODE mode so the MOD/REC was canceled. MOD/REC is not
permitted while in DATA mode.
Remedy:
Don't switch to AUTO during a MOD or REC operation. If the MOD/REC

is desired switch back to PROG and put editor in DATA mode then
reissue the MOD/REC operation.
18955 0-INFO Want to save COD file?
18956 0-INFO Code for prog <prog_id> modified
Cause:
The code for the program has been modified during this editor
session.
Remedy:
The code should be saved to the RAM disk if the modifications are
important.
18957 0-INFO Modified VAR/COD files not saved
Cause:
A VAR or COD file has been modified in memory and has not been
saved to the RAMDisk.
Remedy:
This is just an informational message. To determine which files

have been modified the MEMORY VIEW PROGRAM command can be used. To
save the files to the RAM disk, the MEMORY SAVE command can be
used. For more information on either of these commands refer to
the C3G Operations Manual.
18959 0-INFO Illegal arm for SYNCMOVE statement
Cause:
The arm specified for the SYNCMOVE statement (stored in

$TP_SYNC_ARM[2]) is illegal.
Remedy:
Change the value of the $TP_SYNC_ARM[2] system variable using the

SHIFT-ARM key sequence on the teach pendant.
18960 0-INFO The file cannot be saved
Cause:
File access has been denied. The file is held open for write by a
PDL2 program or system task.
Remedy:
Make sure that all files have been closed from PDL2 programs. The
only system file that this may occur with is the 'error.log' file.
20481 0-INFO Program not in memory
Cause:
The specified program is not currently loaded in memory.
Remedy:
Issue a MEMORY LOAD (ML) command for the specified program.
20482 0-INFO Program name too long
Cause:
The length of the specified program name is greater than 8.
Remedy:
Shorten the length of the program name.
20484 0-INFO Program table is full
Cause:
The maximum number of programs (250) are loaded in memory.
Remedy:
Erase unnecessary programs from memory.
20485 0-INFO Program already exists
Cause:
A program having the specified name already exists in memory.
Remedy:
Change the program name.
20486 0-INFO Invalid program name
Cause:
The specified program name contains invalid characters or does not

begin with an alphabetical character.
Remedy:
Make sure the program name begins with an alphabetical character

and contains only alphabetical, numeric, or underscore characters.
In addition, the maximum length of a program name is 8.
20487 0-INFO Variable not found
Cause:
The specified variable is not loaded in memory.
Remedy:
Make sure the variable name was specified properly or load the
appropriate variable file into memory.
20488 0-INFO Variable already exists
Cause:
A variable having the specified name already exists in memory.
Remedy:
Change the variable name.
20489 0-INFO Invalid variable name
Cause:
The specified variable name contains invalid characters or does not

begin with an alphabetical character.
Remedy:
Make sure the variable name begins with an alphabetical character

and contains only alphabetical, numeric, or underscore characters.
There is no maximum length for variable names.
20492 0-INFO Var linked to loaded prog so can't delete it
Cause:
There are programs loaded in memory which reference the specified

variable. Therefore, it cannot be erased from memory.
Remedy:
Erase the programs referencing the specified variable before

erasing the variable itself.
20495 0-INFO Data type mismatch while loading var <var_id>
Cause:
The specified variable is currently loaded in memory and the data

type for that variable in memory does not match the data type
contained in the .VAR or .COD file being loaded. This is the
actual data type not the string size, array size, etc.
Remedy:
If the error is the result of loading a .COD file, make sure the
variable is declared properly in the program. If the value in the
.VAR file is important and the file contains the proper data type,
erase the variable from memory and issue the MEMORY LOAD (ML)
command again. However, if the data type in memory is proper, the
.VAR file can be loaded but the value of this particular variable
will not be loaded from the file.
20496 0-INFO Export status mismatch on var <var_id>
Cause:
The specified variable is currently loaded in memory and the export

status information for that variable in memory does not match the
export status information contained in the .VAR or .COD file being
loaded.
Remedy:
If the error was detected while loading a .VAR file, the /CONVERT
option can be applied to the MEMORY LOAD (ML/C) command. This
option will cause the value to be loaded and the export status to
be ignored. If the error was detected while loading a .COD file
and the value is to be maintained, issue a MEMORY SAVE (MS) command
to save the value of the variables in a file. Remember that all
variables for the specified program will be saved. Issue a MEMORY
ERASE (ME) command to erase the variable from memory and then load
the .COD file and if needed, the .VAR file (with the /CONVERT
option).
20497 0-INFO Prog code currently in use so can't delete it
Cause:
The program cannot be erased from memory because it is currently

being used. This means either it is currently being executed or
another program is executing one of its routines.
Remedy:
Either don't erase the program or stop all programs from executing
before issuing the MEMORY ERASE (ME) command.
20499 0-INFO Predefined variable not found

Cause:
A predefined variable of the given name does not exist.
Remedy:
Make sure the predefined variable name is spelled correctly.
20500 0-INFO Program contains errors so cannot load
Cause:
The program contains errors. A program cannot be loaded into

memory if it contains errors.
Remedy:
Edit the program and fix all the errors before issuing the MEMORY
LOAD (ML) command.
20501 0-INFO Can't load prog - possible corruption of .COD file
Cause:
The loading of a program detected invalid information in the .COD

file.
Remedy:
Try to restore your backup file.
20503 0-INFO Routine not in memory
Cause:
The routine is not currently loaded in memory.
Remedy:
Issue a MEMORY LOAD (ML) command for the program owning the
routine.
20504 0-INFO Routine definition mismatch
Cause:
The routine is currently loaded in memory and the definition

information for that routine in memory does not match the
definition information contained in the .COD file being loaded.
This is due to a mismatch in the function return type.
Remedy:
Double check the routine definition in all programs referencing the

routine. Fix the definition in the program containing the
incorrect routine definition.
20505 0-INFO Parameter list declaration mismatch
Cause:
The routine is currently loaded in memory and the parameter

definition information for that routine in memory does not match
the parameter definition information contained in the .COD file
being loaded. This is due to a mismatch in the number of
parameters or a mismatch in the data type definition of a
parameter.
Remedy:
Double check the routine definition in all programs referencing the

routine. Fix the parameter definition(s) in the program containing
the incorrect routine definition.
20506 0-INFO Rout not exported but another prog already imports it
Cause:
A routine owned by the program being loaded into memory is declared

without an EXPORTED FROM clause. However, another program is
currently loaded in memory which imports the routine.
Remedy:
If the routine is supposed to be exported, edit the program and add

the EXPORTED FROM clause. If not, erase the program importing the
routine from memory and issue the MEMORY LOAD (ML) command for the
owning program again.
20507 0-INFO NOSAVE mismatch on var <var_id>
Cause:
The specified variable is currently loaded in memory and the NOSAVE

attribute information for that variable in memory does not match
the NOSAVE attribute information contained in the .COD file being
loaded.
Remedy:
If the value is to be maintained, issue a MEMORY SAVE (MS) command

to save the value of the variables in a file. Remember that all
variables for the specified program will be saved. If the NOSAVE
attribute in the .COD file is incorrect, edit the program (in /CODE
mode) and change the attribute. Erase the variable from memory and
then load the .COD file and if needed, the .VAR file.
20509 0-INFO Var file version stamp mismatch
Cause:
The .VAR file was generated using newer software than what is
currently loaded on the controller.
Remedy:
Update the controller software.
20510 0-INFO Error writing to file
Cause:
An error occurred while generating the .VAR, .COD, or .SYS file.

This is usually caused by not having enough disk space for the new
file.
Remedy:
Delete all unnecessary files from the disk and reissue the MEMORY
SAVE (MS) command.
20511 0-INFO Error reading from file
Cause:
An error occurred while loading the .VAR, .COD, or .SYS file. This
is usually caused by a corrupted file.
Remedy:
Try to recover a backup file. If the error occured while loading a

.COD file, try generating the ASCII version to recover as much of
the program as possible.
20512 0-INFO Error opening var file
Cause:
An error occurred opening the .VAR file.
Remedy:
If this error is the result of loading the .VAR file, make sure the
.VAR file exists. However, if this error is the result of saving
the variables, there may not be enough disk space for the new file.
In this case, delete all unnecessary files from the disk.
20519 0-INFO Invalid .COD file
Cause:
The program file is not a valid .COD file. This can happen by
renaming a non-.COD file to a .COD file or it can happen by
corrupting a valid .COD file.
Remedy:
Locate the proper .COD file and use that file.
20520 0-INFO Predefined variable type mismatch while loading
Cause:
A predefined variable referenced in the .COD file has a different

data type specification than the predefined variable defined on the
controller. This can occur if the file was corrupted or if the
data type of a predefined variable has changed from one system
software release to the next.
Remedy:
There is no remedy if the file is corrupted except to try loading a

backup file. If the error results to a system software difference,
obtain a .PDL file using the system software that was in place at
the time the .COD file was generated. Then translate the .PDL file
using the new system software.
20525 0-INFO File is not a valid .VAR file
Cause:
The variable file is not a valid .VAR file. This can happen by
renaming a non-.VAR file to a .VAR file or it can happen by
corrupting a valid .VAR file.
Remedy:
Locate the proper .VAR file and load that file.
20527 0-INFO Var SAVE/LOAD operation aborted
Cause:
CTRL C (^C) was detected during the MEMORY SAVE or MEMORY LOAD of a
.VAR file.
Remedy:
No remedy. ^C aborts the operation. If desired, the operation can

be resubmitted.
20528 0-INFO String length <var_id> mismatch
Cause:
The specified variable is currently loaded in memory and the string

length information for that variable in memory does not match the
string length information contained in the .VAR or .COD file being
loaded.
Remedy:
option will cause the appropriate parts of the mismatched variable
value to be loaded instead of the entire value. For example, if
the mismatch was caused because the variable in memory is a STRING
having a maximum length of 10 and the variable in the file is
declared as a STRING having a maximum length of 20, only the first
10 characters of the value in the file will be loaded. If the
error was detected while loading a .COD file and the value is to be
maintained, issue a MEMORY SAVE (MS) command to save the value of
the variables in a file. Remember that all variables for the
specified program will be saved. Issue a MEMORY ERASE (ME) command
to erase the variable from memory and then load the .COD file and
if needed, the .VAR file (with the /CONVERT option).
20529 0-INFO Array size <var_id> mismatch
Cause:
The specified variable is currently loaded in memory and array size

information for that variable in memory does not match the array
size information contained in the .VAR or .COD file being loaded.
Remedy:
the mismatch was caused because the variable in memory is a one
dimensional ARRAY having 10 elements and the variable in the file
is declared as a one dimensional ARRAY having 20 elements, only the
first 10 elements of the value in the file will be loaded. If the
20530 0-INFO Array dimension <var_id> mismatch
Cause:
The specified variable is currently loaded in memory and the number

of array dimensions for that variable in memory does not match the
number of array dimensions contained in the .VAR or .COD file being
loaded.
Remedy:
The number of array dimensions must match in order to load a .VAR

or .COD file. The only way to fix this is to change the
appropriate file. If this error resulted from the loading of a
.VAR file, the remaining variables will be loaded. Therefore, you
can load the other variables from a .VAR file even if this error is
detected. This is an error that cannot be fixed using the /CONVERT
option.
20531 0-INFO Arm number <var_id> mismatch
Cause:
The specified variable is currently loaded in memory and the arm

number information for that variable in memory does not match the
arm number information contained in the .VAR or .COD file being
loaded.
Remedy:
the mismatch was caused because the variable in memory is declared
for arm 1 having 6 axes and the variable in the file is declared
for arm 2 having 6 axes, the 6 axes values in the file will be
loaded and arm 1 will be used. If the error was detected while
loading a .COD file and the value is to be maintained, issue a
MEMORY SAVE (MS) command to save the value of the variables in a
file. Remember that all variables for the specified program will
be saved. Issue a MEMORY ERASE (ME) command to erase the variable
from memory and then load the .COD file and if needed, the .VAR
file (using the /CONVERT option).
20532 0-INFO Number of axes <var_id> mismatch
Cause:
The specified arm related variable (either a JOINTPOS or XTNDPOS)

is currently loaded in memory and the number of axes for that
variable in memory does not match the number of axes contained in
the .VAR file being loaded.
Remedy:
Since the error was detected while loading a .VAR file, the
/CONVERT option can be applied to the MEMORY LOAD (ML/C) command.
This option will cause the appropriate parts of the mismatched
variable value to be loaded instead of the entire value. For
example, if the mismatch was caused because the variable in memory
is declared for arm 1 having 6 axes and the variable in the file is
declared for arm 1 having 7 axes, the first 6 axes values in the
file will be loaded.
20535 0-INFO Program load has been canceled
Cause:
CTRL C (^C) was detected during the MEMORY LOAD (ML) or PROGRAM GO
(PG) of a program.
Remedy:
No remedy. ^C aborts the operation. If desired, the operation can

be resubmitted.
20536 0-INFO Can't delete var while teach environment is active
Cause:
The system will not permit a variable to be erased from memory if

the teach environment is currently active for the owning program.
Remedy:
Exit the teach environment before erasing the variable.
20537 0-INFO Can't edit prog because nesting indentation too large
Cause:
The system has a maximum nesting indentation level of 31. This

means you cannot have statements nested within statements more than
31 times. The types of statements involved are loops, selection,
condition handler definition, etc. A program cannot be edited
using the PDL2 program editor if this maximum is exceeded.
Remedy:
Obtain a .PDL file by issuing a FILER TRANSLATE /BACK (FT/B) of the

.COD file. Then use the FILER EDIT (FE) command to edit the .PDL
file. You will have to issue the FILER TRANSLATE (FT) command to
obtain a new .COD file after modifying the .PDL file.
20538 0-INFO Illegal arm number
Cause:
An invalid arm number is used in a variable declaration of a .VAR

or .COD file being loaded. For example, if the system only has 1
arm and arm number 2 is used for the declaration of a JOINTPOS
variable, this is an invalid arm number.
Remedy:
If the error was detected while loading a .COD file, edit the
program and fix the arm number. Then load the .COD file again.
Otherwise, the /CONVERT option can be applied to the MEMORY LOAD
(ML/C) command. This option will cause the variable containing the
invalid arm reference to be skipped and the rest of the variables
in the file will be loaded. If the error occurred while teaching
(via the MOD key) a positional variable, it is needed to select
(via the ARM key) the arm declared for that variable before
pressing again the MOD key.
20540 0-INFO Out of limit
Cause:
The value specified for a predefined variable is outside the valid

limits.
Remedy:
Change the value being assigned to the predefined variable to a

value within the valid limits.
20542 0-INFO Data type/attribute mismatch during load
Cause:
The variable is currently loaded in memory and the data type

information for that variable in memory does not match the data
type information contained in the .VAR or .COD file being loaded.
It could be that the actual data types don't match, or it could
mean that the string size, array sizes/dimensions, arm number, or
number of axes don't match.
Remedy:
If the error was detected while loading a .VAR file and the error
was caused by an export status, string length, array size, arm
number, axes, record type, or node type mismatch, the /CONVERT
the mismatch was caused because the variable in memory is a STRING
having a maximum length of 10 and the variable in the file is
declared as a STRING having a maximum length of 20, only the first
10 characters of the value in the file will be loaded. If the
20543 0-INFO Can't load a PLC program
Cause:
The program being loaded has the PLC attribute. PLC programs
cannot be loaded into memory using the MEMORY LOAD (ML) or PROGRAM
GO (PG) commands. Instead, the RLL commands are to be used so the
program gets loaded into the PLC memory and executed by the
software or hardware PLC.
Remedy:
Use the MEMORY RLL LOAD (MRL) or PROGRAM RLL GO (PRG) commands.
20544 0-INFO Can't use a reserved word for the program name
Cause:
The name specified for a program is a PDL2 reserved word. Reserved

words cannot be used for names of user-defined identifiers.
Remedy:
Choose another name that isn't a PDL2 reserved word. Refer to the
PDL2 Language Manual for a list of the reserved words.
20545 0-INFO Field size too big
Cause:
The maximum size of a field of a user-defined TYPE is 65535 bytes.

This has been exceeded by a field defined in a .COD file being
loaded.
Remedy:
Change the user-defined TYPE and its usage so that all fields are
smaller than 65536 bytes. However, be sure the total overall size
is also smaller than 65536 bytes.
20546 0-INFO User-defined TYPE not in memory
Cause:
The user-defined TYPE is not currently loaded in memory.
Remedy:
Issue a MEMORY LOAD (ML) command for a program or variable file

containing a definition of the TYPE.
20547 0-INFO Total size of record or node TYPE too big
Cause:
The maximum size of a user-defined TYPE is 65535 bytes. This has

been exceeded by a TYPE defined in a .COD file being loaded.
Remedy:
Change the user-defined TYPE and its usage so that it is smaller

than 65536 bytes.
20548 0-INFO Record/node TYPE <var_id> mismatch
Cause:
This error relates to a record, ARRAY of record, node, or PATH

variable being reference in a .VAR or .COD file. The variable is
currently loaded in memory and the user-defined TYPE for that
variable in memory does not match the user-defined TYPE contained
in the .VAR or .COD file being loaded. For example, this error
occurs if the variable in memory is a record of type "pluto" and it
is a record of type "pippo" in the file.
Remedy:
If the TYPE definition used in the file is proper, erase the

variable from memory and reissue the MEMORY LOAD (ML) command.
However, if the TYPE in memory is proper, the file must be
modified. Therefore, if the error occurred while loading a .COD
file, edit the program and change the type name. If the error
occurred while loading a .VAR file, the remaining variables will be
loaded from the file and the mismatched variable will not.
20549 0-INFO Mult arms, required arm num for JNTP/XTND fields
Cause:
If the system has multiple arms defined, an arm specification is

required on all JOINTPOS and XTNDPOS field definitions of
user-defined TYPEs. This error can occur if a .COD file is loaded
containing such a field without an arm specification.
Remedy:
Edit the program and add an arm specification to the field

definition.
20550 0-INFO TYPE has no fields
Cause:
A .COD file is being loaded which contains a user-defined TYPE

having zero fields. All user-defined TYPEs must have at least one
field.
Remedy:
Edit the program and either delete the user-defined TYPE if it is

not needed or add the appropriate fields to the definition.
20551 0-INFO Cannot allocate TYPE structure
Cause:
There is not enough memory to create a user-defined TYPE structure

while loading a .VAR file.
Remedy:
Erase all unnecessary data from memory and reissue the MEMORY LOAD
(ML) command.
20552 0-INFO User-defined TYPE description mismatch
Cause:
The definition of a user-defined TYPE currently loaded in memory

does not match the definition contained in the .VAR or .COD file
being loaded. This can occur if the number of fields doesn't
match, the definition of corresponding fields doesn't match, one is
a record and the other a node, or the offset of a field doesn't
match.
Remedy:
option will cause the appropriate parts of the value to be loaded
instead of the entire value. For example, if the user-defined TYPE
in memory has an INTEGER field and a REAL field and the
user-defined TYPE in the file has an INTEGER field, a BOOLEAN
field, and a REAL field, only the INTEGER and REAL fields will be
loaded from the file. If the error was detected while loading a
.COD file and the value is to be maintained, issue a MEMORY SAVE
(MS) command to save the value of the variables in a file.
Remember that all variables for the specified program will be
saved. Issue a MEMORY ERASE (ME) command to erase the variable
from memory and then load the .COD file and if needed, the .VAR
file (with the /CONVERT option).
20554 0-INFO Bad number of aux axes in xtnd
Cause:
The number of auxiliary axes for an arm is 0 or greater than the

maximum number permitted by the system. This means it is invalid
to define an XTNDPOS variable based on the arm. If this error
occurs, the program cannot be loaded in memory and the editor
cannot enter /DATA mode.
Remedy:
Make sure the proper arm is used in the XTNDPOS declaration and
that the arm is set up with the proper number of auxiliary axes.
20555 0-INFO Code file protected
Cause:
This error occurs while trying to edit a program, print a .COD

file, load a program with the /FULL option, deactivate a program,
or view a loaded program that has been protected. A program is
protected when the company that wrote the program does not want to
distribute the source code.
Remedy:
There is no remedy. The source cannot be displayed and the program

cannot be deactivated from the command language.
20556 0-INFO Bad wildcard, must be *... or ...*
Cause:
Several commands permit a wildcard specification as a response to a

prompt. This error occurs if an invalid wildcard specification has
been given. It could happen if the * character isn't used in the
wildcard or if the * character does not start or end the
specification.
Remedy:
Enter a valid wildcard specification.
20557 0-INFO Wildcard not matched
Cause:
Several commands permit a wildcard specification as a response to a

prompt. This error occurs if there are no matches to a wildcard
specification that has been given.
Remedy:
No remedy.
20558 0-INFO File name used as different prog name
Cause:
This error is detected during the loading, editing, or printing of

a .COD file. It is the direct result of issuing either the FILER
RENAME (FR) or FILER COPY (FC) command on a .COD file and using a
program name that is already referenced in the .COD file as a
program.
Remedy:
Rename the .COD file to something different and reissue the LOAD,
PRINT, or EDIT command.
20559 0-INFO Can't load prog - missing header
Cause:
This error occurs while a .COD file is being loaded into memory,
printed, or edited. It indicates that a program header has not
been found in the file. This error only occurs if the .COD file
has been corrupted.
Remedy:
Try to recover a backup file.

20560 0-INFO Can't load prog - missing TYPE node
Cause:
This error occurs while a .COD file is being loaded into memory or
edited. It indicates that a field definition has been loaded
without being in the context of a TYPE definition. This error only
occurs if the .COD file has been corrupted.
Remedy:
20561 0-INFO Can't load prog - missing IF node
Cause:
printed, or edited. It indicates that an ELSE or ENDIF statement
has been loaded without being in the context of an IF statement.
This error only occurs if the .COD file has been corrupted.
Remedy:
20562 0-INFO Can't load prog - missing SELECT node
Cause:
printed, or edited. It indicates that a CASE, ELSE, or ENDSELECT
statement has been loaded without being in the context of a SELECT
statement. This error only occurs if the .COD file has been
corrupted.
Remedy:
20563 0-INFO Can't load prog - missing REPEAT node
Cause:
printed, or edited. It indicates that an UNTIL statement has been
loaded without being in the context of a REPEAT statement. This
error only occurs if the .COD file has been corrupted.
Remedy:
20564 0-INFO Can't load prog - missing WHILE node

Cause:
printed, or edited. It indicates that an ENDWHILE statement has
been loaded without being in the context of a WHILE statement.
Remedy:
20565 0-INFO Can't load prog - missing FOR node
Cause:
printed, or edited. It indicates that an ENDFOR statement has been
loaded without being in the context of a FOR statement. This error
only occurs if the .COD file has been corrupted.
Remedy:
20566 0-INFO Can't load prog - unknown label in GOTO
Cause:
printed, or edited. It indicates that a GOTO statement has been
loaded which references a label that was not found in the file.
Remedy:
20567 0-INFO Can't load prog - missing label in table
Cause:
printed, or edited. It indicates that a labeled statement has been
loaded but a label for the statement was not found in the file.
Remedy:
20568 0-INFO Can't load prog - unknown program index
Cause:
printed, or edited. It indicates that a statement referencing a
program has been loaded but the specified program was not found in
the file. This error only occurs if the .COD file has been
corrupted.
Remedy:
20570 0-INFO Can't load prog - ID already in table
Cause:
printed, or edited. It indicates that an identifier declaration
has been loaded but the system already loaded a declaration for the
same identifier. This error only occurs if the .COD file has been
corrupted.
Remedy:
20571 0-INFO Can't load prog - missing TYPE ID
Cause:
printed, or edited. It indicates that a reference to a record,
ARRAY of record, node, or PATH variable/routine declaration has
been loaded without first loading the declaration of the
user-defined TYPE. This error only occurs if the .COD file has
been corrupted.
Remedy:
20572 0-INFO Can't load prog - missing const ID
Cause:
printed, or edited. It indicates that a reference to a
user-defined constant has been loaded without first loading the
declaration of the user-defined constant. This error only occurs
if the .COD file has been corrupted.
Remedy:
20573 0-INFO Can't load prog - missing field ID

Cause:
printed, or edited. It indicates that a reference to a field has
been loaded without first loading the declaration of the field.
Remedy:
20574 0-INFO Can't load prog - missing rout ID
Cause:
printed, or edited. It indicates that a reference to a routine has
been loaded without first loading the declaration of the routine.
Remedy:
20575 0-INFO Can't load prog - missing var ID
Cause:
printed, or edited. It indicates that a reference to a variable
has been loaded without first loading the declaration of the
variable. This error only occurs if the .COD file has been
corrupted.
Remedy:
20576 0-INFO Can't load prog - missing sys var ID
Cause:
printed, or edited. It indicates that a reference to an unknown
predefined variable has been loaded. This error only occurs if the
.COD file has been corrupted.
Remedy:
20577 0-INFO Can't load prog - missing loc var/param ID
Cause:
printed, or edited. It indicates that a reference to a routine
local variable or parameter has been loaded without first loading
the declaration of the local variable or parameter. This error
only occurs if the .COD file has been corrupted.
Remedy:
20578 0-INFO Can't load prog - checksum mismatch
Cause:
A .COD file contains a checksum so that corrupted files can be

detected before loading them into memory. This error occurs if the
checksum calculated doesn't match the one generated when the .COD
file was created.
Remedy:
No remedy. Try to recover a backup file.
20579 0-INFO Prog file version newer than software
Cause:
The .COD file was generated using newer software than what is
currently loaded on the controller.
Remedy:
Update the controller software or obtain source of the .COD file

and issue a FILER TRANSLATE (FT) to generate a .COD file based on
the current system software.
20580 0-INFO Path length is shorter than specified starting node
Cause:
The starting node number specified is larger than the number of

nodes in the PATH.
Remedy:
Use a starting node number that is less than or equal to the number
of nodes in the PATH.
20581 0-INFO Too many nodes specified to be deleted
Cause:
Too many nodes have been specified in the delete request. The PATH
doesn't have that many nodes at the specified starting node number.
Remedy:
Use a smaller number of nodes to be deleted.
20582 0-INFO Name already used for a node symbol
Cause:
The specified name is already used for a different node. Symbolic

node names must be unique.
Remedy:
20583 0-INFO Node is not symbolically named
Cause:
The PATH node is not symbolically named.
Remedy:
Make sure the node number was specified correctly.
20584 0-INFO Node is already symbolically named
Cause:
The PATH node is already symbolically named. It can be changed but

a node can only have one symbolic name.
Remedy:
Make sure the node number was specified correctly.
20586 0-INFO Can't load prog - max loc var size exceeded
Cause:
The maximum amount of memory permitted for local variables of a

routine is 65535 bytes. This error is detected when a program is
being loaded and the maximum space is exceeded.
Remedy:
Eliminate unnecessary local variables.
20587 0-INFO Can't del prog - allocated from perm memory
Cause:
The program code cannot be deleted since it is allocated from

permanent memory.
Remedy:
Only method of deleting the program is to do a warm or cold restart

of the controller.
20588 0-INFO Can't have FULL and PERM loads together
Cause:
The program code cannot be loaded with both the /FULL and /PERM
options.
Remedy:
Use only one of the options.
20589 0-INFO Rout not exported by owning program
Cause:
A routine imported by the program being loaded into memory is not

exported by the owning program.
Remedy:
If the routine is supposed to be exported then edit the owning

program and add the EXPORTED FROM clause. If not, then remove the
import declaration from the other program(s).
20591 0-INFO ??? Corrupted stmt could not be loaded - <error_num>
Cause:
A corrupted statement was detected while printing a .COD file. The

error number (error_num) indicates the type of corruption that was
detected.
Remedy:
The system inserts an error line into the resulting source file.
The user must replace the error lines with valid PDL2 statements
and then translate the file.
20592 0-INFO Can't load vars - possible corruption of .VAR file
Cause:
The variable file has been corrupted and can not be loaded.
Remedy:
The only recovery action is to restore backup copies of the

variable file.
20593 0-INFO Variable data corrupted in memory
Cause:
The variable data has been corrupted in memory.
Remedy:
The only recovery action is restoring a backup copy of the

variables. Save all other program code and data then restart the
controller.
21505 0-INFO Mantissa missing
Cause:
A REAL value has an exponent but no mantissa. For example, "E10"

was entered instead of "1.5E10".
Remedy:
All REAL values must have a mantissa. Add the mantissa to the
value.
21506 0-INFO Exponent missing
Cause:
A REAL value has a mantissa and the E for the exponent, but no
value after the E. For example, "2.5E" was entered instead of
"2.5E10".
Remedy:
Add the exponent value to the REAL value.
21507 0-INFO Extra decimal point found
Cause:
More than one decimal point was encountered in the REAL value.
Remedy:
Only one decimal point is allowed in the value.
21508 0-INFO Exponent exceeds maximum
Cause:
The exponent on a REAL value is too large. If the value is in

error, then correct it. If the value is correct then it cannot be
represented as a REAL value.
Remedy:
Change the exponent to have a smaller value.
21509 0-INFO Bad character in numeric value
Cause:
An invalid character was found in the value. The only valid

characters are decimal digits(digits 0 through 9), the exponent
character('E' or 'e'), and the decimal point('.').
Remedy:
Enter the value again, with only valid characters.
21511 0-INFO Floating-point overflow
Cause:
The value is greater than the maximum value that can be represented
as a REAL.
Remedy:
Use values that are within the maximum and minimum range for the
REAL data type.
21512 0-INFO No numeric value present
Cause:
An INTEGER value was not found where expected.
21513 0-INFO Reserved operand
Cause:
A REAL contains a reserved IEEE operand. The value is invalid and

cannot be used.
21514 0-INFO Floating-point conversion range
Cause:
A REAL value conversion was attempted, but the input operand has a
value that will not fit into the format of the output operand.
21515 0-INFO Integer underflow
Cause:
The value is less than the minimum value that can be represented as
an INTEGER.
Remedy:
Use an INTEGER value that is larger than the minimum value.
21516 0-INFO Integer overflow
Cause:
The value is greater than the maximum value that can be represented
as an INTEGER.
Remedy:
Use an INTEGER value that is smaller than the maximum value.
22528 0-INFO The command has been aborted
Cause:
CTRL C (^C) key was pressed during command execution.
22529 0-INFO Missing program name
Cause:
This command requires the program name.
22530 0-INFO Command not enabled
Cause:
The maximum number of commands that can be active at the same time
was reached.
Remedy:
This command cannot be handled until an active command is

completed.
22531 0-INFO Command not allowed
Cause:
Remote copy is not allowed. That means, it is not possible to use

the FILER COPY command when the source and destination files are on
remote devices (COM0:, FD:, etc.)
Remedy:
Use the remote device locally. If it is necessary to copy files

between two remote devices, the RAM disk should be used as a
temporary device for the files. For example, copy the file from
the source device to the RAM disk (RD:) and then copy the file from
the RAM disk to the destination device.
22532 0-INFO * required in destination file name
Cause:
If a source file specification field (file name or extension)

contains a wildcard (*), then the same field of the destination
file specification must be a wildcard.
22533 0-INFO File not found
Cause:
The specified file was not found on the RD: device (RAM Disk) or
FD:.
22534 0-INFO Wildcard not allowed
Cause:
Either the wildcard (*) is not allowed for this command or a

wildcard has been used incorrectly in a combination of
command/options/parameters. For example, the MEMORY LOAD (ML)
command normally accepts a wildcard for the program name but, if
the /AS option is used, the program name cannot be a wildcard.
22535 0-INFO Too many wildcards
Cause:
More than one wildcard (*) was used in a file or program

specification.
Remedy:
Remove the extra wildcard(s) from the file or program name

specification.
22536 0-INFO Not all files copied
Cause:
One or more files were not copied. Either the file protection did
not allow the copy or the user replied "N" to the confirm prompt.
22537 0-INFO Not all files deleted
Cause:
One or more files were not deleted. Either the file protection did
not allow the deletion or the user replied "N" to the confirm
prompt.
22538 0-INFO Not all files renamed
Cause:
One or more files were not renamed. Either the file protection did
not allow the rename or the user replied "N" to the confirm prompt.
22539 0-INFO Bad option
Cause:
This error occurs when a command is executed with an invalid option

or with multiple options that conflict each other. It can also
occur when this option, although foreseen by the command, is in
conflict with other parameters specified with the command.
Remedy:
Verify that all of the options are valid and that options and
parameters do not conflict each other.
22540 0-INFO Code not found
Cause:
The requested command requires the program code be loaded in

memory, but the code was not found in memory. For example this
error would occur when the PROGRAM TEST BREAK INSERT (PTBI) command
is issued but the program code is not loaded.
Remedy:
Check to be sure the correct program name was used in the command.
If the correct name was used and the code could not be found in
memory, use the MEMORY LOAD (ML) command to load the program code.
22541 0-INFO Bad parameter specification
Cause:
An incorrect parameter specification was used. Most commonly, a

numeric parameter was expected and an alphabetic one was used or
vice versa. For example, the PROGRAM TEST BREAK PURGE (PTBP)
command expects a numeric break point number parameter; using 'aaa'
for the parameter would return this error.
Remedy:
Check the manual to determine what kind of parameters are expected

for the command.
22542 0-INFO Device spec not allowed

Cause:
The device specification is not allowed in this command. Either

the command works only on files present on the RD: device (RAM
Disk) or only on program names.
Remedy:
Remove the device specification from the parameter.
22543 0-INFO Calibration program too long
Cause:
The execution of the calibration program takes too much time. This
could happen for several reasons. One could be that the calibration
program contains loops (CYCLE, WHILE, FOR) or suspendable
statements (READ, DELAY, WAIT,WAIT FOR,etc...). These statements
should not be present in this program. Only simple assignement
statements to the strictly required system variables should be
present in the calibration file. Another reason for this error
occurring is that the system is overloaded, too many programs or
programs containing continuously scanned conditions.
Remedy:
Check that the calibration file does not contain suspendable

statements. If not, check if other programs that overload the
system can either be deactivated or paused before running this
command from the system menu or from a SYS_CALL.
22544 0-INFO Missing file name
Cause:
A file name is required for this command. A default is not

assumed.
Remedy:
Provide the file name as a parameter.
22546 0-INFO Command not executed
Cause:
The command was not executed because the user replied "N" to the
confirm prompt.
22547 0-INFO Program not found
Cause:
The requested command requires the program be loaded in memory, but

the program was not found in memory. For example this error would
occur when the PROGRAM ACTIVATE (PA) command is issued but the
program is not loaded.
Remedy:
Check to be sure the correct program name was used in the command.
If the correct name was used and the program could not be found in
memory, use the MEMORY LOAD (ML) command to load the program.
22548 0-INFO Variable not found
Cause:
The requested command requires a variable be loaded in memory, but

the variable was not found in memory. For example this error would
occur when the MEMORY VIEW VARIABLE (MVV) command is issued but the
variable is not loaded.
Remedy:
Check to be sure the correct variable name was used in the command.
If the correct name was used and the variable could not be found in
memory, use the MEMORY LOAD (ML) command to load the variable.
22549 0-INFO Device and ext not allowed
Cause:
The parameter must be a program name; not a file specification.

Program names cannot include a device name and extension.
22550 0-INFO Bad file extension
Cause:
The extension used in the file specification is not allowed for

this command.
Remedy:
Check the manual to determine the extensions which are allowed for
this command.
22551 0-INFO Bad variable specification
Cause:
The variable specification used as a parameter is not allowed for

this command. For example, the MEMORY ERASE VARIABLE (MEV) command
does not allow a variable name that has leading or following
wildcards (*).
Remedy:
Use a correct variable specification as parameter to the command.
Correct variable names start with an alphabetic character and use
only alphanumeric characters for the remainder of the name.
22552 0-INFO Bad value for $CAL_FILE
Cause:
The predefined variable $CAL_FILE, that contains the name of the

calibration file, is wrongly set. The value of this variable can
either be changed by the user or by system commands of the
CONFIGURE ARM category when this file is created.
Remedy:
Check that the value of $CAL_FILE is correctly set.
22554 0-INFO Code not deleted
Cause:
Program code was not deleted (removed) from memory because the user
replied "N" to the confirm prompt.
Remedy:
This message is only to inform the user and requires no remedy

action.
22555 0-INFO Variables not deleted
Cause:
All of the variables for the specified program were not deleted
(removed) from memory because the user replied "N" to the confirm
prompt.
Remedy:

action.
22556 0-INFO Variable not deleted
Cause:
A single specified variable for a specified program was not deleted

(removed) from memory because the user replied "N" to the confirm
prompt.
Remedy:

action.
22557 0-INFO Not all variables deleted
Cause:
All of the variables for the specified program cannot be deleted

(removed) from memory. For example, if some variables are exported
and used by another loaded program, those variables cannot be
deleted.
Remedy:
Create a situation in which it is possible to delete all of the

variables. In the above example, erase the program using the
exported variables from memory (using the MEMORY ERASE command)
before trying to delete all of the variables.
22559 0-INFO Code not deleted for all prog
Cause:
The program code cannot be deleted (removed) from memory, as

specified by the MEMORY ERASE (ME) command. For example, if a
program is active, the code cannot be deleted.
Remedy:
Create a situation in which it is possible to delete the program

code. Typically, for deleting the code of a program, there should
not be any active programs referencing exported routines belonging
to the program and the program owning the code must not be active.
22561 0-INFO Vars of <prog_name> not saved because protected
Cause:
Some application programs disable the saving of their .VAR file for
good functioning reasons.
Remedy:
This is an informational message and should be ignored.
22562 0-INFO Program has no variables
Cause:
The requested command requires a variable be loaded in memory, but

the specified program does not contain any variables. For example,
issuing a MEMORY VIEW VARIABLE (MVV) or MEMORY ERASE VARIABLE (MEV)
command of the program:
-
- PROGRAM p
- BEGIN
- WRITE ('I am a program without variables', NL)
- END p
Remedy:
Check that the specified program contains variables before

attempting to issue any commands that require variables.
22563 0-INFO File .COD not found
Cause:
The requested command requires a .COD file on the RD: device (RAM
Disk), but the file was not found. For example, this error would
occur when the PROGRAM GO (PG) command was issued if the program
.COD file did not exist on the RD: device.
Remedy:
Use the FILER VIEW (FV) command to be sure the program .COD file
exists before issuing the command.
22564 0-INFO File .VAR not found
Cause:
The requested command requires a .VAR file on the RD: device (RAM
Disk), but the file was not found.
Remedy:
Use the FILER VIEW (FV) command to be sure the program .VAR file
exists before issuing the command.
22565 0-INFO Program not loaded
Cause:
The MEMORY LOAD (ML) command was issued, but the loading process
failed. The reason for the failure is reported on the scroll
window of the TP or CRT (or on $SYS_CALL_OUT in case of SYS_CALL).
Remedy:
Determine why the loading process failed and take the appropriate
remedy action.
22566 0-INFO Not all programs loaded
Cause:
A MEMORY LOAD (ML) command acting on multiple programs was issued,

but for one or more of the programs the loading process failed.
The reason for the failure is reported, for each program, on the
scroll window of the TP or CRT (or on $SYS_CALL_OUT in case of
SYS_CALL).
Remedy:
Determine why the loading process failed and take the appropriate
remedy action.
22568 0-INFO File not superseded
Cause:
An existing file was not superseded during a MEMORY SAVE (MS)

operation because the user replied "N" to a confirm prompt to
supersede.
Remedy:

action.
22569 0-INFO Save not done
Cause:
The MEMORY SAVE (MS) operation was not performed because the user
replied "N" to a confirm prompt to save.
Remedy:

action.
22570 0-INFO Not all var files saved
Cause:
A MEMORY SAVE (MS) command acting on multiple programs was issued,

but for one or more of the programs the save process failed. The
reason for the failure is reported, for each program, on the scroll
window of the TP or CRT (or on $SYS_CALL_OUT in case of SYS_CALL).
Remedy:
Determine why the save process failed and take the appropriate
remedy action.
22571 0-INFO No variables to be saved
Cause:
A MEMORY SAVE (MS) command was issued, but there were no variables
to be saved.
Remedy:
Check that variables are loaded before issuing a MEMORY SAVE (MS)
command.
22574 0-INFO Program deactivate canceled
Cause:
The program was not deactivated because the user replied "N" to a
confirm prompt to deactivate.
Remedy:

action.
22575 0-INFO Not all programs deactivated
Cause:
A PROGRAM DEACTIVATE (PD) command acting on multiple programs was

issued, but for some reason one or more of the programs could not
be deactivated.
Remedy:
Determine why each program could not be deactivated and take the
appropriate
22576 0-INFO Program(s) not active
Cause:
A command was issued that requires an active program, such as

PROGRAM STATE PAUSE (PSP) or PROGRAM DEACTIVATE (PD), but there
were no active programs or the specified program was not active at
the moment the command was issued.
Remedy:
Use the PROGRAM VIEW (PV) command to obtain a list of currently

active programs before issuing commands that require an active
program.
22577 0-INFO Pause canceled
Cause:
The program was not paused because the user replied "N" to a
confirm prompt to pause.
Remedy:

action.
22578 0-INFO Pause of all programs canceled

Cause:
All programs were not paused because the user replied "N" to a
confirm prompt to pause all programs.
Remedy:

action.
22580 0-INFO Not all programs paused
Cause:
A PROGRAM STATE PAUSE (PSP) command acting on multiple programs was

issued, but for some reason one or more of the programs could not
be paused.
Remedy:
Determine why each program could not be paused and take the
appropriate remedy action.
22582 0-INFO Not all programs unpaused
Cause:
A PROGRAM STATE UNPAUSE (PSU) command acting on multiple programs

was issued, but for some reason one or more of the programs could
not be unpaused.
Remedy:
Determine why each program could not be unpaused and take the
appropriate
22583 0-INFO Program active
Cause:
This error can be returned for a variety of reasons. For example,

it occurs when trying to delete the code or the variables of an
active program with the MEMORY ERASE PROGRAM /ALL /VARIABLEs
(MEP/A/V) command. Another example is when issuing a PROGRAM
ACTIVATE (PA) command for a program that is already active.
Remedy:
Use the PROGRAM VIEW (PV) command to see if the program is active
before issuing commands that require the program not be active.
22584 0-INFO Program deleted
Cause:
The program used by this command was deleted from memory by another
command that was active at the same time.
Remedy:
Re-execute the command.
22585 0-INFO Values not saved
Cause:
Informational message. The modified values of variables in memory

were not saved.
Remedy:
If desired, use the MEMORY SAVE (MS) command.
22586 0-INFO Values saved
Cause:
Informational message. The save operation was completed

successfully.
22587 0-INFO Missing parameter specification
Cause:
A required parameter was not specified in the command. For example,

when issuing the EXECUTE (E) command, the parameter containing the
statement to be executed must always be specified.
Remedy:
Re-issue the command specifying all of the required parameters.
22589 0-INFO Line not found
Cause:
The requested command is to be performed at a specified line of a

program, but that line cannot be found. For example, this error
would occur when issuing a PROGRAM TEST BREAK INSERT (PTBI) command
for a line that did not exist.
Remedy:
Determine the correct line number before issuing the command.
22590 0-INFO Bad break specification
Cause:
The command requires a breakpoint number parameter, but the value
is specified incorrectly. The breakpoint number parameter must be
a positive number less than 250 (maximum number of breakpoints
allowed) consisting of all decimal digits. For example
SYS_CALL('PTBP', '-2', 'pippo') would cause this error.
Remedy:
Check the correctness of the breakpoint specification in the

command.
22591 0-INFO Label not found
Cause:
The command requires a label, but the specified label does not
exist. For example, this error would occur when issuing a PROGRAM
TEST BREAK INSERT /LABEL (PTBI/L) command at a label not present in
the code of the specified program.
Remedy:
Be sure the label exists before performing any operations on it.
22592 0-INFO Routine not found
Cause:
The command requires a routine, but the specified routine does not
exist. For example, the error would occur when issuing a PROGRAM
TEST BREAK INSERT /ROUTINE (PTBI/R) command at a routine not
present in the code of the specified program.
Remedy:
Be sure the routine exists before performing any operations on it.
22594 0-INFO Break not found
Cause:
The command requires a breakpoint, but the specified breakpoint

does not exist.
Remedy:
Use the PROGRAM TEST BREAK VIEW (PTBV) command to be sure the
breakpoint exists before performing any operations on it.
22595 0-INFO Cannot set break at this line
Cause:
An incorrect program line was specified for the PROGRAM TEST BREAK
INSERT (PTBI) command.
Remedy:
Use the PROGRAM EDIT (PE) or FILER PRINT /LIST (FP/L) command to
find the correct line number. Be sure that the line where the
breakpoint is meant to be inserted allows breakpoints (e.g., does
not belong to the program header, is not a BEGIN statement, does
belong to the executable section, etc.).
22596 0-INFO Step mode and program mismatch
Cause:
The specified step mode is incorrect for the specified program.

For example, this error would occur when issuing a PROGRAM TEST
STEP CYCLE (PTSC) in a program that does not contain a CYCLE
(statement or BEGIN attribute) or a PROGRAM TEST STEP MOVE (PTSM)
in a non-holdable program.
Remedy:
Check for compatibility between the program and the step mode.
22597 0-INFO Step mode not set
Cause:
A PROGRAM TEST STEP VIEW (PTSV) command was issued, but no step
mode was set.
Remedy:

action.
22598 0-INFO Break already set at this line
Cause:
A PROGRAM TEST BREAK INSERT (PTBI) command was issued, but a

breakpoint was already set at the specified line.
Remedy:

action.
22599 0-INFO Too many break set
Cause:
A PROGRAM TEST BREAK INSERT (PTBI) command was issued, but the
total number of breakpoints set exceeds the maximum limit. The
specified breakpoint is not set.
Remedy:
Delete some breakpoints in the system. Note that the limit is as

system-wide and not per-program. The current maximum is 250.
22600 0-INFO Program counter at this line
Cause:
A PROGRAM TEST BREAK PURGE (PTBP) command was issued for a

breakpoint, but the execution of the program owning the breakpoint
is currently at the statement containing the breakpoint. In this
situation the breakpoint cannot be deleted.
Remedy:
Re-issue the command if the program execution continued since the

command was first issued, or take some action to move the program
counter from the line where the breakpoint is set. For example, if
the program is paused, issue an unpause; enter MEMORY DEBUG and
issue the SET_EXEC command.
22601 0-INFO Parameter must be a number
Cause:
Something other than a number was specified for a command requiring

a numeric parameter.
22602 0-INFO Bad arm number
Cause:
The specified arm number was incorrect or not present in the

current configuration.
22603 0-INFO Bad ax number
Cause:
The specified axis number was incorrect or not present in the

current arm configuration.
22604 0-INFO String too long
Cause:
The specified string parameter is longer than the maximum allowed.
22605 0-INFO Bad port index
Cause:
The specified port index was incorrect or not present in the
current configuration.
22606 0-INFO Bad protection level
22607 0-INFO Bad time format
Cause:
An incorrect time was specified.
Remedy:
The time must be specified using the format HH:MM:SS, where HH

means Hours (00-24), MM means Minutes (00-59), and SS means Seconds
(00-59).
22608 0-INFO Bad date format
Cause:
An incorrect date was specified.
Remedy:
The date must be specified using the format DD-MM-YY, where DD

means Day (01-31), MM means Month (01-12), and YY means Year
(00-99).
22609 0-INFO Bad year format
Cause:
An incorrect year was specified. The year must be specified using

a two character format. For example, 1991 must be expressed as 91.
22610 0-INFO Disabled due to memory prot
Cause:
This command cannot be executed because memory protection is on.
Remedy:
If appropriate, use the SET CONTRLER PROTECTION (SCP) command to

disable memory protection before issuing the desired command.
22611 0-INFO Disabled due to system prot
Cause:
This command cannot be executed because system protection is on.

Remedy:

disable system protection before issuing the desired command.
22612 0-INFO Disabled due to system state
Cause:
This command is not allowed because of the current system state.
Remedy:
Set the system state as required by the command (see manual).
22613 0-INFO Disabled due to cmnd conflict
Cause:
The command cannot be executed because it is in mutual exclusion

with another currently active command.
Remedy:
Wait until the command in mutual exclusion is completed.
22614 0-INFO Cannot delete on this device
Cause:
The delete operation is disabled on the specified device.
Remedy:
Issue the command locally on that device.
22615 0-INFO Restart non executed
Cause:
The restart was not executed because the user replied "N" to the
confirm prompt.
22616 0-INFO Kind of copy not allowed
Cause:
The copy is not allowed between the source and destination devices
specified.
22617 0-INFO Cannot rename on different device

Cause:
The RENAME operation is allowed only on the same device.
22618 0-INFO Kind of print not allowed
Cause:
The PRINT command is not allowed between the source and destination
devices specified.
22619 0-INFO Cannot open output stream
Cause:
The operation is not executed either because the device was not
found or the limit of possible files opened was already reached.
Remedy:
Check the device connection, the serial line cable, and the port
characteristics. Close an opened file.
22620 0-INFO Bad port name
Cause:
The device specified is not a correct port name. Check the use of
the ':' at the end of the device name.
22621 0-INFO Port type not allowed
Cause:
The specified port is not correct for the required operation.
Remedy:
Check the port name. Correct ports are $DIN, $DOUT, $AIN, $AOUT,
$GIN, $GOUT.
22622 0-INFO Ambiguous or bad value
Cause:
The index or the forced value of the port is not correct.
Remedy:
Be sure the index value is within the valid range for the current
I/O configuration and a forced value is valid for the specified
kind of port.
22623 0-INFO No memory for this operation
Cause:
There is not enough memory for executing the command.
Remedy:
Remove unused programs and variables from execution memory (use the
MEMORY ERASE group of commands). If not sufficient, check the
system configuration of memory resources.
22633 0-INFO Bad window name
Cause:
The specified string does not correspond to a window name.
22634 0-INFO Bad servo control board index
Cause:
The specified index board is not present in the system.
22635 0-INFO Holdable stmt only in PROG
Cause:
The EXECUTE (E) command was issued with holdable statements (LOCK,
UNLOCK, RESUME, MOVE, CANCEL, etc..), but the state of the system
was not PROG.
Remedy:
Change the OP/TP switches to PROG.
22636 0-INFO Bad stmt for immediate mode
Cause:
The statement specified as parameter in the EXECUTE (E) command is

not allowed. For example, DISABLE/ENABLE/PURGE CONDITION would
cause this error.
22637 0-INFO Immediate execution not allowed
Cause:
Execution of the EXECUTE (E) command is not compatible with the

state of the system. For example, this error would occur when the
state of the system is changed from PROG to AUTO when the EXECUTE
of a holdable statement is currently active.
Remedy:
Check that the state of the system is not changed when executing a
holdable statement.
22639 0-INFO Bad numerical value
Cause:
A numeric parameter includes a non-numeric character (e.g., 12c3).
Remedy:
Check the input parameter
22640 0-INFO Bad $GEN_OVR value
Cause:
The value specified is not in the allowed range (1-100).
22641 0-INFO Bad $TP_GEN_INCR value
Cause:
The value specified is not in the allowed range (1-10).
22642 0-INFO Varfile name conflict
Cause:
The PROGRAM GO (PG) command was issued for a program already loaded
in memory, with the variable values loaded from a variable file
with a different name than the program.
Remedy:
Use the PROGRAM ACTIVATE (PA) command to start the current

situation, or use the MEMORY ERASE VARIABLE (MEV) command and then
PROGRAM GO (PG) to start the new configuration (with the variable
file name the same as the program name).
22643 0-INFO File extension required
Cause:
This command requires the extension of the file specification. A

default is not assumed.
22644 0-INFO Bad device operation
Cause:
The specified device cannot be used for this kind of operation.

22645 0-INFO Source ext must be cod/var type
Cause:
Only files with .COD, .BKC, .VAR, or .BKV extensions can be used as
source files in a FILER PRINT (FP) operation from RD: device (RAM
Disk) to RD: device.
22646 0-INFO Dest ext cannot be cod/var type
Cause:
Files with .COD, .BKC, .VAR, and .BKV extensions cannot be used as
destination files in a FILER PRINT (FP) operation from RD: device
(RAM Disk) to RD: device.
22647 0-INFO Not allowed operation
Cause:
Cannot change file attribute for system files.
22648 0-INFO Program not activated
Cause:
The PROGRAM ACTIVATE (PA) command was issued, but the program
cannot be activated. The reason for the failure is reported on the
scroll window of the TP or CRT (or on $SYS_CALL_OUT in case of
SYS_CALL).
22649 0-INFO Missing variable name
Cause:
The command requires a variable name parameter, but the variable

name was not specified. For example, the MEMORY ERASE VARIABLE
(MEV) command requires a variable name parameter.
Remedy:
Re-issue the command specifying the variable name. In most cases,

the wildcard (*) is allowed.
22650 0-INFO Command not done for all programs
Cause:
A command acting on multiple programs was issued, but the operation

failed for some of the programs. The reason for the failure is
reported on the scroll window of the TP or CRT (or on $SYS_CALL_OUT
in case of SYS_CALL).
Remedy:
Determine the reason for the failure and take the appropriate
remedy action.
22651 0-INFO No application event defined
Cause:
The UTILITY APPLICATION (UA) command was issued, but there was no
application event (AC_CALL_CRT, AC_CALL_TP) enabled at the time.
Refer to the "Condition Handlers" chapter of the PDL2 Language
Manual for more detailed information.
Remedy:
Before issuing the command, create and activate a program that

defines and enables conditions, for example:
-
- CONDITION[1]:
- WHEN EVENT AC_CALL_CRT DO
- . . .
- ENDCONDITION
- . . .
- ENABLE CONDITION[1]
22652 0-INFO Invalid password
Cause:
The password specified for the CONFIGURE CNTRLER PASSWORD (CCP)

command is not valid.
22653 0-INFO Command requiring password set
Cause:
The password must be set with the CONFIGURE CONTRLER PASSWORD (CCP)
command to allow this command to be executed.
22654 0-INFO Disabled due to DRIVE ON state
Cause:
This command can be executed only when in the DRIVE OFF state.
22655 0-INFO Disabled due to DRIVE OFF state
Cause:
This command can be executed only when in the DRIVE ON state.

22656 0-INFO Disabled due to HOLD system state
Cause:
This command cannot be executed in the HOLD state.
22657 0-INFO Disabled due to AUTO system state
Cause:
This command cannot be executed in the AUTO state.
22658 0-INFO Disabled due to FATAL system state
Cause:
This command cannot be executed in the FATAL state.
22659 0-INFO Stmt not bypassed in all programs
Cause:
The PROGRAM STATE BYPASS (PSB) command was issued for more than one
program, but the operation failed for some program.
Remedy:
Determine the cause of the failure and take the appropriate remedy
action.
22660 0-INFO Not supported option
22661 0-INFO Cannot increase $GEN_OVR
Cause:
It is not possible to increase the value of $GEN_OVR from a program

(SYS_CALL) or from a remote process for security reasons. In these
cases $GEN_OVR can only be decreased in value.
Remedy:
If the $GEN_OVR value needs to be incremented, the user can press

the TP appropriate keys or can issue the command SET ARM GEN_OVR
(SAG) from the keyboard (if the Teach Pendant is disconnected) or
from the Teach Pendant command menus.
22662 0-INFO Too many options
Cause:
Too many options were specified in the command. For example,

issuing a PROGRAM ACTIVATE /CYCLE /MOVE command (PA/C/M) would
return this error.
Remedy:
Re-issue the command specifying the correct number of options.
22663 0-INFO /List requires /Back and .COD
Cause:
Returned when issuing a FILER TRANSLATE /LIST (FT/L) without also

specifying the /BACK option. The listing can be obtained only when
translating from a .COD to a .PDL file, so the FILER TRANSLATE (FT)
should be executed with the /BACK option. Otherwise, the effect
would be to translate from a .PDL to a .COD and the listing could
not be created. The listing is not allowed on a .VAR or .LSV file.
Remedy:
Re-issue the command with the correct options.
22664 0-INFO Not all files translated
Cause:
The FILER TRANSLATE (FT) command was issued for more than one
program but the operation failed for some programs. The reason for
the failure is reported on the scroll window of the TP or CRT (or
on $SYS_CALL_OUT in case of SYS_CALL).
Remedy:
Determine the reason for the failure and take the appropriate
remedy action.
22665 0-INFO Arm number required
22666 0-INFO Disabled due to TP out of cabinet
Cause:
This command cannot be executed when the teach pendant (TP) is

connected and out of cabinet. This limitation is linked to safety
reasons.
Remedy:
Insert the teach pnedant in the controller cabinet before issuing

the command again.
22667 0-INFO Not enough space for pop-up window
Cause:
The pop-up window cannot appear on the screen because there is not
enough space.
Remedy:
Remove some other pop-up windows before re-issuing the command.
22668 0-INFO Disabled due to remote state
Cause:
This command cannot be executed because the controller is in a

remote state.
Remedy:
Change the controller status to execute the command.
22669 0-INFO Bad baud rate value
Cause:
The specified baud rate value is not in the range of allowed

values.
Remedy:
Use one of the allowed values (110, 300, 1200, 2400, 4800, 9600,
19200, 38400).
22670 0-INFO Field not present in this path
Cause:
The specified field has not been declared as belonging to the path
node.
Remedy:
If the field is needed, add it to the NODEDEF declaration for the

path.
22671 0-INFO Not a path type variable
Cause:
This error happens when trying to insert a node on a variable type

different than path.
Remedy:
Check for the correctness of the operations.
22672 0-INFO Bad arm number for this path

Cause:
This error happens when trying to insert a node or modifying the

$MAIN_POS for a node belonging to a path variable using a different
arm than the one declared in the node structure.
Remedy:
Use the arm declared in the node structure for that path variable.
22673 0-INFO Cannot insert. Check CP & TP switch
Cause:
The REC or the MOD key has been pressed on the TP. The action
cannot be executed because the system state is not in the right
condition. Teaching is only permitted in PROG state.
Remedy:
Put the controller in PROG state. Check the current state on the
system screen in the upper window (system window.)
22674 0-INFO Cannot delete. Check CP & TP switch
Cause:
The DEL key has been pressed on the TP. The action cannot be
executed because the system state is not in the right condition.
Teaching is only permitted in PROG state.
Remedy:
Put the controller in PROG state. Check the current state on the
system screen in the upper window (system window.)
22675 0-INFO Cannot modify. Bad var type
Cause:
The MOD key has been pressed on the TP. The action cannot be
executed because the current variable data type is not allowed in
this operation. You can only modify single data type variable at a
time (not arrays or path variable type).
22676 0-INFO Wrong node index
Cause:
You are trying to modify a field of a path node with a bad node
index value.
Remedy:
Check the node index value and the current number of nodes for that
path.
22677 0-INFO Cannot modify. Check CP & TP switch
22678 0-INFO Prog must be loaded with /FULL opt
22679 0-INFO Disabled due to program protect
Cause:
This command cannot be executed because the program execution

protection is on.
Remedy:

disable program protection before issuing the desired command.
22680 0-INFO String not found
22681 0-INFO Disabled due to EZ active
Cause:
The command is not enabled because EZ is active.
Remedy:
Change to EZ screen.
22682 0-INFO Invalid file type
22683 2-WARNING Program not modified
22684 2-WARNING Cannot enable an arm in SIMULATE mode
22685 0-INFO Data not available
22686 0-INFO Option disallowed with no RPT
Cause:
This error occurs upon Configure Arm Turn_set when option /Current
is specified but the RPT device is not present for the SCC related
to the specified arm.
Remedy:
Issue again the Turn_set command without specifying the /Current
option.
24576 2-WARNING $STARTUP <prog_id> started
Cause:
Indicates the startup program, specified in $STARTUP, was started.
Remedy:
This is an informational message and requires no user remedy.
24577 2-WARNING $STARTUP not started <error_num>
Cause:
Indicates the startup program was not activated. The error number
reported in this message is the cause of the failure of the
activation.
Remedy:
Check the error corresponding to the number reported with this

message. For example: "$STARTUP not started 22563" indicates error
number 22563 which is "File .cod not found".
24578 2-WARNING $STARTUP <prog_id> Press START
Cause:
Indicates the startup program was activated. Being a holdable

program, it also requires the START button be pressed.
24579 4-PAUSE SYS_CALL bad char in cmnd
Cause:
Indicates a non alphanumeric character is specified in the command

string of the SYS_CALL. The command string of the SYS_CALL is the
first parameter to provide to the SYS_CALL. The following example
would cause this error since the "_" is non alphabetic:
-
- SYS_CALL ('_i', 'pippo')
Remedy:
The command string of the SYS_CALL can only contain alphanumeric

characters (A-Z, a-z, 0-9). Check which is the correct string
corresponding to the desired command.
24580 4-PAUSE SYS_CALL bad cmnd
Cause:
Indicates a nonexisting command is specified in the command string
(first parameter) of the SYS_CALL. The following example would
cause this error since the MEMORY VIEW (MV) menu does not include a
K command.
-
- SYS_CALL('mvk', 'pippo')
Remedy:
Check which is the correct string corresponding to the desired

command.
24581 4-PAUSE SYS_CALL too few char in cmnd
Cause:
Indicates the command string (first parameter) in the SYS_CALL

contains too few characters for the command identification. The
following example would cause this error since FILER (F) is not a
complete command:
-
- SYS_CALL('f', 'pippo')
Remedy:
Check and modify the first parameter to the SYS_CALL.
24582 4-PAUSE SYS_CALL too many char in cmnd
Cause:
Indicates the command string (first parameter) in the SYS_CALL

contains too many characters for the command identification. The
following example would cause this error since the FILER COPY (FC)
command does not have any submenus:
-
- SYS_CALL('fcgh', 'pippo')
Remedy:
Check and modify the first parameter to the SYS_CALL.
24583 4-PAUSE SYS_CALL cmnd not available
Cause:
Indicates a command already present on the command menu but not yet
implemented is specified in the command string of the SYS_CALL.
Remedy:
Do not use unimplemented commands as parameters to SYS_CALL.
24584 4-PAUSE SYS_CALL cmnd not allowed

Cause:
Indicates a command that cannot be executed from SYS_CALL is

specified in the command string of SYS_CALL. The following example
would cause this error since PROGRAM EDIT (PE) is not permitted
from SYS_CALL:
-
- SYS_CALL('PE', 'pippo')
Remedy:
Check which are the commands not allowed from SYS_CALL and do not
use them.
24585 4-PAUSE SYS_CALL bad number of parameters
Cause:
Indicates the number of parameters given to the SYS_CALL is not

what is expected for that command. The following example would
cause this error as the name of the label on which the breakpoint
should be set is not specified:
-
- SYS_CALL('ptbi/l', 'pippo')
Remedy:
Check which is the correct number of parameters needed for a

certain command and specify them as parameters of the SYS_CALL.
24586 4-PAUSE SYS_CALL bad option specified
Cause:
Indicates an unexpected option for a certain command is specified

in the SYS_CALL. The following example would cause this error as K
is not a valid option for the PROGRAM VIEW (PV) command.
-
- SYS_CALL('PV/K', 'pippo')
Remedy:
Check which are the expected options for the desired command. An
easy way for checking this is to issue the option key (/) for the
command on the CRT/TP. When issued, a menu of possible options for
the command is displayed.
24587 4-PAUSE SYS_CALL no options allowed
Cause:
Indicates an option is specified in the command string when the

command does not expect any. The following example would cause this
error as the PROGRAM TEST STEP CYCLE (PTSC) command does not have
any options:
-
- SYS_CALL('PTSC/F', 'pippo')
Remedy:
Remove the option specification from the command string: in the

example above the correct statement is:
-
- SYS_CALL('PTSC', 'pippo').
25600 2-WARNING Bad $TUNE[1], set <value> cond scan
Cause:
A value out of range is assigned to the variable $TUNE[1]

containing the Condition Handler scanning time. The correct range
is from 10 to 5000 milliseconds. For example, "$TUNE[1] := 6000"
would cause this warning to be displayed.
Remedy:
No remedy is needed as the system automatically changes the value

of $TUNE[1] to the default value (20 milliseconds).
25601 2-WARNING <prog_id> cond <cond_num> has been redefined
Cause:
A condition is defined more than once. The following example shows

a situation in which this warning would be returned:
-
- PROGRAM a
- BEGIN
- CONDITION[1]:
- WHEN HOLD DO
- $FDOUT[5] := ON
- ENDCONDITION
- . . .
- . . .
- -- Execution of the next statement will
- -- cause the error if the condition[1] was
- -- not previously purged.
- CONDITION[1]:
- WHEN START DO
- $FDOUT[5] := OFF
- ENDCONDITION
- . . .
- END a
-
In the above example, CONDITION[1] is defined twice. The warning is
given when the second definition is executed. Note that only the
last definition is considered, so in the example above the event
monitored will be the START and not the HOLD.
Remedy:
No action is necessary. This is only a warning. It is up to the

user to decide if a certain condition is to be redefined at a
certain point of the program or if this warning indicates a
programming error.
25602 2-WARNING <prog_id> cond <cond_num> already enabled
Cause:
An enabling operation is performed on a condition and the condition

is already enabled. The following example could cause such a
warning when the condition triggers:
-
- CONDITION[3] NODISABLE:
- WHEN HOLD DO
- ENDCONDITION
-
In fact, the NODISABLE clause allows the condition to remain
enabled when it triggers; so the ENABLE action has no meaning in
this context and would cause the warning to be returned. Another
case is when the condition contains motion events and the condition
is enabled both globally and locally. In this case the condition
may trigger at the wrong motion segment. In particular, this can
happen when the global condition is also locally enabled for a
MOVEFLY .. ADVANCE and the condition expression is AT END. It is
recommended that the same condition or type of condition event
should not be used globally and locally at the same time.
Remedy:
No action is necessary, this is only a warning. The user should

decide if the situation is correct or if this warning indicates a
programming error.
25603 2-WARNING <prog_id> cond <cond_num> already disabled
Cause:
A disabling operation is performed on a condition and the condition

is in fact already disabled.
Remedy:
No action is necessary, this is only a warning. It is up to the

user to decide if the situation is correct or if this warning
indicates a programming error.
25604 8-HOLD Cond <cond_num> not found
Cause:
A condition that does not exist is referenced in a statement. The

following example will cause this error since the condition was
purged (deleted) right before it is used in the ENABLE statement:
-
- . . .
- BEGIN
- . . .
- PURGE CONDITION[1]
Remedy:
Check the reason why the condition is not present (e.g., not
defined, purged, etc.).
25605 4-PAUSE Cond used locally
Cause:
An attempt was made to purge a condition while the condition was

locally used. For example, if CONDITION[2] in the following program
segment triggers during the MOVE, this error could occur since
CONDITION[1] is locally enabled on the MOVE and the action of
CONDITION[2] is to purge it:
-
- VAR p1 : POSITION
- . . .
- BEGIN
- . . .
- CONDITION [1]:
- . . .
- ENDCONDITION
- CONDITION [2]:
- WHEN $DIN[1]+ DO
- ENDCONDITION
- -- CONDITION[1] is locally enabled in
- -- the following statement
- MOVE TO p1 WITH CONDITION[1]
Remedy:
Check the PURGE CONDITION statement use. This statement should be

executed when the condition being purged is not locally enabled.
25606 8-HOLD No memory resources for cond
Cause:
The operations to be performed for handling conditions requires the

use of memory. This error indicates there is not sufficient memory.
Remedy:
Check the configuration of the memory and/or remove something from

memory.
25607 12-DRIVE OFF No CPU resources for cond
Cause:
This error can occur when bad condition handler programming methods
are used. Usually this happens when the actions of one condition
handler trigger the execution of another condition handler or when
a condition is continuously enabled, by either an ENABLE CONDITION
statement or the NODISABLE attribute. The actions that can cause
this problem are: the program actions (ACTIVATE, PAUSE, etc..), the
routine call action, the RESUME action, and the SIGNAL and CANCEL
of semaphore actions. These actions use a lot of CPU time, and
therefore should be used in conditions that do not trigger every
scan.
Remedy:
Check if there are programs running with condition handlers written

as described above. Change those conditions to use less CPU time.
For example, if possible make the state condition an event
condition, or remove the NODISABLE attribute and enable the
condition only when it is strictly needed. If, on the contrary,
there are programming mistakes contact Comau.
26624 14-FATAL No memory for PLC communication
Cause:
The communication is done via shared pool and the free memory is
not enough.
Remedy:
Check the system configuration of memory resources, and if in doubt

contact the Comau dealer.
26625 14-FATAL Board SIM1 failed
Cause:
General failure in first SIM board: fuse or cable problems.
Remedy:
Check the board to determine if some fuses are open or if some

cables connected to the board are broken.
26626 14-FATAL Board SIM2 failed
Cause:
General failure in second SIM board: fuse or cable problems.
Remedy:

26627 14-FATAL Board IOS1 failed
Cause:
General failure in first IOS board: fuse or cable problems.
Remedy:

26628 14-FATAL Board IOS2 failed
Cause:
General failure in second IOS board: fuse or cable problems.
Remedy:

26629 14-FATAL Read back SIM1 failed
Cause:
Failure in internal read back output register of SIM board.
Remedy:
The board must be repaired.
26630 14-FATAL Read back SIM2 failed
Cause:
Failure in internal read back output register of SIM board.
Remedy:
26631 14-FATAL Read back IOS1 failed
Cause:
Failure in internal read back output register of IOS board.
Remedy:
26632 14-FATAL Read back IOS2 failed

Cause:
Failure in internal read back output register of IOS board.
Remedy:
26633 2-WARNING Failure <error_num> reading <port_num> port image
Cause:
There are one or more I/O points (ports) in conditions that are not
present.
Remedy:
Check to see if there are some programs running with conditions and
if the ports affected by the conditions are present. Probably due
to an I/O configuration, these ports are no longer mapped or are
mapped with a different index. The failure number can help
you--search for this number in the standard error.
26634 14-FATAL Failure <error_num> in $TIMER allocation
Cause:
There is not enough system memory to allocate all required timers,

probably due to a large value for $NUM_TIMERS.
Remedy:
Reduce the $NUM_TIMERS value to the minimum required in your

application. The standard default value is 16.
26635 10-DRIVE OFF BS: (<base>,<slot>) update failed or mismatch in cnfg

tbl
Cause:
There is a general failure updating the specific I/O board or, via
an I/O configuration tool, someone changed the logical table
defining boards different than the present boards.
Remedy:
Check the insertion of the board in the slot. Check via

configuration tool if the logical table matches the hardware
configuration and, if necessary, correct to be in accordance with
the mapping rules stated in the C3G manual. Command eventually an
autoconfiguration and if the problem still remains, check the board
functionality.
26636 10-DRIVE OFF BS: (<base>,<slot>) I/O module failed

Cause:
Failure of an I/O board inside the specified base. Normally this is

an internal hardware problem.
Remedy:
Verify the board connection. Try to remove and reinsert the I/O
module. If the problem still remains, the module must be repaired.
26637 10-DRIVE OFF Base <base> failed
Cause:
A base does not answer to the system. Common reasons for this kind
of error are: the base is switched off, the High Speed I/O cable is
disconnected or broken, or there is a hardware problem in the base.
Remedy:
Check the power of the base if the cable is connected properly. If

it is not damaged, the remote base controller or the remote base
power supply probably has some hardware problem.
26638 2-WARNING Logical mapped to physical table
Cause:
The C3G controller did a self mapping of all I/O found in the
system. This kind of warning happens the first time the controller
is switched on after a reboot (complete software download) and also
if, via a configuration tool, all of the bases of the controller
are cleared.
Remedy:
This is only an informational message. The message can be removed

by saving the current I/O configuration into the C3G.SYS file.
26639 10-DRIVE OFF PLC overhead percentage out of range
Cause:
The PLC program attempted to use too much of the RBC CPU resource
and inserted a wait-state to allow the RBC to function correctly.
Remedy:
If the wait-state insertion is undesirable, reduce the program

size.
26640 10-DRIVE OFF PLC RLL scan threshold exceeded, STW194 incremented
Cause:
Remedy:

size.
26641 10-DRIVE OFF Board INTEC(<board_number>) failed
Cause:
The INTEC board has detected a HARDWARE failure by its own safety
circuit.
Remedy:
Replace the board.
26642 10-DRIVE OFF Board INTEC(<board_number>) WATCHDOG error
Cause:
The INTEC board has detected a HARDWARE failure by the WATCHDOG

safety circuit that checks the on-board microprocessor functions.
Remedy:
Replace the board.
26643 10-DRIVE OFF Board INTEC(<board_number>) 24V SUPPLY missing
Cause:
The INTEC board detects the absence of the necessary 24V supply for
digital Input/Output.
Remedy:
Check the connection on the board and on the cabinet.
26644 10-DRIVE OFF Board INTEC(<board_number>) FUSE fault
Cause:
The fuse on the INTEC board is blown.
Remedy:
Replace the fuse.
26645 10-DRIVE OFF Board INTEC(<board_number>) ANALOG output SUPPLY

failure
Cause:
The INTEC board detects a failure on the analog output supply. The
possible causes are: short circuit on the analog output, analog
output overload, CONTROL UNIT supply failure.
Remedy:
Check analog output connection and load, if the error remains,

replace the INTEC board.
26646 2-WARNING Event $<port_name>[<port_num>]<transition> triggers too

fast
Cause:
The value of a port changes too frequently. Due to system overhead

it is not guaranteed that all the flips are detected. This occurs
for example if a $DIN passes from 1 to 0 and to 1 again in a time
interval of 30 milliseconds.
Remedy:
Change the I/O event on that port in a I/O state condition.
27648 14-FATAL File ERROR.LOG not created
Cause:
The system tried to create the ERROR.LOG file because it is not

present on the RAM disk (RD:). The operation failed due to some RAM
disk problem. The most common problem is the RAM disk is full or
too many files are on the RAM disk.
Remedy:
Remove any unnecessary files (e.g., .BK*).
27649 14-FATAL File ERROR.LOG not found
Cause:
The system did not find the ERROR.LOG file that should be present
because it tried to create it.
Remedy:
Remove any unnecessary files (e.g., .BK*). Also check the system
variables $NUM_LOG and $LEN_LOG to see if they contain large values
and reduce them according to free space on the RAM disk.
27650 8-HOLD Renaming <file_name> in <file_name> error <error_num>
Cause:
The system found an ERROR.LOG file that does not match the current
file specification. The system needs to create a new ERROR.LOG file
but gets the reported error trying to save the old log file.
Remedy:
No user action is required. The system will recover by itself from

this error.
27651 8-HOLD Deleting file <file_name> error <error_num>
Cause:
The system tried unsuccessfully to delete an old saved version

(.BCK) of the ERROR.LOG file.
Remedy:
Check the specified file attribute and remove any protection.
27652 14-FATAL Cannot read ERROR.LOG
Cause:
The system found the ERROR.LOG file, but the file was corrupted.
Remedy:
The system will recover by renaming the corrupted file to a .BCK

version and creating a new version of the ERROR.LOG file. If not
needed, delete the .BCK file.
27653 14-FATAL Cannot open ERROR.LOG
Cause:
The system tried to create the ERROR.LOG file because it was not
present on the RAM disk or the system needs to create a new
version. The operation failed due to some RAM disk problem. The
most common problem is RAM disk full or too many files on the RAM
disk.
Remedy:
and reduce them according to the free space on the RAM disk.
27654 14-FATAL Cannot close ERROR.LOG
Cause:
The system tried to close the ERROR.LOG file but failed due to some
RAM disk problem. The most common problem is RAM disk full or too
many files on the RAM disk.
Remedy:
and reduce them according to the free space on the RAM disk.
27655 14-FATAL Cannot close ERROR.BCK
Cause:
The system tried to close the ERROR.BCK file, but failed due to
some RAM disk problem. The most common problem is RAM disk full or
too many files on the RAM disk.
Remedy:
Remove any unnecessary files (e.g., .BK*)
27656 8-HOLD Bad initial value of $NUM_ELOG
Cause:
The initialization value of the $NUM_ELOG system variable is

outside the allowable range.
Remedy:
Check the $NUM_ELOG system variable value and range, and set the
system variable to a proper number. Choosing a large value can
cause a RAM disk error if there is no room on the RAM disk to
create the file containing the specified $NUM_ELOG errors.
27657 8-HOLD Bad initial value of $LEN_ELOG
Cause:
The initialization value of the $LEN_ELOG system variable is

Remedy:
Check the $LEN_ELOG system variable value and range, and set the
system variable to a proper number. Choosing a large value can
cause a RAM disk error if there is no room on the RAM disk to
create the file containing the specified $LEN_ELOG errors.
27658 8-HOLD Bad initial value of $SEV_ELOG
Cause:
The initialization value of the $SEV_ELOG system variable is

Remedy:
Check the $SEV_ELOG system variable value and range, and set the
system variable to a proper number.
27659 14-FATAL RAM disk full for ERROR.LOG
Cause:
The system tried to create the ERROR.LOG file, but failed because
the RAM disk is full.
Remedy:
and reduce them according to free space on the RAM disk.
27660 14-FATAL Bad ERROR.LOG file size
Cause:
The system detected a wrong size of the ERROR.LOG file that is

probably corrupted.
Remedy:
The corrupted ERROR.LOG file must be deleted; restart then the

system so that the controller can create a new ERROR.LOG file with
the correct format and size.
28672 15-FATAL RBC diagnostic error:<error_num>
Cause:
The hardware test failed.
Remedy:
Replace RBC board.
28673 15-FATAL RBC RAM error add:<memory_address>
Cause:
The hardware test detected an error in RAM memory (local or

shared).
Remedy:
Replace RBC board.
28674 15-FATAL RBC no response from CPU <board_name>
Cause:
The hardware test failed during diagnostic handshake with the board
containing the microprocessor.
Remedy:
Replace the RBC board and/or the other CPU board.
28675 14-FATAL RBC aborted task <task_name>
Cause:
A task is stopped by the operating system due to an unrecoverable

error.
Remedy:
Restart the system software by powering off the electronics of the

controller. If the error happens again, re-load the system
software.
28676 15-FATAL RBC operating system failure
Cause:
The operating system stopped itself due to an unrecoverable error.
Remedy:

software.
28677 15-FATAL RBC SYSFAIL error
Cause:
One of the microprocessor boards on the rack signaled an error to

the other.
Remedy:
Replace the board with SYSF LED lighted.
28678 15-FATAL RBC WATCHDOG error
Cause:
System software is not working correctly, the security hardware

WATCHDOG circuit detected a software malfunction.
Remedy:
Re-load the system software or replace the RBC board.

28679 15-FATAL SCC:<servo_board_num> diagnostic error:<error_num>
Cause:
Remedy:
Replace SCC board.
28680 15-FATAL SCC: <servo_board_num> RAM error add:<memory_address>
Cause:
The hardware test detected an error in RAM memory (local or

shared).
Remedy:
Replace SCC board.
28681 15-FATAL SCC:<servo_board_num> No response from CPU <board_name>
Cause:
Remedy:
Replace the SCC board and/or the other CPU board.
28682 15-FATAL SCC: <servo_board_num> WATCHDOG error
Cause:
System software is not working correctly. The security hardware

Remedy:
28683 15-FATAL SCC: <servo_board_num> operating system failure
Cause:
Remedy:

controller. If the error happens again re-load the system software.
28684 15-FATAL SCC: <servo_board_num> SYSFAIL error
Cause:

the other.
Remedy:
28685 14-FATAL SCC: <servo_board_num> aborted task <task_name>
Cause:
A task is stopped by the operating system due to an unrecoverable

error.
Remedy:

software.
28686 15-FATAL PLC diagnostic error:<error_num>
Cause:
Remedy:
Replace the PLC board.
28687 15-FATAL PLC RAM error add:<memory_address>
Cause:
The hardware test detected an error in the RAM memory (local or

shared).
Remedy:
Replace PLC board.
28688 15-FATAL PLC No response from CPU <board_name>
Cause:
Remedy:
Replace the PLC board and/or the other CPU board.
28689 15-FATAL PLC WATCHDOG error
Cause:
System software is not working correctly. The security hardware

Remedy:
Re-load the system software or replace the PLC board.
28690 15-FATAL PLC operating system failure
Cause:
Remedy:

software.
28691 15-FATAL PLC SYSFAIL error
Cause:

the other.
Remedy:
28692 14-FATAL PLC aborted task <task_name>
Cause:
The system software is not working correctly. The security hardware

Remedy:
28693 11-DRIVE OFF Lack of power supply 24Vdc for the I/O
Cause:
A lack of the power supply 24Vdc for the I/O boards occurred. A
specific input of the SIM board detected the lack of current. This
can be either be due to a quick blackout or to the burn of a fuse
on the 24V line. In the first case, the CONTROL UNIT was not
powered down thanks to the presence of a backup condenser that
maintains the power for at least 5 seconds.
Remedy:
Verify if the 24Vdc is already absent trying to remove the alarm.

If the operation completes successfully, this means that a
temporary blackout occurred and nothing needs to be repaired. If
the alarm occurs again, the short-circuit must be found and removed
and the fuse must be replaced.
28694 11-DRIVE OFF Safety gate or Emergency STOP
Cause:
The input n. 4 on the SIM board is low. This means that the safety
gate was open or a remote emergency stop was pressed.
Remedy:
Close the safety gate to allow the DRIVE ON request.
28695 11-DRIVE OFF SCC: <servo_board_num> robot alarm
Cause:
The input n. 17 for the SCC 1 or n. 25 for the SCC 2 on the SIM
board is low during a DRIVE ON request. This means that the alarm
cable coming from the robot connected to SCC 1 or 2 is open,
normally this input is used by an application device to signal
malfunctions to the robot controller.
Remedy:
Check external device connected to this alarm input; or check the

related by-pass link that can be on the controller or the robot
connectors.
28696 11-DRIVE OFF SCC: <servo_board_num> safety flange open
Cause:
The input n. 18 for the SCC 1 or n. 26 for the SCC 2 on the SIM
board is low during a DRIVE ON request. This means that the tool on
the robot collided with something.
Remedy:
Check the tool and the robot position. To remove the robot from the
unsafe position, press the EXCL (flange alarm exclusion) key on the
TP, switch on the drives, and move the robot slowly and carefully.
If you do not use the safety flange equipment on the robot, check
the related by-pass link that can be on the controller or the robot
connectors.
28697 10-DRIVE OFF SCC: <servo_board_num> air pressure fault
Cause:
The input n. 19 for the SCC 1 or n. 27 for the SCC 2 on the SIM is
low during a DRIVE ON request. This means that there is not enough
air pressure to balance the robot or for the application device.
Remedy:
Check the air supply and determine if the robot does not use air.
Check close loop on X30 connector.
28698 10-DRIVE OFF Cabinet cooling failure
Cause:
The input n. 6 on the SIM is low. This means that the air filter
needs to be cleaned or the conditioner does not work.
Remedy:
Clean the air filter behind the cabinet or, if present, check the
conditioner.
28699 2-WARNING DRIVE ON lamp broken
Cause:
One of the DRIVE ON lamps in the system is broken.
Remedy:
Check and replace the lamp.
28700 2-WARNING Cabinet overtemp pre-alarm
Cause:
The temperature inside the cabinet is reaching the working limit.
Remedy:
Check the air cooling circuit components. If components are working

properly, the work cycle of the robot is too heavy or the external
temperature is too high.
28701 10-DRIVE OFF Cabinet overtemperature
Cause:
The temperature inside the cabinet is too high.
Remedy:
Check the air cooling circuit components. If components are working
properly, the work cycle of the robot is too heavy or the external
temperature is too high.
28702 8-HOLD Bad CONTROL UNIT battery
Cause:
The memory back-up battery on the CONTROL UNIT rack is low.
Remedy:
Replace the battery or check the charge circuit.
28703 10-DRIVE OFF Outp 1 relay short circuit
Cause:
The output 1 relay on the SIM board is always closed.
Remedy:
Replace the SIM board.
28704 10-DRIVE OFF Outp 1 relay fail
Cause:
The output 1 relay on the SIM board doesn't work.
Remedy:
Check the 24V supply. If the 24V supply is OK, then replace the SIM
board.
28705 10-DRIVE OFF Alarms inhibit relay fail
Cause:
The relay to inhibit alarms on the SIM board does not work.
Remedy:
Replace the SIM board.
28706 10-DRIVE OFF Reduced speed relay fail
Cause:
The relay to reduce supply to motor drives does not work.
Remedy:
Check reduced speed circuit.
28707 11-DRIVE OFF Safety chain circuit open
Cause:
One or more contacts of the safety chain circuit are open. The
relay that powers the motor drives cannot remain closed.
Remedy:
Some checks must be performed for understanding what caused the

problem. Check the Control Panel SAFETY STOP button and also the
one on the Teach Pendant (if connected): both buttons must be
released. Check the plugs of the connectors of the Teach Pendant
and of the Emergency Terminal on the Control Panel: both must be
correctly inserted. Check the SFT leds present on RBC, SCC boards
or on one of the DRIVES module: if red lighted, this could either
be due to a software problem (check if logged on the controller
system screen), or to a hardware one (please consult the electrical
scheme provided with the controller). Check that the stroke end
cable and its switch on the robot are not broken. Check that the
plug needed for the unused axes that is located on the multiple
axis DRIVES module is not broken.
28708 10-DRIVE OFF SCC: <servo_board_num> power relay short circuit
Cause:
The relay to supply power to the motor drives is closed (not due to
the software command) on the related output of the SIM board.
Remedy:
Check the SIM output, the connection, and the relay. Replace the
bad component(s).
28709 10-DRIVE OFF Reduced speed short circuit
Cause:
The reduced speed relay is always closed.
Remedy:
Check reduced speed relay.
28710 10-DRIVE OFF Drives communication fail
Cause:
The RBC board did not receive an answer to the command sent to
DRIVES modules through the SCC board.
Remedy:
Check the SCC board and the serial connection from the SCC to
DRIVES modules or reset DRIVES modules.
28711 10-DRIVE OFF START failure
Cause:
The RBC board cannot correctly complete the START procedure because
the SCC board did not reply.
Remedy:
Check the SCC board or reset the system.
28712 10-DRIVE OFF HOLD failure, STS:<status_bits>
Cause:
The RBC cannot complete the HOLD procedure correctly.
Remedy:
28713 10-DRIVE OFF No answer from SCC during <command_type> command

(phase:<number>)
Cause:
The RBC board did not receive an answer to the command sent to the
SCC board during a DRIVE-ON or DRIVE-OFF procedure. The number of
the procedure phase is specified.
Remedy:
28714 10-DRIVE OFF CP switch fault,

STS:<AUTO_T_bit><PROG_bit><AUTO_bit><REMOTE_bit>
Cause:
The PROGR/AUTO switch on the control panel does not work correctly.
There is more than one signal at the same time. This means that
the switch position is ambiguous.
Remedy:
Check the PROGR/AUTO switch or connection with the control panel

electronic board.
28715 2-WARNING $TUNE[<index>] value out of range

Cause:
One or more elements of $TUNE has an invalid value.
Remedy:
Check the manual for the valid range or check the C3G.SYS file.
28716 2-WARNING Arm <arm_num> not calibrated
Cause:
Motion was started on an arm that is not calibrated.
Remedy:
Try to recover the calibration data before running the calibration

tool. Check to see if the arm should be calibrated or the
calibration data can be loaded from the RPT.
28717 2-WARNING HOLD from PDL2 statement
Cause:
One of the PDL2 programs sent a HOLD command to the system.
Remedy:
Release the HOLD by pressing the HOLD button on control panel or

the teach pendant.
28718 2-WARNING Release 'Hold-To-Run' on TP
Cause:
The TP Hold-To-Run switch was pressed when processing a DRIVE ON

request.
Remedy:
The Hold-To-Run switch must be released before requesting DRIVE ON

or release and press it again after the DRIVE ON request is
completed. The system must check to see if it works at every DRIVE
ON request.
28719 2-WARNING TP presence switch on
Cause:
The TP Hold-To-Run switch was pressed while the TP is on the

cabinet. This is also a safety test for revealed TP presence switch
malfunction.
Remedy:
Remove the TP from the cabinet if you want to use a MANUAL MOTION
feature that requires the Hold-To-Run switch or check if the TP
presence switch is working correctly.
28720 2-WARNING DRIVE ON not allowed in ALARM state
Cause:
The system received a DRIVE ON request in ALARM state.
Remedy:
Remove the ALARM before pressing the DRIVE ON button.
28721 2-WARNING DRIVE ON not allowed in HOLD state
Cause:
The system received a DRIVE ON request in HOLD state.
Remedy:
Remove the HOLD before pressing the DRIVE ON button.
28722 2-WARNING DRIVE ON allowed from TP only
Cause:
The system received a DRIVE ON request with the PROGR/AUTO switch

in the PROG position.
Remedy:
Use the DRIVE ON button on the teach pendant while in PROG mode.
28723 2-WARNING DRIVE ON allowed from CP only
Cause:
The system received a DRIVE ON request with the PROGR/AUTO switch

in the AUTO-LOCAL position.
Remedy:
Use the DRIVE ON button on the control panel while in AUTO-LOCAL

mode.
28724 2-WARNING DRIVE ON allowed from REMOTE only
Cause:
The system received a DRIVE ON request with PROGR/AUTO switch in

the AUTO-REMOTE position.
Remedy:
Use a DRIVE ON request from the remote device while in AUTO-REMOTE

mode.
28725 2-WARNING START not allowed in ALARM state
Cause:
The system received a START request in ALARM state.
Remedy:
Remove the ALARM before issuing the START request.
28726 2-WARNING START not allowed in HOLD state
Cause:
The system received a START request in HOLD state.
Remedy:
Remove the HOLD before issuing the START request.
28727 2-WARNING START allowed from TP only
Cause:
The system received a START request with the PROGR/AUTO switch in

the PROG position.
Remedy:
Use the START button on the TP.
28728 2-WARNING START allowed from CP only
Cause:

the AUTO-LOCAL position.
Remedy:
Use the START button on the control panel.
28729 2-WARNING START allowed from REMOTE only
Cause:

the AUTO-REMOTE position.
Remedy:
Issue the START request from the remote device.
28730 2-WARNING No arm enabled for DRIVE ON
Cause:
All arms are disabled, you cannot issue a DRIVE ON request for a
disabled arm.
Remedy:
Enable the arms before pressing the DRIVE ON button.
28731 2-WARNING Arm already in DRIVE ON
Cause:
The system received a DRIVE ON request for an arm that is already

in DRIVE ON.
28732 2-WARNING Arm already in DRIVE OFF
Cause:
The system receive a DRIVE OFF request for an arm that is already
in DRIVE OFF.
28733 10-DRIVE OFF SIM inp20 failure
Cause:
The feedback input of the power relay does not work correctly.
Remedy:
Check the power relay and the connection to the SIM board.
28734 10-DRIVE OFF SIM inp20 noise
Cause:
The feedback input of the power relay gets noise (too many fast
status changes.)
Remedy:
Check the power relay and the connection to the SIM board.
28735 2-WARNING DRIVE ON disallowed in recovery or restart
Cause:
The system received a DRIVE ON request during the power failure
recovery or restart procedure.
Remedy:
Please wait until the end of the recovery procedure or restart

procedure before pressing the DRIVE ON button.
28736 2-WARNING START not allowed during recovery
Cause:
The system received a START request during the power failure

recovery procedure.
Remedy:
Please wait until the end of recovery procedure before issuing the
START request.
28737 2-WARNING Power failure recovery failed
Cause:
The RBC cannot complete the power failure recovery procedure.
Remedy:
Check the SCC board or the physical condition of the arm.
28738 2-WARNING DRIVE OFF due to arm changed in PROG
Cause:
Arm selection changed while DRIVE ON. Only the arm selected can be
in DRIVE ON. In PROG, the system switches the previous arm to
DRIVE OFF.
28739 2-WARNING DRIVE ON not allowed with CP DRIVE OFF
Cause:
The system received a DRIVE ON request while the control panel

DRIVE OFF button is in the latched position.
Remedy:
Unlatch the DRIVE OFF button on the control panel.
28740 2-WARNING DRIVE ON not allowed with TP DRIVE OFF
Cause:
The system received a DRIVE ON request while the teach pendant
DRIVE OFF button is in the latched position.
Remedy:
Unlatch the DRIVE OFF button on the teach pendant.
28741 2-WARNING DRIVE ON not allowed with REMOTE DRIVE OFF
Cause:
The system received a DRIVE ON request while the REMOTE DRIVE OFF
is active.
Remedy:
Remove the REMOTE DRIVE OFF.
28742 2-WARNING DRIVE ON allowed in AUTO state only
Cause:
The system received a LOCAL ARM CONTROL PANEL command in PROG

state.
Remedy:
Change the PROGR/AUTO switch to AUTO-LOCAL or AUTO-REMOTE.
28743 2-WARNING DRIVE ON not allowed with ARM CP DRIVE OFF
Cause:
The system received a LOCAL ARM CONTROL PANEL command for an arm
that has DRIVE OFF.
Remedy:
Release the DRIVE OFF before the DRIVE ON request.
28744 2-WARNING START allowed in AUTO state only
Cause:
The system received LOCAL ARM CONTROL PANEL command in PROG state.
Remedy:
Change the PROGR/AUTO switch to AUTO-LOCAL or AUTO-REMOTE.
28745 2-WARNING START not allowed with ARM CP HOLD
Cause:
that is in a HOLD state.
Remedy:
Release the HOLD before issuing a START request.
28746 2-WARNING ARM CP command for arm not present
Cause:
that does not exist.
28747 2-WARNING DRIVE ON not allowed on disabled arm
Cause:
The system received a DRIVE ON request for a disabled arm.
Remedy:
Enable the arm before issuing the DRIVE ON request.
28748 2-WARNING START with arm in DRIVE OFF
Cause:
The system received a START request with DRIVE OFF status.
Remedy:
The START is completed only when the robot can move. Issue a DRIVE
ON request before the START.
28749 10-DRIVE OFF RIO link cable fail
Cause:
The RIO board link cable is disconnected.
Remedy:
Check the connector on RIO board.
28750 10-DRIVE OFF RIO communication time-out
Cause:
The RIO board lost connection with the PLC.
Remedy:
Check connection between the RIO board and the PLC or check the PLC
status.
28751 2-WARNING DRIVE ON not allowed with RIO DRIVE OFF
Cause:
The system received a DRIVE ON request with DRIVE OFF from the RIO
board.
Remedy:
Remove the DRIVE OFF status from the RIO board.
28752 2-WARNING Another network command in progress
Cause:
The system received a command from a network while it was executing

another command.
Remedy:
The network has to wait for an answer from the previous command
before sending another.
28753 2-WARNING DRIVE ON aborted
Cause:
The DRIVE ON request from the network is aborted by a local DRIVE

OFF request.
Remedy:
Send another DRIVE ON request.
28754 2-WARNING Unknown command from network
Cause:
The system received an unknown command from the network.
28755 2-WARNING Status not in ALARM
Cause:
The system received a CANCEL ALARM command from the network when it
is not in an ALARM state.
28756 10-DRIVE OFF Too many interrupts from RIO line
Cause:
The system received too many interrupts from the RIO line.
Remedy:
Check the RIO board.
28757 2-WARNING DRIVE ON not allowed on simulated arm
Cause:
The system received a DRIVE ON request for an arm that is in a

simulated state.
Remedy:
Unsimulate the arm before issuing the DRIVE ON request.
28758 2-WARNING START not allowed on simulated arm
Cause:
The system received a START command in PROG state for an arm that
is in a simulated state.
Remedy:
Unsimulate the arm before issuing the START command in PROG state
to confirm execution of MOVE statement.
28759 2-WARNING BACK not allowed on simulated arm
Cause:
The system received a BACK command for an arm that is in a

simulated state.
Remedy:
Unsimulate the arm before issuing the BACK command.
28760 2-WARNING START from CP allowed in AUTO-L
Cause:
The system received a START request while in the PROG state but
without an active execution environment (program edit, memory
debug, immediate execution). Therefore, the system assumed that the
user wants to START a program but forgot to put the PROGR/AUTO
switch in the AUTO-LOCAL position.
Remedy:
Put the PROGR/AUTO switch into the AUTO-LOCAL position if you want
to start a program.
28761 2-WARNING Forward motion not allowed without stroke-end
Cause:
Forward motion using the START button is not allowed as the

stroke-ends are disabled.
Remedy:
Issue a HOLD or DRIVE OFF request to reenable the stroke-ends.
28762 2-WARNING Backwards motion not allowed without stroke-end
Cause:
Backwards motion using the BACK button is not allowed as the

stroke-ends are disabled.
Remedy:
Issue a HOLD or DRIVE OFF request to reenable the stroke-ends.
28763 2-WARNING Press START after Hold-To-Run
Cause:
The START button on the TP is already pressed when you press the
Hold-To-Run. The controller checks the START button release
position every time you press Hold-To-Run to avoid motion due to
START button malfunction.
Remedy:
If you are pressing the START button just release it and press
START again after pressing the Hold-To-Run switch, otherwise check
the START button functionality.
28764 2-WARNING Press BACK after Hold-To-Run
Cause:
The BACK button on the TP is already pressed when you press the
Hold-To-Run switch. The controller checks the BACK button release
position every time you press Hold-To-Run to avoid motion due to
BACK button malfunction.
Remedy:
If you are pressing the BACK button just release it and press BACK
again after pressing the Hold-To-Run switch, otherwise check BACK
button functionality.
28765 2-WARNING Press jog key after Hold-To-Run

Cause:
One or more jog buttons (1+,1-,2+,...) on the TP are pressed when

you press the Hold-To-Run. The controller checks the jog button
release positions every time you press Hold-To-Run to avoid motion
due to jog button malfunction.
Remedy:
If you are pressing any jog buttons just release them and press
them again after pressing the Hold-To-Run switch, otherwise check
jog buttons functionality.
28766 2-WARNING DRIVE ON not allowed during DRIVE OFF
Cause:
The system received a DRIVE ON request during a DRIVE OFF

procedure.
Remedy:
Wait until DRIVE OFF procedure completes, then reissue the DRIVE ON
request.
28767 2-WARNING DRIVE ON not allowed without Hold-To-Run
Cause:
The system received a DRIVE ON request with Hold-To-Run released.

The predefined variable $CNTRL_INIT configures Hold-To-Run as DRIVE
OFF when released. With C3G PLUS the Hold-To-Run must pressed
before DRIVE ON button in PROG state.
Remedy:
Use the DRIVE ON button while pressing Hold-To-Run on the TP.
28768 2-WARNING DRIVE ON not allowed with NIO DRIVE OFF
Cause:
The system received a DRIVE ON request with DRIVE OFF from the NIO
feature running on the SINEC board.
Remedy:
Remove the DRIVE OFF signal from the NIO feature issuing a proper
host command to the SINEC board.
28769 10-DRIVE OFF Too many interrupts from NIO feature
Cause:
The system received too many interrupts from the NIO feature on the
SINEC board.
Remedy:
Check the connection to the SINEC board or host commands.
28770 10-DRIVE OFF SIM/IOS boards signals change too fast
Cause:
The system software read signals from the SIM or IOS board that are
changing too fast, at least every 10 mSec. The system can't execute
commands from remote devices at this speed.
Remedy:
Check connection to the SIM/IOS board or source of signals (PLC).
28771 10-DRIVE OFF SINEC communication fail
Cause:
The SINEC board does not work correctly.
Remedy:
Check the SINEC setup parameters or cables connected to the SINEC

board.
28772 2-WARNING Cannot change ARM in a single arm system
Cause:
The user pressed the ARM button on the teach pendant but the system
only has one arm.
Remedy:
Do not use ARM button in a single arm system.
28773 2-WARNING Arm not configured; DRIVE ON not allowed
Cause:
The controller received a DRIVE ON request for an arm that is not

configured.
Remedy:
Configure the arm with the PDL2 tool program before issuing the
DRIVE ON request.
28774 10-DRIVE OFF Power failure detected

Cause:
The controller detected a power failure.
Remedy:
This alarm is used to mark the power failure event in the ERROR.LOG
file.
28775 0-INFO [<time>] received <command> remote command from <source>

board
Cause:
The controller received a command from one of the REMOTE devices.

This message is used as a trace of the REMOTE commands received on
the robot controller from a PLC or HOST COMPUTER. The possible
commands are: DRIVE-ON, DRIVE-OFF, START, and HOLD. For systems
with multiple arms, the MOTORON, MOTOROFF, RUN, and STOP commands
are also defined. The remote command sources are: * ** SIM: board
(system i/o module) that performs remote interfacing * through
digital (24V) I/O. These signals are available on the X30 *
connector of the controller cabinet. ** IOS: option board, an
extension of the SIM's system I/O to allow separate * commands
for a multiarm system. This board is based on a standard 24V *
digital I/O board (IOM) with a special hardware configuration on
its * connector. The * IOS board can control up to 2 servo
boards (SCC) through two groups * of MOTORON, MOTOROFF, RUN and
STOP commands. * The I/O signals are available on the J21
connector of the controller * cabinet. ** RIO: option board that
allows remote connection through one high speed * serial line to
an ALLEN BRADLEY PLC. The serial line is * available on a
connector on the controller cabinet. ** NIO: software feature that
is on SINEC H1 board; this board allow LAN * connection with
SIEMENS PLC. * The line is available on releated connector on
the front of the board. ** Network: software option that is
provided on a MVE147 board. The system * receives commands
through a LAN NETWORK based on the TCP/IP * protocol. The
commands can be from other * computers (UNIX based) for example
a SUN WORK-STATION. * The line is available on a connector on
the front of the board. ** IBS SL: INTERBUS-S slave interface that
allow C3G to be a device on an * Interbus-s industrial network.
The purpose of the Interbus-s is to have * a serial network
instead of digital I/O to connect the devices in an * industrial
plant. ** DP SL: is the slave interface to the PROFIBUS DP SL.
28776 2-WARNING Remove <local_command> to go to AUTO-R
28777 2-WARNING TP EXCL enabled in PROG only
Cause:
The EXCL key present on the TP can only be used when the state of
the controller is PROG.
Remedy:
Please check the CP/TP switches in order to enter the PROG state.
28778 10-DRIVE OFF Too many commands from IBS SL or DP SL
Cause:
The system received too many commands from the INTERBUS-S or the
PROFIBUS DP slave remote interface. The C3G system can't execute
commands from remote devices at this rate.
Remedy:
Check the commands issued from the INTERBUS or PROFIBUS DP master

to the C3G or the connection to the C3G-IBS, C3G-EIM, C3G-SL2 or
C3G-PFDP board.
28779 10-DRIVE OFF Test ON on IBS/DP/DVN
Cause:
The test mode for INTERBUS-S or PROFIBUS DP or DEVICE NET slave

remote interface has been enabled by $RIO_INIT[1] system variable
or by a jumper on the test connector placed on the front panel of
the C3G-IBS or C3G-SL2 board. During this phase, the IBS or SL2
boards ignore remote commands.
Remedy:
No remedy as this is just an informative message.
28780 2-WARNING Test OFF on IBS/DP/DVN board
Cause:
The test mode for INTERBUS-S or PROFIBUS DP or DEVICENET slave

remote interfaces has been disabled by $RIO_INIT[1] system variable
or by a jumper on the test connector placed on the front panel of
the C3G-IBS or C3G-SL2 board. The interface to the fieldbus is now
enabled to receive remote commands.
Remedy:
No remedy as this is just an informative message.
28781 2-WARNING RIO/IBS/DP board changed: reconfigure
Cause:
One of serial remote communication boards is changed during power

off. Normally the controller has the "power failure recovery"
feature enabled, in this case the software driver remains
configured for the other board and cannot work with the new board
without a new configuration.
Remedy:
Run the configuration tool for the RIO/IBS/DP board.
28782 2-WARNING SHIFT-ARM allowed with DRIVE-OFF only
Cause:
The SHIFT-ARM TP key pressure is only enabled when the controller

is in DRIVE-OFF state.
Remedy:
Issue a DRIVE-OFF either from the CP or TP button for enabling the

SHIFT-ARM key.
28783 14-FATAL Board IBS failed
Cause:
A failure occured while accessing the IBS board. This can occur
when the IBS board has been removed while the controller power was
off before restarting the controller in power failure recovery or
when the INTERBUS-S network handling processor is not ready after a
200mS time-out.
Remedy:
After the controller startup, make sure the READY LEDs on the board
are lighted. If they are not then check the proper IBS SL annex on
its connectors. If you want to remove the IBS board from the
controller perform a cold restart of the controller to clear the
IBS board configuration. If the board is present but this error
still appears then replacement of the board is necessary.
28784 2-WARNING MMUX: not configured option
Cause:
A command from a PDL2 program to the C3G-MMUX was issued but the
actual controller is not configured with the MMUX (Motor
Multiplexer).
Remedy:
If the C3G-MMUX is present in the cabinet, check that the

controller configuration declares the presence of this option. If
the C3G-MMUX is not present, don't issue the AUX_MMUX built-in.
28785 2-WARNING MMUX: command in progress
Cause:
You are requesting a command to the C3G-MMUX while another one is

still in progress.
Remedy:
Wait for the end of the first command and then issue again the
refused one.
28787 2-WARNING MMUX: DRIVE-ON/OFF in progress
Cause:
A C3G-MMUX command was issued while a DRIVE-ON or OFF command was

in progress.
Remedy:
Issue again the C3G-MMUX command when no DRIVE-ON/OFF command is in

progress.
28788 2-WARNING MMUX: Power failure recovery in progress
Cause:
The system received a C3G-MMUX command while a power failure

recovery operation was in progress.
Remedy:
Issue again the C3G-MMUX command after the end of the recovery
session.
28792 2-WARNING MMUX: already in requested status
Cause:
A C3G-MMUX command (ON or OFF) was received when the MMUX already
was in that state.
Remedy:
Don't issue the command if you already are in the correct state.
28793 2-WARNING MMUX: command aborted by DRIVE-OFF
Cause:
A DRIVE-OFF command occurred during the execution of a C3G-MMUX

command; the higher priority of the DRIVE-OFF command aborted the
C3G-MMUX one.
Remedy:
Don't issue a DRIVE-OFF when a C3G-MMUX command is in progress.
28794 10-DRIVE OFF MMUX: relays failure - Cmd:<input_bits>

Sts:<input_bits>
Cause:
Something is wrong on the relays of the MMUX, the feedback inputs

on the IOM board are not in the expected state.
Remedy:
Check the C3G-MMUX module and the connection to the first IOM board
on the CONTROL UNIT rack.
28795 10-DRIVE OFF MMUX: procedure <procedure name> failure

(phase:<number>)
Cause:
The RBC board cannot correctly complete the execution of AUX_MMUX

commands (MMUX_ON, MMUX_OFF, MMUX_SET).
Remedy:
Check the SCC board and the C3G-MMUX motor multiplexer device or
reset the system.
28796 2-WARNING BACK with arm in DRIVE OFF
Cause:
The system received a BACK request with DRIVE OFF status.
Remedy:
The BACK is allowed only when the robot can move. Issue a DRIVE ON
request before the BACK.
28797 2-WARNING START/BACK allowed while EDIT or Execute active
Cause:
The system received a START or a BACK request, in PROG state, when

the EDIT or the Execute command were not active.
Remedy:
The START or BACK are allowed when an EDIT session or the Execute
command are active. These functions are used in PROG state to
enable the motion after a move instruction has been issued to the
system.
28798 2-WARNING Arm <arm_num> needs a Turn Set operation
Cause:
It is not possible to execute MOVE instructions when the arm needs

the turn-set operation.
Remedy:
Turn-set the arm before executing MOVE instructions.
28799 2-WARNING AUX_SET: not configured option
Cause:
An AUX_SET built-in was issued on a system not configured for this

option.
Remedy:
The AUX_SET built-in is only allowed on specific configurations of

robots having auxiliary axes. Check if the configuration is correct
or, if needed, ask for a new configuration file.
28800 2-WARNING AUX_SET built-in in progress
Cause:
You are requesting a command that is not allowed during the

execution of the AUX_SET PDL2 built-in. Possible commands that are
not allowed contemporarely to the AUX_SET built-in are: DRIVE ON,
AUX_MMUX and AUX_SET built-ins.
Remedy:
Wait for the completion of the first command before issuing again
the refused one. If needed, try to syncronize those processes that
could cause the contemporaneus issuing of commands.
28801 2-WARNING AUX_SET not allowed during other commands
Cause:
An AUX_SET built-in has been issued from a PDL2 program while

another incompatible command on motors was in progress. The AUX_SET
built-in cannot be executed while one of the following procedures
is in progress: DRIVE ON and DRIVE OFF commands, AUX_MMUX built-in,
activation and deactivation of "energy saving" state, power failure
recovery.
Remedy:
Issue again the AUX_SET built-in when no other incompatible command

is in progress. Try to synchronize the program that executes the
AUX_SET built-in with processes that issue the other commands.
28802 10-DRIVE OFF AUX_SET: procedure <procedure name> failed

(phase:<number> err:<error_num>)
Cause:
The RBC board cannot correctly complete the AUX_SET built-in
execution.
Remedy:
Check the situation and contact COMAU.
28803 10-DRIVE OFF Internal security test failed on <module>
Cause:
The test on the internal security circuit detected a failure. The

safety relays of the RBC2, SCC2, SAU2 modules are checked at each
DRIVE OFF.
Remedy:
Issue a restart and DRIVE-ON followed by a DRIVE-OFF. If the error

still occurs, substitute the module indicated by the error message.
Also check the link between modules (cables and connectors).
28804 8-HOLD Overheating SAU2 softstart circuit
Cause:
The execution of many DRIVE-ON commands in a short time interval

caused the overheating of the power resistance in the softstart
circuit of drives (SAU2).
Remedy:
Wait some minutes so that the resistance can cool down and avoid,
if possible, to execute many closed DRIVE-ON commands.
28805 2-WARNING DRIVE ON not allowed with IBS/DP/DVN DRIVE OFF
Cause:
The system received a DRIVE ON request with DRIVE OFF from the
IBS/DP/DVN board.
Remedy:
Remove the DRIVE OFF status from the IBS/DP/DVN board.
29696 0-INFO Not enough window space
Cause:
There are too many display command windows active on screen.
Remedy:
Close one or more windows that you do not need at the same time.
29697 0-INFO Too many parameter
Cause:
More parameters were specified than required in display command.
Remedy:
Check the command and remove extra parameter(s).
29698 0-INFO Bad start of range
Cause:
The start of range value (eg: 1..5) is not a valid value.
Remedy:
Check if the start value is bigger than the stop value or an

out-of-range number.
29699 0-INFO Bad end of range
Cause:
The stop of range value (eg: 1..5) is an invalid value.
Remedy:
Check if the stop value is smaller than the start value or an

out-of-range number.
29700 0-INFO Range too large
Cause:
The range specified is too large to fit into the display window.
Remedy:
Split the range into more groups and specify one at a time.
29701 0-INFO Invalid parameter
Cause:
An invalid parameter was specified in a display command.
Remedy:
Check the manual to determine the proper parameter specification

for that command.
29702 0-INFO CURSOR DOWN sel,ENTER closes,PREV ends
Cause:
This is a help message to describe how to use the DISPLAY CLOSE

SELECT (DCS) command.
Remedy:
The down arrow key is used to move the red line though the
displays. To close the display, press the ENTER key. To exit from
the command, press the PREV key.
29703 0-INFO Program already displayed
Cause:
The program is already displayed in a display window.
Remedy:
Check the current display windows for the program.
29704 0-INFO Bad arm number
Cause:
Invalid arm number specification in a DISPLAY command requiring an

arm number.
Remedy:
Check to see if the arm exists.
29705 0-INFO Display already active
Cause:
The display required is already active on the screen.
Remedy:
To change display characteristics, close the current display first.
29706 0-INFO No display active
Cause:
The DISPLAY CLOSE SELECT (DCS) command was issued without any
active display windows on the screen or all active displays have
just been closed.
Remedy:
There is not a problem, the command automatically terminates
because there are no active display windows.
29707 0-INFO Bad $DIN index
Cause:
The $DIN index specified does not exist.
Remedy:
Check the I/O configuration to determine the valid $DIN indices.
29708 0-INFO Bad $DOUT index
Cause:
The $DOUT index specified does not exist.
Remedy:
Check the I/O configuration to determine the valid $DOUT indices.
29709 0-INFO Bad sysvar display period
Cause:
The predefined variable $TUNE[15] has a value that is out of range.

The valid range is from 100 to 60000 milliseconds. If an invalid
value is specified, the default time of 1000 ms is used.
Remedy:
Check that the value of the predefined variable $TUNE[15] is within

the valid range.
29710 0-INFO Bad sysvar CRT display max lines
Cause:

The valid range is from 0 to 16 lines. If an invalid value is
specified, the default of 16 lines is used.
Remedy:

the valid range.
29711 0-INFO Display commands disabled
Cause:
One of the DISPLAY group of commands has been issued when the
$TUNE[15] value was set to 0, that means that the commands of this
group are disabled.
Remedy:
Set the value of $TUNE[15] to 1000, for enabling the DISPLAY

refresh every second.
29712 0-INFO Bad sysvar TP display max lines
Cause:

The valid range is from 0 to 4 lines. If an invalid value is
specified, the default of 4 lines is used.
Remedy:

the valid range.
29713 0-INFO Bad separator, use '-' or '..'
Cause:
An invalid separator was used in the parameter string.
Remedy:
Use a valid separator which is '..' for ranges and '-' for single
numbers.
29714 0-INFO Invalid parameter character
Cause:
An invalid character was used in the parameter string.
Remedy:
Check the parameter syntax in the manual.
29715 0-INFO Two Arm windows already active; close one
Cause:
The DISPLAY ARM (DA) command can work only on two windows at the
same time. A DISPLAY ARM command was issued on another arm number
with two arm windows already active.
Remedy:
Close one of the arm windows with the DISPLAY CLOSE SELECT (DCS)
command or close all the arm windows with the DISPLAY CLOSE ARM
(DCA) command before reissuing the DISPLAY ARM command.
29716 0-INFO FBus Master boards not present
Cause:
The DISPLAY FIELDBUS MASTER (DFM) command was issued without any
Fieldbus Master boards present.
Remedy:
There is not a problem, the command automatically terminates.
29717 0-INFO FBus Slave boards not present
Cause:
The DISPLAY FIELDBUS SLAVE (DFS) command was issued without any
Fieldbus Master boards present.
Remedy:
There is not a problem, the command automatically terminates.
30720 2-WARNING Device <id> cannot be read
Cause:
The specified device from which the user should be able to READ
could not be found. This error occurs at initialization time when
devices are searched for and analyzed.
Remedy:
Please contact Comau.
30721 2-WARNING Device <id> cannot be written to
Cause:
The specified device to which the user should be able to WRITE

could not be found. This error occurs at initialization time when
devices are searched for and analyzed.
Remedy:
30722 4-PAUSE Device type unknown
Cause:
The device specified by the user is known but its type is unknown.
Remedy:
30723 2-WARNING Write device <id> not found
Cause:
The specified device could not be found at startup.
Remedy:
30724 10-DRIVE OFF No memory for device table
Cause:
There are insufficient memory resources for creating the device

table.
Remedy:
Check that the value of $NUM_DEVICES is not too large.
30725 10-DRIVE OFF No memory for trace buffer
Cause:
There are insufficient memory resources for creating the trace

table.
Remedy:
Check that the value of $NUM_TRACES is not too large.
30726 0-INFO Already tracing
Cause:
Tracing is already enabled so the reissue of the enable trace has

no effect.
Remedy:
This is only an informational message.
30727 10-DRIVE OFF No memory for chain call
Cause:
There are insufficient memory resources for creating the call chain
information used in PROGRAM VIEW (PV).
Remedy:
Remove code and/or data from memory and reissue the command.
30728 2-WARNING Pulse of non active program
Cause:
A PULSE completed after the program was deactivated and at the time
of the deactivation the PULSE could not be canceled.
Remedy:
This is only a warning. No action is needed.
30729 4-PAUSE Bad HAND state
Cause:
The requested HAND operation, due to a T1 or T2 TP key pressure,

failed because the HAND is either in the RELAX or the Undefined
state. This is due to the fact that T1 and T2 are used to toggle
between the opened and the closed states only, while for the
undefined and the relaxed state the the opposite state cannot be
determined from the outputs.
Remedy:
To correct this problem, explicitly change the state of the HAND by

OPENing or CLOSing it (via a PDL2 statement or the "Hand
Configuration Tool").
30730 4-PAUSE Bad HAND definition
Cause:
The definition of the type of HAND on the arm is invalid.
Remedy:
Correct the definition of $HAND_TYPE for the specific arm.
30731 10-DRIVE OFF General mapping failure
Cause:
A mismatch has been detected in the I/O mapping tables.
Remedy:
There is always another more significant error associated to this

one. Follow the suggestions described in the remedy section of the
associated error.
30732 10-DRIVE OFF IOpnt <num> BS: (<base>,<slot>) (<base>,<slot>)

overlapping
Cause:
Error when a specific input I/O point (e.g., $DIN[n] or $AIN[n]) is

included in the first module and also in the second. The error is
caused because either the logical table contains two digital input
modules mapped into the same position or two analog input modules
mapped into the same position.
Remedy:
Check the logical table at the specific position and correct the
error keeping in mind the mapping rules stated in the C3G
Operations Manual.
30733 10-DRIVE OFF IOpnt <num> BS: (<base>,<slot>) (<base>,<slot>)

mismatching
Cause:
Two boards have the same category of I/O points (digital or analog)
using the same index. It is not possible to have $DIN[33] and
$DOUT[33], nor to have $AOUT[45] and $AIN[45].
Remedy:
Check the logical table at the specific position and correct the
error keeping in mind the mapping rules stated in the C3G
Operations Manual.
30734 10-DRIVE OFF IOpnt <num> BS: (<base>, <slot>) no space in overlap
table
Cause:
The system can handle a limited number of overlapped I/O points.

This error indicates the limit is reached.
Remedy:
If possible, reduce the number of overlapped I/O points. If not,

please contact Comau.
30735 10-DRIVE OFF IOpnt <num> in group not mapped
Cause:
There is an I/O point defined in a group that does not come from
any board. This kind of error happens either when a group table is
configured before configuring the logical table or when some
changes are made to the logical table without checking the contents
of the group table.
Remedy:
Check the logical and group tables for the specific I/O position
and correct the error keeping in mind the mapping rules stated in
the C3G Operations Manual.
30736 10-DRIVE OFF IOpnt <num> in group already mapped
Cause:
The specific I/O point is defined as part of a group when it was

already defined in a previous group. An I/O point can only pertain
to one group.
Remedy:
Remove the specific I/O point from one of the groups.
30737 14-FATAL System error
Cause:
A system error occurred.
Remedy:
Please report this to Comau.
30738 14-FATAL System error Par <param>
Cause:
A system error of the specified number occurred.
Remedy:
30739 14-FATAL System error Par <param> <param>
Cause:
A system error of the specified number occurred with the specified

parameter.
Remedy:
30740 14-FATAL System error Pars <param> <param> <param>
Cause:

parameters.
Remedy:
30741 14-FATAL System error Pars <param> <param> <param> <param>
Cause:

parameters.
Remedy:
30742 14-FATAL System error Pars <param> <param> <param> <param> <param>
Cause:

parameters.
Remedy:
30743 0-INFO Error <error_num> in execution
Cause:
The specified error in the program being executed with PROGRAM EDIT
(PE) or MEMORY DEBUG (MD) occurred.
Remedy:
This is an informational message. Press CTRL C (^C) to remove the

red pop-up window and display more information about the error.
30744 4-PAUSE $FDOUT element is read only
Cause:
An attempt was made to write to a $FDOUT element which can only be

read.
Remedy:
Check and modify the $FDOUT element being accessed.
30745 0-INFO Program not active for information
Cause:
Information was requested about a program which is currently not

active.
Remedy:
30746 0-INFO Parameter variable not accessible
Cause:
An attempt was made to access a routine parameter variable for a

routine which is currently not in the call chain or which cannot be
found.
Remedy:
30747 4-PAUSE Local variable not accessible
Cause:
An attempt was made to access a routine local variable for a

routine which is currently not in the call chain or which cannot be
found.
Remedy:
30748 4-PAUSE $SDOUT element is read only
Cause:
An attempt was made to write to a $SDOUT element which can only be

read.
Remedy:
Check and modify the $SDOUT element being accessed.
30749 4-PAUSE Profile already disabled
Cause:
The profiling is already disabled so the disable command has no

effect.
Remedy:
30750 4-PAUSE Profile already enabled

Cause:
The profiling is already enabled so the enable command has no

effect.
Remedy:
30751 4-PAUSE Profile not enabled
Cause:
There is no profile information as the profiling has not been

enabled.
Remedy:
Enable the profile before viewing the data.
30752 2-WARNING Arm already used. Continue ?
Cause:
The arm upon which a program is being activated, already contains

programs. This message is given when activating a program which
contains the DETACH attribute.
Remedy:
This is a confirmational message. Responding "yes" will cause the

program to be activated.
30753 2-WARNING Arm ATTACHed. Continue ?
Cause:
There are outstanding motions already on the arm when a program

with the DETACH attribute is being activated.
Remedy:
This is a confirmational message. Responding "yes" will cause the

program to be activated.
30754 10-DRIVE OFF AIN/AOUT <num> BS: (<base>, <slot>) overlap grp area
Cause:
There is a board containing analog point(s) mapped into the logical

table in the first 32 reserved locations of the analog area.
Remedy:
Change the starting point value of the board containing the analog
point(s) keeping in mind the mapping rules stated in the C3G
Operations Manual.
30755 2-WARNING Found output point(s) overlap
Cause:
Two or more I/O points are overlapped. This means that a write
operation on one of these points has an effect on at least two
physical boards.
Remedy:
Check to see if the overlap was really needed. If not, remove one
keeping in mind the mapping rules stated in the C3G Operations
Manual.
30756 2-WARNING Program for /CONTEXT not active
Cause:
The /CONTEXT option was used with the EXECUTE (E) command but the
specified program is currently not active. /CONTEXT means access
the internal data of the specified program. In order for this to
work it is necessary for the program to be active.
Remedy:
Either activate the program or issue the EXECUTE command without

the /CONTEXT option.
30757 2-WARNING Program for /CONTEXT deactivated
Cause:
During an EXECUTE (E) command with the /CONTEXT option, the program
whose context is being used was deactivated along with the EXECUTE
command.
Remedy:
This is a warning message.
30758 10-DRIVE OFF BS: (<base>,<slot>) exceed max I/O position
Cause:
Some points of this board exceed the maximum allowed index number
in the current configuration.
Remedy:
Move the starting point of the board to a different place keeping

in mind the mapping rules stated in the C3G Operations Manual. Note
that, if the error happened with the software PLC, a way for adding
more I/O points is to insert the hardware PLC.
30759 2-WARNING Not ALL conds DISABLEd
Cause:
The DISABLE CONDITION ALL action did not disable all the conditions
belonging to the program.
Remedy:
Check to see if any of the conditions are currently being used

locally in a motion statement.
30760 2-WARNING Bad port characteristics for MOUNT
Cause:
While mounting certain protocols, the communication port

characteristics are important. For example, in order to be able to
use DDCMP the number of bits must be set to 8. This error occurs
when one or more port characteristics are invalid for the protocol
being mounted.
Remedy:
Check that the port characteristics are correct for the specified
protocol.
30761 2-WARNING Profile already reset
Cause:
The profiling was already reset so the PROGRAM TEST PROFILE RESET
(PTPR) command has no effect.
Remedy:
30762 2-WARNING Protocol already mounted
Cause:
An attempt was made to mount a protocol on a communication port and

the port already contains the protocol.
Remedy:
This is a warning. No action is necessary.
30763 4-PAUSE Different protocol mounted
Cause:
An attempt was made to mount a protocol on a communication port
which already contains a different protocol.
Remedy:
Check that a protocol can be mounted on the specified device and

that it does not already contain a protocol. If the communication
port already contains a protocol, issue the UTILITY COMMUNICATION
DISMOUNT (UCD) command and then reissue the MOUNT command.
30764 2-WARNING No protocol mounted
Cause:
An attempt was made to dismount a protocol and either no protocol

is mounted on the device or a protocol cannot be mounted on the
device.
Remedy:
Check the device name and that a protocol can be mounted. Check
that no protocol is mounted by issuing the UTILITY COMMUNICATION
VIEW (UCV) command on the device.
30765 4-PAUSE Bad DV_CNTRL code number
Cause:
The operation code specified in the DV_CNTRL routine call is

invalid.
Remedy:
Check for the valid codes in the PDL2 Language Manual.
30766 4-PAUSE Bad DV_CNTRL parameter
Cause:
The number of or size of a parameter passed to the DV_CNTRL

built-in routine is incorrect.
Remedy:
Check the DV_CNTRL description in the PDL2 Language Manual for

valid parameters for the type of operation code specified.
30767 4-PAUSE Bad DV_CNTRL data type
Cause:
The data type of a parameter passed to the DV_CNTRL built-in

routine is incorrect.
Remedy:
Check the description of DV_CNTRL in the PDL2 Language Manual for

parameter requirements for the type of operation code specified.
In particular check that the parameter is passed in the correct
reference mode (i.e., by value or by reference).
30768 4-PAUSE DV_CNTRL code not loaded
Cause:
The system software for the requested DV_CNTRL operation is not

loaded.
Remedy:
Check that the operation code is valid for the particular

controller configuration. If this seems correct, load the
appropriate software. Refer to the PDL2 Language Manual for a
description of DV_CNTRL.
30769 4-PAUSE DV_CNTRL operation not available
Cause:
The requested DV_CNTRL operation is currently not available.
Remedy:
Check that the operation code is valid for the particular

controller configuration. Refer to the PDL2 Language Manual for a
description of DV_CNTRL.
30770 4-PAUSE DV_CNTRL no memory resources
Cause:
There are insufficient memory resources for undertaking the

DV_CNTRL operation.
Remedy:
Remove some code or data from memory and reissue the DV_CNTRL
operation.
30771 10-DRIVE OFF Bad software load <sysdat 1> <sysdat 2> <sysdat 3>
Cause:
There is a mismatch in the loaded software. The three numerical

parameters contain internal system information which can be used to
determine the exact cause.
Remedy:
Check that the software was loaded correctly. Check for problems
with the distribution diskettes. If the problem still exists after
a reload, contact Comau.
30772 2-WARNING RIO not yet configured
Cause:
It is the first time the user inserted the RIO board into the C3G
controller and none of the predefined variable parameters are
configured.
Remedy:
Use the RI_INST utility to configure the RIO predefined variables

parameters.
30773 10-DRIVE OFF Bad RIO sysvar value(s)
Cause:
Some of the RIO predefined variables are initialized with bad

values.
Remedy:
Use the RI_INST utility to configure the RIO predefined variables

with the proper values.
30774 10-DRIVE OFF RIO communication fail detected
Cause:
The link cable between the Allen-Bradley PLC and the C3G controller
is damaged/broken or the C3G remote base is not configured on the
Allen-Bradley PLC.
Remedy:
Check the cable and verify the C3G remote base configuration on the
Allen-Bradley PLC.
30775 10-DRIVE OFF No memory for timer table
Cause:
There are insufficient memory resources for creating the timer

table.
Remedy:
Check that the value of $NUM_TIMERS is not too large.
30776 10-DRIVE OFF DP SL WATCH DOG err on <task_name>

Cause:
The system software is not working correctly and the security

software WATCHDOG mechanism detected the error. This error message
notifies the user which environment detected the failure.
Remedy:
Check that the value set with the RI_INST tool is correct.
30777 10-DRIVE OFF DP SL slave not ready
Cause:
The CP5480 system firmware does not enter in the active state when
the data exchange process is active.
Remedy:
Check the configuration setting: there could be a mismatch in some

parameters. Another reason could be the cable: check that the cable
link is properly connected to the master.
30778 2-WARNING DP SL not yet configured
Cause:
It is the first time the user inserted the C3G-SL2 or the C3G-PFDP
board into the C3G controller and none of the predefined variable
parameters have been configured yet.
Remedy:
Use the RI_INST utility to configure the L2/DP SL predefined

30779 10-DRIVE OFF Bad DP sysvar value(s)
Cause:
Some of the PROFIBUS DP Slave predefined variables are initialized

with wrong values.
Remedy:
Use the RI_INST utility to configure the PROFIBUS DP predefined

30780 10-DRIVE OFF DP SL communication fail
Cause:
The link cable between the Master partner and the C3G controller is
damaged, or the Master partner is no longer active.
Remedy:
Check the cable and verify the Master partner functionality.
30781 2-WARNING DP SL received <msg_id> msg
Cause:
The master sent the message reported as parameter.
Remedy:
Check the reason why it was sent.
30782 2-WARNING DP SL successfully started
Cause:
The C3G controller has successfully initializated the C3G-SL2

board. This is just an informative message sent to the user when
the link is established with the master partner.
30784 2-WARNING DP SL Station restarted
Cause:
The slave station has been restarted and does not respond to the
commands any more. This is just an informative message sent to the
user.
Remedy:
No remedy for the user, as it is a firmware problem on the CP5480

annex of the C3G-SL2 board. Please contact Comau.
30785 10-DRIVE OFF IBS SL communication fail
Cause:
The link cable between the C3G and the INTERBUS-S master is
damaged/broken or the INTERBUS-S master is not supplied.
Remedy:
Check the cable and verify the INTERBUS-S master status.
30786 2-WARNING DP SL cnfg error
Cause:
The master configuration of I/O does not match with the slave
configuration.
Remedy:
Check that the values set with the RI_INST tool are correct.
30787 2-WARNING DP SL parameters error
Cause:
The master data link parameters do not match with the slave ones.
The link speed or the slave identification number could be wrong.
Remedy:
Check that the values set with the RI_INST tool are correct.
30788 10-DRIVE OFF RIO communication fail: data overrun
Cause:
The link cable between the Allen-Bradley PLC and the C3G controller
is damaged/broken the C3G controller detect a temporary failure on
Allen-Bradley PLC connection.
Remedy:
Check the correct assembling and connection of cable bethwen C3G

and Allen-Bradley PLC.
30789 10-DRIVE OFF IBS-M: mailbox protocol timeout
Cause:
The annex on the IBS-M board doesn't answer to communication

protocol commands.
Remedy:
This is an internal firmware error, try a warm or cold restart and

please contact COMAU.
30790 2-WARNING IBS-M: $MASTER_INIT not initialized, default used
Cause:
The MANUAL modality for configuring Input, Output, Command and

Status words is selected but $MASTER_INIT[2..6] fields are UNINIT
and the system works with default values.
Remedy:
Init $MASTER_INIT[] fields with the desired values or use the AUTO
modality of configuration.
30791 2-WARNING IBS-M: invalid $MASTER_INIT[<index>] value

Cause:
The value in the specified $MASTER_INIT[] element is wrong. This

error occurs when the selected IBS-M board configuration is MANUAL
and $MASTER_INIT[] values are UNINIT or out of the allowed range.
Remedy:
Please check the values in $MASTER_INIT[]: allowed values for the

index of Input, Output, Command and Status words are zero or values
included in the range 33-2048. Note that indexes must be choosen
accordingly to the lenght of the block of words transferred. You
can also use AUTO configuration.
30792 2-WARNING IBS-M: $MASTER_INIT[<index>] and [<index>] overlap
Cause:
There is an overlap between the indicated $MASTER_INIT[] fields.
Remedy:
Please check that $MASTER_INIT[] values do not overlap each other,

paying attention to the lenght occupied by each block of words. You
can also use AUTO configuration.
30793 10-DRIVE OFF IBS-M: timeout waiting for READY
Cause:
The IBS-M board does not become READY after its diagnostics test.
Remedy:
Please check the IBS-M board, try a warm or cold restart and
replace this board if restarts do not have effect.
30794 10-DRIVE OFF IBS-M: connected modules exceeded maximum
Cause:
The bus contains more than 32 modules, or the total amount of

Input/Output words exceedes 64.
Remedy:
If the maximum number of modules controlled exceedes 32, use

different kind of modules that can contain a greater number of
Input and Output words. In case the maximum number of I/O words is
exceeded, check if you are using modules dedicated to Input only or
to Output only and, if yes, replace them with mixed modules.
30795 10-DRIVE OFF IBS-M: Host CPU System Failure

Cause:
The IBS-M board detects a failure from the RBC board, that is the
master of the CONTROL UNIT RACK. Something does not work between
the RBC and IBS-M master card.
Remedy:
Check the status of the system by looking to the SYF led on the RBC
board. If the led is lighted, a VME SYSTEM FAILURE occurred on the
bus that requires a substitution of the broken board (the IBS-M or
another board) present on the rack; the broken board cannot be the
RBC when this error is returned. If the led is not lighted, check
also the RBC board.
30796 10-DRIVE OFF IBS-M: remote bus error, <number> segment
Cause:
The IBS-M board detects a failure on the REMOTE BUS on the reported
segment; this means that the main branch of the bus is interrupted
where the module indicated in the error message resides.
Remedy:
Check the connection between the indicated slave module and the
following one.
30797 10-DRIVE OFF IBS-M: local bus error, <number> segment
Cause:
The IBS-M board detects a failure on the LOCAL BUS on the reported
segment; this means that the local branch of the bus is interrupted
where the module indicated in the error message resides.
Remedy:
Check the connection between the indicated slave module and the
following one.
30798 10-DRIVE OFF IBS-M: module error, <number> segment
Cause:
The indicated slave module informs the IBS-M master board that
there is an internal error.
Remedy:
Check the state of the indicated module. This error can for example
happen when the power supply for the output is not present. Consult
the manual that describes the slave module.
30799 10-DRIVE OFF IBS-M: controller error, <code> code

Cause:
An error occurred on the annex of the IBS-M controller board. The

error code indicates the error.
Remedy:
Something is wrong in the configuration of the controller board.

Check if there is a mismatch between the C3G-driver and the
commands issued from the Phoenix PC tool. If not, check the state
of the C3G driver (using the IBS-M configuration and diagnostics
tool). Verify, at the end, the integrity of the system software (by
restarting the controller and looking to the initial diagnostics).
30800 2-WARNING IBS-M: bus segment disabled
Cause:
This message informs that one or more segments of the bus have been
disabled.
Remedy:
This is just an informative indication.
30801 10-DRIVE OFF IBS-M: mailbox protocol error
Cause:
An error occurred in the mailbox protocol.
Remedy:
This is an internal firmware error, try a warm or cold restart and

please contact COMAU.
30802 10-DRIVE OFF IBS-M: board disabled by $MASTER_INIT[1] bit 1
Cause:
The IBS-M board has been disabled by the setting of bit 1 of

$MASTER_INIT[1].
Remedy:
This error just informs the user that the IBS-M board has been
disabled. The IBS-M board remains in the reset state. Bit 24 in the
$RBT_CNFG system variable is set to zero.
30803 10-DRIVE OFF IBS-M: board no more READY
Cause:
The board becomes no more READY while C3G driver was running. If a
WARMSTART command has been requested to the IBS-M, it is correct
that the board exits the READY state for performing this command.
Otherwise there should be an hardware problem.
Remedy:
If no WARMSTART command was requested, check the IBS-M board

connection and, if necessary, replace the board with a new one.
30804 10-DRIVE OFF IBS-M: automatic configuration failed
Cause:
The starting index of Input words doesn't allow an automatic

consecutive allocation of $WORD[] for INPUT, OUTPUT, COMMAND and
STATUS areas.
Remedy:
Change the index value for Input words, or set the default value to
33.
30805 2-WARNING IBS-M: automatic configuration done
Cause:
The AUTO configuration successfully completed.
Remedy:
This is just an informational message.
30806 10-DRIVE OFF IBS-M: driver firmware error
Cause:
Something goes wrong during mailbox handshake; the driver cannot

recover this situation without a complete restart.
Remedy:
Please issue a warm or cold restart and contact COMAU.
30807 10-DRIVE OFF IBS-M: no field-bus connected
Cause:
This error occurs during the driver startup, if the IBS-M board
does not recognized any module on the bus.
Remedy:
Check the starting segment of the field-bus cable that is linked to

IBS-M board.
30808 10-DRIVE OFF IBS-M: board disabled by TEST jumper
Cause:
The IBS-M board is disabled by the TEST jumper on the front panel
of the board.
Remedy:
This error just informs the user that the IBS-M board has been
disabled. The IBS-M board remains in the reset state. Bit 24 in the
$RBT_CNFG system variable is set to zero.
30809 10-DRIVE OFF IBS SL lack of external 24V power supply
Cause:
This alarm occurs after a lack of external 24V power supply towards
the C3G-IBS board.
Remedy:
Verify the presence of the power supply and the physical state of
links and cables connected to the C3G-IBS board.
30810 2-WARNING DP SL mounted, Sts: <status>
Cause:
The handler of the PROFIBUS DP protocol has been mounted. When the
state information is zero, the connection with the Master is being
activated.
Remedy:
30811 2-WARNING DP SL protocol started
Cause:
A connection with the master of the PROFIBUS network has been

installed. The data exchange has started.
Remedy:
30812 2-WARNING DP SL param received,Sts: <status>
Cause:
The parameters have been sent by the master to the slave. The slave
accepted the data basing on the state:
- 0: Ok.
- 1: Conflict on parameters
- 2: Reserved
- 3: Disallowed
Remedy:
30813 2-WARNING DP SL cnfg received, Sts: <status>
Cause:
The configuration has been sent from the master to the slave. The
C3G disallows an on-line update of configuration. The slave
accepted data basing on the state:
- 0: Ok.
- 1: Conflict on the configuration data
- 2: Reserved
- 3: Disallowed
Remedy:
30814 2-WARNING DP SL slave adr modification
Cause:
The master of the PROFIBUS network tried to change on-line the

address of the slave. This action is disallowed by the C3G, that
ignores such a request.
Remedy:
30815 2-WARNING DP SL waiting for param
Cause:
The slave on the PROFIBUS network is waiting for the parameters

from the master.
Remedy:
30816 2-WARNING DP SL waiting for the cnfg
Cause:
The slave on the PROFIBUS network is waiting for the configuration

from the master.
Remedy:
30817 2-WARNING DP SL Data Exchange
Cause:
The slave on the PROFIBUS network is in the state of data exchange

with the master.
Remedy:
30818 10-DRIVE OFF DP SL ERROR state
Cause:
The slave on the PROFIBUS network is in the error state. This state
should never be reached.
Remedy:
The user cannot handle the error. It is needed to check the

PROFIBUS parameters.
30819 2-WARNING DP SL Baud set to <value>
Cause:
The slave on the PROFIBUS network has detected a baud rate of the
PROFIBUS network equal to:
- 0: 12 MBaud
- 1: 6 MBaud
- 2: 3 MBaud
- 3: 1500 kBaud
- 4: 500 kBaud
- 5: 187.5 kBaud
- 6: 93.75 kBaud
- 7: 45.45 kBaud
- 8: 19.2 kBaud
- 9: 9.6 kBaud
-10: Not detectable
Remedy:
30828 10-DRIVE OFF DP SL WATCH DOG Error
Cause:
The slave on the PROFIBUS network has detected an anomaly in the

synchronisation between the PROFIBUS network and the C3G driver.
This message can also be caused by a communication fall.
30829 10-DRIVE OFF Interbus-S Slave cnfg error
Cause:
The configuration parameters of the interface with the Interbus-S

Slave fieldbus are wrong.
Remedy:
Use the RI_INST tool for configuring the parameters requested by

the Interbus-S Slave. Check that the configuration of this
interface is compatible with the one of another fieldbus, if
present.
30830 2-WARNING IBS SL not yet configured
Cause:
The system software detected the presence of a C3G-EIM board in the

C3G controller and is waiting the completion of the write
configuration phase before activating the INTERBUS-S Slave.
Remedy:
Before using the INTERBUS-S Slave, use the RI_INST tool for
configuring the predefined system variables related to the IBS SL.
30831 10-DRIVE OFF DVN SL WATCH DOG Error
Cause:
The RBC board loses the synchronization with the C3G-EDN board.
Remedy:
Only if the problem happen continously, it could detect an hardware

problem on the C3G-EDN board.
30832 10-DRIVE OFF DVN SL Bus Off
Cause:
Signals if the DeviceNet slave handler is in bus off state. Bus off
is the result of many DeviceNet errors. This means the DeviceNet
slave handler will not communicate. The master is not able to
communicate with the slave over the Devicenet bus.
Remedy:
Control the physical link of the DeviceNet Bus.
30833 2-WARNING DVN SL Bus Warning

Cause:
Signals if one of the DeviceNet error counters reached it is limit.

This indicates problems on the DeviceNet Bus.
Remedy:
Control the diagnostic on the DeviceNet Scanner.
30834 10-DRIVE OFF DVN SL Data Lost
Cause:
The DeviceNet slave handler lost at least one or more DeviceNet

message.
Remedy:
This problem is directly detect in hardware from the chip that

controls the DeviceNet bus, so that the user cannot do anything.
Control the physical link of the DeviceNet Bus. Control the state
of the leds on the front panel of the C3G-EDN board.
30835 8-HOLD DVN SL Time Out
Cause:
Signals one or more I/O connections are in state timeout. This

means the Device Net Master did not send data within the time
limit. Similar to the NetState LED.
Remedy:
Control the physical link of the DeviceNet Bus. Control that the
PLC is switched ON and it is working. Control the state of the leds
on the front panel of the C3G-EDN board.
30836 2-WARNING DVN SL Not Connected
Cause:
The Slave is NOT allocated from a DeviceNet master. The device is

not recognized by the master or the master cannot communicate with
the slave.
Remedy:
Control the configuration of the Slave (adapter) and compare it

with the configuration on the Master side (scanner).
30837 2-WARNING DVN SL Connected
Cause:
The Slave is allocated from a DeviceNet master. The general meaning
is that everything is OK. The device was recognized by the master
and the master communicates with the slave.
30838 10-DRIVE OFF DVN SL No voltage
Cause:
DeviceNet power from the bus is not available
Remedy:
Verify the voltage of the DeviceNet Bus. Control the diagnostic of

the DeviceNet Scanner Control the state of the leds on the front
panel of the C3G-EDN board.
30839 10-DRIVE OFF DVN SL Handler Held
Cause:
DeviceNet slave handler is held.
Remedy:
If the driver enters in this state, it tries automatically and

continously to exit.
30840 10-DRIVE OFF DVN SL No communication
Cause:
Slave enters the DeviceNet Communication Fault state. This means no

DeviceNet communication is allowed.
Remedy:
Control the physical link of the DeviceNet bus. Control that the
Master (Scanner) is connected and it works properly. Control the
state of the leds on the front panel of the C3G-EDN board.
30841 10-DRIVE OFF DVN SL Initializzation failure
Cause:
The DeviceNet cannot be initialized because the DeviceNet Slave

handler replies in a negative way to the initialization command.
Remedy:
Verify the configuration parameters. Using the command CCV, verify

that the C3G-EDN is correctly recognized by the system. Control the
state of the leds on the front panel of the C3G-EDN board. If this
does not correct the problem, contact Comau.
30842 10-DRIVE OFF DVN SL Error: <error>
Cause:
The DeviceNet interface reports this error.
Remedy:
This cause of this message could be a previously detected error. In

this case, please try to solve the original problem first. In any
case, you can contact Comau and report the codes of the messages.
30843 2-WARNING DVN SL not yet configured
Cause:
It is the first time the user inserted the C3G-EDN board into the
C3G controller and none of the predefined variable parameters have
been configured yet.
Remedy:
Use the RI_INST utility to configure the DeviceNet SL predefined

30844 10-DRIVE OFF DVN SL Bad sysvar value(s)
Cause:
Some of the DeviceNet SL predefined variables ($DEVNET_INIT) are

initialized with wrong values.
Remedy:
Use the RI_INST utility to configure the DeviceNet SL predefined

30845 2-WARNING DVN SL Baud Rate from <old_baud>K to <new_baud>K
Cause:
The DeviceNet interface reports that the baud rate on the Devicenet
Bus has been changed. The system updates the variable
$DEVNET_INIT[2] with the new value of the baud rate.
Remedy:
In order to save this update, is necessary to do a Configure Save.

If the update is not done, upon the next Restart Cold the old value
of $DEVNET_INIT[2] is used and the DeviceNet Bus could not work
properly.
30846 2-WARNING SWIM <swim_number> not yet configured
Cause:
This error occurs the first time the operator plugs a SWIM board in
the C3G controller and no predefined variable has been configured
yet.
Remedy:
The predefined variables for the SWIM board are configured by the
installation phase of the spot welding application program. At the
next system restart, the message should not occur anymore.
30847 2-WARNING Bad sysvar value(s) SWIM <swim_number>
Cause:
Some elements of the predefined variable $SWIM_INIT have been

initialized with wrong values.
Remedy:
Only the spot welding application should refer such elements.

Please contact COMAU if this error occurs.
30848 10-DRIVE OFF SWIM <swim_number> WATCH DOG error
Cause:
An error related to the synchronization with the SWIM board has

been detected.
Remedy:
The user cannot solve this problem. Please contact COMAU.
30849 10-DRIVE OFF SWIM <swim_number> error <error_number>
Cause:
An error occurred on the SWIM board. This error number is specified

with this message.
Remedy:
Please contact COMAU and report this error.
30850 10-DRIVE OFF SWIM <swim_number> not mounted
Cause:
A fatal error has been detected on the SWIM board. The reason of
this undesiderable feature is related by the message that preceedes
this one and that concernes the SWIM board.
Remedy:
The user cannot solve this problem. Please contact COMAU.
30851 10-DRIVE OFF SWIM <swim_number> disabled
Cause:
The SWIM board has been disabled.
Remedy:
Reenable the SWIM board by setting the proper predefined variables.
30852 10-DRIVE OFF SWIM <swim_number> test ON
Cause:
The testing modality for the SWIM interface is active. During this
phase, input data are ignored.
Remedy:
30853 2-WARNING SWIM <swim_number> test OFF
Cause:
The testing modality for the SWIM interface has been deactivated.
The SWIM interface is now ready to receive input data.
Remedy:
30854 4-PAUSE Bed port type for hand
Cause:
A HAND has been configured with a wrong port type.
Remedy:
Use the HAND Configuration Tool for configuring the HAND.
30855 4-PAUSE EZ not allowed
Cause:
EZ cannot be activated if Program Edit, Memory Debug or Memory

Teach are already active.
Remedy:
Exit those environments before activating EZ.

30856 10-DRIVE OFF SWIM <swim_num> High severity error
Cause:
SWIM board detected a high severity error. A current value

different than 0 has been detected when the SCR was not driven.
Remedy:
Check the power circuit associated to the SCR.
31745 2-WARNING Reset current transaction
Cause:
This message should never occur in this version.
Remedy:
No remedy.
31746 2-WARNING Address out of range
Cause:
The user attempted some action with an address that is out of the
range of PLC limits.
Remedy:
Retry the command with a corrected address.
31747 2-WARNING Requested data not found
Cause:
The data that was being searched for was not located.
Remedy:
Retry the search with a different address.
31748 2-WARNING Illegal task code request(not supported)
Cause:
The command that was requested is not supported in this PLC.
Remedy:
Try to perform the action desired in some other manner.

31749 2-WARNING Request exceeds program memory size(ladder logic)
Cause:
A command was attempted with an address that exceeded the ladder

memory size.
Remedy:
Retry the command with a corrected address.
31750 14-FATAL Diagnostics failure on power up
Cause:
Remedy:
No remedy.
31751 14-FATAL Fatal error detected
Cause:
A PLC system fatal error occurred.
Remedy:
Perform a PLC Cold Start. If this does not correct the problem,
contact Comau.
31752 2-WARNING Keylock protect error
Cause:
Remedy:
No remedy.
31753 2-WARNING Incorrect amount of data
Cause:
A command was attempted with the incorrect amount of data sent with
the command.
Remedy:
Resend the command with the correct data.
31754 2-WARNING Illegal in current mode

Cause:
An operation was attempted that is illegal in the current

operational mode (PROGRAM or RUN).
Remedy:
Change the operational mode and retry the command.
31755 2-WARNING Network was not deleted
Cause:
Remedy:
No remedy.
31756 2-WARNING Attempted write operation did not verify
Cause:
An attempt to modify PLC user memory did not complete.
Remedy:
Retry the operation and, if the error persists, contact Comau.
31757 2-WARNING Illegal number of ascii characters received
Cause:
Remedy:
No remedy.
31758 2-WARNING Illegal write to program memory(no volatile)
Cause:
Remedy:
No remedy.
31759 2-WARNING Data not inserted
Cause:
Remedy:
No remedy.
31760 2-WARNING Data not written
Cause:
Remedy:
No remedy.
31761 2-WARNING Invalid data sent with command
Cause:
The attempted command contained invalid parameters.
Remedy:
Retry the command with valid parameters.
31763 2-WARNING Store and forward buffer busy
Cause:
The buffer used to pass task codes from one special function module
to another was busy.
Remedy:
Retry the attempted operation. If the problem persists, contact

Comau.
31764 2-WARNING No response from the special function module
Cause:
The attempted operation to the special function module received no

response.
Remedy:
Try removing and reinserting the special function module. If the

problem persists, replace the module.
31765 4-PAUSE Illegal instruction found in program memory
Cause:
An instruction was found in program memory that was illegal for
this PLC.
Remedy:
Correct the network containing the illegal instruction.
31766 2-WARNING Attempted write to a protected variable
Cause:
A modification was attempted to a protected PLC memory location.
Remedy:
Protected PLC variables cannot be modified.
31767 2-WARNING No response from PC (eg. single scan not performed)
Cause:
Remedy:
No remedy.
31772 2-WARNING PLC busy , Operation not performed
Cause:
An operation was attempted that was not completed due to the PLC
resource being previously allocated.
Remedy:
Retry the operation. If the problem persists, contact Comau.
31773 2-WARNING Port lockout is active
Cause:
An operation was attempted that was not completed due to the PLC
resource being previously allocated.
Remedy:
Retry the operation. If the problem persists, contact Comau.
31777 2-WARNING I/O configuration error - too many points
Cause:
Too many I/O points were attempted to be configured.

Remedy:
Remove some of the I/O points from the configuration.
31795 10-DRIVE OFF No memory resources for PLC
Cause:
The PLC system experienced a memory shortage problem.
Remedy:
Reconfigure the PLC with more memory, or contact Comau.
31796 2-WARNING RLL save operation failed
Cause:
The RLL file was not saved, possibly because of a problem with the
RAM disk.
Remedy:
Check that the RAM disk is mounted and the file name is specified
correctly.
31797 2-WARNING RLL load operation failed
Cause:
The RLL file was not loaded.
Remedy:
Check to be sure that the RLL file exists on the RAM disk.
31798 2-WARNING RLL file too large for SW PLC
Cause:
An RLL program that was saved from a HW PLC was attempted to be

loaded on a SW PLC.
Remedy:
Install a HW PLC into the system.
31799 2-WARNING Invalid com_port for PLC protocol
Cause:
The user attempted to mount the TISOFT protocol on an invalid port.

Remedy:
Mount the protocol on the correct port.
31800 2-WARNING Requested file is not an RLL program
Cause:
The user attempted to load a file that did not contain an RLL
program.
Remedy:
Load the correct RLL program file.
31801 2-WARNING Bad group I/O table definition
Cause:
The group I/O table definition contained invalid information.
Remedy:
Correct the group I/O table definition and reattempt the operation.
31802 2-WARNING Bad mount request as HW PLC present
Cause:
The user attempted to mount the TISOFT protocol with a HW PLC

installed in the system.
Remedy:
Mounting the TISOFT protocol in a system with a HW PLC is illegal.

Use the TISOFT protocol on the port for the HW PLC that is
permanently mounted.
31803 10-DRIVE OFF No memory for PLC structure
Cause:
PLC initialization experienced a memory shortage.
Remedy:
Reconfigure for more shared memory.
31804 10-DRIVE OFF No memory for RLL
Cause:

Remedy:
31805 10-DRIVE OFF No memory for group I/O table
Cause:
Remedy:
31806 10-DRIVE OFF No memory for $PLCSTW
Cause:
Remedy:
31807 10-DRIVE OFF No memory for PLC status words
Cause:
Remedy:
31808 10-DRIVE OFF No memory for PLC physical I/O table
Cause:
Remedy:
31809 10-DRIVE OFF No memory for compiled RLL
Cause:
Remedy:

31810 14-FATAL HWPLC startup not completed
Cause:
Synchronization between the RBC and the PLC failed, causing the HW
PLC to not start.
Remedy:
Restart the system. If the problem persists, replace either the

PLC or the RBC.
31811 2-WARNING PLC RLL fixed scan overrun
Cause:
Remedy:

size.
32768 0-INFO PLC is in run mode
Cause:
An operation was attempted that is not allowed in PLC RUN mode.
Remedy:
Put the PLC into PROGRAM mode.
32769 0-INFO Unable to open file
Cause:
The file to be translated into RLL could not be found.
Remedy:
Check to make sure that the proper file name was used.
32770 0-INFO Source program contains errors
Cause:
The file to be translated into RLL contains errors.
Remedy:
Correct the errors before translating into RLL.

32771 0-INFO Not a PLC program
Cause:
The file to be translated into RLL contains instructions or

information not valid for a PLC program.
Remedy:
Remove the pieces of the program that contain invalid PLC

information.
32772 0-INFO Invalid .COD file
Cause:
The file to be translated into RLL contains invalid data.
Remedy:
Make sure that the PDL2 source is correct.
32773 0-INFO Invalid statement code
Cause:
The .COD file contains statements that could not be translated into
RLL.
Remedy:
Check to make sure that the PDL2 program contains only statements
that can be translated into RLL.
32774 0-INFO Invalid constant type
Cause:
RLL.
Remedy:
32775 0-INFO Illegal user-defined routine usage
Cause:
RLL.
Remedy:
32776 0-INFO Translator cannot allocate memory
Cause:
The PDL2-RLL translator could not allocate enough memory to perform

the translation.
Remedy:
Reconfigure system memory so that more memory is available or erase

unnecessary programs and/or data from memory.
32777 0-INFO Invalid expression code
Cause:
RLL.
Remedy:
32778 0-INFO Invalid data type
Cause:
RLL.
Remedy:
32779 0-INFO Undeclared user constant
Cause:
RLL.
Remedy:
32780 0-INFO Undeclared user routine

Cause:
RLL.
Remedy:
32781 0-INFO Unrecognized PLC variable
Cause:
RLL.
Remedy:
32782 0-INFO Invalid assignment destination
Cause:
An assignment was attempted that is not allowed by the PLC.
Remedy:
Correct the statement containing the illegal assignment.
32783 0-INFO Translator interpreter stack underflow
Cause:
An error occurred in the PDL2-RLL translator due to a corrupt .COD

file.
Remedy:
Correct the .COD file or recover the .BKC file before translating
to RLL.
32784 0-INFO Translator interpreter stack overflow
Cause:
An error occurred in the PDL2-RLL translator due to a corrupt .COD

file.
Remedy:
Correct the .COD file or recover the .BKC file before translating
to RLL.
32785 0-INFO Label without GOTO
Cause:
The user program contains a label without a GOTO that referenced

it.
Remedy:
Remove the unreferenced label.
32786 0-INFO Illegal GOTO usage
Cause:
The user program contains a GOTO that jumped backwards to the

label. This is illegal in PLC programs.
Remedy:
32787 0-INFO Invalid pulse output
Cause:
The user program contains a PULSE statement whose output was a

$DIN.
Remedy:
$DIN is not allowed as an output. Correct the program.
32788 0-INFO Invalid built-in procedure
Cause:
The user program contains an invalid PLC built-in call.
Remedy:
32789 0-INFO Invalid parameter type
Cause:
A PLC built-in procedure call contains an invalid parameter type.
Remedy:

32790 0-INFO Allocable PLC resource exhausted
Cause:
The PDL2 PLC program caused the translator to run out of resources
that could be allocated during the translation.
Remedy:
Reduce the program size.
32791 0-INFO User/translator address conflict
Cause:
The user program attempted to use a translator-allocated resource.
Remedy:
Change the program to not use translator-allocated resources.
32792 0-INFO PLC program memory full
Cause:
The user program was too large and used all of the available RLL
program memory.
Remedy:
Either reduce the program size or, if the HW PLC is not installed,
install it.
32793 0-INFO PLC variable range error
Cause:
An attempt was made to assign a value to a PLC variable that is not

within the limits allowed.
Remedy:
Correct the PLC variable assignment.
32794 0-INFO Group I/O table not initialized
Cause:
An attempt was made to translate a user program without the group

I/O table having been initialized.
Remedy:
This should never occur unless the HSIO task is not working.
32795 0-INFO Illegal indirect port reference
Cause:
Indirect port references are not allowed in a PDL2 PLC program.
Remedy:
32796 0-INFO PLC index out of range
Cause:
An index to a PLC variable was used that is not within the limits
allowed.
Remedy:
Correct the PLC variable index.
32797 0-INFO Group index out of range
Cause:
An index to a PLC group I/O variable was used that is not within
the limits allowed.
Remedy:
Correct the PLC group I/O variable index.
32798 0-INFO PLC built-in parameter out of range
Cause:
A parameter to a PLC built-in was used that is not within the

limits allowed.
Remedy:
Correct the PLC built-in parameter.
33792 14-FATAL No system variables loaded
Cause:
The system has started without the correct predefined variables

loaded.
Remedy:
Reload the complete software and make sure that the data file(s)
are correctly loaded and that there is a C3G.SYS file.
33793 2-WARNING ISR activated while editing
Cause:
During an edit session an interrupt service routine (ISR) in a

condition was triggered. The ISR was not executed. The user is
prompted by the editor upon the next execution as to whether the
ISR should be executed.
Remedy:
It is only necessary to reply to the edit prompt.
33794 12-DRIVE OFF Arm <arm_num> cannot be contacted
Cause:
A motion statement or request was issued to a robot arm which does

not exist.
Remedy:
Check that the motion statement uses the correct arm number and
that the number of arms specified in the predefined variable
$NUM_ARMS is equal to the actual number of arms available.
33795 2-WARNING Programs already held
Cause:
A HOLD was issued when the programs are already in the HOLD state.
Remedy:
No action is necessary to clear this alarm.
33796 2-WARNING Bad cycle time <value>
Cause:
The value of the interpreter cycle time was badly set and could not
be used.
Remedy:
The system correctly adjusts the variable to a more meaningful

value. The user does not need to take any action.
33797 2-WARNING Bad cycle rate <value>
Cause:
The value of the interpreter cycle rate or frequency, was badly set
and could not be used.
Remedy:
The system correctly adjusts the variable to a more meaningful

value. The user does not need to take any action.
33798 0-INFO Error <error_num> no known prog
Cause:
An error which normally relates to a program occurred, but the

corresponding program was not known due to the fact that it has
either been deactivated or erased from memory. The parameter
contains the program error.
Remedy:
Review the program error and try to determine for what program this
may have occurred. Then, take the appropriate action on that
program.
33799 0-INFO Error <error_num> no known prog <value>
Cause:
An error which normally relates to a program occurred but the

either been deactivated or erased from memory. The first parameter
contains the program error and the second contains the parameter
which would have applied to the program error.
Remedy:
program.
33800 0-INFO Error <error_num> no known prog <value> <value>
Cause:

contains the program error and the remaining parameters are the
parameters which would have applied to the program error.
Remedy:
program.
33801 0-INFO Error <error_num> no known prog <value> <value> <value>
Cause:

contains the program error and the remaining parameters are the
parameters which would have applied to the program error.
Remedy:
program.
33802 2-WARNING Execute already deactivated
Cause:
A second command to deactivate the immediate mode execution program

has been issued when the execution program has already been
deactivated. This situation can occur when there are simultaneous
deactivations of the immediate mode program.
Remedy:
No action is necessary. This is only a warning.
33803 2-WARNING Program has been deactivated
Cause:
A second command to deactivate the edit session program has been

issued when the program has already been deactivated. This
situation can occur when there are simultaneous deactivations of
the edit session program.
Remedy:
No action is necessary. This is only a warning.
33804 2-WARNING Bad state exiting MEMORY DEBUG
Cause:
The MEMORY DEBUG environment is being exited and the state of the
program or the internal communication is wrong.
Remedy:
No action is necessary by the user. If this warning continues

please report it to Comau.
33805 2-WARNING All programs deactivated

Cause:
The CTRL Y (^Y) has deactivated all activated programs.
Remedy:
33806 2-WARNING ^Y only available in PROG state
Cause:
Not all of the programs have been deactivated upon the CTRL Y (^Y).
Remedy:
This can occur if the state of the system is protected. Unprotect

the system before trying to deactivate all programs.
33807 10-DRIVE OFF No memory for screen table
Cause:
There are insufficient memory resources for creating the screen

table.
Remedy:
Check that the value of $NUM_SCRNS is not too large.
33808 4-PAUSE Bad state for EZ run
Cause:
The state of the system is not suitable for EZ execution.
Remedy:
Check that the state of the system is in PROG.
34817 0-INFO Error reading SYS file version
Cause:
The version stamp maintained in the SYS file could not be read.
Remedy:
Check that the SYS file being loaded is a file created using
CONFIGURE SAVE (CS) command.
34818 0-INFO Bad SYS file version

Cause:
The SYS file being loaded is an incorrect version and can therefore
not be loaded.
Remedy:
If it is necessary to use the SYS file, the data has to be

converted.
34819 0-INFO Error reading SYS file
Cause:
The data in the SYS file could not be read properly.
Remedy:
34820 0-INFO Error opening SYS file
Cause:
The SYS file could not be opened.
Remedy:
Check that the specified SYS file exists.
34821 0-INFO Error closing SYS file
Cause:
The SYS file could not be closed.
Remedy:
Check that there is space on the RAM disk and that the directory
table is not full.
34822 0-INFO Error reading SYS file identifier
Cause:
The identifier maintained in the SYS file could not be read.
Remedy:
34823 0-INFO Error reading SYS file protection

Cause:
The protection information maintained in the SYS file could not be

read.
Remedy:
34824 0-INFO SYS save / load operation aborted
Cause:
During the CONFIGURE SAVE (CS) or CONFIGURE LOAD (CL) operation,

the command was aborted.
Remedy:
If necessary, reissue the command.
34825 0-INFO Backup SYS file re-appeared
Cause:
During the CONFIGURE SAVE (CS) operation the .BKS file was
recreated.
Remedy:
Check that multiple CONFIGURE SAVE (CS) commands have not been
issued at the same time. Also make sure that the file has not been
copied from an external device during the operation.
34826 0-INFO Error renaming temp SYS file to sys file
Cause:
The temporary file used during the CONFIGURE SAVE (CS) operation
could not be renamed to C3G.SYS at the end of the operation.
Remedy:
Check that neither the RAM disk nor the directory table are full.
34827 0-INFO Temporary SYS file has disappeared
Cause:
During the CONFIGURE SAVE (CS) operation the temporary file in

which the data was being written has disappeared.
Remedy:
Try to reissue the command.
34828 0-INFO File is not a valid SYS file
Cause:
The file being loaded is not of the correct format.
Remedy:
34829 0-INFO System structure size mismatch
Cause:
The size of the data being loaded does not match the size of the
data currently in memory.
Remedy:
Check that the version of the file is correct and was created with
the current system software.
34830 0-INFO Bad version of system variable
Cause:
The version number of the SYS file is not compatible with the
version of the system software.
Remedy:
If it is necessary to use the SYS file, the data has to be

converted.
34831 0-INFO SYS file not found
Cause:
The specified file or C3G.SYS file could not be found in memory.
Remedy:
Check that the file does exist.
34832 0-INFO Can't load sys vars - checksum mismatch
Cause:
A system variable file contains a checksum so that a corrupted file

can be detected before loading it into memory. This error occurs
if the checksum calculated doesn't match the one generated when the
system variable file was created.
Remedy:
There is no remedy. Try to recover a backup file.
36864 4-PAUSE <prog_id>(<line_num>): ISR cannot unsuspend
Cause:
An attempt was made to change the state of a program from within an

interrupt service routine (ISR) but the operation failed. This can
occur either because of a bad ISR or because the ISR is already in
the correct state.
Remedy:
Check the program/ISR state change operation to determine if the

program/ISR is already in the correct state.
36865 4-PAUSE <prog_id>(<line_num>): ISR limit exceeded
Cause:
There is a limit of 255 interrupt service routines (ISR) per

program. An ISR was triggered and the limit exceeded.
Remedy:
Check that the ISR is not being recursively issued.
36866 4-PAUSE <prog_id>(<line_num>): ISR not loaded
Cause:
The interrupt service routine (ISR) does not currently reside in

memory. The ISR must be loaded at the time of the condition handler
definition and must remain in memory until the referencing
condition handler is purged.
Remedy:
Load the program which contains the routine.
36867 4-PAUSE <prog_id>(<line_num>): ISR not exec as prog deac
Cause:
An interrupt service routine (ISR) was issued after the program has
been completed and deactivated. The state of the program is either
deactivated or waiting for end of motion before completing.
Remedy:
Do not cause an ISR to be triggered after the program has

completed.
36868 4-PAUSE <prog_id>(<line_num>): ISR prog not active
Cause:
The program was no longer activate when an interrupt service

routine (ISR) was issued. This can occur when a condition handler
is triggered at the same time that the program is deactivated.
Remedy:
Do not cause an ISR to be triggered at the same time the program is

being deactivated.
36869 4-PAUSE <prog_id>(<line_num>): ISR thread not active
Cause:
An operation on an interrupt service routine (ISR) failed because

the thread of the ISR could not be found or because the program has
been deactivated.
Remedy:
Check the operation which was attempted on the ISR to determine if

this could occur after the program has been deactivated.
36870 12-DRIVE OFF <prog_id>(<line_num>): no memory for mtn built-in
Cause:
Motion built-ins such as POS_TO_JNTP require the use of shared

memory. The built-in failed because no memory resources could be
found.
Remedy:
Check the configuration of the memory to see if there is sufficient

shared memory.
36871 12-DRIVE OFF <prog_id>(<line_num>): no memory for SCC com
Cause:
Communication between the robot CPU (RBC) and servo CPU (SCC)
failed due to a shortage of shared memory.
Remedy:

shared memory.
36872 12-DRIVE OFF <prog_id>(<line_num>): no memory for cond

Cause:
The definition of a condition handler failed due to insufficient

memory resources.
Remedy:
Check the configuration of the memory and/or erase something from

memory.
36873 12-DRIVE OFF <prog_id>(<line_num>): no memory for cond com
Cause:
Communication between the interpreter and the condition handler

failed due to insufficient memory resources.
Remedy:

memory.
36874 12-DRIVE OFF <prog_id>(<line_num>): no memory for SYS_CALL
Cause:
Issuing a SYS_CALL failed due to insufficient memory resources.
Remedy:

memory.
36875 4-PAUSE <prog_id>(<line_num>): no memory for DELAY
Cause:
Issuing a DELAY failed due to insufficient memory resources.
Remedy:

memory.
36876 4-PAUSE <prog_id>(<line_num>): no memory for PULSE
Cause:
Issuing a PULSE failed due to insufficient memory resources.
Remedy:

memory.
36877 12-DRIVE OFF <prog_id>(<line_num>): no memory for READ
Cause:
Issuing a READ failed due to insufficient memory resources.
Remedy:

memory.
36878 4-PAUSE <prog_id>(<line_num>): prog out of memory
Cause:
Insufficient PDL2 program memory for adding the trappable error.

This occurs when calling the ERR_TRAP_ON built-in.
Remedy:
Review which errors have already been trapped and either remove
some of them or increase the size of the PDL2 program stack,
because the trappable errors are added to the stack space.
36879 4-PAUSE <prog_id>(<line_num>): <error_num> err(s) deactivating
Cause:
During the deactivation of the program, certain errors occurred.
Remedy:
Review the preceding error messages to determine what errors

occurred and take the necessary action based on these errors.
36880 4-PAUSE <prog_id>(<line_num>): bad deac of sys_call
Cause:
During the deactivation of the program there was a problem in

handling the canceling of the outstanding SYS_CALL.
Remedy:
Please report this error to Comau.
36881 4-PAUSE <prog_id>(<line_num>): cond cannot be deac
Cause:
During the deactivation of the program there was a problem in

handling the canceling of the outstanding condition handlers.
Remedy:
36882 12-DRIVE OFF <prog_id>(<line_num>): many errors in deac
Cause:
During the deactivation of the program there were too many problems
for the deactivation process to continue.
Remedy:
36883 2-WARNING <prog_id>(<line_num>): mtn line <line_num> canceled
Cause:
The motion statement of the specified line was canceled.
Remedy:
36884 4-PAUSE <prog_id>(<line_num>): mtn line <line_num> has err

<error_num>
Cause:
The motion statement of the specified line contained an error.
Remedy:
Review the error to determine what action to take.
36885 4-PAUSE <prog_id>(<line_num>): mtn line <line_num> canc err

<error_num>
Cause:
The motion statement of the specified line contained an error and

the motion was canceled.
Remedy:
36886 4-PAUSE <prog_id>(<line_num>): arm <arm_num> mtn not RESUMEd as

locked
Cause:
The RESUME operation failed because the arm was locked.

Remedy:
Determine which program has locked the arm and either issue a
corresponding UNLOCK or deactivate the program. The deactivation
process automatically UNLOCKs the arm.
36887 4-PAUSE <prog_id>(<line_num>): err <error_num> mtn not RESUMEd
Cause:
The RESUME operation failed due to the specified error.
Remedy:
36888 4-PAUSE <prog_id>(<line_num>): arm <arm_num> and data <value>

mismatch
Cause:
The arm specified in a motion built-in does not correspond with the
JOINTPOS or XTNDPOS variable's arm number.
Remedy:
Check that the arm number of the variable is the same as the arm
number specified in the built-in.
36889 4-PAUSE <prog_id>(<line_num>): no motion buffers resources
Cause:
There are insufficient resources for the creation of motion

buffers. Each motion statement uses at least one motion buffer.
Remedy:
Check that the number of motion buffers ($NUM_MB) is not too large
and that the system resources are correctly set.
36890 4-PAUSE <prog_id>(<line_num>): already interpreting motion
Cause:
A program can only interpret one MOVE statement at a time. This

error occurs if the program attempts to interpret a second MOVE
statement before the first one has completed. This situation can
occur if a routine or ISR contains a motion statement and is called
during the processing of the MOVE statement. It is important to
differentiate between the interpretation of the statement and the
interpolation of the motion.
Remedy:
Change the MOVE statement to a single line statement or do not
issue motions from ISRs.
36891 4-PAUSE <prog_id>(<line_num>): no arm <arm_num>
Cause:
The arm specified in a statement does not exist.
Remedy:
Check that the arm specified in the statement does exist.
36892 4-PAUSE <prog_id>(<line_num>): no servo board <servo_num>
Cause:
The referenced servo control board in the HDIN_SET built-in does

not exist.
Remedy:
Check that the parameter to the HDIN_SET built-in is correct and

that there is a corresponding SCC board.
36893 4-PAUSE <prog_id>(<line_num>): arm <arm_num> already used
Cause:
The arm is already referenced in the multiple arm statement. An

SYNCMOVE has been issued on the same arm. For example,
-
- PROGRAM armusd PROG_ARM=1
- . . .
- MOVE TO $HOME SYNCMOVE ARM[1] TO $CAL_SYS
-
Note that the motion to $HOME uses the default program arm which is
arm 1. Therefore, arm 1 has been referenced twice in the same
statement.
Remedy:
Check that the arm numbers specified in the MOVE/SYNCMOVE

statements are unique and check the value of the default program
arm ($PROG_ARM).
36894 4-PAUSE <prog_id>(<line_num>): all motion buffers used
Cause:
Insufficient resources for issuing a motion because all motion

buffers are currently used.
Remedy:
Either increase the number of motion buffers ($NUM_MB) or check
that the number of outstanding motions is not too large.
36895 4-PAUSE <prog_id>(<line_num>): PROG_ARM <arm_num> does not exist
Cause:
The arm specified as the PROG_ARM attribute does not exist.
Remedy:
Check the controller configuration, the PROG_ARM attribute, and the

system default arm ($DFT_ARM) to be sure that there is such an arm.
36896 4-PAUSE <prog_id>(<line_num>): issuing prog is not loaded
Cause:
The program which issued the ACTIVATE statement or action no longer

exists and therefore the program cannot be activated.
Remedy:
Check that the issuer of the ACTIVATE does exist.
36897 4-PAUSE <prog_id>(<line_num>): holdable stmt in nohold prog
Cause:
A NOHOLD program cannot interpret HOLDable statements such as MOVE

and LOCK. This error occurs when an external routine containing a
HOLDable statement has been called from a NOHOLD program.
Remedy:
Change either the external routine or the attribute of the program.
36898 12-DRIVE OFF <prog_id>(<line_num>): stack full
Cause:
The PDL2 program stack has become full. This can occur for many
reasons. The most common cause is that the level of routine calls
is too deep; too many errors are trapped on; or the size of a
routine local variable set is too large.
Remedy:
Determine the cause and either reduce the burden on the stack or
increase the stack size specified in the STACK program attribute.
36899 12-DRIVE OFF <prog_id>(<line_num>): stack empty

Cause:
There is insufficient data on the stack.
Remedy:
36900 4-PAUSE <prog_id>(<line_num>): mtn event limit reached
Cause:
The maximum number of 8 motion events for a motion segment has been
exceeded.
Remedy:
Reduce the number of motion events on the particular motion

segment.
36901 4-PAUSE <prog_id>(<line_num>): bad mtn event for $MOVE_TYPE
Cause:
The type of motion event does not match the type of motion.
Cartesian motions (LINEAR and CIRCULAR) cannot use the PERCENT
event and a joint motion (JOINT) cannot use the DISTANCE event.
Remedy:
Change the type of motion or the motion event.
36902 4-PAUSE <prog_id>(<line_num>): bad local cond operation
Cause:
The operation, such as the implicit ENABLE at the start of the

motion or implicit DISABLE at the end of the motion, failed on a
local condition handler.
Remedy:
36903 4-PAUSE <prog_id>(<line_num>): local cond limit reached
Cause:
A condition handler can only be used locally in 15 different motion

segments at one time.
Remedy:
Check the use of this condition handler and reduce the number of
active motion statements which reference it.
36904 4-PAUSE <prog_id>(<line_num>): bad TIL cond
Cause:
The motion events STOP, RESUME, AT START, and AT END cannot be used
in the TIL clause.
Remedy:
Remove the offending motion events from the TIL clause expression.
36905 4-PAUSE <prog_id>(<line_num>): WITH cond limit reached
Cause:
The maximum number (8) of local condition handlers in a MOVE

statement has been exceeded.
Remedy:
Reduce the number of local condition handlers and if necessary add

condition expressions in a single condition handler.
36906 4-PAUSE <prog_id>(<line_num>): bad mtn event parameter
Cause:
The value specified in a motion event is invalid. The limits for

the PERCENT motion event is 1 to 100. For the TIME and DISTANCE
motion events the value must be greater than 0.
Remedy:
Check and modify the specified value.
36907 4-PAUSE <prog_id>(<line_num>): bad IN frame specification
Cause:
The type of frame specified in a MOVE RELATIVE or MOVE ABOUT

statement is invalid.
Remedy:
Check the frame specification in the statement. The valid frames

are TOOL and BASE.
36908 4-PAUSE <prog_id>(<line_num>): MOVE stmt when interpreting COND
Cause:
A motion statement cannot be interpreted at the same time as a

condition handler. This error can occur if a routine which contains
a motion statement is called while a condition handler definition
is being interpreted.
Remedy:
Modify the program so that the routine which contains a motion is

not called during a condition handler definition.
36909 4-PAUSE <prog_id>(<line_num>): VIA needs $MOVE_TYPE of circular
Cause:
The VIA clause is only valid for circular motion or the $MOVE_TYPE
has been specified as SEG_VIA.
Remedy:
Modify either the statement such that it does not contain the VIA
clause or change the motion type ($MOVE_TYPE) to CIRCULAR.
36910 4-PAUSE <prog_id>(<line_num>): bad arm or hand number
Cause:
The hand number or arm number specified in the OPEN, CLOSE, or

RELAX HAND statement is invalid. There is a limit of two hands per
arm.
Remedy:
Check and modify the specified arm and hand numbers.
36911 4-PAUSE <prog_id>(<line_num>): hand type not defined
Cause:
The type of HAND has not been specified. There are currently four
types of HANDs: Single, Dual, Pulse and Step.
Remedy:
Check the type of HAND and set it to a valid type by setting the
predefined variable $HAND_TYPE or by using the PDL2 program for
configuring the HANDs.
36912 4-PAUSE <prog_id>(<line_num>): unmatching FOR loop
Cause:
The FOR and ENDFOR statements do not match. This error occurs if a
FOR .. ENDFOR loop is exited or entered using a GOTO statement.
Remedy:
Do not jump into and out of FOR loops.

36913 4-PAUSE <prog_id>(<line_num>): closing ASIO lun
Cause:
The closing of a LUN (CLOSE FILE) operation has failed.
Remedy:
Please report to Comau.
36914 4-PAUSE <prog_id>(<line_num>): bad write type
Cause:
A variable of such a data type cannot be written. The valid data

types are INTEGER, REAL, BOOLEAN, STRING, VECTOR, POSITION,
JOINTPOS and XTNDPOS.
Remedy:
Check what type of data is being referenced in the WRITE statement

and modify the variable reference accordingly.
36915 4-PAUSE <prog_id>(<line_num>): write format too long
Cause:
The format specified for an item in a WRITE statement is too long.
Remedy:
Reduce the format size.
36916 4-PAUSE <prog_id>(<line_num>): writing value not initialized
Cause:
The variable being written has not been initialized.
Remedy:
Either modify the variable such that it contains a valid value or

modify the WRITE statement. The built-in VAR_UNINIT can be used to
determine if the value of a variable has been initialized.
36917 4-PAUSE <prog_id>(<line_num>): bad <format> 1st READ format
Cause:
The first READ format specifier on a variable is invalid. The

following example is invalid since 9999 is too large for the first
specifier:
-
- READ lun (i::9999)
-
Remedy:
Check and correct the value of the first format specifier.
36918 4-PAUSE <prog_id>(<line_num>): bad <format> 2nd READ format
Cause:
The second READ format specifier on a variable is invalid. The

following example is invalid since a second specifier cannot be
specified with REALs.
-
- VAR r : REAL
- . . .
- READ lun (r::5::1)
Remedy:
Check and correct the value of the second format specifier.
36919 4-PAUSE <prog_id>(<line_num>): READ request used
Cause:
A READ has been issued on a LUN which has entered an invalid state.
Remedy:
36920 2-WARNING <prog_id>(<line_num>): bad baud rate specified
Cause:
The baud rate specified in the COM_PORT_SET built-in or at the

command level is invalid.
Remedy:
Check and modify the parameter in the built-in or at the command

level.
36921 4-PAUSE <prog_id>(<line_num>): bad device name
Cause:
The device name specified is invalid. Device names can be up to 4

alphanumeric characters in length and must end with a colon ":".
For example, COM1: and CRT2: are valid device names.
Remedy:
Check and modify the device name specified.
36922 4-PAUSE <prog_id>(<line_num>): bad OPEN FILE access mode
Cause:
The access mode specified in the OPEN FILE statement is invalid.

This could be due to an invalid character (e.g., 'RX'), a character
specified twice (e.g., 'RWR') or an invalid operation for the type
of device (e.g., "OPEN FILE lun ('CRT2:', 'RA')" because one cannot
append to a window device).
Remedy:
Check and modify the access string and/or the type of device. Refer
to the PDL2 Language Manual for a complete description of the OPEN
FILE access string.
36923 4-PAUSE <prog_id>(<line_num>): bad lun count
Cause:
The number of files opened on a device is counted. This error

occurs if this counter has gone wrong.
Remedy:
36924 4-PAUSE <prog_id>(<line_num>): bad lun index
Cause:
The LUN index specified in a file access statement (a READ, WRITE,

or CLOSE FILE) is invalid.
Remedy:
Check that the LUN is open and can be accessed by this program.
36925 4-PAUSE <prog_id>(<line_num>): bad device operation
Cause:
The operation attempted on the particular device is invalid. There

are 5 types of devices: null, window, file, serial line and serial
line with a mounted protocol. The type of operation (e.g., FILER
COPY or WIN_DEL) that can be performed is checked by the system.
For example, some operations are not allowed on ports having a
specific protocol mounted (for example UCV command with DDCMP or
TI-Soft protocol mounted). See the PDL2 Language Manual for a cross
reference between type of device and legal operations.
Remedy:
Check and modify either the device specified or the type of
operation.
36926 4-PAUSE <prog_id>(<line_num>): bad LUN access
Cause:
The access to a LUN is invalid. This can be either because of an

invalid LUN number specified in the statement or because the LUN is
no longer active and has been closed.
Remedy:
Check that the LUN is still open and that the integer variable is
valid.
36927 4-PAUSE <prog_id>(<line_num>): device ATTACHed or used
Cause:
An operation was attempted on a device which is attached. Devices

are either explicitly attached by using the ATTACH statement or
implicitly attached when a protocol is mounted.
Remedy:
Check who has issued the ATTACH and determine if this is necessary.
36928 4-PAUSE <prog_id>(<line_num>): device table full
Cause:
There is a finite number of devices which can exist at the same

time. This error reports that the limit has been reached.
Remedy:
Check that unused windows are deleted and if the problem still
exists increase the default number of devices ($NUM_DEVICES).
36929 4-PAUSE <prog_id>(<line_num>): file name required
Cause:
A file has tried to be opened on a device which requires a file

name. The following example will cause this error because the RAM
disk device (RD:) requires a file name:
-
- OPEN FILE lunidx ('rd:', 'r')
-
Remedy:
Check the OPEN FILE statement file name specification.

36930 4-PAUSE <prog_id>(<line_num>): file operation err <error_num>
Cause:
A file operation failed with the specified error.
Remedy:
Review the file operation error to determine a corrective action.
36931 4-PAUSE <prog_id>(<line_num>): file not closed as SYS_CALL_OUT lun
Cause:
The file could not be closed as it is currently being used in a

SYS_CALL.
Remedy:
Wait until the SYS_CALL has completed before trying to close the
file.
36932 4-PAUSE <prog_id>(<line_num>): lun table full
Cause:
There is a finite number of files which can be open at the same

time. This error reports that the limit has been reached.
Remedy:
Check that unused files are closed. If the problem still exists
increase the default number of LUNs ($NUM_LUNS). Increasing the
number of LUNs does use extra memory and system resources so it is
recommended to close unused files as opposed to just increasing the
number of available LUNs.
36933 4-PAUSE <prog_id>(<line_num>): no such device
Cause:
The specified device does not exist.
Remedy:
Check that the device name is correct and that the physical device
does exist.
36934 4-PAUSE <prog_id>(<line_num>): no space for delimiter table
Cause:
Opening a file specifying a delimiter (e.g., "OPEN FILE lunidx

("CRT:", "r") WITH $FL_DMT = 65") does use memory. This error
occurs when there is insufficient memory resources for defining the
delimiter table.
Remedy:
Check the system configuration and try to free up some memory

resources, for example by erasing unneeded programs and/or data
from memory.
36935 4-PAUSE <prog_id>(<line_num>): not device owner
Cause:
An attempt to DETACH a device failed as the program which issued

the DETACH does not currently own the device.
Remedy:
Only the program which issued the ATTACH can issue the DETACH.
Check that the two are the same.
36936 4-PAUSE <prog_id>(<line_num>): current data locked
Cause:
Access to the current arm data ($CRNT_DATA) is locked.
Remedy:
36937 4-PAUSE <prog_id>(<line_num>): bad arm number
Cause:
The arm specified in the built-in ARM_POS, ARM_JNTP or ARM_XTND is

invalid.
Remedy:
Check that the arm specified does exist.
36938 2-WARNING <prog_id>(<line_num>): arm not calibrated
Cause:
The arm is currently not calibrated and therefore the attempted

operation failed.
Remedy:
Calibrate the arm and reissue the statement or action.
36939 4-PAUSE <prog_id>(<line_num>): integer not initialized

Cause:
The INTEGER variable accessed has either not been initialized or

was initialized and then set uninit again when an operation such as
READ failed on the variable. The variable cannot be used until it
has been initialized.
Remedy:
Check that the variable has been initialized and that no error has
occurred on the variable. The built-in VAR_UNINIT can be used for
checking the state of the variable and the variable can be
initialized as part of the declaration (e.g., "VAR i : INTEGER
(55)").
36940 4-PAUSE <prog_id>(<line_num>): real not initialized
Cause:
The REAL variable accessed has either not been initialized or was
initialized and then set uninit when an operation such as READ
failed on the variable. The variable cannot be used until it has
been initialized.
Remedy:
initialized as part of the declaration (e.g., "VAR pi : REAL
(3.14159)").
36941 4-PAUSE <prog_id>(<line_num>): boolean not initialized
Cause:
The BOOLEAN variable accessed has either not been initialized or

was initialized and then set uninit when an operation such as READ
been initialized.
Remedy:
initialized as part of the declaration (e.g., "VAR
i_want_to_go_home : BOOLEAN (TRUE)").
36942 4-PAUSE <prog_id>(<line_num>): string not initialized
Cause:
The STRING variable accessed: * ** 1: has an undefined length, **

2: has not been initialized, or ** 3: was initialized and then set
uninit when an operation such as READ * failed on the variable.
* The variable cannot be used until it has been properly
initialized.
Remedy:
Check that the string length has been defined, that the variable
has been initialized, and that no error has occurred on the
variable. The built-in STR_LEN can be used for checking the string
length. The built-in VAR_UNINIT can be used for checking the state
of the variable and the variable can be initialized as part of the
declaration (e.g., "VAR s : STRING[80] ('I do like to be beside the
seaside')).
36943 4-PAUSE <prog_id>(<line_num>): vector not initialized
Cause:
The VECTOR variable accessed has either not been initialized or was
initialized and then set uninit when an operation such as READ
been initialized.
Remedy:
checking the state of the variable.
36944 4-PAUSE <prog_id>(<line_num>): position not initialized
Cause:
The POSITION variable accessed has either not been initialized or

been initialized.
Remedy:
36945 4-PAUSE <prog_id>(<line_num>): jointpos not initialized
Cause:
The JOINTPOS variable accessed has either not been initialized or

been initialized.
Remedy:
36946 4-PAUSE <prog_id>(<line_num>): xtndpos not initialized
Cause:
The XTNDPOS variable accessed has either not been initialized or

been initialized.
Remedy:
36947 4-PAUSE <prog_id>(<line_num>): err <error_num> in action. Cond

<cond_num> not completed
Cause:
The actions of the specified condition handler did not complete due
to the specified error. For example, the action "ENABLE
CONDITION[99]" was specified but condition handler 99 does not
exist.
Remedy:
Check the particular error and modify the condition handler.
36948 4-PAUSE <prog_id>(<line_num>): cond being defined in cond
Cause:
A condition handler cannot be defined while another condition

handler is being defined. For example:
-
- . . .
- ROUTINE rout
- BEGIN
- CONDITION[2]:
- WHEN HOLD DO
- . . .
- ENDCONDITION
- END rout
-
- BEGIN
- . . .
- CONDITION[1]:
- WHEN HOLD DO
- $FDOUT[rout] := ON
- . . .
- ENDCONDITION
-
would fail as condition handler 2 cannot be defined while condition
handler 1 is being defined.
Remedy:
Modify the program such that condition handlers are not defined
during the definition of another condition handler.
36949 4-PAUSE <prog_id>(<line_num>): err <error_num> <number> cond(s) not

PURGE
Cause:
The PURGE action or statement failed due to the error specified. A

typical error could be caused by purging a condition handler that
is currently locally enabled. For example, the PURGE statement
would fail in the following statement since the motion statement is
using the condition handler:
-
- MOVEFLY TO p1 WITH CONDITION[1] ADVANCE
-
Remedy:
Do not attempt to PURGE a condition handler until it is no longer

referenced.
36950 4-PAUSE <prog_id>(<line_num>): no cond <cond_num> in cond

<cond_num>
Cause:
The PURGE action failed in the specified condition handler because

the condition handler is not defined. For example,
-
- . . .
- BEGIN
- CONDITION[1]:
- WHEN HOLD DO
- PURGE CONDITION[2] -- CH 2 does not exist
- ENDCONDITION
Remedy:
Check to be sure the condition handler number is correct and that

the condition handler has not already been purged.
36951 4-PAUSE <prog_id>(<line_num>): I/O table full cond not enabled
Cause:
The number of I/O events (eg. WHEN $DIN[1]+) is finite. This error
occurs when the limit is reached. The current limit is 50.
Remedy:
Check that all the I/O events are necessary and are being used.
Delete all unnecessary I/O events.
36952 4-PAUSE <prog_id>(<line_num>): cond contains mtn events
Cause:
The condition handler could not be enabled as it contains certain

types of motion events. For example,
-
- . . .
- CONDITION[1]:
- WHEN TIME 100 BEFORE END DO
- HOLD
- ENDCONDITION
- -- ENABLE will fail since CH 1 contains motion events.
Remedy:
Change the condition handler such that it does not contain any of
the TIME, PERCENT, DISTANCE or AT VIA motion events. The motion
events AT START, AT END, STOP and RESUME are allowed to be enabled
globally.
36953 4-PAUSE <prog_id>(<line_num>): no such condition
Cause:
The condition handler referenced in the ENABLE, DISABLE, or PURGE

statement/action, or in the WITH clause does not exist.
Remedy:
Check that the condition handler number is correct and if so check

that the condition handler has been defined.
36954 4-PAUSE <prog_id>(<line_num>): condition too large
Cause:
The number of condition expressions has been exceeded. The current

limit is 254 expressions.
Remedy:
Split the condition in two or many smaller conditions.
36955 4-PAUSE <prog_id>(<line_num>): bad cond number <cond_num>
Cause:
The condition handler number is invalid.

Remedy:
Change the condition handler number to a valid number in the range

1 to 255.
36956 4-PAUSE <prog_id>(<line_num>): holdable action
Cause:
NOHOLD programs cannot use condition handlers which contain

HOLDable actions such as LOCK, UNLOCK, CANCEL CURRENT, and CANCEL
ALL.
Remedy:
Change the program to a HOLDable program or change the condition

handler definition so that it does not contain HOLDable actions.
36957 4-PAUSE <prog_id>(<line_num>): arm and jntp mismatch
Cause:
The JOINTPOS data is not valid for the particular arm specified in
the MOVE statement. The following example will cause this error
since the data is for arm 2 but the motion is for arm 3:
-
- . . .
- VAR j1 : JOINTPOS FOR ARM[2]
- . . .
- BEGIN
- MOVE ARM[3] TO j1 -- Data for arm 2. Motion on arm 3.
Remedy:
Change either the variable declaration or the motion statement,

reteaching the data if necessary.
36958 4-PAUSE <prog_id>(<line_num>): arm and xtnd mismatch
Cause:
The XTNDPOS data is not valid for the particular arm specified in
the MOVE statement. The following example will cause this error
since the motion is for arm 3 and the data is for arm 2:
-
- . . .
- VAR x1 : XTNDPOS FOR ARM[2]
- . . .
- BEGIN
- MOVE ARM[3] TO x1 -- Data for arm 2. Motion on arm 3.
Remedy:
Change either the variable declaration or the motion statement,

reteaching the data if necessary.
36959 4-PAUSE <prog_id>(<line_num>): no joint <joint_num>[<max>]
Cause:
A reference has been made to a JOINTPOS axis (jntvar[n]) that does

not exist.
Remedy:
Check that the index does reference a valid axis. The predefined
variables $NUM_JNT_AXES and $JNT_MASK contain information on the
number of axes and the presence of the different axes.
36960 4-PAUSE <prog_id>(<line_num>): WITH idx <index> limit <max>
Cause:
The first index of a variable in a WITH clause does not exist. For
example
-
- MOVE TO p1 WITH $JNT_OVR[99]=89 -- No such axis 99.
-
Remedy:
Change the program such that a valid index is referenced.
36961 4-PAUSE <prog_id>(<line_num>): WITH idx <index> limits

<dim1_max>,<dim2_max>
Cause:
The second index of a variable in a WITH clause does not exist.
Remedy:
Change the program such that a valid index is referenced.
36962 4-PAUSE <prog_id>(<line_num>): 1st idx <index> limit <max>
Cause:
The first index of a variable is outside the range. For example

-
- VAR a : ARRAY[10] OF INTEGER
- . . .
- BEGIN
- . . .
- a[11] := 99 -- Element 11 does not exist
Remedy:
Change the program such that a valid element is referenced.

36963 4-PAUSE <prog_id>(<line_num>): 2nd idx <index> limit <max>
Cause:
The second index of a variable is outside the range. For example

-
- . . .
- VAR b : ARRAY[5, 10] OF INTEGER
- . . .
- BEGIN
- . . .
- b [4, 11] := 99 -- Element [4, 11] does not exist
Remedy:
Change the program such that a valid element is referenced.
36964 4-PAUSE <prog_id>(<line_num>): copy array size mismatch
Cause:
The assignment between two ARRAY variables failed because the size
of the two arrays is not equal.
Remedy:
Either change the size of the arrays such that they are equal or
copy each element one at a time using a FOR loop.
36965 4-PAUSE <prog_id>(<line_num>): arm mismatch asgn jntp
Cause:
The assignment between two JOINTPOS variables failed because the

arm numbers are not the same.
Remedy:
Either change the arm number of the JOINTPOS variables in the

declaration or copy each element one at a time using a FOR loop.
36966 4-PAUSE <prog_id>(<line_num>): arm mismatch asgn xtnd
Cause:
The assignment between two XTNDPOS variables failed because the arm
numbers are not the same.
Remedy:
Either change the arm number of the XTNDPOS variables in the

declaration or copy the position field (POS) and auxiliary axes
field (AUX) in separate assignment statements.
36967 4-PAUSE <prog_id>(<line_num>): arm mismatch in arrays

Cause:
The assignment between two ARRAYs of either XTNDPOS or JOINTPOS

variables failed because the arm numbers are not the same.
Remedy:
Either change the arm number of the variables in the declaration or

copy individual elements and fields separately.
36968 4-PAUSE <prog_id>(<line_num>): routine not loaded
Cause:
The exported routine is not currently loaded in memory.
Remedy:
Issue a MEMORY LOAD (ML) of the owning program.
36969 4-PAUSE <prog_id>(<line_num>): missing RETURN in function
Cause:
A function routine has completed without a RETURN statement. The

following example will cause this error since the function "rout"
does not contain a RETURN statement.
-
- ROUTINE rout : INTEGER
- BEGIN
- -- Should be a RETURN statement between
- -- the BEGIN and END statements
- WRITE('Inside the routine', NL)
- END rout
-
Remedy:
Either change the routine to a procedure with no return result or

add a RETURN statement.
36970 4-PAUSE <prog_id>(<line_num>): HDIN_SET bad LOCK mode
Cause:
The HDIN_SET built-in is called by a NOHOLD program and the

built-in contains the action to LOCK the arm when the input is
triggered. LOCKing of an arm can only be done by a HOLDable
program.
Remedy:
Either change the program attribute to HOLDable or do not attempt

to LOCK the arm using HDIN_SET.
36971 4-PAUSE <prog_id>(<line_num>): str for cnfg too short
Cause:
The conversion of the POSITION configuration data from a number to

a string failed because the STRING was too short.
Remedy:
36972 4-PAUSE <prog_id>(<line_num>): bad cnfg string
Cause:
The specified positional configuration string is invalid.
Remedy:
Review the configuration string, removing invalid parameters.
36973 2-WARNING <prog_id>(<line_num>): at breakpoint <num>
Cause:
A breakpoint in the program has been reached and the program state
is changed to READY.
Remedy:
To continue execution for a NOHOLD program, press the RUN key. For
HOLDable programs, press the START key. The breakpoint can be
removed by issuing the PROGRAM TEST BREAK PURGE (PTBP) command.
36974 4-PAUSE <prog_id>(<line_num>): bad SYS_VAR data type
Cause:
The data type of the variable passed to SYS_VAR_GET or SYS_VAR_SET

is invalid. The valid data types are INTEGER, REAL, BOOLEAN,
STRING, VECTOR, POSITION, JOINTPOS, and SYSTEM.
Remedy:
Change the variable passed to these statements.
36975 4-PAUSE <prog_id>(<line_num>): system variable locked
Cause:
The predefined variable accessed using SYS_VAR_GET or SYS_VAR_SET

is currently locked and therefore cannot be accessed.
Remedy:
Reissue the statement or try to determine why it is locked.
36976 4-PAUSE <prog_id>(<line_num>): $SYS_CALL_OUT not owned by this prog
Cause:
The LUN specified in $SYS_CALL_OUT is either not owned by this

program or is not a system LUN.
Remedy:
Check and change what has been assigned to $SYS_CALL_OUT.
36977 4-PAUSE <prog_id>(<line_num>): $SYS_CALL_TOUT timer error
Cause:
There are a finite number of timer resources. The SYS_CALL with a

timeout failed because the limit has been exceeded.
Remedy:
Either reissue the command or reduce the amount of concurrent

statements with timeouts.
36978 4-PAUSE <prog_id>(<line_num>): err <error_num> in pass of READ
Cause:
The BYPASS over a READ statement failed due to the specified error.
Remedy:
Review the specified error to determine what action to take.
36979 4-PAUSE <prog_id>(<line_num>): err <error_num> in pass of WAIT
Cause:
The BYPASS over a WAIT statement failed due to the specified error.
Remedy:
36980 4-PAUSE <prog_id>(<line_num>): pass of WAIT FOR failed
Cause:
The BYPASS over a WAIT FOR statement failed due to the specified
error.
Remedy:
36981 4-PAUSE <prog_id>(<line_num>): pass of SYS_CALL failed
Cause:
The BYPASS over a SYS_CALL statement failed due to the specified

error.
Remedy:
36982 4-PAUSE <prog_id>(<line_num>): pass of DELAY failed
Cause:
The BYPASS over a DELAY statement failed due to the specified

error.
Remedy:
36983 12-DRIVE OFF <prog_id>(<line_num>): EXIT CYCLE, problems in deac

phase
Cause:
The EXIT CYCLE statement or action failed due to some problems in

the deactivation phase. EXIT CYCLE is very similar to an activation
and deactivation and therefore the above errors are very similar to
those which can occur in the deactivation of a program.
Remedy:
36984 2-WARNING <exec_prog> err <error_num> ext rout <rout_id> prog

<owning_prog> line <line_num>
Cause:
This message is informational and specifies at what line and in

what routine a previous error occurred in the program, when the
execution is in an external routine.
Remedy:
Review the error number to determine what action to take.
36985 4-PAUSE <prog_id>(<line_num>): no timer resource for DELAY

Cause:
There are a finite number of timer resources. The DELAY statement

failed because the limit has been exceeded.
Remedy:
Either reissue the command or reduce the number of concurrent

statements that use timers.
36986 4-PAUSE <prog_id>(<line_num>): no timer resource for PULSE
Cause:
There are a finite number of timer resources. The PULSE statement

Remedy:

36987 4-PAUSE <prog_id>(<line_num>): no timer resource for HAND
Cause:
There are a finite number of timer resources. The HAND statement

Remedy:

36988 4-PAUSE <prog_id>(<line_num>): no timer resources for READ
Cause:
There are a finite number of timer resources. The READ statement

with a timeout failed because the limit has been exceeded.
Remedy:

36989 4-PAUSE <prog_id>(<line_num>): bad WIN_LOAD file
Cause:
An attempt was made to WIN_LOAD a file onto a window and the format
of the file was not correct.
Remedy:
Make sure that the file was created using WIN_SAVE.
36990 4-PAUSE <prog_id>(<line_num>): bad screen use
Cause:
The screen specified in a window built-in such as WIN_POPUP,

WIN_DISPLAY, WIN_REMOVE or WIN_STATE is invalid.
Remedy:
Check that the parameter to the built-in is correct.
36991 4-PAUSE <prog_id>(<line_num>): mtn frame not initialized
Cause:
$BASE and $TOOL are set to uninit values.
Remedy:
Verify that $BASE and $TOOL are correctly initialized in the

program.
36992 4-PAUSE <prog_id>(<line_num>): jntp not initialized
Cause:
The JOINTPOS variable specified in a MOVE statement has not been

initialized.
Remedy:
Initialize the JOINTPOS before issuing the MOVE.
36993 4-PAUSE <prog_id>(<line_num>): pos not initialized
Cause:
The POSITION variable specified in a MOVE statement has not been

initialized.
Remedy:
Initialize the POSITION before issuing the MOVE.
36994 4-PAUSE <prog_id>(<line_num>): pos out of range
Cause:
The arm cannot move to a position located out of the robot

workspace.
Remedy:
Move to a position inside the robot workspace.
36995 4-PAUSE <prog_id>(<line_num>): axis 1 at undefined position
Cause:
The arm, typically a SMART robot, has the center of the wrist
aligned with the 'z' axis of the world frame. This is an arm
singularity.
Remedy:
Avoid entering the center of the wrist in a cylindrical volume

coaxial to the z-axis.
36996 4-PAUSE <prog_id>(<line_num>): wrist axis at undefined position
Cause:
The wrist, typically a SMART wrist, has axis 5 at zero position.

For this wrist, it is impossible to independently compute the
values of axes 4, 5, and 6.
Remedy:
Avoid working in Cartesian space with axis 5 at zero position or,

if implemented, change the setting of $ORNT_TYPE to WRIST_JNT in
order to execute the trajectory in Cartesian, but interpolate the
wrist axes in joint.
36997 4-PAUSE <prog_id>(<line_num>): function not yet implemented
Cause:
The function is not yet implemented.
Remedy:
Wait for a next software release.
36998 4-PAUSE <prog_id>(<line_num>): bad circular trajectory
Cause:
The system is trying to execute a CIRCULAR motion where the

trajectory is not well defined. This error can occur if two of the
START, VIA, or END points are coincident.
Remedy:
Check the VIA and the END points.
36999 4-PAUSE <prog_id>(<line_num>): bad positional cnfg flag

Cause:
When executing a Cartesian move, the configuration of the robot at

the END point has to be the same as at the START point. If this is
not true and if $CNFG_CARE is set to TRUE, this error will HOLD the
system. If $CNFG_CARE is set to FALSE the robot will move to the
END point with the same configuration as the START point.
Remedy:
If configuration is not important, set $CNFG_CARE to FALSE.
37000 4-PAUSE <prog_id>(<line_num>): VIA point not set
Cause:
A circular trajectory applies to the motion statement but the VIA

point has not been specified.
Remedy:
Either specify the VIA point or change the kind of trajectory.
37001 4-PAUSE <prog_id>(<line_num>): inverse kinematics not available
Cause:
This machine does not have the inverse kinematics.
Remedy:
Do not try to work in Cartesian.
37002 4-PAUSE <prog_id>(<line_num>): stroke end axis 1+
Cause:
The robot cannot reach a position where axis 1 is over its positive
limit of the available range.
Remedy:
Change the final position.
37003 4-PAUSE <prog_id>(<line_num>): stroke end axis 1-
Cause:
The robot cannot reach a position where axis 1 is over its negative
Remedy:

Cause:
Remedy:
Cause:
Remedy:
Cause:
Remedy:
Cause:
Remedy:
Cause:
Remedy:
Cause:
Remedy:
Cause:
Remedy:
Cause:
Remedy:
Cause:
Remedy:
Cause:
Remedy:
Cause:
Remedy:
Cause:
Remedy:
Cause:
Remedy:
Cause:
Remedy:
37018 4-PAUSE <prog_id>(<line_num>): axis 2/3 at open stroke end
Cause:
The arm is a SMART 120 Kg or an equivalent with the same kinematics

for axes 2 and 3. The end position of the issued move has joint 2
and 3 at the maximum open configuration.
Remedy:
37019 4-PAUSE <prog_id>(<line_num>): axis 2/3 at closed stroke end
Cause:

and 3 at the maximum close configuration.
Remedy:
37020 4-PAUSE <prog_id>(<line_num>): $DIN index out of range
Cause:
The index for $DIN is out of range.
Remedy:
Check that the index number is valid and that the I/O point does
exist.
37021 4-PAUSE <prog_id>(<line_num>): $DOUT index out of range
Cause:
The index for $DOUT is out of range.
Remedy:
exist.
37022 4-PAUSE <prog_id>(<line_num>): $GIN index out of range
Cause:
The index for $GIN is out of range.
Remedy:
exist.
37023 4-PAUSE <prog_id>(<line_num>): $GOUT index out of range
Cause:
The index for $GOUT is out of range.
Remedy:
exist.
37024 4-PAUSE <prog_id>(<line_num>): $AIN index out of range
Cause:
The index for $AIN is out of range.
Remedy:
exist.
37025 4-PAUSE <prog_id>(<line_num>): $AOUT index out of range
Cause:
The index for $AOUT is out of range.
Remedy:
exist.
37026 4-PAUSE <prog_id>(<line_num>): $BIT index out of range
Cause:
The index for $BIT is out of range.
Remedy:
Check that the index number is valid and that the point does exist.
37027 4-PAUSE <prog_id>(<line_num>): $WORD index out of range
Cause:
The index for $WORD is out of range.
Remedy:
37028 4-PAUSE <prog_id>(<line_num>): $SDIN index out of range
Cause:
The index for $SDIN is out of range.

Remedy:
exist. Refer to the "System-Defined I/O" appendix for a list of
valid $SDIN indices.
37029 4-PAUSE <prog_id>(<line_num>): $SDOUT index out of range
Cause:
The index for $SDOUT is out of range.
Remedy:
valid $SDOUT indices.
37030 4-PAUSE <prog_id>(<line_num>): $FDIN index out of range
Cause:
The index for $FDIN is out of range.
Remedy:
valid $FDIN indices.
37031 4-PAUSE <prog_id>(<line_num>): $FDOUT index out of range
Cause:
The index for $FDOUT is out of range.
Remedy:
valid $FDOUT indices.
37032 4-PAUSE <prog_id>(<line_num>): $PLCSTW index out of range
Cause:
The index for $PLCSTW is out of range.
Remedy:
37033 4-PAUSE <prog_id>(<line_num>): $HDIN index out of range

Cause:
The index for $HDIN is out of range.
Remedy:
Check that the index number is valid and that the SCC does exist.
37034 4-PAUSE <prog_id>(<line_num>): $TIMER index out of range
Cause:
The index for $TIMER is out of range.
Remedy:
Check that the index number is valid and that the timer does exist.
$NUM_TIMER defines the number of $TIMER elements.
37035 4-PAUSE <prog_id>(<line_num>): $USER_BIT index out of range
Cause:
The index for $USER_BIT is out of range.
Remedy:
Check that the index number is valid and that the element does
exist. $USER_LEN[1] defines the number of elements for $USER_BIT.
37036 4-PAUSE <prog_id>(<line_num>): $USER_BYTE index out of range
Cause:
The index for $USER_BYTE is out of range.
Remedy:
exist. $USER_LEN[2] defines the number of elements for $USER_BYTE.
37037 4-PAUSE <prog_id>(<line_num>): $USER_WORD index out of range
Cause:
The index for $USER_WORD is out of range.
Remedy:
exist. $USER_LEN[3] defines the number of elements for $USER_WORD.
37038 4-PAUSE <prog_id>(<line_num>): $USER_LONG index out of range

Cause:
The index for $USER_LONG is out of range.
Remedy:
exist. $USER_LEN[4] defines the number of elements for $USER_LONG.
37039 4-PAUSE <prog_id>(<line_num>): user port address uninitilized
Cause:
The address of a user variable ($USER_xxx or $PROG_Uxxx) has not

been specified.
Remedy:
$USER_ADDR elements [1] to [4] respectively define the addresses

for the user predefined variables $USER_BIT, $USER_BYTE,
$USER_WORD, and $USER_LONG. $PROG_UADDR elements [1] to [4]
respectively define the addresses for the user predefined variables
$PROG_UBIT, $PROG_UBYTE, $PROG_UWORD, and $PROG_ULONG. Check which
$USER_xxx or PROG_Uxxx predefined variable is being accessed and
that the corresponding address element has been initialized.
37040 4-PAUSE <prog_id>(<line_num>): $TIMER overflow
Cause:
A $TIMER element has exceeded its value and overflowed.
Remedy:
Reset the $TIMER to a lower value such that it does not overflow.
37041 4-PAUSE <prog_id>(<line_num>): $DIN element not mapped
Cause:
A $DIN element referenced in a program is currently not mapped.
Remedy:
Check the logical to physical I/O configuration and that such an

I/O point does physically exist.
37042 4-PAUSE <prog_id>(<line_num>): $DIN element is part of a group
Cause:
A $DIN element cannot be referenced as it is currently part of a

$GIN element.
Remedy:
Either reference the I/O point using the appropriate $GIN element
or change the Group Input definition.
37043 4-PAUSE <prog_id>(<line_num>): $DOUT element not mapped
Cause:
A $DOUT element referenced in a program is currently not mapped.
Remedy:

37044 4-PAUSE <prog_id>(<line_num>): $DOUT element is part of a group
Cause:
A $DOUT element cannot be referenced as it is currently part of a

$GOUT element.
Remedy:
Either reference the I/O point using the appropriate $GOUT element
or change the Group Output configuration.
37045 4-PAUSE <prog_id>(<line_num>): $GIN element not mapped
Cause:
A $GIN element referenced in a program is currently not mapped.
Remedy:
Check the Group Input configuration table, modifying accordingly.
37046 4-PAUSE <prog_id>(<line_num>): $GOUT element not mapped
Cause:
A $GOUT element referenced in a program is currently not mapped.
Remedy:
Check the Group Output configuration table, modifying accordingly.
37047 4-PAUSE <prog_id>(<line_num>): $AIN element not mapped
Cause:
An $AIN element referenced in a program is currently not mapped.

Remedy:

37048 4-PAUSE <prog_id>(<line_num>): $AOUT element not mapped
Cause:
An $AOUT element referenced in a program is currently not mapped.
Remedy:

37049 4-PAUSE <prog_id>(<line_num>): $FDOUT element not mapped
Cause:
A $FDOUT element referenced in a program is currently not mapped.
Remedy:
Check and modify the element number in the statement. Refer to the
"System-Defined I/O" appendix for a mapping list of $FDOUT
elements.
37050 4-PAUSE <prog_id>(<line_num>): $USER_BIT bad address
Cause:
The address of $USER_BIT is invalid.
Remedy:
Check the value specified in $USER_ADDR[1].
37051 4-PAUSE <prog_id>(<line_num>): $USER_BYTE bad address
Cause:
The address of $USER_BYTE is invalid.
Remedy:
37052 4-PAUSE <prog_id>(<line_num>): $USER_WORD bad address
Cause:
The address of $USER_WORD is invalid.

Remedy:
37053 4-PAUSE <prog_id>(<line_num>): $USER_LONG bad address
Cause:
The address of $USER_LONG is invalid.
Remedy:
37054 4-PAUSE <prog_id>(<line_num>): <error_num> err(s) in last operation
Cause:
During the last operation many errors occurred, some of which were
not program specific.
Remedy:
Review the preceding error messages to determine what action should

be taken.
37055 4-PAUSE <prog_id>(<line_num>): error <error_num> in prog
Cause:
A non-EC_PROG or EC_TRAP class of error occurred in a program. This

error message states what the error was and to which program it
applies.
Remedy:

be taken.
37056 12-DRIVE OFF <prog_id>(<line_num>): prog error <error_par>
Cause:

error message states the error, the parameters to the error, and to
which program it applies.
Remedy:

be taken.
37057 12-DRIVE OFF <prog_id>(<line_num>): prog error <error_par1>

<error_par2>
Cause:

Remedy:

be taken.
37058 12-DRIVE OFF <prog_id>(<line_num>): prog error <error_par1>

<error_par2> <error_par3>
Cause:

Remedy:

be taken.
37059 4-PAUSE <prog_id>(<line_num>): MOVE FOR distance too short
Cause:
The linear distance on the trajectory is too small to compute the

new parameters.
Remedy:
Increase the linear distance on the trajectory or change the move

type.
37060 4-PAUSE <prog_id>(<line_num>): MOVE FOR distance too long
Cause:
The linear distance on the trajectory is greater than the total

distance for the move.
Remedy:
Limit the linear distance on the trajectory to the total distance

available for this move.
37061 4-PAUSE <prog_id>(<line_num>): mtn canc bad target position
Cause:
The interpolator itself and/or the servo control detects an

interpolator error which has caused a generation of targets out of
the limits. The error depends on the arm position and the
operations which are requested on this position. The current motion
has been canceled due to this error.
Remedy:
Verify that the arm is near a singularity point. If possible, avoid

Cartesian moves near singularity points. If the arm is far from
the singularity point, please report the error and the generation
history to Comau.
37062 4-PAUSE <prog_id>(<line_num>): mtn canc previous error
Cause:
A previous motion generated a target error; all the pending motions

have been canceled.
37063 4-PAUSE <prog_id>(<line_num>): device exists
Cause:
The WIN_CREATE built-in failed because the device already exists.
Remedy:
If the device which already exists is a user created window this

can be removed and deleted, thereby allowing the new window with
the same name to be created. If the device is not a user created
window or the user created window cannot be deleted, change the
name of the device.
37064 4-PAUSE <prog_id>(<line_num>): OPEN FILE bad random access
Cause:
The OPEN FILE .. WITH $FL_RANDOM=TRUE failed as random access is

not permitted on the particular device.
Remedy:
Review the device table information to determine what operations

can be performed on the different devices.
37065 4-PAUSE <prog_id>(<line_num>): OPEN FILE bad delimiter number
Cause:
The number assigned to $FL_DLMT in the OPEN FILE statement is

invalid.
Remedy:
The valid range is from -1 to 255.

37066 4-PAUSE <prog_id>(<line_num>): OPEN FILE bad number of chars
Cause:
The number assigned to $FL_NUM_CHARS in the OPEN FILE statement is

invalid.
Remedy:
The valid range is from 1 to 80.
37067 4-PAUSE <prog_id>(<line_num>): bad READ binary specified
Cause:
The OPEN FILE .. WITH $FL_BINARY=TRUE failed as binary access is

not permitted on the particular device.
Remedy:
Review the device table information to determine what operations

can be performed on the different devices.
37068 4-PAUSE <prog_id>(<line_num>): bad CLOSE FILE prog not owner
Cause:
A program attempted to close a file LUN (CLOSE FILE) which it does

not own. LUNs can only be closed by the program which issued the
OPEN FILE.
Remedy:
Make the owning program close the file.
37069 4-PAUSE <prog_id>(<line_num>): bad condition definition
Cause:
The condition handler definition is invalid because either * ** 1:

no condition expressions or actions have been specified ** 2: the
number of actions is too large ** 3: the condition handler is
currently attached ** 4: the condition handler is currently locally
enabled *
Remedy:
Check that the condition handler does contain actions and condition
expressions and not too many. If so, split into many smaller
condition handlers.
37070 4-PAUSE <prog_id>(<line_num>): bad EVENT number

Cause:
The event number specified in the EVENT condition expression is

invalid.
Remedy:
Check that the EVENT number in the WHEN clause is correct and
modify accordingly. Refer to the "Condition Handlers" chapter of
the PDL2 Language Manual for a list of valid EVENT numbers.
37071 4-PAUSE <prog_id>(<line_num>): axis 5 at undefined position
Cause:
The wrist, typically a MAST wrist, has axis 5 at an undefined

position.
Remedy:
Avoid working in Cartesian with axis 5 at this undefined position.

If implemented, change the setting of $ORNT_TYPE to WRIST_JNT to
execute the trajectory in Cartesian, but interpolate the wrist axes
in joint. An alternative is to set the tool with a 5 angle, for
example
-
- $TOOL := POS(0, 0, 0, 0, 90, 0, '')
-
37072 2-WARNING <prog_id>(<line_num>): program counter in multiple line

stmt
Cause:
If the program has been loaded in a normal manner, this is a

warning message stating that an error has occurred in a multiple
line statement and that the program counter has been reset to the
beginning of the statement. If the program continues, some of the
previous statements will be re-executed. For example:
-
- CONDITION[1]:
- WHEN HOLD DO
- $FDOUT[rout] := ON
- WHEN $FDIN[999] DO -- Invalid $FDIN.
- . . .
- ENDCONDITION
-
After the error, the program counter is reset to the CONDITION line
and unpausing the program will cause the routine "rout" to be
called again.
-
If the program has been loaded in a permanent way, then this error
is severe and means that the program has to be deactivated.
Remedy:
If re-execution is a problem, the program should be deactivated and

re-activated.
37073 4-PAUSE <prog_id>(<line_num>): bad arm xtndpos data
Cause:
Access to the current XTNDPOS failed due to either a bad number of

auxiliary axes ($NUM_AUX_AXES) or due to a bad auxiliary mask
($AUX_MASK).
Remedy:
Check that the robot arm has been configured with auxiliary axes.
37074 4-PAUSE <prog_id>(<line_num>): prog state not passable
Cause:
The BYPASS operation failed as the program state was not passable.
Certain program states such as READY and DEACTIVATE cannot be
bypassed.
Remedy:
Check the state of the program and that such a state can be
bypassed.
37075 4-PAUSE <prog_id>(<line_num>): 2nd Euler angle less than zero
Cause:
For definition the second Euler angle cannot be less than 0 degrees
or greater than 180 degrees.
Remedy:
Set the angle accordingly.
37076 4-PAUSE <prog_id>(<line_num>): local variable error <error_num>
Cause:
The routine local variable could not be created. This often occurs
if the variable is of type XTNDPOS and the robot arm contains no
auxiliary axes.
Remedy:
Check that the local variables are legal data types.
37077 4-PAUSE <prog_id>(<line_num>): bad use of TP0
Cause:
Predefined window device TP0: can only be used in specific
operations. For example, it cannot be displayed.
Remedy:
Check to be sure the requested operation is legal and that the

device is not already being used.
37078 4-PAUSE <prog_id>(<line_num>): mismatch in fly $MOVE_TYPE
Cause:
In FLY it is not possible to execute two moves with a mismatch in

the $MOVE_TYPE when weaving is enabled. For both moves, $MOVE_TYPE
must be the same or weaving has to be disabled.
Remedy:
Set $MOVE_TYPE to be the same for both moves or disable weaving.
37079 4-PAUSE <prog_id>(<line_num>): mismatch in fly $ORNT_TYPE
Cause:
It is not possible to FLY two moves with a mismatch in the

$ORNT_TYPE. For both moves, $ORNT_TYPE must be the same.
Remedy:
Set $ORNT_TYPE to be the same for both moves.
37080 4-PAUSE <prog_id>(<line_num>): arm already ATTACHed
Cause:
An attempt was made to ATTACH an arm which has already been

attached by another program or a MOVE was issued on an arm which
has been attached by another program.
Remedy:
Determine which program has attached the arm and take the necessary
action.
37081 4-PAUSE <prog_id>(<line_num>): motion already ATTACHed arm
Cause:
An attempt was made to ATTACH an arm which already contains

motions.
Remedy:
If the ATTACH is necessary, CANCEL ALL motions such that the arm
does not contain outstanding motions. Then reissue the ATTACH.
37082 2-WARNING <prog_id>(<line_num>): prog already ATTACHed arm
Cause:
This program has already attached the arm.
Remedy:
Remove the second ATTACH statement as this is not necessary.
37083 4-PAUSE <prog_id>(<line_num>): arm not ATTACHed
Cause:
An attempt was made to DETACH the arm when it is not ATTACHed.

This could happen if the ATTACH action or statement was not
properly executed.
Remedy:
Check that the ATTACH action or statement has been successfully

executed.
37084 4-PAUSE <prog_id>(<line_num>): diff prog ATTACHed arm
Cause:
An attempt was made to DETACH an arm that is ATTACHed by a

different program. An arm can be DETACHed only by the program that
issued the ATTACH.
Remedy:
Remove the DETACH statement or action as it has no effect unless

this program issued the ATTACH either implicitly or explicitly.
37085 4-PAUSE <prog_id>(<line_num>): no timer resources for WRITE
Cause:
There are a finite number of timer resources. The WRITE statement

with a timeout failed because the limit has been exceeded.
Remedy:

37086 4-PAUSE <prog_id>(<line_num>): no memory for WRITE
Cause:
An asynchronous WRITE failed due to insufficient memory resources.

Remedy:

memory.
37087 4-PAUSE <prog_id>(<line_num>): device not ATTACHable
Cause:
An attempt was made to ATTACH a device which cannot be attached.
Remedy:
Check the type of device and whether this operation can be

performed.
37088 4-PAUSE <prog_id>(<line_num>): bad turn cnfg flag
Cause:
This can happen in the following cases: the initial turn

configuration differs from the final one for more than one turn;
the user sets a turn flag on a joint that cannot do more than 360
degrees; the joint in the specified movement must do more than 360
degrees or more than 180 degrees if $TURN_CARE is set to TRUE.
Remedy:
Reteach the same position taking care of the turn configuration.
37089 4-PAUSE <prog_id>(<line_num>): aggregate axis not exist
Cause:
A MOVE was specified using an aggregate data to an axis which does

not exist. For example, this error will occur if the following
statement were executed for a SMART robot which does not have axis
7 or 8.
-
- MOVE TO {10, 20, 30, 40, 50, 60, 70, 80}
-
Remedy:
Check and correct the MOVE statement.
37090 4-PAUSE <prog_id>(<line_num>): err <error_num> in pass of WRITE
Cause:
The BYPASS over a WRITE statement failed due to the specified

error.
Remedy:
37091 4-PAUSE <prog_id>(<line_num>): screen table full
Cause:
There is a finite number of screens which can be created and

accessed at the same time. This error reports that the limit has
been reached.
Remedy:
Check that unused screens have been deleted (SCRN_DEL) and if the
problem still exists increase the default number of screens
($NUM_SCRNS). Increasing the number of screens uses extra memory
and system resources so it is recommended to delete unused screens
as opposed to just increasing the number of available screens.
37092 4-PAUSE <prog_id>(<line_num>): bad CNTRL_SET/GET code or value
Cause:
The code number or the value specified as the parameter to

CNTRL_SET is illegal.
Remedy:
Check the PDL2 Language Manual to determine the correct code and
associated value.
37093 4-PAUSE <prog_id>(<line_num>): condition ATTACHed
Cause:
The attempted operation on a condition handler (such as DISABLE,

PURGE, ENABLE, ATTACH, or redefinition) failed because the
condition handler has been ATTACHed.
Remedy:
Check that the condition handler number specified is correct. If

so, this means that a routine in a different program context run
from the same program has ATTACHed the condition handler.
37094 4-PAUSE <prog_id>(<line_num>): string too short for device
Cause:
The STRING variable passed to a built-in is too short for holding

the device name or node symbol.
Remedy:
For a device name, check that the string length is greater than or
equal to 5. For a node symbol, verify what name has been set for
the node and set the string length accordingly.
37095 4-PAUSE <prog_id>(<line_num>): bad node index or length
Cause:
The offset or length specified in a path or node built-in are

illegal.
Remedy:
Check that the length and offset values are within the path range.
The error can sometimes be trapped using the ERR_TRAP_ON built-in
routine.
37096 4-PAUSE <prog_id>(<line_num>): NODE_TBL idx <index> limit <max>
Cause:
The NODE_TBL index to a path is out of range.
Remedy:
Check that the index value specified is correct.
37097 4-PAUSE <prog_id>(<line_num>): $TIMER not ATTACHed
Cause:
An attempt was made to DETACH a $TIMER element that is not

currently ATTACHed.
Remedy:
Check that the ATTACH action or statement worked properly.
37098 4-PAUSE <prog_id>(<line_num>): diff prog ATTACHed $TIMER
Cause:
An attempt was made to DETACH a $TIMER element that is currently

ATTACHed by a different program.
Remedy:
Remove the DETACH statement or action since it has no effect unless

this program issued the ATTACH.
37099 4-PAUSE <prog_id>(<line_num>): condition not ATTACHed
Cause:
An attempt was made to DETACH a condition handler that is not

currently ATTACHed.
Remedy:
Check that the ATTACH action or statement worked properly.
37100 4-PAUSE <prog_id>(<line_num>): diff prog ATTACHed condition
Cause:
An attempt was made to DETACH a condition handler that is currently

ATTACHed by a routine in a different context.
Remedy:
Remove the DETACH statement or action because it has no effect

unless a routine in the same context issued the ATTACH.
37101 12-DRIVE OFF <prog_id>(<line_num>): no memory for built-in
Cause:
Certain built-in routines (eg. NODE_INS) require the use of system

memory. The built-in failed because no memory resources could be
found.
Remedy:

memory or erase unnecessary user program or data from memory.
37102 2-WARNING <prog_id>(<line_num>): device not ATTACHed
Cause:
An attempt was made to DETACH a device which is not currently

ATTACHed.
Remedy:
Check if the device has been ATTACHed and if not, do not issue the
DETACH statement or action.
37103 2-WARNING <prog_id>(<line_num>): device already ATTACHed
Cause:
An attempt was made to ATTACH a device which is already ATTACHed by

this program.
Remedy:
Check the program logic and remove the unnecessary ATTACH

statement.
37104 4-PAUSE <prog_id>(<line_num>): $SDIN element not mapped
Cause:
A $SDIN element referenced in a program is currently not mapped. It

is probably part of a board that is not currently present in the
system or it is not properly configured.
Remedy:
Check the element index to see if the board is present in the

system and if it is properly configured. Refer to the
"System-Defined I/O" appendix for a mapping of $SDIN indices.
37105 4-PAUSE <prog_id>(<line_num>): $SDOUT element not mapped
Cause:
A $SDOUT element referenced in a program is currently not mapped.

It is probably part of a board that is not currently present in the
system or it is not properly configured.
Remedy:
Check the element index, whether or not the board is present in the
system, and if it is properly configured. Refer to the
"System-Defined I/O" appendix for a mapping of $SDOUT indices.
37106 4-PAUSE <prog_id>(<line_num>): $IDIN element not mapped
Cause:
A $IDIN element referenced in a program is currently not mapped. It

is probably part of a board that is not currently present in the
system or not properly configured.
Remedy:
system, and if it is properly configured.
37107 4-PAUSE <prog_id>(<line_num>): $IDOUT element not mapped
Cause:
A $IDOUT element referenced in a program is currently not mapped.

It is probably part of a board that is not currently present in the
system or not properly configured.
Remedy:
system, and if it is properly configured.
37108 4-PAUSE <prog_id>(<line_num>): $IDOUT element is read only
Cause:
An attempt was made to write to a $IDOUT element which can only be

read.
Remedy:
Check and modify the $IDOUT element being accessed.
37109 4-PAUSE <prog_id>(<line_num>): $IDIN index out of range
Cause:
The index of $IDIN is out of range.
Remedy:
37110 4-PAUSE <prog_id>(<line_num>): $IDOUT index out of range
Cause:
The index of $IDOUT is out of range.
Remedy:
37111 4-PAUSE <prog_id>(<line_num>): tool collinear with weave traj
Cause:
The user specified a weaving direction that is collinear to the

tool orientation.
Remedy:
Change the weaving plane angle or the tool approach on the starting
point.
37112 4-PAUSE <prog_id>(<line_num>): SIGNAL overflow
Cause:
A SEMAPHORE has overflowed. The maximum number of SIGNALs is 32767.
Remedy:
Check that for every matching SIGNAL there is a matching WAIT.
37113 4-PAUSE <prog_id>(<line_num>): deleted node accessed

Cause:
An attempt was made to access a PATH NODE which has already been
deleted.
Remedy:
Do not delete the NODE before accessing it.
37114 4-PAUSE <prog_id>(<line_num>): arm <arm_num> and node data <data

arm_num> mismatch
Cause:
The arm specified in the MOVE ALONG statement is different from the
arm specified in the node declaration.
Remedy:
Either correct the node declaration to match the arm or vice-versa.
37115 4-PAUSE <prog_id>(<line_num>): node data contains no destination
Cause:
An attempt was made to MOVE ALONG a path which contains no $MAIN_

destination.
Remedy:
The MOVE ALONG can only work on a path if the node declaration
contains either $MAIN_POS, $MAIN_JNTP, or $MAIN_XTND.
37116 12-DRIVE OFF <prog_id>(<line_num>): no memory for MOVE ALONG
Cause:
The MOVE ALONG statement could not be executed because no memory

resources could be found.
Remedy:

system memory. Erase any unused program code or data.
37117 4-PAUSE <prog_id>(<line_num>): node <node_num> MAIN not initialized
Cause:
The MOVE ALONG statement could not be executed because the node
element's main destination has not been initialized.
Remedy:
Initialize the node element's data ($MAIN_ field).
37118 4-PAUSE <prog_id>(<line_num>): node <node_num> deleted
Cause:
A node explicitly stated in the MOVE ALONG statement was deleted

during the execution of the MOVE ALONG. For example, this error
would occur if node 10 was deleted during the motion initiated by
the following statement:
-
- MOVE ALONG pth[1..10]
-
Remedy:
Do not delete motion nodes which are explicitly referenced in

statements.
37119 4-PAUSE <prog_id>(<line_num>): node <node_num> bad circular motion
Cause:
The MOVE ALONG failed as the circular motion was not correctly
setup. The motion failed because: * ** 1: the last node had a
termination type of SEG_VIA, ** 2: the termination type was
CIRCULAR and the preceding node was not SEG_VIA ** 3: a node
contained the termination type SEG_VIA and the following * node
did not contain a termination type of CIRCULAR *
Remedy:
For circular path motion it is necessary to define two nodes. The

first node must have termination type ($TERM_TYPE) of SEG_VIA and
the second node a termination type of CIRCULAR. The data used in
the motion such as SEG_OVR and condition handler specifications are
all taken from the second node.
37120 4-PAUSE <prog_id>(<line_num>): bad WITH CONDITION on MOVE ALONG
Cause:
The condition handler specified in the WITH clause of the MOVE

ALONG statement contains bad types of events. Only certain types of
events and states can be used in such a condition handler. (Refer
to the "Condition Handlers" chapter of the PDL2 Language Manual for
information on valid conditions for locally enabled condition
handlers.)
Remedy:
Either use the condition handler in a global manner with the ENABLE
CONDITION statement or setup the condition handler for each node by
using the $COND_MASK standard node field.
37121 4-PAUSE <prog_id>(<line_num>): no COND_TBL element for COND_MASK
Cause:
A bit has been set in the $COND_MASK of a path and the specific
element in the COND_TBL of the path has not been defined.
Remedy:
A node can contain either $COND_MASK or $COND_MASK_BACK standard

node field. The bits set in the field are used for referencing the
condition handlers defined in the condition handler table
(COND_TBL) of the path. For example, the value of $COND_MASK could
be 5 ie. bits 1 and 3. Elements 1 and 3 of COND_TBL must contain
valid condition handler numbers. This error occurs if a bit has
been set and no condition handler is defined. Either clear the bit
in $COND_MASK or define the element in COND_TBL.
37122 4-PAUSE <prog_id>(<line_num>): FRM_TBL element <element> not

initialized
Cause:
An uninitialized element of a path's frame table (FRM_TBL) is being

accessed in the MOVE ALONG path.
Remedy:
Check that the element has been initialized and that no error has
37123 4-PAUSE <prog_id>(<line_num>): bad ARM_GET_NODE or ARM_SET_NODE
Cause:
The setting or getting of the node number in the current path via
the ARM_GET_NODE or ARM_SET_NODE built-ins failed either because no
path is currently active on the arm or because of an invalid arm
number has been specified.
Remedy:
Check that the arm number is correct, a path is running, and if

setting the node, that the node is valid. To check if a path is
active call ARM_GET_NODE and a value of zero means no path is
active.
37124 2-WARNING <prog_id>(<line_num>): err <error_num> at node <node_num>
Cause:
The error reported happened on the specified node in the specified

program.
Remedy:
Check the specified error to determine the necessary actions.
37125 2-WARNING Err <prog_id> at node <line_num>
Cause:
The error reported happened on the specified node.
Remedy:
Check the specified error to determine the necessary actions.
37126 4-PAUSE <prog_id>(<line_num>): feature not yet implemented
Cause:
The feature is not yet implemented.
Remedy:
Wait for a next software version.
37127 4-PAUSE <prog_id>(<line_num>): no node has such name
Cause:
The PATH_GET_NODE built-in has been called and no node with such a
name exists.
Remedy:
Check that the name is correct and that a node has been defined and
not deleted with such a name.
37128 4-PAUSE <prog_id>(<line_num>): undefined label
Cause:
A GOTO statement could not be executed as there is no such label

defined.
Remedy:
Remove the GOTO statement or define the label.
37129 4-PAUSE <prog_id>(<line_num>): $SPD_OPT refers to bad aux axis
Cause:
The movement is limited to the velocity of a non-existing auxiliary

axis. For example, in a robot with a single auxiliary axis,
$SPD_OPT cannot be set to SPD_AUX2 or SPD_AUX3 but only to
SPD_AUX1.
Remedy:
Check the value assigned to $SPD_OPT and verify that the

corresponding axis exist.
37130 4-PAUSE <prog_id>(<line_num>): $TOOL changed during fly
Cause:
$TOOL cannot be changed during a Cartesian FLY.
Remedy:
Do not execute FLY or do not change $TOOL.
37131 4-PAUSE <prog_id>(<line_num>): direct kinematic not available
Cause:
This kind of robot does not support direct kinematics.
Remedy:
Do not use joint positions for Cartesian movements.
37132 4-PAUSE <prog_id>(<line_num>): bad JNT_SET_TAR axis or value
Cause:
The axis or value specified in the JNT_SET_TAR built-in is out of

range or cannot be set.
Remedy:
Check that the axis number and value are valid and that it can be
set using the built-in. Only certain axis of certain arms can be
set and the value must be correct relative to the resolver and
transmission rate.
37133 4-PAUSE <prog_id>(<line_num>): no bytes to WRITE
Cause:
An attempt was made to issue an asynchronous WRITE with no

characters to send.
Remedy:
Do not issue the WRITE of no characters or issue a WRITE with some

characters.
37134 4-PAUSE <prog_id>(<line_num>): bad bit number <bit_num>

Cause:
An attempt was made to BIT_SET, BIT_TEST, or BIT_CLEAR a value and

the bit number specified is not valid. The value must be in the
range from 1 to 16/32.
Remedy:
Check the built-in call.
37135 4-PAUSE <prog_id>(<line_num>): bad state for setting output
Cause:
An attempt was made to set an output port (ie. $DOUT, $GOUT or

$AOUT) when in PROG state and the user is not in direct control of
the program.
Remedy:
Remove the offending statement so that the program does not issue
an output; or enter MEMORY DEBUG on the active device or change the
program configuration. See $PROG_CNFG. The active device is the TP
if connected and not on the cabinet, otherwise it is the CRT.
37136 4-PAUSE <prog_id>(<line_num>): bad DV_CNTRL parameter size
Cause:
One of the parameters passed to the DV_CNTRL built-in is the wrong

length or size.
Remedy:
Make sure that the parameters passed to DV_CNTRL are correct.
37137 4-PAUSE <prog_id>(<line_num>): warning <error_num> in prog
Cause:
A non-EC_PROG or EC_TRAP class of warning occurred in a program.

This message states the warning and specifies to which program it
applies.
Remedy:
Review the preceding warning to determine what action should be

taken.
37138 2-WARNING <prog_id>(<line_num>): speed reduced for safety
Cause:
This is a warning message indicating the arm is running at a

reduced speed because either this is the first motion of the
activated program or the user interrupted the program execution
flow in MEMORY DEBUG.
Remedy:
If this feature is not required, set the proper bit in $PROG_CNFG.
37139 2-WARNING <prog_id>(<line_num>): $LIN_SPD not obtainable
Cause:
This is a warning message indicating the arm is running at a lower

speed than $LIN_SPD specified by the user for safety reasons.
37140 2-WARNING <prog_id>(<line_num>): trajectory recovery in progress
Cause:
This is a warning message indicating the arm is running at a

reduced speed because of trajectory recovery.
37141 4-PAUSE <prog_id>(<line_num>): tracking not correctly enabled
Cause:
$SENSOR_TYPE is set to an invalid value. This can happen if

$SENSOR_TYPE has been set to an unused value or if a weaving frame
tracking has been requested ($SENSOR_TYPE at value 2, 4, 8, 12)
without having first activated the weaving on the move.
Remedy:
Verify which sensor is connected to the system and set $SENSOR_TYPE

accordingly.
37142 4-PAUSE <prog_id>(<line_num>): tracking enabled without INTEC board
Cause:
Sensor Tracking is enabled but INTEC board is not present.
Remedy:
Verify the presence of the correct INTEC board or the setup of the
jumpers on the board. The stardard INTEC addresses are 0xF01000 for
the first board and 0xF02000 for the second one.
37143 4-PAUSE <prog_id>(<line_num>): array data type or size mismatch
Cause:
The specified array does not have the correct size or data type.
Remedy:
Check the size and data type requirements for the array variable.
37144 4-PAUSE <prog_id>(<line_num>): interpolation time too short
Cause:
The interpolation sampling time is too short to execute this

feature.
Remedy:
Increase the interpolation sampling time using the IPERIOD system

variable, field of $SC_DATA.
37145 4-PAUSE <prog_id>(<line_num>): axis not present for joint weaving
37146 4-PAUSE <prog_id>(<line_num>): tracking not possible
Cause:
There are different cases in which this error can occur: if a joint
move has been issued with sensor tracking enabled; if a cartesian
move, with the sensor tracking enabled, is joined in fly (or with
the ADVANCE) to a joint move; if the joint move follows a sensor
tracking session without movement (enabled via the SENSOR_TRK(ON)
built-in).
Remedy:
Disable the sensor tracking by setting $SENSOR_ENBL to FALSE before

running the joint move or remove the fly (or ADVANCE) between the
cartesian move and the joint one.
37147 10-DRIVE OFF <prog_id>(<line_num>): previous Sensor Data not already

read
Cause:
Previous data from the sensor has not been read by the interpolator
yet.
Remedy:
Check that the rate of the data coming from the sensor and sent to
the interpolator is not too high with respect to the rate of the
data being read by the interpolator itself.
37148 10-DRIVE OFF <prog_id>(<line_num>): sensor Data not jet available
Cause:
The data coming from the sensor is not ready to be read yet.
Remedy:
Check that the rate of writings of the sensor data by the

interpolator is not too low with respect to the rate of readings of
the PDL2 program.
37149 4-PAUSE <prog_id>(<line_num>): arm mismatch in built-in
Cause:
The built-in execution failed because the arm numbers are the same.
Remedy:
Change the arm number in built-in.
37150 4-PAUSE <prog_id>(<line_num>): auxiliary axis mismatch in built-in
Cause:
The built-in execution failed because the auxiliary axis were not
defined or absent.
Remedy:
Define properly the auxiliary axis.
37151 4-PAUSE <prog_id>(<line_num>): $SYNC_ARM not initialized yet
Cause:
The built-in execution failed because the synchronized arm has not
been defined.
Remedy:
Properly define the synchronized arm.
37152 4-PAUSE <prog_id>(<line_num>): axis 1 at open stroke end
Cause:
The end position of the issued move has joint 1 at the maximum open
configuration.
Remedy:
37153 4-PAUSE <prog_id>(<line_num>): axis 1 at closed stroke end
Cause:
The end position of the issued move has joint 1 at the maximum
close configuration.
Remedy:
37154 4-PAUSE <prog_id>(<line_num>): axis 2 at open stroke end
Cause:
The end position of the issued move has joint 2 at the maximum open
configuration.
Remedy:
37155 4-PAUSE <prog_id>(<line_num>): axis 2 at closed stroke end
Cause:
The end position of the issued move has joint 2 at the maximum
close configuration.
Remedy:
37156 4-PAUSE <prog_id>(<line_num>): axis 1/2 at open stroke end
Cause:
The arm is a SMART 3.75 P or an equivalent with the same kinematics

and 2 at the maximum open configuration.
Remedy:
37157 4-PAUSE <prog_id>(<line_num>): axis 1/2 at closed stroke end
Cause:

and 2 at the maximum close configuration.
Remedy:
37158 4-PAUSE <prog_id>(<line_num>): mismatch in fly $WEAVE_TYPE

Cause:
The value of $WEAVE_TYPE is different between two cartesian

movements in fly.
Remedy:
Remove the fly between the two movements or put the same value of
$WEAVE_TYPE.
37159 2-WARNING <prog_id>(<line_num>): SENSOR_TRK already enabled
Cause:
This error occurs when a SENSOR_TRK(ON) is issued twice.
Remedy:
Remove the second call to SENSOR_TRK built-in as this is not

necessary.
37160 4-PAUSE <prog_id>(<line_num>): SENSOR_TRK already reserved
Cause:
This error occurs when attempting to issue the SENSOR_TRK built-in

by a holdable program different from the one that has already
enabled SENSOR_TRK on the same arm. SENSOR_TRK(OFF) can be only
issued by the program that previously performed with success the
SENSOR_TRK(ON) built-in.
Remedy:
Try to use the SENSOR_TRK built-in within a single holdable

program. If multiple holdable programs use the SENSOR_TRK built-in,
organize the statement execution so that a SENSOR_TRK(ON) is issued
only when SENSOR_TRK is OFF.
37161 4-PAUSE <prog_id>(<line_num>): holdable built-in in nohold prog
Cause:
A NOHOLD program cannot interpret HOLDable built-ins, such as

SENSOR_TRK.
Remedy:
Change the program attribute.
37162 2-WARNING <prog_id>(<line_num>): coordinated jog not possible
Cause:
The 8th button in cartesian jog base frame is not enabled for
coordinated movement of the new interpress robot if the components
of the orientation of $BASE and $TOOL are different from zero and
if it is not possible to compute the symmetric position of the
starting point related to the pressed jog button (if the button is
8+, the robot must be on the right side in relation to the x axes
of the "base" frame and the first Euler angle must be negative;
viceversa if 8- is pressed).
Remedy:
Put the components of orientation of $BASE and $TOOL to zero or

change the starting point of the jog session, bringing back the
robot to a proper position.
37163 4-PAUSE <prog_id>(<line_num>): frame changed
Cause:
$UFRAME is changed during a Cartesian FLY movement when $TOOL_RMT

is set to TRUE or $BASE, $TOOL, $UFRAME or $SFRAME are changed
between two movements in fly (or ADVANCE) with the absolute
modality of Sensor Tracking enabled ($SENSOR_ENBL=TRUE and
$SENSOR_TYPE=9, 10, 11 or 12).
Remedy:
Avoid changing the frame during fly or between two movements having
the ADVANCE clause. Remove fly (or ADVANCE) if possible.
37164 4-PAUSE <prog_id>(<line_num>): $PROG_Uxxx index out of range
Cause:
The index for $PROG_Uxxx is out of range.
Remedy:
exist. $PROG_ULEN[xxx] defines the number of elements for
$PROG_Uxxx system variable. $PROG_UADR[xxx] defines the starting
adress for $PROG_Uxxx system variable.
37165 4-PAUSE <prog_id>(<line_num>): $SENSOR_TYPE change not possible
Cause:
This $SENSOR_TYPE modification is not allowed, unless the sensor

tracking session is interrupted.
Remedy:
Interrupt the sensor tracking session. Note that a sensor tracking

session is considered interrupted if neither fly nor ADVANCE is
present between two movements and SENSOR_TRK is OFF.
37166 4-PAUSE <prog_id>(<line_num>): joint trajectory not allowed

Cause:
Cannot use joint trajectory when cartesian tracking is enabled or

in the first move after $CONV_NUM is 0.
Remedy:
Use linear trajectory instead of joint for these situations.
37167 4-PAUSE <prog_id>(<line_num>): ADVANCE not allowed
Cause:
Conveyor tracking has been enabled/disabled during an ADVANCE.

Cannot change $CONV_NUM when a move is active.
Remedy:
Remove the ADVANCE from the previous move statement.
37168 4-PAUSE <prog_id>(<line_num>): position out of work zone
Cause:
The position, or the joint position, is not in the correct zone of

work. This check is done for the S3 robot.
Remedy:
Change the position or joint position.
37169 4-PAUSE <prog_id>(<line_num>): condition rate out of range
Cause:
The condition rate specified in the statement is negative or too

large.
Remedy:
Change the statement to a value that is in range.
37170 2-WARNING <prog_id>(<line_num>): SCAN with no states
Cause:
This warning occurs when the SCAN attribute is specified but the
condition has no states defined. In this case the SCAN attribute
will be ignored.
Remedy:
Remove the SCAN attribute from the condition handler.

37171 4-PAUSE <prog_id>(<line_num>): bad data type for VAR_UNINIT
Cause:
The VAR_UNINIT built-in does not accept records, semaphores, nodes

or any type of array.
Remedy:
Do not use those data types with the VAR_UNINIT built-in.
37172 4-PAUSE <prog_id>(<line_num>): DISABLE/ENABLE INTERRUPT mismatch
Cause:
The ENABLE/DISABLE Interrupt statements do not match. Either an

attempt to enable interrupts has been made while the interrupts are
already enabled or to an attempt to disable interrupts has been
made while the interrupts are already disabled.
Remedy:
Check that each enable interrupt matches with a disable interrupt.

Do not forget that the RETURN instruction itself does an automatic
ENABLE interrupt.
37173 4-PAUSE <prog_id>(<line_num>): cnfg changed before recovery
Cause:
A recovery trajectory in a cartesian modality ($RCVR_TYPE) has been

required but it is not possible because some positional
configuration flags changed when jogging the robot away from the
stopped position.
Remedy:
Set $RCVR_TYPE to a joint modality for recovery (values 0, 1, or 2)

and restart the movement. Then restore the original value.
37174 2-WARNING <prog_id>(<line_num>): START/BACK outside EDIT
Cause:
The START/BACK keys are currently disabled. This occurs after

certain errors or when a manual motion is executed outside the EDIT
environment. The START/BACK keys only work in PROG state when the
motion was issued from within the EDIT environment. The EDIT
environment includes PROGRAM EDIT/DATA, MEMORY DEBUG, immediate
mode EXECUTE (E), and EZ.
Remedy:
If the keys are disabled due to an error, clear the error.

Otherwise, enter the EDIT environment (PROGRAM EDIT/DATA, MEMORY
DEBUG, immediate mode EXECUTE, or EZ).
37175 4-PAUSE <prog_id>(<line_num>): wrist at close or open stroke end
Cause:
The cartesian position or joint position is not in the correct zone

of work, the wrist of the robot is opened or closed. This check is
done for the SNAP robot.
Remedy:
Change the programmed cartesian or joint position moving axis 4 or

5.
37176 4-PAUSE <prog_id>(<line_num>): $TOOL with orientation not available
Cause:
The $TOOL system variable has been defined with some orientation,
this is not possible with the SNAP robot or BEHR cartesian robots.
Remedy:
Change the $TOOL system variable value so to set the Euler angles
of this variable to the value zero.
37177 2-WARNING <prog_id>(<line_num>): jog keys combination not allowed
Cause:
For the S3 robot, it is not allowed to contemporarely press jog

keys 4 or 5 (+/-) with one of the jog keys 1, 2 or 3 (+/-).
Remedy:
The user is only allowed to contemporarely press jog keys 4 and 5

(+/-) or jog keys 1 and 2 and 3 (+/-).
37178 4-PAUSE <prog_id>(<line_num>): bad AUX_MMUX configuration
Cause:
The AUX_MMUX built-in has been called with a wrong group of axes.
The MMUX_SET operation only supports MMUX_A or MMUX_B as group of
axes.
Remedy:
Check the second parameter and correct it.
37179 4-PAUSE <prog_id>(<line_num>): bad AUX_MMUX operation
Cause:
The AUX_MMUX built-in has been called with a wrong operation code.
Remedy:
Check the first parameter and correct it.
37180 4-PAUSE <prog_id>(<line_num>): $TERM_TYPE value not allowed
Cause:
During conveyor tracking no check is allowed on the tollerance on

final points. Hence $TERM_TYPE system variable must be set to
NOSETTLE. This is due to the continuous motion of the robot during
the conveyor tracking. For the TRICEPT HP1 robot this type of
$term_type (FINE and COARSE) is not available.
Remedy:
Set $TERM_TYPE to the NOSETTLE value during conveyor tracking and

restore the original value when conveyor tracking is disabled. For
the TRICEPT HP1 robot the user has to use the joint tolerance.
37181 4-PAUSE <prog_id>(<line_num>): $BASE or $TOOL changed finishing

tracking
Cause:
During the last move before loosing the conveyor tracking it is

only allowed to change $UFRAME and not $BASE or $TOOL frames. This
move is the first one with $CONV_NUM=0 after a conveyor tracking
phase.
Remedy:
Avoide changing $BASE and $TOOL when loosing the conveyor tracking.
37182 4-PAUSE <prog_id>(<line_num>): MMUX already reserved
Cause:
This error occurs if another program has already reserved the MMUX
(by calling the AUX_MMUX() built-in before this program) and that
program is still active at the moment.
Remedy:
Check that no other active programs have executed the AUX_MMUX

built-in.
37183 4-PAUSE <prog_id>(<line_num>): $RCVR_TYPE value not allowed
Cause:
During conveyor tracking it is not allowed to recovery the

trajectory using a joint trajectory. Hence $RCVR_TYPE system
variable should be choosen for selecting a cartesian trajectory.
This is due to the continuous motion of the robot during the
conveyor tracking.
Remedy:
Set $RCVR_TYPE in order to use a cartesian trajectory for the

recovery of the move.
37184 4-PAUSE <prog_id>(<line_num>): $CONV_WIN[1] unreachable
Cause:
Conveyor tracking is probably held. Using the current value of

$CONV_ZERO it it not possible to enter in the zone defined by
$CONV_WIN[1] and $CONV_WIN[2]. This situation can easily happen in
PROG state without having updated the value of $CONV_ZERO.
Remedy:
Update the value of $CONV_ZERO with the current value of

$CONV_TBL[n].CT_RES.
37185 4-PAUSE <prog_id>(<line_num>): forbidded motion on MMUX axes
Cause:
The external auxiliary axes have been disabled via the execution of
the AUX_MMUX built-in. A movement on those axes has been requested,
but it is not possible to execute it as these axes are disabled.
Remedy:
Do not try to move external auxiliary axes while they are disabled.
For moving them, execute the AUX_MMUX built-in for enabling them.
37186 4-PAUSE <prog_id>(<line_num>): forbidded motion for integrated arm
Cause:
The first arm of a couple of integrated arms (the carrier) moved in

a non syncronized way while the second arm was executing a
linear/circular movement on a JOINTPOS or a JOINT movement on a
POSITION/XTNDPOS.
Remedy:
Move the two arms with a SYNCMOVE statement or try to maintain

steady the first arm while executing this particular type of motion
with the second. Note that the first arm is allowed to move while
the second arm is doing LINEAR/CIRCULAR movements on a
POSITION/XTNDPOS or JOINT movements on a JOINTPOS.
37187 4-PAUSE <prog_id>(<line_num>): SENSOR_TRK not attached

Cause:
This error occurs when attempting to issue the SENSOR_SET_OFST

built-in by a holdable program while the SENSOR has not yet been
attached by any program.
Remedy:
Use the SENSOR_TRK built-in within an holdable program to attach

the SENSOR.
37188 4-PAUSE <prog_id>(<line_num>): forbidded motion on AUX axes
Cause:
the built-in. A movement on those axes has been requested, but it
is not possible to execute it as these axes are disabled.
Remedy:
For moving them, execute the built-in for enabling them.
37189 4-PAUSE <prog_id>(<line_num>): bad AUX_SET axis
Cause:
The axis specified in the AUX_SET built-in cannot be set as it does

not exist or it is not configured for this feature.
Remedy:
Check that the axis number is valid and that it can be set using
the built-in. Only certain axis of certain arms can be set due to
the configuration file.
37190 2-WARNING <prog_id>(<line_num>): $RCVR_DIST not completely

satisfied
Cause:
This is a warning message indicating the arm is performing a

trajectory recovery in the modality of Process resume
($RCVR_TYPE=9) but the $RCVR_DIST value can not be completely
satisfied because of one of the following reasons:
- the $RCVR_DIST could be grater than the distance from the
initial position
of the current move;
- if there was a fly at the beginning of the interrupted move, the
$RCVR_DIST
could be greater than the distance from the end of the fly;
- there was a fly active.
The interrupted move will be recovered starting from a position
closer to the interrupted point than the programmed distance
($RCVR_DIST).
Remedy:
It is a warning, so the recovery move will be performed anyway.
37191 2-WARNING <prog_id>(<line_num>): process resume trajectory in

progress
Cause:
This is a warning message indicating the arm is performing a

trajectory recovery in the modality of Process resume
($RCVR_DIST>0). The arm is running at a reduced speed because of
trajectory recovery.
37192 4-PAUSE <prog_id>(<line_num>): arm needs Calibration operation
Cause:
It is not possible to execute MOVE instructions when the arm is not

calibrated.
Remedy:
Calibrate the arm before executing MOVE instructions.
37193 4-PAUSE <prog_id>(<line_num>): arm needs Turn Set operation
Cause:

Remedy:
37194 4-PAUSE <prog_id>(<line_num>): move(s) in progress
Cause:
If a STANDBY built-in has been executed, it is not possible to

enter in the STANDBY state as there are one or more moves in
progress. If a AUX_SET built-in has been executed, it is not
possible to connect/disconnect an axis as there are one or more
moves in progress.
Remedy:
Use the STANDBY built-in or the AUXSET built-in to enter in the

STANDBY state when there are no moves in progress.
37195 4-PAUSE <prog_id>(<line_num>): STANDBY state not available

Cause:
It is not possible to enter in the STANDBY state as the system may

not be in the AUTO (local or remote) state or the STANDBY feature
is disabled.
Remedy:
Use the STANDBY built-in when the system is in AUTO state. Check
that the STANDBY feature is enabled; $TUNE[27] is not equal zero.
37196 4-PAUSE <prog_id>(<line_num>): auxiliary axis already reserved
Cause:
This error occurs if another program has already reserved the

auxiliary axis management (by calling the AUX_SET built-in before
this program) and that program is still active at the moment.
Remedy:
Check that no other active programs have executed the AUX_SET

built-in on the same arm.
37197 4-PAUSE <prog_id>(<line_num>): BYPASS of SYS_CALL/DV_CNTRL
Cause:
A SYS_CALL or DV_CNTRL has been bypassed due to BYPASS statement or

command, in most of the cases issued by a different program. The
trapping on of this error causes the execution of this program to
continue.
Remedy:
As the SYS_CALL/DV_CNTRL statement can be interrupted, the PDL2

program should be structured to foresee this case. For example
testing the $SYS_CALL_STS or $DV_STS.
37198 4-PAUSE <prog_id>(<line_num>): bad mask value
Cause:
The value specified with the statement/built-in, does not fits in

the foreseen range. For example, in case of BYPASS statement, the
integer mask parameter must correspond to the number associated to
a specific suspendable statement to be bypassed. In case of
ON_JNT_SET statement, the axes mask must be the same of $JNT_MASK
or a subset of it.
Remedy:
Check which is the correct mask value for the statement/built-in.

37199 8-HOLD <prog_id>(<line_num>): kinematic compensation out of
tolerance
Cause:
The error occurs in case of kinematic compensation alghorithm

enabled, if the correction that has been introduced is greater
than the specified tolerance. Usually this happens if the position
specified in the motion statement is located near a singularity
point.
Remedy:
Change the destination of the motion statement. If the error still

occurs, please contact COMAU.
37200 4-PAUSE <prog_id>(<line_num>): parameters data type conflict
Cause:
The parameters specified in the routine should be of the same data

type.
Remedy:
Pass parameters of the same data type to the routine.
37201 2-WARNING <prog_id>(<line_num>): gun axis not calibrated
Cause:
The axis of the gun is not calibrated and this causes the operation
failure.
Remedy:
Calibrate the axis using the SPOT application program and execute
the operation again.
37202 4-PAUSE <prog_id>(<line_num>): gun axis to be calibrated
Cause:
It is not possible to execute MOVE statements is the gun axis is

not calibrated.
Remedy:
Calibrate the axis using the SPOT application program before

issuing motion statements again.
37203 4-PAUSE <prog_id>(<line_num>): posture not compensable
Cause:
The Joint or Cartesian position cannot be compesated with the
compensation algorithm. The Joints could be near the stroke ends
(indluding open or closed parallelogram stroke end).
Remedy:
Modify the Joint or Cartesian position moving the axes that are
near stroke end limitations.
37204 4-PAUSE <prog_id>(<line_num>): Position in singularity of

compensation
Cause:
The Joint or Cartesian position cannot be compesated with the

compensation algorithm: axis 5 is in singularity.
Remedy:
Modify the Joint or Cartesian position moving the axis 5 out of the
singularity area.
37205 4-PAUSE <prog_id>(<line_num>): Cartesian Position not compensable
Cause:
In case of compensation algorithm active, it means that the

programmed Joint or Cartesian position cannot be compensated.
Remedy:
In case of compensation algorithm active, program the Joint or

Cartesian position out of the area where the compensation cannot
work.
37206 4-PAUSE <prog_id>(<line_num>): $FLOW_TBL already reserved
Cause:
This error occurs when a program issues the FLOW_MOD_ON or the

FLOW_MOD_OFF on an element of the $FLOW_TBL that is already
reserved to a different program.
Remedy:
It is a good programming rule to call the FLOW_MOD_ON, for enabling

the modulation alghorithm, and the FLOW_MOD_OFF, for disabling it,
always from the same program.
37207 4-PAUSE <prog_id>(<line_num>): wrong value in Flow Modulate
Cause:
A parameter to the FLOW_MOD_ON / FLOW_MOD_OFF built-in or a value

in the $FLOW_TBL table is not correctly set. For example, the
index of the analogue port passed as parameter to the FLOW_MOD_ON /
FLOW_MOD_OFF is not correct; or the arm number in $FW_ARM is not an
arm defined in the system.
Remedy:
Change the wrong value in $FLOW_TBL or the parameter passed to

FLOW_MOD_ON / FLOW_MOD_OFF routine and issue the statement again.
37208 4-PAUSE <prog_id>(<line_num>): axis not present
Cause:
The specified axis is not present. This error can also occur after
calling the FLOW_MOD_ON built-in when the axis defined in the
$FLOW_TBL[].FW_AXIS field does not exists for the arm specified in
$FLOW_TBL[].FW_ARM.
Remedy:
Check the axis validity. In case of FLOW_MOD_ON, properly check the

FW_AXIS field (and eventually FW_ARM) in the $FLOW_TBL.
37209 4-PAUSE <prog_id>(<line_num>): wrong table index
Cause:
The specified table index does not exist.
Remedy:
Issue the statement specifying a correct table index.
37210 4-PAUSE <prog_id>(<line_num>): analogue port required
Cause:
The statement requires the definition of an analogue port (for

example $WORD).
Remedy:
Change the program in order to define the port to be used. In case

of FLOW_MOD_ON, pass the port as parameter. In case of ON_POS, the
port must already have been defined via the ON_POS_SET / ON_JNT_SET
call that should preceede the ON_POS call.
37211 4-PAUSE <prog_id>(<line_num>): $ON_POS_TBL already reserved
Cause:
This error occurs when a program issues the ON_POS_SET on an

already reserved element.
Remedy:
Call the ON_POS(OFF) before the ON_POS_SET.
37212 4-PAUSE <prog_id>(<line_num>): bad value in $ON_POS_TBL
Cause:
A value in the $ON_POS_TBL is not properly set. For example, the

$OP_TOOL_DSBL field cannot be TRUE if $OP_TOOL_RMT has a value of
TRUE.
Remedy:
Check values compatibility in the $ON_POS_TBL fields settings.
37213 4-PAUSE <prog_id>(<line_num>): arm <arm_num> in rout and <arm_num>

in JOINTPOS conflict
Cause:
The arm specified as parameter to the internal routine ON_POS is

different than the arm related to the JOINTPOS variable passed as
parameter to the ON_JNT_SET.
Remedy:
Uniform the arms, by changing the arm passed to the ON_POS routine
or redefining the jointpos associated to the table.
37889 14-FATAL Configured servo board not present
Cause:
One or more servo boards declared in the C3G.SYS file are not
present in the rack.
Remedy:
Insert servo board(s) to match the required configuration, or ask

Comau for a new configuration file.
37890 2-WARNING Servo board(s) not configured
Cause:
A servo board present in the rack is not used by the controller.
Remedy:
This is only a warning. Check to see if the configuration matches

your needs. Eventually, remove the unused board.
37891 14-FATAL Synchronization with servo board failed

Cause:
A servo board fails the initialization phase.
Remedy:
If this error occurs after a loading operation of the system

software, check the diskette and try to reload. Otherwise issue a
restart of the system. If the problem still occurs, change the
servo board.
37894 10-DRIVE OFF Optional Sw for SINEC H1 not present
Cause:
The system has detected the SINEC H1 board but there is no optional
sw loaded to handle this feature.
Remedy:
Load the optional Sw for SINEC H1.
37895 10-DRIVE OFF Optional Sw for VME147 not present
Cause:
The system has detected the VME147 board but there is no optional
sw loaded to handle this feature.
Remedy:
Load the optional Sw for VME147.
37897 14-FATAL Software bootstrap fail, please restart
Cause:
Something went wrong during the bootstrap phase of loading the

system software.
Remedy:
If this error occurs after loading the system software, check the
diskette and try to reload the system software. Otherwise issue a
restart of the system. If the problem still occurs, change the RBC
board.
37898 10-DRIVE OFF Bad loading of compensation data
Cause:
An error occurred when reading the .ROB file containing data

related to the compensation of kinematic errors. The reason of this
is indicated in the error message preceding this one.
Remedy:
Check that the .ROB file has been properly installed and that it is
not corrupted. Try to reload the original compensation file.
39937 4-PAUSE <prog_id>(<line_num>): ACOS value range (-1 to 1)
Cause:
The value passed to the ACOS built-in is invalid. The value must be
in the range 1.0 to -1.0. The result returned when this error is
trapped on is an uninitialized REAL.
Remedy:
Check and modify the value passed to the built-in.
39938 4-PAUSE <prog_id>(<line_num>): ARRAY_DIM one dim array
Cause:
The argument to the ARRAY_DIM2 built-in is invalid as it is only a

one dimensional array. The result returned when this error is
trapped on is an uninitialized INTEGER.
Remedy:
39939 4-PAUSE <prog_id>(<line_num>): ASIN value range (-1 to 1)
Cause:
The value passed to the ASIN built-in is invalid. The value must be
in the range 1.0 to -1.0. The result returned when this error is
trapped on is an uninitialized REAL.
Remedy:
Check and modify the parameter passed to the built-in.
39940 4-PAUSE <prog_id>(<line_num>): ATAN2 value both zero
Cause:
The values passed to the ATAN2 built-in are both equal to zero. The
result returned when this error is trapped on is an uninitialized
REAL.
Remedy:
39941 4-PAUSE <prog_id>(<line_num>): CHR bad index

Cause:
The index to the CHR built-in is invalid.
Remedy:
Check that the index is within the string length.
39942 4-PAUSE <prog_id>(<line_num>): COM_PORT <num> error
Cause:
The specified error occurred while accessing the communication port

via the COM_PORT_SET or COM_PORT_GET built-in.
Remedy:
Review the error number to determine the cause and what action is
to be taken.
39943 4-PAUSE <prog_id>(<line_num>): ERR_POST bad severity or number
Cause:
The error number or severity or both are invalid in the ERR_POST

built-in. Valid error numbers are in the range 43008 to 44031.
Valid severity numbers are 2, 4, 6, 8, 10, and 12.
Remedy:
Check and modify the parameters to the built-in.
39944 4-PAUSE <prog_id>(<line_num>): EXP value out of range
Cause:
The value passed to the EXP built-in is invalid. The value must be
less than 88.7. The result returned when this error is trapped on
is an uninitialized REAL.
Remedy:
39945 4-PAUSE <prog_id>(<line_num>): HDIN_READ pos not read
Cause:
The HDIN_READ built-in failed as the arm data has not been read.
Remedy:
Either the HDIN did not trigger or the HDIN_SET was not set up to
record the arm position.
39946 4-PAUSE <prog_id>(<line_num>): HDIN_SET bad lock arm
Cause:
The lock arms specified as the parameters to the HDIN_SET built-in

are not present on the specified SCC board.
Remedy:
HDIN_SET can only lock arms which are present on the specified SCC
board so either modify the SCC board number or the arm. The
predefined variable $SC_DATA[scc_number].REF_ARMS contains a mask
of arms which use the specified SCC board.
39947 4-PAUSE <prog_id>(<line_num>): JNTP_TO_POS jntp not initialized
Cause:
The JNTP_TO_POS built-in failed because the JOINTPOS data has not
been initialized.
Remedy:
Check the value passed to the built-in.
39948 4-PAUSE <prog_id>(<line_num>): LN value <= zero
Cause:
The value passed to the LN built-in is invalid. The value must be

greater than 0.0. The result returned when this error is trapped on
is an uninitialized REAL.
Remedy:
39949 4-PAUSE <prog_id>(<line_num>): ORD bad index
Cause:
The index passed to the ORD built-in is invalid. The value must be
greater than 0 and less than or equal to the current length of the
STRING variable. The result returned when this error is trapped on
is an uninitialized INTEGER.
Remedy:
39950 4-PAUSE <prog_id>(<line_num>): POS_FRAME pos parallel
Cause:
The positional values passed to the FRAME built-in are co-linear
and therefore the frame position cannot be calculated. The result
returned when this error is trapped on is an uninitialized
POSITION.
Remedy:
39951 4-PAUSE <prog_id>(<line_num>): POS_TO_JNTP pos not initialized
Cause:
The POS_TO_JNTP built-in failed due to the fact that the Cartesian
positional data has not been initialized.
Remedy:
39952 4-PAUSE <prog_id>(<line_num>): SCRN_GET unknown screen
Cause:
The SCRN_GET built-in failed to find the current screen on the

particular device.
Remedy:
Check that the PDV_TP or PDV_CRT physical device has been passed to
the built-in.
39953 4-PAUSE <prog_id>(<line_num>): SQRT value less than zero
Cause:
The value passed to the SQRT built-in is invalid. The value must be
greater than or equal to 0.0. The result returned when this error
is trapped on is an uninitialized REAL.
Remedy:
39954 4-PAUSE <prog_id>(<line_num>): STR_CAT out of memory
Cause:
The STR_CAT built-in failed due to insufficient memory.
Remedy:

39955 4-PAUSE <prog_id>(<line_num>): STR_DEL bad start or length
Cause:
Either the STRING has no length or the starting index or the length
specified in the STR_DEL built-in is invalid. Index and length
values must be greater than or equal to one. If the error is
trapped on, the STRING remains unchanged.
Remedy:
39956 4-PAUSE <prog_id>(<line_num>): STR_INS bad index
Cause:
The starting index to the STR_INS built-in is invalid. The value

must be greater than zero and less than the current string length
or, if the STRING is uninitialized, the index must be zero. The
destination STRING must be of a valid length.
Remedy:
39957 4-PAUSE <prog_id>(<line_num>): STR_LOC bad string
Cause:
Either the given STRING or the find STRING passed to the STR_LOC
built-in has no value. The result returned if the error is trapped
on is 0.
Remedy:
39958 4-PAUSE <prog_id>(<line_num>): STR_OVS bad index
Cause:
The source STRING passed to the STR_OVS built-in is not initialized

or the index is incorrect or the destination STRING is of zero
length.
Remedy:
39959 4-PAUSE <prog_id>(<line_num>): STR_XTRT bad index
Cause:
One of the parameters to the STR_XTRT built-in is invalid.
Remedy:
Check that the starting index is greater than 0 and less than the
length of the source STRING and that the length to be extracted is
greater than zero. Trapping on this error sets the target STRING to
an uninitialized STRING value.
39960 4-PAUSE <prog_id>(<line_num>): SYS_CALL error <error_num>
Cause:
The SYS_CALL built-in failed due to the specified error. Trapping

on this error causes execution of the program to continue. The
program predefined variable $SYS_CALL_STS is set to the specified
error.
Remedy:
39961 4-PAUSE <prog_id>(<line_num>): SYS_VAR ofst > string length
Cause:
The offset specified on the STRING predefined variable in the

SYS_VAR_GET or SYS_VAR_SET built-in is invalid. The offset must be
greater than zero and less than the current length or, if the
STRING is uninitialized, the offset must be zero.
Remedy:
Check and modify the offset parameter.
39962 4-PAUSE <prog_id>(<line_num>): SYS_VAR ofst not on field boundary
Cause:
The offset specified on the predefined variable in the SYS_VAR_GET

or SYS_VAR_SET built-in is invalid. The offset must be on an
element boundary and within the memory of the variable.
Remedy:
Check and modify the offset parameter.
39963 4-PAUSE <prog_id>(<line_num>): SYS_VAR limits on system variable
Cause:
The predefined variable specified in the SYS_VAR_SET or SYS_VAR_GET

built-in can contain only a limited range of values and an offset,
conversion, or length have been specified in the built-in.
Remedy:
Check and modify either the offset, conversion, or length parameter

if the predefined variable is to be accessed or use direct access.
39964 4-PAUSE <prog_id>(<line_num>): SYS_VAR bad conversion specified
Cause:
The conversion factor specified in the SYS_VAR_GET or SYS_VAR_SET

built-in is invalid. The conversion can only be for bytes and words
and the destination must be less than 4 bytes.
Remedy:
Check and modify the conversion parameter.
39965 4-PAUSE <prog_id>(<line_num>): SYS_VAR spec length too long
Cause:
The length specified in the SYS_VAR_GET or SYS_VAR_SET built-in is

invalid. The length + the offset must be within the boundary of the
source and destination variable.
Remedy:
Check and modify the offset or length parameters supplied to the

built-in.
39966 4-PAUSE <prog_id>(<line_num>): SYS_VAR spec ofst too long
Cause:
The offset specified for the predefined variable in the

SYS_VAR_GET or SYS_VAR_SET built-in is invalid. The offset must be
greater than zero and within the boundary of the source and
destination variable.
Remedy:
Check and modify the offset or length parameters supplied to the

built-in.
39967 4-PAUSE <prog_id>(<line_num>): SYS_VAR length not a multiple of

element size
Cause:
The length specified or calculated for an ARRAY predefined variable

in the SYS_VAR_GET or SYS_VAR_SET built-in is invalid. For ARRAYs,
the length must be a multiple of the element size.
Remedy:
Check and modify the offset or length parameter for the ARRAY
predefined variable.
39968 4-PAUSE <prog_id>(<line_num>): SYS_VAR spec ofst not on element

boundary
Cause:
The offset specified or calculated for an ARRAY predefined variable

in the SYS_VAR_GET or SYS_VAR_SET built-in is invalid. For ARRAYs,
the offset must be on an ARRAY element boundary.
Remedy:
Check and modify the offset or length parameter for the ARRAY
predefined variable.
39969 4-PAUSE <prog_id>(<line_num>): VOL_SPACE label string too short
Cause:
The length of the STRING passed to the VOL_SPACE built-in is too

short. The string length must be at least 12.
Remedy:
Pass a STRING whose length is greater than 11.
39970 4-PAUSE <prog_id>(<line_num>): WIN_CLEAR bad option
Cause:
The clear specification parameter passed to the WIN_CLEAR built-in

is invalid.
Remedy:
Check that the parameter is one of the WIN_CLR_xxx predefined

constants.
39971 4-PAUSE <prog_id>(<line_num>): WIN_CREATE/WIN_SIZE bad number of

rows
Cause:
The number of rows specified in the WIN_CREATE or WIN_SIZE built-in

is invalid. The value must be greater than zero and less than the
number of rows on the particular device.
Remedy:
Check and modify the number of rows parameter.
39972 4-PAUSE <prog_id>(<line_num>): bad physical device

Cause:
The physical device specified in one of the WIN_CREATE, SCRN_SET,

SCRN_FONT, or SCRN_CLEAR built-ins is invalid.
Remedy:
Check and modify the parameter such that it is one of the PDV_xxx
predefined constants.
39973 4-PAUSE <prog_id>(<line_num>): WIN_DEL window not deleted
Cause:
The WIN_DEL built-in failed because either files are currently open
on the device or the device is currently being displayed.
Remedy:
Check the state of the window by using WIN_STATE and either close
the files or remove the window or both.
39974 4-PAUSE <prog_id>(<line_num>): WIN_REMOVE window not displayed
Cause:
The WIN_REMOVE built-in failed because the window is currently not

being displayed.
Remedy:
Check the state of the window by using WIN_STATE and take the
corrective action.
39975 4-PAUSE <prog_id>(<line_num>): WIN_REMOVE POP-UPs on window
Cause:
The WIN_REMOVE built-in failed because either the fixed window

contains pop-up windows or the TP0: window is not being displayed.
Remedy:
Check the state of the window by using WIN_STATE and remove the
offending pop-up windows before trying to remove the fixed window.
39976 4-PAUSE <prog_id>(<line_num>): EXIT CYCLE program not in a cycle
Cause:
The EXIT CYCLE statement failed because the program has not yet
entered the CYCLE .. END loop.
Remedy:
Check that the current program counter position is within the CYCLE
and END of the program and that the CYCLE statement or attribute is
included in the program.
39977 4-PAUSE <prog_id>(<line_num>): no matching CASE
Cause:
No matching CASE could be found in the SELECT statement.
Remedy:
Check the select value and the list of CASEs. If necessary add the
ELSE: clause for handling the unexpected select value.
39978 4-PAUSE <prog_id>(<line_num>): PULSE time < 0
Cause:
The time specified with the PULSE statement is less than zero.
Remedy:
Check and modify the pulse time.
39979 4-PAUSE <prog_id>(<line_num>): DELAY time < 0
Cause:
The time specified in the DELAY statement is less than zero.
Remedy:
Check and modify the delay time.
39980 4-PAUSE <prog_id>(<line_num>): no memory for activation
Cause:
An attempt was made to ACTIVATE a program but there are

insufficient memory resources.
Remedy:
Check that the size of the program stack is not too large. Erase
unneeded code and/or data from memory.
39981 4-PAUSE <prog_id>(<line_num>): program not loaded
Cause:
An attempt was made to ACTIVATE a program which is currently not

loaded in memory.
Remedy:
Load the program into memory before trying to activate it.
39982 4-PAUSE <prog_id>(<line_num>): program already active
Cause:
An attempt was made to ACTIVATE a program which is already active.
Remedy:
Either DEACTIVATE the program and then reissue the ACTIVATE or

leave as is.
39983 4-PAUSE <prog_id>(<line_num>): program being edited
Cause:
An attempt was made to ACTIVATE the program currently being edited

in PROGRAM EDIT/DATA or viewed in MEMORY DEBUG. Only the editor can
activate this program.
Remedy:
ACTIVATE the program from within the editor by issuing the RUN
command.
39984 4-PAUSE <prog_id>(<line_num>): program not loaded
Cause:
An attempt was made to DEACTIVATE a program which is not only not

active, it is not even loaded in memory.
Remedy:
Check that the program name specified in the DEACTIVATE statement

is correct.
39985 4-PAUSE <prog_id>(<line_num>): program not active
Cause:
An attempt was made to either DEACTIVATE or EXIT CYCLE a program

which is currently not active.
Remedy:
Check the state of the program and determine what action to take.
39986 4-PAUSE <prog_id>(<line_num>): program not active

Cause:
An attempt was made to change the state and unsuspend a program

which is currently not active. This typically occurs when trying to
UNPAUSE or PAUSE a program which is not yet active.
Remedy:
Check what the program state should be.
39987 4-PAUSE <prog_id>(<line_num>): program already unsuspended
Cause:
An attempt was made to change the state and suspend a program which
is currently not active. This typically occurs when trying to
UNPAUSE or PAUSE a program which is not yet active.
Remedy:
39988 4-PAUSE <prog_id>(<line_num>): program already suspended
Cause:
An attempt was made to change the state and suspend a program which
is already suspended for the same reason. This typically occurs
when trying to PAUSE a program which is already paused.
Remedy:
39989 4-PAUSE <prog_id>(<line_num>): division by zero
Cause:
A division by zero was attempted.
Remedy:
Check and modify the right hand side of the division operator.
39990 4-PAUSE <prog_id>(<line_num>): READ/Filer error <error_num>
Cause:
The specified error occurred during a READ or FILER operation. Due

to the fact that many errors can be reported for FILER and READ
operations, this message is used so that the errors can be trapped.
The predefined variable $FL_STS contains the specified error.
Remedy:
39991 2-WARNING <prog_id>(<line_num>): READ has been canceled
Cause:
A READ operation has been canceled. This is normally due to the

fact that the program which issued the READ has been deactivated.
If there are pending READs the data read may be inconsistent.
Remedy:
This is only a warning. No action is necessary.
39992 4-PAUSE <prog_id>(<line_num>): READ timeout
Cause:
The READ operation has timed out. The program predefined variable
$READ_TOUT can be used for specifying for how long the program
should wait for the READ. When the READ times out, the unread
variables are set uninitialized.
Remedy:
Either reissue the READ or continue with the variables set to an

uninitialized value.
39993 4-PAUSE <prog_id>(<line_num>): file closed on READ
Cause:
The READ operation has been aborted because the LUN has been
closed.
Remedy:
Cancel the READ operation before attempting to close the file if

this is a problem.
39994 4-PAUSE <prog_id>(<line_num>): bad BOOLEAN READ
Cause:
The data read for a BOOLEAN variable is invalid. The valid values
are TRUE, FALSE, ON, and OFF and any unique substring such as TR or
F.
Remedy:
Check that the data is a legal value.
39995 4-PAUSE <prog_id>(<line_num>): bad formatted READ data

Cause:
The data read was not valid for the type of variable. For example,
if an INTEGER variable is being read, this error will occur if the
data contains nonnumeric characters.
Remedy:
Check that the data supplied to the READ matches the data type of
the variable.
39996 4-PAUSE <prog_id>(<line_num>): READ EOF
Cause:
During the READ operation the end of file (EOF) was detected and
therefore the data was incompletely read.
Remedy:
Check for the end of file condition before issuing the READ. This
can be done using the EOF built-in.
39997 2-WARNING <prog_id>(<line_num>): trap <error_num> already exists
Cause:
An attempt was made to ERR_TRAP_ON an error which is already

trapped on.
Remedy:
Do not reissue the ERR_TRAP_ON for the same error number.
39998 2-WARNING <prog_id>(<line_num>): trap <error_par> does not exist
Cause:
An attempt was made to ERR_TRAP_OFF an error which is currently not

trapped on.
Remedy:
Do not issue the ERR_TRAP_OFF for an error which is not trapped on.
39999 4-PAUSE <prog_id>(<line_num>): bad trap number
Cause:
The value passed to ERR_TRAP_ON or ERR_TRAP_OFF is invalid. The

number must be a valid EC_TRAP class error which are in the range
39936 to 40959.
Remedy:
Check and modify the error number value.
40001 4-PAUSE <prog_id>(<line_num>): bad program priority
Cause:
The program PRIORITY attribute is invalid.
Remedy:
Check that the program PRIORITY attribute has a value of 1, 2, or

3.
40002 4-PAUSE <prog_id>(<line_num>): error statement
Cause:
An attempt was made in PROGRAM EDIT to execute an ~ERROR~

statement.
Remedy:
Either correct the statement such that it is no longer an error or

place the cursor on the next line and continue execution.
40003 2-WARNING <prog_id>(<line_num>): held as step cycle
Cause:
A single CYCLE has been executed and the step mode is CYCLE.
Remedy:
The program is suspended in the ready state. To continue the

execution, press the START button or for NOHOLDable programs the
RUN key can be pressed.
40004 2-WARNING <prog_id>(<line_num>): held as step move (fly)
Cause:
A single MOVE has been executed and the step mode is MOVE.
Remedy:

execution, press the START button.
40005 4-PAUSE <prog_id>(<line_num>): magnitude of vector is zero
Cause:
The magnitude of the VECTOR calculated in one of the POS_FRAME,

POS_SET_APPR, POS_SET_ORNT, or POS_SET_NORM built-ins is zero.
Remedy:
40006 4-PAUSE <prog_id>(<line_num>): ENCODE string or buffer full
Cause:
The STRING in which data is being ENCODEd or the buffer used for
the asynchronous WRITE is full.
Remedy:
Reduce the amount of data being written or encoded or increase the

size of the ENCODE STRING.
40007 4-PAUSE <prog_id>(<line_num>): bad BY clause in event
Cause:
The BY clause specified with one of the ERRORNUM or ERRORCLASS

error events is not permitted. The BY clause cannot be used if the
error is not in the EC_TRAP or EC_PROG class of errors. This error
also occurs in WHEN EVENT condition expressions when the event
number is not a user event and the BY clause is specified.
Remedy:
If the BY clause is associated with an error event, check that the

error number specified in the error event is correct. If the BY
clause is associated with an EVENT event (WHEN EVENT), check that
the event number stays in the range from 49152 to 50175.
40008 4-PAUSE <prog_id>(<line_num>): unknown screen in window built-in
Cause:
The screen specified in one of the SCRN_SET, SCRN_FONT, or

SCRN_CLEAR built-ins is invalid. The valid screens are SCRN_USER,
SCRN_SYS, or SCRN_EDIT.
Remedy:
40009 4-PAUSE <prog_id>(<line_num>): window error <error_num>
Cause:
During a window operation the specified error occurred.
Remedy:

40010 4-PAUSE <prog_id>(<line_num>): $BASE not initialized
Cause:
The value of $BASE is not initialized.
Remedy:
Check and modify the value of $BASE.
40011 4-PAUSE <prog_id>(<line_num>): $TOOL not initialized
Cause:
The value of $TOOL is not initialized.
Remedy:
Check and modify the value of $TOOL.
40012 4-PAUSE <prog_id>(<line_num>): pos out of range
Cause:
The Cartesian position is out of the available workspace for this

arm.
Remedy:
It is necessary to change the position so that it is within the arm

workspace.
40013 4-PAUSE <prog_id>(<line_num>): axis 1 at undefined pos
Cause:
The arm, typically a SMART robot, has the center of the wrist align
with the z-axis of the world frame. This is an arm singularity.
Remedy:

coaxial to z-axis.
40014 4-PAUSE <prog_id>(<line_num>): wrist axis at undefined pos
Cause:

For this position it is impossible to independently compute the
Remedy:
Avoid working in Cartesian with axis 5 at zero position or, if
implemented, change the setting of $ORNT_TYPE to WRIST_JNT in order
to execute the trajectory in Cartesian, but interpolate the wrist
axes in joint.
40015 4-PAUSE <prog_id>(<line_num>): limits <lower_lim>..<upper_lim> for

system var
Cause:
The value assigned to a predefined variable is outside the

specified range.
Remedy:
Check and modify the assignment such that the value is within the
range.
40016 4-PAUSE <prog_id>(<line_num>): NODISABLE on a STATE condition
Cause:
The NODISABLE condition handler attribute cannot be used if the

condition handler contains state condition expressions. This is
because the condition handler would remain enabled and the state
would be continuously triggering.
Remedy:
Change the type of condition expression to an event or remove the

NODISABLE attribute.
40017 4-PAUSE <prog_id>(<line_num>): WITH bad FOR ARM number
Cause:
The arm number specified in the FOR ARM condition handler attribute
does not match the arm being referenced in the MOVE statement. For
example
-
- CONDITION[2] FOR ARM[2]:
- WHEN HOLD DO
- LOCK
- ENDCONDITION
- . . .
- MOVE ARM[1] TO p1 WITH CONDITION[1]
-
arm 1 is being moved, but the condition handler is defined for arm
2.
Remedy:
Redefine the condition handler or change the MOVE statement so the

arm numbers are the same.
40018 4-PAUSE <prog_id>(<line_num>): WITH bad arm number for cond action
Cause:
The FOR ARM was not specified in a condition handler definition and
the condition handler contains actions which are arm related. This
condition handler is being used in a MOVE statement and the arm at
the time of the condition handler definition is different from the
arm being moved. For example,
-
- PROGRAM withact PROG_ARM=2
- . . .
- BEGIN
- CONDITION[1]:
- WHEN HOLD DO
- LOCK -- This applies to arm 2 (PROG_ARM)
- ENDCONDITION
- . . .
- -- Error since the LOCK action applies to arm 2 and
- -- arm 1 is being moved
- MOVE ARM[1] TO p1 WITH CONDITION[1]
- . . .
- END withact
-
Remedy:
Correct the condition handler definition such that the arm used at
condition handler definition time is the same as the arm being
referenced in the MOVE statement.
40019 2-WARNING <prog_id>(<line_num>): held as step stmt
Cause:
A single statement has been executed and the step mode is

statement.
Remedy:

execution, press the START button or for NOHOLDable programs the
RUN key can be pressed.
40020 2-WARNING <prog_id>(<line_num>): SCRN_CLEAR window <name> not

deleted
Cause:
The SCRN_CLEAR built-in with operation mode SCRN_CLR_REM failed as

one of the windows being displayed on the screen could not be
removed because files were opened on the window.
Remedy:
Close all files on the window before trying to remove the window
and clear the screen.
40021 2-WARNING <prog_id>(<line_num>): bad number of binary chars
Cause:
The number of binary characters actually read does not equal the
number of binary characters requested to be read. This can occur
when a file is opened in binary mode and there is insufficient data
in the file.
Remedy:
Check that the amount of bytes in the file or device is equal to

the amount requested in the READ statement.
40022 4-PAUSE <prog_id>(<line_num>): cannot EXIT CYCLE on active edit

prog
Cause:
An attempt was made to EXIT CYCLE for the program which is

currently being used in the PROGRAM EDIT or MEMORY DEBUG
environments and the editor has control of the program (i.e., the
red pop-up window is not being displayed).
Remedy:
If EXIT CYCLE is needed, issue the command directly from the editor
or move the cursor to the beginning and continue execution.
40023 4-PAUSE <prog_id>(<line_num>): APPL_REQ error <error_num>
Cause:
The APPL_REQ built-in failed due to the specified error. Trapping

on this error causes execution of the program to continue. The
program predefined variable $APPL_STS is set to the specified
error.
Remedy:
40024 4-PAUSE <prog_id>(<line_num>): internal access error <error_num>
Cause:
An internal access failed due to the specified error.
Remedy:

40025 4-PAUSE <prog_id>(<line_num>): axis 5 at undefined pos
Cause:

position.
Remedy:
Avoid working in Cartesian with axis 5 at this undefined position

or, if implemented, change the setting of $ORNT_TYPE to WRIST_JNT
in order to execute the trajectory in Cartesian, but interpolate
the wrist axes in joint.
40026 2-WARNING <prog_id>(<line_num>): held as a step mode
Cause:
The step mode of the program has been changed.
Remedy:
Informational message. No action is necessary.
40027 4-PAUSE <prog_id>(<line_num>): bad SCRN_FONT number
Cause:
The font number passed in the SCRN_FONT built-in is invalid. The

CRT physical device (PDV_CRT) can contain up to 4 fonts and the TP
(PDV_TP) up to two different fonts.
Remedy:
Check and modify the font number specified.
40028 4-PAUSE <prog_id>(<line_num>): inverse kinematics not available
Cause:
This machine does not have inverse kinematics. Or, in case of

compensation algorithm active, it means that the programmed Joint
or Cartesian position cannot be compensated.
Remedy:
Do not try to work in Cartesian. Or, in case of compensation

algorithm active, program the Joint or Cartesian position out of
the area where the compensation algorithm cannot work.
40029 4-PAUSE <prog_id>(<line_num>): 2nd Euler angle less than zero
Cause:
For definition, the second Euler angle cannot be less than 0

degrees or greater than 180 degrees.
Remedy:
Set the angle accordingly.
40030 4-PAUSE <prog_id>(<line_num>): SCRN_SET edit not active
Cause:
The setting of the screen to SCRN_EDIT using the SCRN_SET built-in

failed as the editor is not active on the particular device.
Remedy:
Check that the editor is active on the physical device.
40031 4-PAUSE <prog_id>(<line_num>): POS_IN_RANGE XTNDPOS not initialized
Cause:
The POS_TO_JNTP built-in failed because the XTNDPOS positional data

has not been initialized.
Remedy:
40032 4-PAUSE <prog_id>(<line_num>): SYS_CALL timeout
Cause:
The SYS_CALL has timed out and has therefore been canceled. The
variable $SYS_CALL_TOUT can be used for setting this timeout value.
Remedy:
Either change the timeout period or accept this error.
40033 4-PAUSE <prog_id>(<line_num>): WRITE error <error_num>
Cause:
The specified error occurred during an asynchronous WRITE

operation. Due to the fact that many errors can be reported for the
WRITE operation, this message is used so that the errors can be
trapped. The predefined variable $FL_STS contains the specified
error.
Remedy:
40034 4-PAUSE <prog_id>(<line_num>): WRITE timeout

Cause:
The asynchronous WRITE operation has timed out. The program

predefined variable $WRITE_TOUT can be used for specifying for how
long the program should wait for the WRITE to complete.
Remedy:
Check why the WRITE may not have completed in time and if necessary
increase the timeout value.
40035 4-PAUSE <prog_id>(<line_num>): WRITE not completed
Cause:
The asynchronous WRITE operation did not complete for some reason,
with only a partial amount of the data written.
Remedy:
Check the value of $WRITE_TOUT and that the LUN was not closed or
the program deactivated during the WRITE operation.
40036 4-PAUSE <prog_id>(<line_num>): file closed on WRITE
Cause:
The WRITE operation has been aborted because the LUN has been
closed.
Remedy:
Cancel the WRITE operation before attempting to close the file if

this is a problem.
40037 4-PAUSE <prog_id>(<line_num>): bad CANCEL semaphore
Cause:
An attempt was made to CANCEL a SEMAPHORE while programs are

waiting on the SEMAPHORE. The CANCEL statement or action only has
an effect if the SEMAPHORE has been signaled.
Remedy:
Check which programs are waiting on the SEMAPHORE.
40038 4-PAUSE <prog_id>(<line_num>): not ALL conds DISABLEd
Cause:
The DISABLE CONDITION ALL statement failed with not all the
conditions disabled.
Remedy:
Check if any of the conditions are currently being used locally in

a motion statement.
40039 4-PAUSE <prog_id>(<line_num>): not ALL conds PURGEd. Err

<error_num>
Cause:
The PURGE CONDITION ALL statement or action failed due to the

specified reason with not all the conditions purged.
Remedy:
Review the specified error to determine what action to take. Check

if any of the conditions are currently being used locally in a
motion statement.
40040 4-PAUSE <prog_id>(<line_num>): DV_CNTRL operation error <code>
Cause:
The operation specified in the DV_CNTRL built-in failed due to the

specified error.
Remedy:
Check the valid codes for device control access and the specified
error.
40041 2-WARNING <prog_id>(<line_num>): WRITE has been canceled
Cause:
A WRITE operation has been canceled. This is normally due to the

fact that the program which issued the WRITE has been deactivated
or the statement bypassed. If there are pending WRITEs, the data
written may be inconsistent.
Remedy:
This is only a warning. No action is necessary.
40042 4-PAUSE <prog_id>(<line_num>): bad screen name
Cause:
The screen name supplied to the SCRN_CREATE or SCRN_DEL built-in is

not valid or cannot be found.
Remedy:
Check the use of the built-in and see that a name between 1 and 8
characters has been specified and that it does exist.
40043 4-PAUSE <prog_id>(<line_num>): bad screen operation
Cause:
The attempted operation on a screen is not legal.
Remedy:
Check what operation was being performed and verify that this is a
correct operation for the type of screen. For example, the system
screen (SCRN_SYS) cannot be deleted or removed.
40044 4-PAUSE <prog_id>(<line_num>): screen exists
Cause:
The screen already exists.
Remedy:
An attempt was made to create a new screen (SCRN_CREATE) but it

already exists. When this error is trapped on the value returned
from the SCRN_CREATE built-in is the same as the existing screen.
40045 4-PAUSE <prog_id>(<line_num>): path error <error_num>
Cause:
The specified error occurred during an operation on a PATH.
Remedy:
Review the error to determine the exact cause and necessary remedy.
40046 4-PAUSE <prog_id>(<line_num>): $TIMER ATTACHed
Cause:
The $TIMER is already ATTACHed by another program.
Remedy:
Use a different $TIMER element.
40047 4-PAUSE <prog_id>(<line_num>): built-in timeout
Cause:
An asynchronous built-in operation has timed out and has therefore

been canceled. The $SYS_CALL_TOUT predefined variable can be used
for setting this timeout value.
Remedy:
Either change the timeout period or accept this error.
40048 4-PAUSE <prog_id>(<line_num>): bad turn cnfg flag
Cause:
The user sets a turn flag on a joint that cannot do more than 360
degrees.
Remedy:
Verify the turn configuration for the positional variable.
40049 4-PAUSE <prog_id>(<line_num>): bad SIGNAL SEGMENT as no waiting

path
Cause:
The SIGNAL SEGMENT statement failed because no motion is currently

waiting on a PATH.
Remedy:
The signalling of a PATH is different from a SEMAPHORE in that

there is no counter. A PATH can only be signalled if a motion is
waiting.
40051 4-PAUSE <prog_id>(<line_num>): bad state for KEY_LOCK
Cause:
The KEY_LOCK built-in failed because either the state of the

PROGR/AUTO switch is not PROG or the editor, teach, or EXECUTE is
active on the device. KEY_LOCK only works in AUTO-LOCAL and
AUTO-REMOTE when certain commands are not being executed on the
device.
Remedy:
Either reissue the built-in when in the correct state or do not

issue the call to lock the keyboard.
40052 4-PAUSE <prog_id>(<line_num>): no condition action specified
Cause:
A condition handler has been defined which contains a condition

expression but no corresponding action. In the version before 3.2x,
this was not treated as an error with the following condition
action undertaken. This has been changed so that a condition
expression with no action does not have any action.
Remedy:
Either trap on the error so that there is no action or insert some
form of action.
40053 4-PAUSE <prog_id>(<line_num>): string has no length
Cause:
An attempt was made to assign or set a STRING variable which has no

length. This occurs when the STRING is defined as STRING[*] and the
length has not been defined in another program or when a variable
file was loaded.
Remedy:
Set the string length or load a variable file that contains the
variable value and a length.
40054 4-PAUSE <prog_id>(<line_num>): direct kinematics not available
Cause:
This machine cannot perform direct kinematics from this positional

point.
Remedy:
Move the machine to a known Cartesian POSition. From that point

move in Cartesian mode to the needed point and teach a POSition
point.
40055 4-PAUSE <prog_id>(<line_num>): $UFRAME not initialized
Cause:
The value of $UFRAME is not initialized.
Remedy:
Check and modify the value of $UFRAME.
40057 4-PAUSE <prog_id>(<line_num>): AUX_MMUX error <error_num>
Cause:
The AUX_MMUX built-in failed due to an error. This error has been
generated by the actions undertaken by the system upon the built-in
call. Trapping on this error causes execution of the program to
continue.
Remedy:
Review the error displayed by the system to determine what action

to take.
40059 4-PAUSE <prog_id>(<line_num>): AUX_SET error <error_num>
Cause:
The AUX_SET built-in failed due to an error. This error has been
generated by the actions undertaken by the system upon the built-in
call. Trapping on this error causes execution of the program to
continue.
Remedy:
Review the error displayed by the system to determine what action

to take.
40060 4-PAUSE <prog_id>(<line_num>): Cartesian Position not compensable
Cause:

Remedy:

Cartesian position out of the area where the compensation algorithm
cannot work.
40061 2-WARNING <prog_id>(<line_num>): flow modulate already enabled
Cause:
This error occurs when the FLOW_MOD_ON is called twice from the
same program.
Remedy:
Remove the second call to FLOW_MOD_ON.
40062 2-WARNING <prog_id>(<line_num>): flow modulate already disabled
Cause:
This error occurs when the FLOW_MOD_OFF is called twice from the
same program.
Remedy:
Remove the second call to FLOW_MOD_OFF.
40063 2-WARNING <prog_id>(<line_num>): ON_POS already enabled
Cause:
This error occurs when the ON_POS(ON) is called twice on the same
element of the $ON_POS_TBL.
Remedy:
Remove the second call to the ON_POS(ON).
40064 2-WARNING <prog_id>(<line_num>): ON_POS already disabled
Cause:
This error occurs when the ON_POS(OFF) is called on an element of

the $ON_POS_TBL that is not currently reserved to anybody.
Remedy:
Review the program in order to determine what causes this error,

for example two consecutive calls to the ON_POS(OFF).
47105 0-INFO Error opening input file
Cause:
An error occurred opening the input file.
Remedy:
Make sure that the file exists and that the name was specified
properly.
47106 0-INFO Error closing VTRANS.ERR
Cause:
It is not possible to close the VTRANS.ERR file. This is the file

that contains the list of all errors detected during the
translation of a file of variables.
Remedy:
Check that the RAM DISK is not full and otherwise delete the unused
files. Try to delete the VTRANS.ERR file and issue the command
again in order to translate the file of variables.
47107 0-INFO Error closing the input file
Cause:
The file to be translated could not be closed.
Remedy:
Check that the RAM DISK is not full and otherwise delete the unused
files. Issue the translate command again.
47108 0-INFO Error opening VTRANS.ERR file

Cause:
An error occurred trying to open VTRANS.ERR for reporting

translation errors.
Remedy:
Make sure that the file is not protected, and erase the file if it
exists.
47109 0-INFO The specified type is invalid
Cause:
The variable or field type is not valid.
Remedy:
The variable type must be one of the pre-defined variable types

(like int, rea, boo, etc.).
47111 0-INFO [ expected but not found
Cause:
The bracket was expected but not found.
Remedy:
The bracket was assumed present and translation continued. Add the
bracket at the proper location to remove this warning.
47112 0-INFO ] expected but not found
Cause:
The bracket was expected but not found.
Remedy:
The bracket was assumed present and translation continued. Add the
bracket at the proper location to remove this warning.
47113 0-INFO Value for len, arm, ax, or field not found
Cause:
The integer value for a label could not be found. A label was used
where a string length, arm number, axis number, number of fields or
number of nodes was expected but the value of the label could not
be found in the file.
Remedy:
Add the labeled integer value to the file and retranslate.
47114 0-INFO Len, arm, ax, or field id misspelled
Cause:
The label for an integer value could not be found exactly. A label
that matched closely was found and used. A match is considered
close enough if the labels match in the first two characters.
Remedy:
Either fix the spelling for the label or add the proper label to
the file.
47116 0-INFO Missing len, arm, ax, or field id
Cause:
A labeled integer was expected for the string length, arm number,
number of axes, number of fields, or number of nodes and was not
found.
Remedy:
Add the proper integer value to the file.
47117 0-INFO Invalid or missing punctuation
Cause:
The expected punctuation was either missing or invalid.
Remedy:
Fix the punctuation so that this warning is not displayed.
47118 0-INFO Token exceeds maximum length
Cause:
A token is too long and causes an overflow of the translators

buffer.
Remedy:
Shorten the identifier in the file.
47119 0-INFO Invalid array dim 1
Cause:
The declared size of an array is either less than 1 or greater than

65535.
Remedy:
Make sure the array dimensions are within the valid range.
47120 0-INFO Invalid array dim 2
Cause:
The declared size of an array is either less than 1 or greater than

65535.
Remedy:
Make sure the array dimensions are within the valid range.
47121 0-INFO Invalid arm number
Cause:
The arm number specified is greater than the maximum number of arms
allowed in the system.
Remedy:
The arm number must be less than 32.
47124 0-INFO Invalid number of aux axes
Cause:
The number of aux axes must be between 0 and 3.
Remedy:
Fix the number of aux axes in the file to fall inside the allowable
range.
47125 0-INFO Invalid string length
Cause:
The string length must be between 1 and 254.
Remedy:
Fix the string length to a valid size.
47126 0-INFO Priv/Xport code missing, assuming Priv
Cause:
The private or exported code was missing from a variable

definition. The variable was assumed to be private.
Remedy:
Add the Priv/Xport code to the variable definition.
47127 0-INFO Invalid boolean value
Cause:
The value specified for a boolean variable is invalid. The value

must be either TRUE, FALSE, ON, or OFF.
Remedy:
Change the value to one of the valid values.
47128 0-INFO Len, arm, ax, or field not specified
Cause:
The value for a labeled integer value was missing. The value for
the string length, arm number, number of fields, number of nodes,
number of aux axes, etc was missing.
Remedy:
Add the value for the proper definition field.
47129 0-INFO No available memory for buffer
Cause:
Remedy:
Erase all unnecessary data from memory and retranslate.
47130 0-INFO Invalid or missing value
Cause:
The data type of the value found does not match the type expected.
For example a REAL value was found when an INTEGER value was
expected.
Remedy:
Make sure that the type of the value matches the type expected for
the value.
47131 0-INFO Valid field id not found
Cause:
The pre-defined field id was not a valid name.
Remedy:
Fix the field name to match a valid pre-defined field name.
47132 0-INFO Invalid field for this data type
Cause:
The pre-defined or user defined field is not a member of the

record, node or path variable.
Remedy:
Either define the field for the type or remove the field value from
the variable definition.
47133 0-INFO Truncating over-length string
Cause:
The value of a string exceeds the declared size of the string. The
string was truncated so that translation could continue.
Remedy:
Either increase the declared size of the string or shorten the

length of the string value.
47134 0-INFO No available memory for environment
Cause:
Remedy:
Erase all unnecessary data from memory and retranslate.
47135 0-INFO Ignoring out of context item <element>
Cause:
The extra token was found and ignored.
Remedy:
Remove the extra token from the file.
47136 0-INFO Ignoring duplicate field definition
Cause:
The pre-defined field or user defined field already exists for the
record or node definition.
Remedy:
Remove the extra field definition.
47137 0-INFO CNFG string conversion failed, assuming default
Cause:
The conversion of the configuration string failed.
Remedy:
Fix the configuration string so that it is enclosed in quotes and

only contains valid characters.
47140 0-INFO Missing name after reserved word TYPE
Cause:
The name for a user defined type is missing.
Remedy:
Add the name for the user defined type after the reserved word
TYPE.
47141 0-INFO Missing or invalid type name
Cause:
The type name for a record, array of records, node, or path is

invalid. Either the type is not defined in the variable file or
there were errors in the type definition.
Remedy:
Either add the type definition to the file or fix the errors in the
definition.
47142 0-INFO Field ignored due to error
Cause:
An error occurred trying to create the field in the user defined

type.
Remedy:
Check the previous error to determine the cause and proper solution
for the error.
47143 0-INFO Num fields read does not match expected
Cause:
The actual number of fields read for a user defined type does not
match the number expected.
Remedy:
Either remove the extra fields or adjust the number of fields

specified at the start of the type definition.
47144 0-INFO No fields for user defined type
Cause:
No fields were found for a user defined type.
Remedy:
Either remove the user defined type or add fields to it.
47145 0-INFO Invalid number of fields specified
Cause:
The number of fields specified for a user defined type is not

valid.
Remedy:
The number of fields in a user defined type must be between 1 and

255. Make sure that the specified number of fields is within this
range.
47146 0-INFO Invalid number of axes specified
Cause:
The number of axis specified is invalid.
Remedy:
Make sure that the number of axis is between 1 and 8.
47147 0-INFO Num aux axes not equal to prev value, using prev value
Cause:
The number of aux axes does not match a previously specified value.
The previous value is being used.
Remedy:
Fix the number of aux axes to be consistent throughout the file.
47148 0-INFO Num axes not equal to prev value, using prev value
Cause:
The number of axes does not match a previously specified value.

The previous value is being used.
Remedy:
Fix the number of axes to be consistent throughout the file.
47151 0-INFO Ignoring variable <var_id> due to errors
Cause:
Errors were detected while translating the variable.
Remedy:
Fix the errors so that the variable will translate successfully.
47152 0-INFO Unexpected end of file reached
Cause:
The end of the file was found before expected.
Remedy:
Make sure that all variable and type declarations are properly
completed in the file.
47153 0-INFO No valid vars so .VAR not created
Cause:
No variables were successfully translated, so the .var file was not

created.
Remedy:
Fix the other errors in the file so that the variables translate
successfully.
47154 0-INFO Invalid array index dim 1
Cause:
The index for dimension 1 of the array is out of range.
Remedy:
Change either the index value or the number of elements in the
array.
47155 0-INFO Invalid array index dim 2
Cause:
The index for dimension 2 of the array is out of range.
Remedy:
Change either the index value or the number of elements in the

array.
47156 0-INFO Invalid or missing num axes, using prev value
Cause:
The number of axes is either missing or invalid. A previously

specified value is being used.
Remedy:
Make sure that the number of axes is specified and valid.
47157 0-INFO Invalid or missing num aux axes, using prev value
Cause:
The number of aux axes is either missing or invalid. A previously

specified value is being used.
Remedy:
Make sure that the number of aux axes is specified and valid.
47159 0-INFO Ignoring invalid standard node field
Cause:
An invalid standard node field definition was found and ignored.
Remedy:
Either fix the node field definition so that it matches a valid one
or remove the definition from the user defined type.
47160 0-INFO Ignoring standard node field
Cause:
The standard node field definition is being ignored since it is in

an invalid context.
Remedy:
Either fix the context of the definition or remove it from the user
defined type.
47161 0-INFO Num path nodes expected but not found
Cause:
The number of path nodes was expected but not found in the file.
Remedy:
Add the number of path nodes to the variable definition.
47162 0-INFO Ignoring path node 2nd index
Cause:
A path is allowed to have only one index so that second index

specified is ignored.
Remedy:
Remove the second index from the path declaration.
47163 0-INFO Invalid standard node field value
Cause:
The value specified for a standard node field is invalid.
Remedy:
Change the value to match one of those allowed value.
47164 0-INFO Ignoring extra $MAIN_ arm
Cause:
An extra $MAIN_ arm specification was found that does not match the
previous one specified. The second one is ignored and the previous
value is used.
Remedy:
Either remove the extra specification or fix the definition.
47165 0-INFO Ignoring extra $AUX_ arm
Cause:
An extra $AUX_ arm specification was found that does not match the
previous one specified. The second one is ignored and the previous
value is used.
Remedy:
Either remove the extra specification or fix the definition.
47166 0-INFO Errors detected during translation
Cause:
Errors were detected during the variable translation process.
Remedy:
Edit the variable file and fix all of the errors.
47167 0-INFO Arm info doesn't match controller
Cause:
The arm information in the ASCII variable file does not match the
arm(s) setup on the controller. In this situation, the ASCII
variable file cannot be translated on the controller. This error
can be caused by including an arm in the ASCII variable file that
is not defined on the controller or by having the wrong number of
axes and/or auxilliary axes in the ASCII variable file.
Remedy:
Edit the variable file change the arm definitions at the top of the
file to match the arm(s) defined on the controller. Also modify
any of the JOINTPOS or XTNDPOS data values to match the arm(s)
defined on the controller.
52224 2-WARNING ^C or Bypass on motion on ARM[1]
Cause:
The motion being executed on ARM[1] has been canceled by a CNTRL C

key pressure or by a bypass command or statement.
Remedy:
No remedy.
Cause:

Remedy:
No remedy.
Cause:

Remedy:
No remedy.
Cause:

Remedy:
No remedy.
52228 2-WARNING ^C or Bypass on SYS_CALL
Cause:
The being executed SYS_CALL built-in routine has been canceled by a

CNTRL C key pressure or by a bypass command or statement.
Remedy:
No remedy.
52229 2-WARNING ^C or Bypass on PULSE
Cause:
The being executed PULSE statement has been canceled by a CNTRL C

Remedy:
No remedy.
52230 2-WARNING ^C or Bypass on READ
Cause:
The being executed READ statement has been canceled by a CNTRL C

Remedy:
No remedy.
52231 2-WARNING ^C or Bypass on DELAY
Cause:
The being executed DELAY statement has been canceled by a CNTRL C

Remedy:
No remedy.
52232 2-WARNING ^C or Bypass on WAIT
Cause:
The being executed WAIT statement has been canceled by a CNTRL C

Remedy:
No remedy.
52233 2-WARNING ^C or Bypass on WAIT FOR
Cause:
The being executed WAIT FOR statement has been canceled by a CNTRL
C key pressure or by a bypass command or statement.
Remedy:
No remedy.
55296 0-INFO
55297 0-INFO File open error, *.rob
55298 0-INFO On file *.rob can't read GEOMETRIC_MODEL
55299 0-INFO On file *.rob error reading geometric model
55300 0-INFO On file *.rob error reading frame data
55301 0-INFO On file *.rob number of joint exceeds limit
55302 0-INFO On file *.rob base or link expected

55303 0-INFO On file *.rob base link number out of range
55304 0-INFO On file *.rob error reading disk
55305 0-INFO On file *.rob error reading plate
55306 0-INFO On file *.rob error reading rigid
55307 0-INFO On file *.rob error reading absolute position of new link
55308 0-INFO On file *.rob error reading gravitation model
55309 0-INFO On file *.rob error reading actuator model
55310 0-INFO On file *.rob, actuator model incompatibility between

conversion factor and initgeovalue
55311 0-INFO On file *.rob, actuator model incompatibility between

conversion factor and transmission factor
55312 0-INFO On file *.rob, actuator model inverse of singular matrix not
reliable
55313 0-INFO On file *.rob, actuator model inverse of non-square matrix

not implemented
55314 0-INFO On file *.rob, actuator model, ')' expected
55315 0-INFO Floating point number expected
55316 0-INFO ',',';' or ']' expected
55317 0-INFO Number of colums exceeds MaxCol
55318 0-INFO Number of rows exceeds MaxRow
55319 0-INFO Singular matrix
55320 0-INFO Floating point number expected

55321 0-INFO FltVector exceeds MaxElem
55322 0-INFO ',',';' or ']' expected
55323 0-INFO Error reading frame
55324 0-INFO ';' or ']' expected
57344 14-FATAL SCC: <servo_num> no memory resources
Cause:
Servo CPU system pool does not have enough available memory for the
system software request.
Remedy:
Please report this error Comau.
57345 14-FATAL SA: <servo_num> <arm_num> robot library mismatch
Cause:
Robot library mismatch with the controller configuration.
Remedy:
Check to see if the configuration file is correct for the arm.

Check to see if the corresponding motion library was loaded. Load
the controller with the correct configuration file and motion
library.
57346 2-WARNING SAX: <servo_num> <arm_num> <axis_num> axis not

synchronised with the robot
Cause:
The tuning parameters of the auxiliary axis does not guarantee a

synchronized movement between the robot and the axis. This means
that the auxiliary axis is less reactive than the robot to
commands requiring movements.
Remedy:
Change, using the FAMILY tool, the tuning parameters of the motor
of the auxiliary axis. Increase the Kp (position gain) or ffv
(feed-forward of velocity).
57347 14-FATAL SA: <servo_num> <arm_num> $RB_VARIANT mismatch
Cause:
A mismatch has been detected in the values present in $RB_VARIANT
related to the acceleration algorithm and the kind of robot.
Remedy:
57348 13-FATAL SAX: <servo_num> <arm_num> <axis_num> wrong physical axis

configuration
Cause:
The physical axis configuration for the arm is not correct. The
axis cannot exist.
Remedy:
Please check the axis number in

$ARM_DATA[<arm_num>].LOG_TO_PHY[<axis_num>]. If it is wrong then
re-run the configuration tool, or contact COMAU for the correct
controller configuration.
57349 2-WARNING SCC: <servo_num> wrong value for $CT_JNT_MASK
Cause:
The axis involved in $CONV_TBL[i].CT_JNT_MASK (where 'i' is 1 or 2)

is not allowed to be an external resolver because it is already
linked to a predefined arm. As a consequence the system variable
has been ignored and set to the zero value; the conveyor
tracking/reading is not yet configured.
Remedy:
Check the correct value for the $CONV_TBL[i].CT_JNT_MASK. Remember

that the mask must consider the phisical channel of the axis linked
to the external resolver used for the conveyor tracking.
57350 14-FATAL SAX: <servo_num> <arm_num> <axis_num> wrong hardware

configuration
Cause:
The motor configuration for the arm is not correct. The motor pole
reading is wrong, or the motor has been changed without make a
correct restart of the controller.
Remedy:
Please check if the hardware to read the pole of the motor is

correctly mounted and working, after make a restart (warm or cold).
57351 14-FATAL SCC: <servo_num> RPT not properly detected
Cause:
The error can occurred if the RPT has been mouted (or dismounted)
without make a restart cold or warm of the controller.
Remedy:
Please make a restart warm or cold of the controller. Check that

the hardware circuit that detects the presence of the RPT matches
with the actual controller configuration.
59392 14-FATAL SCC: <servo_num> no memory available
Cause:
Servo CPU system pool does not have enough available memory for the
system software request.
Remedy:
Report this error to Comau. The user is not able to correct this
problem.
59393 10-DRIVE OFF SA: <servo_num> <arm_num> timeout on DSP driver
Cause:
Handshaking with the servo control driver failed; no response from

it after a request. The servo driver task could be aborted.
Remedy:
Report this error to Comau. The user is not able to correct this
problem.
59394 10-DRIVE OFF SA: <servo_num> <arm_num> serial line driver timeout
Cause:
Handshaking with the serial driver failed; no response from it

after a request. The serial driver task could be aborted or too
busy to answer the request.
Remedy:
Report this error to Comau.
59395 8-HOLD SAX: <servo_num> <arm_num> <axis_num> RPT preset aborted
Cause:
The RPT and the servo control environment are reading the same
resolver, but with a difference of two quadrant. The problem could
be on the resolver reading made by the RPT or the servo control.
One of them is not properly reading the resolver.
Remedy:
Check the resolver circuits and eventually change the RPT. Also
check to see if the resolver reading of the control is working
properly.
59396 8-HOLD SAX: <servo_num> <arm_num> <axis_num> RPT spreset aborted
Cause:
The RPT and the servo control environment are reading the same
resolver, but with a difference of two quadrant. The problem could
be on the resolver reading made by the RPT or the servo control.
One of them is not properly reading the resolver.
Remedy:
Check the resolver circuits and eventually change the RPT. Also
check to see if the resolver reading of the control is working
properly.
59397 8-HOLD SAX: <servo_num> <arm_num> <axis_num> servo calibration

aborted
Cause:
The servo control does not accept the theoretical position during
the startup phase or during calibration/turn-set/JNT_SET_TAR
operations. If the servo control is not properly reading the
resolver this error occurs.
Remedy:
Check the resolver circuits. If the problem persists, report it to

Comau.
59398 8-HOLD SAX: <servo_num> <arm_num> <axis_num> axis not configured
Cause:
The user is trying to calibrate and/or turn-set an axes which is

not declared for the system.
Remedy:
Do not calibrate and/or turn-set an undeclared axes.
59399 8-HOLD SA: <servo_num> <arm_num> calibration data not valid
Cause:
The user is trying to turn-set an axis for which the calibration

error is not valid.
Remedy:
Analyze the history of the C3G.SYS system data file. This file
should contain the correct calibration error for each axes saved at
calibration time. If it is not corrupted, load it, while drives are
off, and reexecute the procedure. If the file was saved following
the instructions, this axes now has a valid calibration error. If
the file is corrupted, load the calibration error from the RPT, and
reexecute the turn-set procedure. If the error does not vanish,
the RPT data are also not valid. The axes need to be recalibrated.
If the error does vanish, during the calibration procedure or after
someone did not follow the instructions properly working with the
system data files.
59400 2-WARNING SA: <servo_num> <arm_num> attempted operation in drive

off
Cause:
An attempt was made to execute the calibration/turn-set operation

when not in PROG state.
Remedy:
Enter PROG state before executing the procedure.
59401 8-HOLD SA: <servo_num> <arm_num> RPT down or general RPT error
Cause:
It is not possible to read the RPT data at startup time due to some
problems on the RPT. This is a general message, other messages on
the controller should explain to the user the reason why the
operation failed. The probability that the robot is no longer
calibrated at startup time is very high. Do not calibrate it. First
it is necessary to solve the problem with the RPT.
Remedy:
Analyze the serial link with the RPT. Eventually analyze the
problems reported by the controller generated on the RPT. Restart
the system.
59402 8-HOLD SA: <servo_num> <arm_num> arm not calibrated
Cause:
It is not possible to execute MOVE instructions when the arm is not

calibrated.
Remedy:
Calibrate or turn-set the arm before executing MOVE instructions.
59403 8-HOLD Motion request mismatch with system state

Cause:
Immediate execution MOVE statements are accepted only in PROG

state.
Remedy:
Enter PROG state before executing a MOVE statement.
59404 10-DRIVE OFF Motion released due to error
Cause:
Pending motions are released back to the interpreter because an

error was found on the current motion.
Remedy:
No remedy.
59405 8-HOLD SA: <servo_num> <arm_num> bad operation with pending motion
Cause:
There are pending MOVE statements already executed by the

interpreter but not yet executed by the interpolator when the user
is trying to calibrate/turn-set an arm. The same message is sent
when the AUX_COOP() or ARM_COOP() built-in's are executed during a
movement; this can happen if an ADVANCE clause is present on a MOVE
statement before the built-in's or if built-in's are just at the
beginning of the program (at the start of the program, a recovery
movement is performed).
Remedy:
DEACTIVATE all the programs before the calibration/turn-set

procedure. If the message is due to the cooperation, the ADVANCE
clause before AUX_COOP() or ARM_COOP() built-in's must be removed.
If built-in's are just at the beginning of a program they are to be
moved down or a DELAY statement is to be introduced before them.
59406 8-HOLD SA: <servo_num> <arm_num> bad operation while jogging or

tuning
Cause:
There was an attempt to jog the robot and execute a

calibration/turn-set command. This is not possible.
Remedy:
Do not try to move the robot during calibration/turn-set

operations.
59407 8-HOLD SAX: <servo_num> <arm_num> <axis_num> $STRK_END_P out of

range
Cause:
The user $STRK_END_P[i] predefined variable has an absolute value

greater than the corresponding system value $STRK_END_SYS[1][i].
Remedy:
Restrict the user stroke end.
59408 8-HOLD SAX: <servo_num> <arm_num> <axis_num> $STRK_END_N out of

range
Cause:
The user $STRK_END_N[i] predefined variable has an absolute value

greater than the corresponding system value $STRK_END_SYS[2][i].
Remedy:
Restrict the user stroke end.
59409 2-WARNING SAX: <servo_num> <arm_num> <axis_num> joint position not

sufficient accurate
Cause:
During the turn-set procedure the user should move the arm near the
calibration references. If the position is not so accurate, there
could be problems due to resolver wrap and the operation will fail.
Remedy:
Move the arm as close as possible to the references.
59410 8-HOLD START/BACK not available
Cause:
The START/BACK keys are currently disabled. This occurs after

certain errors or when a manual motion is executed outside the EDIT
environment. The START/BACK keys only work in PROG state when the
motion was issued from within the EDIT environment. The EDIT
environment includes PROGRAM EDIT/DATA, MEMORY DEBUG, immediate
mode EXECUTE (E), and EZ.
Remedy:
If the keys are disabled due to an error, clear the error.

Otherwise, enter the EDIT environment (PROGRAM EDIT/DATA, MEMORY
DEBUG, immediate mode EXECUTE, or EZ).
59411 8-HOLD SAX: <servo_num> <arm_num> <axis_num> motion after last

reset (<source>)
Cause:
The arm resolver position at startup time is not equal to the

resolver position frozen before the system shutdown. This could be
due to an emergency manual control (EMC) session and this is
normal, or to a wrong position from the RPT at startup time, or the
axes moved when the system was down.
Remedy:
Analyze which is the cause. If it seems to be an RPT problem,

substitute it and report the problem to Comau.
59412 2-WARNING SAX: <servo_num> <arm_num> <axis_num> influencing axis

not calibrated
Cause:
An attempt was made to execute a turn-set operation on an axes

which has an influence on another one and the influencing axes is
not already calibrated.
Remedy:
The influencing axes should be properly calibrated before trying to

calibrate the influenced one.
59413 8-HOLD SA: <servo_num> <arm_num> interpolator already running
Cause:
An attempt to execute a motion while the interpolator is already

active was done. The motion stack is already full, so it is no
longer possible to stack moves other than if they are coming from
the same program. An exeception is an immediate mode EXECUTE (E)
MOVE. Only one immediate mode EXECUTE (E) MOVE is accepted.
Remedy:
CANCEL the motion which is active, this leaves the stacked motions
as they are, but now it is possible to execute another motion.
59414 8-HOLD SA: <servo_num> <arm_num> general recovery error
Cause:
It is not possible to recover the interrupted motion. Sometimes

this could happen if the recovery is done in Cartesian and there is
a mismatch in the configuration flags.
Remedy:
Set $RCVR_TYPE in order to do the recovery in joint or if it is not

strictly necessary to recover, DEACTIVATE or CANCEL the interrupted
motion.
59415 8-HOLD SA: <servo_num> <arm_num> $RCVR_TYPE doesn't permit recovery
Cause:
$RCVR_TYPE setting does not permit the recovery session.
Remedy:
Set $RCVR_TYPE to a different value or if it is not necessary to

recover anything, DEACTIVATE the program.
59416 10-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> bad preset

quadrant
Cause:
There is a mismatch in the resolver quadrant data from the RPT and
the resolver quadrant value read by the servo, greater than 2
resolver quadrants.
Remedy:
Check the capability of both environments to read correctly the

resolver.
59417 2-WARNING Already at the initial position
Cause:
The user pressed the BACK button when the arm is already at the
initial position of this segment.
Remedy:
It is not possible to go backwards any further.
59418 2-WARNING Final position reached
Cause:
The arm has reached the final position. If the user releases and
presses again the START button, the motion is completed, otherwise
the user is still able to move backwards on this motion.
59419 2-WARNING Initial position reached
Cause:
The arm has reached the initial position and therefore cannot go
backwards any further. The user is still able to move forwards on
this motion.
59420 2-WARNING Recovery position reached
Cause:
The arm has reached the recovery position. If the user releases and
presses again the START button, the next motion will start.
59421 2-WARNING SAX: <servo_num> <arm_num> <axis_num> positive adjustment

is required
Cause:
calibration references. The position is accurate but not so much.
The controller is requesting the user to move the arm in the
positive direction.
Remedy:
Move the arm in the positive direction and issue the command again.
59422 2-WARNING SAX: <servo_num> <arm_num> <axis_num> negative adjustment

is required
Cause:
calibration references. The position is accurate but not so much.
The controller is requesting the user to move the arm in the
negative direction.
Remedy:
Move the arm in the negative direction and issue the command again.
59424 8-HOLD SA: <servo_num> <arm_num> bad working arm
59425 8-HOLD SA: <servo_num> <arm_num> bad auxiliary axes
59426 8-HOLD Synchronized arm cannot move
Cause:
The user is trying to execute a SYNCMOVE when the synchronized arm

cannot move (i.e. is not calibrated or is disabled or is locked).
Remedy:
Check the status of the sync arm.
59427 8-HOLD $TP_ORNT wrong value
Cause:
The $TP_ORNT system variable has been assigned an invalid value.
Remedy:
The value RS_TRAJ is not allowed as an orientation modality for

jogging. Valid values are: WRIST_JNT and RPY_WORLD.
59428 8-HOLD Wrong group of auxiliary axes active for MOVE
Cause:
Motion has been restarted when the active group of auxiliary axes
is not the original group frozen when the move statement was
interpreted. This could happen if a move has been interrupted and
the auxiliary group of axes has been changed using the built-in.
Remedy:
Choose the correct active group of auxiliary axes or cancel moves

that have not completely been executed.
59429 8-HOLD SA: <servo_num> <arm_num> Recovery pos not available
Cause:
Motion has been restarted when the active group of auxiliary axes
is not the group that owns the recovery position. The recovery
position has been recorded with another group of auxiliary axes.
Remedy:
Select the correct active group of auxiliary axes.
59432 2-WARNING SA: <servo_num> <arm_num> MOVE with arm in DRIVE OFF
Cause:
Motion environment has received a MOVE while the robot is in DRIVE

OFF state. This could happen in the AUTO state with a machine in
DRIVE ON and the other machine in DRIVE OFF and a move has been
issued on the machine that has the drives off.
Remedy:
Switch the drives on for the arm that is needed to be moved.
59435 8-HOLD SA: <servo_num> <arm_num> arm needs Turn Set operation
Cause:

Remedy:
59436 8-HOLD SA: <servo_num> <arm_num> gun axis not calibrated
Cause:
It is not possible to execute MOVE statements when the gun axis is

not calibrated.
Remedy:
Calibrate the axis of the gun using the proper application program
before executing any MOVE statement.
59437 8-HOLD SA: <num_servo> <num_arm> feature not available
Cause:
It is not possible to enable the Soft Servo modality, because for

this arm is not available the dynamic model compensation algorithm.
Remedy:
Do not try to work in Soft Servo modality.
60416 10-DRIVE OFF Bad preset quadrant
Cause:
There is a mismatch in the resolver quadrant data from the RPT and
the resolver quadrant value read by the servo, greater than 2
resolver quadrants.
Remedy:
Check the capability of both environments to read the resolver

correctly.
60417 10-DRIVE OFF Bad preset velocity
Cause:
This is due to a motor speed not equal to zero during an operation

like calibration or turn-set checked by the servo environment.
Remedy:
Execute the operation with the machine in rest.
60418 14-FATAL SAX: <servo_num> <arm_num> <axis_num> DSP parameter not set
Cause:
The servo environment is not running; the shared memory between the
processors on the SCC board is not working properly or the code of
the servo was not mounted properly.
Remedy:
Check if the servo environment data files from the system software
floppies were properly loaded on the controller. Check their
version against the controller version.
60419 10-DRIVE OFF SCC: <servo_num> DSP drive off fault
Cause:
The servo environment does not acknowledge a DRIVE OFF request

coming from higher levels of the controller.
60420 10-DRIVE OFF SCC: <servo_num> DSP drive on fault
Cause:
The servo environment does not acknowledge a DRIVE ON request

coming from higher levels of the controller because it is in the
ALARM state, probably due to some errors coming from the
motors/resolvers.
Remedy:
Analyze the previous errors displayed on the controller and try to

switch the power on from a normal DRIVE OFF state.
60421 2-WARNING SCC: <servo_num> RPT spreset command failed
Cause:
An attempted operation to preset an RPT axis due to a fatal error

on a resolver circuit failed. This operation is executed typically
when the controller gets a resolver fault from the latch on the SCC
board.
Remedy:
Check the serial line between the controller and the RPT and the
functionality of the RPT. Calibration might be lost at the next
startup of the controller. Check the robot position before
restarting the application program.
60422 10-DRIVE OFF SCC: <servo_num> Motor angle identification procedure

done
Cause:
After having identifier the motor angle, the system enter in drive
off state. This is normal as the activity of the controller when
the drives are on cannot continue after having identifier the motor
angle.
Remedy:
This is the normal behaviour of the controller. In order to

continue the normal controller activities, the user can switch the
drives on and continue.
61440 10-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> motion under no

servo control
Cause:
The servo control continues to read a resolver moving even if the

servo loops are open. In other words, resolvers are moving and
servo control is not sending current to the motors. This is due to
noise on the resolver reading or the brakes are not able to keep
the motor in rest.
Remedy:
Check the shield of the resolver cables and check the brakes of the
axes.
61441 13-FATAL SAX: <servo_num> <arm_num> <axis_num> bad resolver reading

(<source>)
Cause:
The servo control is reading a resolver value too many times

without a correlation with the historical values. The resolver
cables could have some problems, the resolver itself is not working
properly, connectors are not plugged properly into the servo CPU
board, resolver annex boards on the servo CPU are damaged, or the
RPT circuit is corrupting the servo control resolver reading.
Remedy:
Analyze each of the possible causes one at a time until the error
is corrected.
61442 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> following error

out of range
Cause:
The servo control is not able to keep the following error below a
limit. This may be caused by a limited value of the corrents from
the servo drive or by the brake status (axis braked).
Remedy:
Analyze the maximum value of the current and check that this is
enough to move the axes at full speed. Check to see if the axes are
not on a mechanical stroke end. Check the brakes: they could be
blocked or the connession towards brake could be opened. Be sure
the robot is not overloaded.
61443 10-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> I2T triggered
Cause:
The particular work cycle of the robot is stressing the axes motor
too much or the axis is moving with the motor braked. The check is
done by monitoring the current value requested from the motor to
the drive.
Remedy:
The robot may be overloaded for this particular cycle. If it is

possible, try to modify the trajectory in such a way that the axes
are not so stressed. If the problem does not vanish it will be
necessary to analyze the robot capability for this type of cycle
and eventually tune the system with other system parameters. Verify
that the connections towards brakes are not opened.
61444 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> bad target

position
Cause:
A check of the targets in the servo control environment failed

(DSP).
Remedy:
61445 2-WARNING SAX: <servo_num> <arm_num> <axis_num> high current

required
Cause:
The servo control is requesting too much current to the motors.

This is because the robot cycle is stressed or there are problems
on the motor itself, such as a bad phase or the brake is locked.
Remedy:
First check if the working process is satisfactory. If it is,

ignore this warning. Otherwise modify the cycle, either by
modulating the acceleration and deceleration slopes of the move to
which the error applies, or by optimizing the points located in the
area where the message occurs in order to reduce the stress on the
robot. Verify that the connection towards brake is not opened.
61446 14-FATAL SCC: <servo_num> dsp code checksum failure
Cause:
The DSP code is corrupted. A failure during loading can cause this
problem. Check with the verify procedure the code loaded. If it is
ok, please contact COMAU software technician.
Remedy:
Try to reload the DSP code.
61447 13-FATAL SAX: <servo_num> <arm_num> <axis_num> bad synchronization

with remote link
Cause:
The synchronization among the 68020, DSP and the Personal Computer
has been lost while the C3G was in the OPEN MODALITY.
Remedy:
One of the possible causes is that the execution of the program on

the PC has been interrupted. If not, please contact COMAU.
61448 10-DRIVE OFF SA: <servo_num> <arm_num> Maximum absorbed power
Cause:
A specific robot work cycle is stressing the controller and can

cause the overheating of it. One or more axes could turn with brake
locked.
Remedy:
If possible, change the trajectory so to avoid stressing too much

the axes. If the problem persists, it will be necessary to analise
the robot capacity in relation to the work cycle and to regulate
the system basing on the others system parameters. Verify that the
connessions towards brakes are not opened.
62464 8-HOLD SA: <servo_num> <arm_num> target position out of range
Cause:
Firmware error.
Remedy:
Please contact COMAU.
62465 2-WARNING SAX: <servo_num> <arm_num> <axis_num> positive stroke end
Cause:
The arm is near the positive limit of the available range for this
axis. It is not possible to move the arm further.
Remedy:
Reenter the available workspace of the robot.
62466 2-WARNING SAX: <servo_num> <arm_num> <axis_num> negative stroke end
Cause:
The arm is near the negative limit of the available range for this
axis. Is not possible to move the arm further.
Remedy:
62467 2-WARNING SAX: <servo_num> <arm_num> <axis_num> overspeed
Cause:
During a jog session in Cartesian, an overspeed in joint world is

requested to execute the trajectory. This usually happens near the
singularity point.
Remedy:
Decrease $GEN_OVERRIDE until the move is possible or change the arm

position.
62468 13-FATAL SAX: <servo_num> <arm_num> <axis_num> resolver open or

short circuit
Cause:
A special circuit on the servo CPU detects a fault in the resolver

circuit for this axis.
Remedy:
Review the resolver circuits. Check to see if there are short

circuits or open circuits in the resolver excitation and/or the
resolver phases.
62469 8-HOLD SAX: <servo_num> <arm_num> <axis_num> tolerance unobtainable
Cause:
The arm is not able to enter the joint tolerance with those
programmable parameters.
Remedy:
Change the setting of $TERM_TYPE from FINE to COARSE if it is

possible for the application, or increase the tolerance range
($TOL_JNT[][axis]) and switch the controller off and on. If the
cycle is now executed correctly, save the new predefined variable
in C3G.SYS, or increase the time ($TOL_TOUT) but this increases the
cycle time.
62470 8-HOLD SA: <servo_num> <arm_num> position out of tolerance
Cause:
The arm is not able to enter into a sphere with those programmable
parameters.
Remedy:
The radius of the sphere is too small. It is possible to increase

it changing $TOL_FINE. If it is possible for the particular
application, the problem could be solved by changing the setting of
$TERM_TYPE from FINE to COARSE or it is possible to increase the
time ($TOL_TOUT) but this increases the cycle time.
62471 8-HOLD SA: <servo_num> <arm_num> HOLD due to singularity
Cause:
If the predefined variable $SING_CARE is set TRUE or Sensor

Tracking is enabled, the controller indicates to the user that the
position of the robot is near to a singularity.
Remedy:
If the predefined variable is set FALSE, the controller tries to

reach the singularities by limiting the joints speed; this is
possible only for some kind of robots. If Sensor Tracking is
enabled it is not possible to avoid this situation and the user
should move the robot out of the singularities.
62472 8-HOLD SAX: <servo_num> <arm_num> <axis_num> HOLD cartesian limit +
Cause:
The arm is near the positive limit of the available range for an
axis. It is not possible to move the arm further or the arm cannot
reach the position due to its kinematics.
Remedy:
62473 8-HOLD SAX: <servo_num> <arm_num> <axis_num> HOLD cartesian limit -
Cause:
The arm is near the negative limit of the available range for an
axis. It is not possible to move the arm further or the arm cannot
reach the position due to its kinematics.
Remedy:

62474 12-DRIVE OFF SA: <servo_num> <arm_num> feature not yet implemented
Cause:
Some features permitted by the language are not yet implemented for
this arm.
Remedy:
Determine which feature is not yet implemented for the arm and
avoid using it.
62475 13-FATAL SCC: <servo_num> safety chain open as error
Cause:
A fatal error caused the opening of the safety chain.
Remedy:
Remove or analyze and solve the previous error first.
62476 2-WARNING SA: <servo_num> <arm_num> Moving in joint as jogged

motion
Cause:
The user tried to jog while a manual motion was in execution.
Remedy:
Do not jog while a manual motion is in execution.
62477 8-HOLD SA: <servo_num> <arm_num> cartesian position out of range
Cause:
The Cartesian position is out of the available workspace for this

arm.
Remedy:
Change the position.
62478 8-HOLD SA: <servo_num> <arm_num> axis 1 at undefined position
Cause:
The arm, typically a SMART robot, has the center of the wrist
aligned with the z-axis of the world frame. This is an arm
singularity.
Remedy:
coaxial to the z-axis.
62479 8-HOLD SA: <servo_num> <arm_num> wrist axis at undefined position
Cause:

For this wrist, it is impossible to independently compute the
Remedy:
Avoid working in Cartesian space with axis 5 at zero position or,

if implemented, change the setting of $ORNT_TYPE to WRIST_JNT in
order to execute the trajectory in Cartesian, but interpolate the
wrist axes in joint.
62480 2-WARNING SA: <servo_num> <arm_num> axis 2/3 at open stroke end
Cause:

for axes 2 and 3. Due to the parallelogram it is not possible to
move axis 2 and axis 3 independently. For the reciprocal joint
position they are at the maximum open configuration.
Remedy:
62481 2-WARNING SA: <servo_num> <arm_num> axis 2/3 at closed stroke end
Cause:

position they are at the maximum close configuration.
Remedy:
62482 10-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> tolerance HOLD

unobtainable
Cause:
It is not possible to obtain the tolerance after a HOLD.
Remedy:

62483 8-HOLD SA: <servo_num> <arm_num> axis 5 at undefined position
Cause:

position.
Remedy:
Avoid working in Cartesian space with axis 5 at this undefined

position or, if implemented, change the setting of $ORNT_TYPE to
WRIST_JNT in order to execute the trajectory in Cartesian, but
interpolate the wrist axes in joint.
62484 8-HOLD SA: <servo_num> <arm_num> inverse kinematics not available
Cause:
This machine does not have the inverse kinematics. Or, in case of
compensation algorithm active, it means that the programmed Joint
or Cartesian position cannot be compensated.
Remedy:
Do not try to work in cartesian. Or, in case of compensation

algorithm active, program the Joint or Cartesian position out of
the area where the compensation cannot work.
62485 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> bad interpolator

target position
Cause:
A check of the targets in the servo control environment failed. The

interpolator is requesting target positions too far ahead.
Remedy:
Change the position if possible. Please contact COMAU.
62486 12-DRIVE OFF SA: <servo_num> <arm_num> ADVANCE or new jog motion not
allowed
Cause:
The machine has changed configuration due to a singularity. Neither

the ADVANCE clause nor a new jog motion are allowed.
Remedy:
Either avoid moving through singularity points, do not use the

ADVANCE clause, or release all jog buttons before pressing a new
one.
62487 8-HOLD SA: <servo_num> <arm_num> INTEC parameters out of range
Cause:
Some initialization parameters of the INTEC board have been set at

a wrong value.
Remedy:
Compare the value with the corresponding range.
62488 8-HOLD SA: <servo_num> <arm_num> INTEC synchronisms not in sequence
Cause:
INTEC board detected an error in weaving synchronism from system.

This can happen with cartesian weaving along very short movement
joined in fly if $FLY_TYPE is set to FLY_HIGH or FLY_NORM.
Remedy:
$FLY_TYPE must be set at FLY_CART value.
62489 8-HOLD SA: <servo_num> <arm_num> INTEC synchronism overrun
Cause:
During arc sensor tracking with weaving there is an overlap of

reading phases from the analog input. This happens if weaving
frequency is too high or if the time delay between the theoretical
and real targets is too long.
Remedy:
Check INTEC parameters for time delay or reduce the weaving

frequency.
62490 8-HOLD SA: <servo_num> <arm_num> INTEC synchronism timeout
Cause:
The weaving synchronism from the system to the INTEC board do not
arrive on time. This happens only if a time-out is programmed on
the INTEC board (usually time-out check is disabled).
Remedy:
Increase the time-out or remove this feature by setting the INTEC

time-out to zero.
62491 8-HOLD SA: <servo_num> <arm_num> INTEC corrections out of range
Cause:
INTEC board has detected corrections out of the threshold for a
long period. Usually this is due to an instability of the welding
current or to a wrong value of the threshold.
Remedy:
Check the threshold on the maximum corrections; verify the welding

parameters and the workpiece surface conditions.
62492 8-HOLD SA: <servo_num> <arm_num> INTEC board error
Cause:
INTEC board has detected an internal error.
Remedy:
INTEC board could be damaged.
62493 8-HOLD SA: <servo_num> <arm_num> total corrections out of range
Cause:
The distance between the robot and the programmed trajectory has
exceeded the threshold defined in $SENSOR_OFST_LIM. This is a
safety guard to stop the robot in the case of sensor failure.
Remedy:
Check the sensor or increase $SENSOR_OFST_LIM.
62494 11-DRIVE OFF SCC: <servo_num> interpolation overrun
Cause:
The interpolator sampling time is too short.
Remedy:
The interpolator sampling time has to be increased. Please, contact

COMAU.
62495 2-WARNING SA: <servo_num> <arm_num> axis 1 at open stroke end
Cause:
The arm is near the open stroke end for axis 1. Is not possible to
move the arm further.
Remedy:
62496 2-WARNING SA: <servo_num> <arm_num> axis 1 at closed stroke end

Cause:
The arm is near the close stroke end for axis 1. Is not possible to
Remedy:
62497 2-WARNING SA: <servo_num> <arm_num> axis 2 at open stroke end
Cause:
The arm is near the open stroke end for axis 2. Is not possible to
Remedy:
62498 2-WARNING SA: <servo_num> <arm_num> axis 2 at closed stroke end
Cause:
The arm is near the close stroke end for axis 2. Is not possible to
Remedy:
62499 13-FATAL SCC: <servo_num> bad synchronization with remote link
Cause:
In the OPEN MODALITY the synchronization with the PC has been lost.
Remedy:
One of the possible causes is that the execution of the program on

the PC has been interrupted. If not, please contact COMAU.
62500 2-WARNING SA: <servo_num> <arm_num> axis 1/2 at open stroke end
Cause:

position they are at the maximum open configuration.
Remedy:

62501 2-WARNING SA: <servo_num> <arm_num> axis 1/2 at closed stroke end
Cause:

position they are at the maximum close configuration.
Remedy:
62504 8-HOLD SA: <servo_num> <arm_num> out of the conveyor window
Cause:
This error occurs when the robot moves out of the conveyor window.
Remedy:
Change the program so that all the movements stay within the window
limits.
62505 2-WARNING SA: <servo_num> <arm_num> pos out of work zone
Cause:
The position or joint position is not in the correct zone of work.

This check is done for the S3 robot.
Remedy:
Change the position or joint position.
62506 2-WARNING SA: <servo_num> <arm_num> axis 4/5 close wrist
Cause:
The cartesian position or the joint position is not in the correct

zone of work, the wrist of the robot is closed. This check is done
for the SNAP robot.
Remedy:
Move axis 4 or 5 in order to get out of the stroke end position.
62507 2-WARNING SA: <servo_num> <arm_num> axis 4/5 open wrist
Cause:
The cartesian position or joint position is not in the correct zone

of work, the wrist of the robot is opened. This check is done for
the SNAP robot.
Remedy:
Move axis 4 or 5 in order to get out of the stroke end position.
62508 4-PAUSE SA: <servo_num> <arm_num> jog keys combination not allowed
Cause:
For the S3 robot, it is not allowed to contemporarely press jog

keys 4 or 5 (+/-) with one of the jog keys 1, 2 or 3 (+/-).
Remedy:
The user is only allowed to contemporarely press jog keys 4 and 5

or jog keys 1 and 2 and 3.
62509 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> forbidded motion

on MMUX axes
Cause:
the AUX_MMUX built-in. A movement on those axes has been requested,
but it is not possible to execute it as these axes are disabled.
Remedy:
For moving them, execute the AUX_MMUX built-in for enabling them.
62510 11-DRIVE OFF SCC: <servo_num> move not compatible with dynamic model
Cause:
The dynamic model compensation algorithm is running on your machine

and does not allow the execution of the programmed move. This is
due to the duration of the computation during the interpolation
phase. Generally this happens during cartesian trajectories (linear
or circular) with some additional features like cooperative motion,
weaving, multi-arm interpolation, many motion CONDITIONs, etc.
Remedy:
There are three chances: disable some additional feature of the

current move; or disable the dynamic model algorithm by means of
the Family Configuration Tool; or increase the interpolator
sampling time (for this last, please contact COMAU).
62511 11-DRIVE OFF SA: <servo_num> <arm_num> forbidded motion for

integrated arm
Cause:
The first arm of a couple of integrated arms (the carrier) moved in
a non syncronized way while the second arm was executing a
linear/circular movement on a JOINTPOS or a JOINT movement on a
POSITION/XTNDPOS.
Remedy:
Move the two arms with a SYNCMOVE statement or try to maintain

steady the first arm while executing this particular type of motion
with the second. Note that the first arm is allowed to move while
the second arm is doing LINEAR/CIRCULAR movements on a
POSITION/XTNDPOS or JOINT movements on a JOINTPOS.
62512 8-HOLD SA: <servo_num> <arm_num> Cartesian Position not compensable
Cause:

Remedy:

Cartesian position out of the area where the compensation cannot
work.
63488 13-FATAL SAX: <servo_num> <arm_num> <axis_num> drive tests failed
Cause:
The startup time hardware tests on the drive failed.
Remedy:
Change the module.
63489 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> auxiliary hv

supply lost
Cause:
The auxiliary voltage on high power side was lost.
Remedy:
Change the module if this error is not common to all modules; if so

check the power supply and eventually change it or the cable which
connects the power supply to the drives.
63490 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> auxiliary lv

supply lost
Cause:
The auxiliary voltage on the logic power side was lost.

Remedy:
Change the module if this error is not common to all modules; if so

check the power supply and eventually change it or the cable which
connects the power supply to the drives.
63491 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> dc bus voltage

out of range
Cause:
An attempt to switch the drives on failed because there was not

enough voltage on the DC bus. The voltage is below the lower limit
acceptable. Usually this is an indirect error message. The real
failure reason could be something else. Analyze the controller
diagnostic.
Remedy:
Verify that the safety chain is closed. It must be closed. Check

the power fuses. Check the fuse inside the module.
63492 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> drive brake

locked
Cause:
The motor brake could short circuited or, after an emergency, the
DC voltage for the brake circuit disappeared when it should have
been there because the power was on. Analyze the other errors from
the diagnostic because this could be an indirect error. Usually
after an emergency this error is normal.
Remedy:
Check the brake circuit on the motor. Check the DC cable brake
connection between the module and the motor.
63493 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> dc bus or motor

cable short circuit
Cause:
The connection module-motor could be open or short circuited, the

power section of the module could be short circuited, or the
voltage on the DC bus could be greater than the maximum.
Remedy:
If the cables are okay, check the recovery circuit. It could be

broken or the system is stressed too much and the recovery circuit
is not able to dissipate all of the energy and the DC bus is beyond
the maximum voltage limit. If all the previous are okay, change the
module.
63494 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> drive stroke end
+
Cause:
The axis has reached the electrical positive end limit of its
available range. This is the second level of protection before the
axis reaches the mechanical stop. Typically the user gets this
alarm when an uncalibrated axis is moved beyond the software range,
or when the electrical sensor triggers before the software checks
that the axis is beyond the limit. If this happens and the axis is
calibrated, check the axis calibration and/or the tuning of the
sensor. The sensor does not have power or the cable is open or the
circuit inside the module that checks that is broken.
Remedy:
Check the sensor voltage. Use the device for the manual emergency
motion in order to exit from this position.
63495 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> drive stroke end
-
Cause:
The axis has reached the electrical negative end limit of its
available range. This is the second level of protection before axis
reaches the mechanical stop. Typically the user gets this alarm
when an uncalibrated axis is moved beyond the software range, or
when the electrical sensor triggers before the software checks that
the axis is beyond the limit. If this happens and the axis is
calibrated, check the axis calibration and/or the tuning of the
sensor. The sensor does not have power or the cable is open or the
circuit inside the module that checks that is broken.
Remedy:
Check the sensor voltage. Use the device for the manual emergency
motion in order to exit from this position.
63497 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> motor overheat
Cause:
The motor temperature is beyond the maximum limit. The connection

to the motor could be open. Usually there is also a message that
the motor is requesting too much current or the I2T servo control
checks already triggered. One or more phases on the motor are
broken. Verify that the arm cycle is not requesting too much of the
motors. The axis turns with brake locked.
Remedy:
Check the connections. If possible, stop the system and wait until
the motor temperature is below the maximum limit. Check the
resistivity of the motor phases. If they are open or short, change
the motor. Verify that the connection towards brake is not opened.
63498 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> inconsistent

current vector
Cause:
The current vectors in input to the module have a wrong relative

phase which is different from 120 degrees or the third current
built into the module is greater than the maximum value due to the
relative phases.
Remedy:
Check the current vector at the module input; the servo control
axis annex could be broken or the connection is open. Change the
module.
63499 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> bad stroke end
circuit
Cause:
The arm is in electrical stroke end with a bus voltage higher than
the minimum bus voltage; or the circuit inside the module that
checks the electrical stroke end is broken.
Remedy:
First use the device for the manual emergency motion in order to
make sure that the arm is out of the stroke end position. Restart
the controller. If only a bad stroke end circuit error is reported,
the module has to be changed. If a bad stroke end circuit error and
stroke end positive or negative error is reported, the problem is
related to some wire or connector and not the module.
63500 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> drive overheat
Cause:
The module is working with current beyond the limits or the contact
between the module and the heat sink is not good or the sensor that
checks that is broken. Analyze the diagnostic of the system. This
could be an indirect error message, for example the axis turns with
brake locked.
Remedy:
Check the connection of the sensor. Check the mechanical lock to

the heat sink. Check to see if the silicon grease on the heat sink
is there. Check the air cooling near the cabinet. Check the
connections towards brakes are not opened.
63501 10-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> receive timeout

on drive
Cause:
The associated drive to this axis does not reply to commands issued
by the driver. This means that the line is down or the drive has
problems on the serial line section. Maybe the connector on the
drive front is out.
Remedy:
Check the cables and verify that this drive is present at the
correct address on the line.
63502 8-HOLD SAX: <servo_num> <arm_num> <axis_num> drive overload
Cause:
The module is working with current beyond the limits and this is a
first level of diagnostic; further, there will be a drive overheat
message if the user does not change the working condition of the
module.
Remedy:
Check the mechanical lock to the heat sink. Check to see if the
silicon grease on the heat sink is there. Check the air cooling
near the cabinet. Check the connections towards brakes are not
opened.
63503 10-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> drive operation

failed
Cause:
A command issued to the drive associated with this axis failed

because the drive has multiple sections and one of them is
declaring a fatal error which forced the entire module to be down.
Remedy:
Analyze not this section of the module, but the section which has
the fatal error.
63504 13-FATAL SP: <servo_num> <POWER_num> power tests failed
Cause:
The startup time hardware tests on the drive failed.
Remedy:
Change the module.
63505 11-DRIVE OFF SP: <servo_num> <POWER_num> bad recovery circuit

Cause:
The circuit which gives the power to the recovery resistor is

broken or the recovery resistor itself is broken or the connection
is broken.
Remedy:
Check the connection. Measure the resistor. Change the module.
63506 11-DRIVE OFF SP: <servo_num> <POWER_num> phase bad
Cause:
The sequence 'RST' is not observed or one of the power fuses is

blown or the internal auxiliary fuse is blown.
Remedy:
Test the phase sequence 'RST' on the power. Check the fuses. Change
the module.
63507 11-DRIVE OFF SP: <servo_num> <POWER_num> lost sync signal
Cause:
The signal used for the PWM is lost. The reason could be external
from the servo control or the connection servo control-module.
Remedy:
Check the connection. Check to see if the signal is present at the

module input. Change the module.
63508 11-DRIVE OFF SP: <servo_num> <POWER_num> brake sensor overheat
63509 11-DRIVE OFF SP: <servo_num> <POWER_num> power overheat
Cause:
The module is working with current beyond the limits or the contact
between the module and the heat sink is not good or the sensor that
checks that is broken. Analyze the diagnostic of the system. This
could be an indirect error message.
Remedy:
Check the connection of the sensor. Check the mechanical lock to

the heat sink. Check to see if the silicon grease on the heat sink
is there. Check the air cooling near the cabinet.
63510 10-DRIVE OFF SP: <servo_num> <POWER_num> receive timeout on power
Cause:
The associated power supply to this arm does not reply to commands
issued by the driver. This means that the line is down or the
module has problems on the serial line section. Maybe the connector
on the module front end is out.
Remedy:
Check the cables and verify that this module is present at the
correct address on the line.
63511 13-FATAL SCC: <servo_num> RPT <RPT_num> resolver primary shorted
Cause:
RPT detects a failure in the resolver primary circuit.
Remedy:
Check this circuit.
63512 8-HOLD SCC: <servo_num> RPT <RPT_num> battery low
Cause:
The battery on this RPT is below the limit. This message is display
only at power up time and it is normal if the RPT is new.
Remedy:
If the RPT is not new, verify that the battery cables are connected
with the RPT. Check the battery voltage and the RPT's recharge
circuit.
63513 13-FATAL SCC: <servo_num> RPT <RPT_num> hardware error
Cause:
RPT signals a problem which concerns its hardware.
Remedy:
Change the RPT.
63514 8-HOLD SCC: <servo_num> RPT <RPT_num> reset after preset
Cause:
The RPT was reset when an axis was preset. This could happen only
if the power was down and the battery on the RPT had been
disconnected.
Remedy:
This error could be reset only if that axis is preset again by

calibrating or turn setting the axis.
63515 13-FATAL SCC: <servo_num> RPT/FLASH-MEM <RPT/FLASH-MEM_num>

communication error
Cause:
The serial link between the RPT, or the FLASH memory (inside the
drives), and the controller is down somewhere.
Remedy:
Check if the RPT or the FLASH memory are configured for this arm at
the correct address. Check the RPT or the FLASH memory hardware
setting in respect to the controller parameters (speed, address).
Check the physical serial link to see if there are interruptions
somewhere.
63516 8-HOLD SCC: <servo_num> RPT/FLASH-MEM <RPT/FLASH-MEM_num> operation

failed
Cause:
This error occurs when one of the following operations fail: a

command that sets the sample rate on RPT; a write to RPT; a write
to the FLASH memory (inside the drives).
Remedy:
Check the sample rate value in the controller configuration. If the

error is caused by a write to the RPT or the FLASH memory, please
contact COMAU.
63517 2-WARNING SCC: <servo_num> RPT <RPT_num> motion without reference
Cause:
Without the resolver reference from the Servo CPU board, the RPT
has seen the resolver moving. This could happen after a power
failure with the arm running at high speed or after an emergency
manual control (EMC) session.
Remedy:
This is just a warning.
63518 2-WARNING SCC: <servo_num> RPT <RPT_num> bad sample rate
Cause:
A set sample rate command fails.
Remedy:
Check the controller's configuration for the sample rate value.

63519 2-WARNING SCC: <servo_num> RPT <RPT_num> not correctly configured
Cause:
An RPT not declared in the controller configuration was found on

the serial line.
Remedy:
63520 8-HOLD SAX: <servo_num> <arm_num> <axis_num> RPT 180 degrees preset
error
Cause:
An attempt to preset an RPT axis fails because there is an

incompatibility between the resolver quadrant read by the RPT and
the value issued by the controller read by the servo control. These
two environments are probably reading different values from the
same resolver.
Remedy:
Check the resolver circuits on the RPT.
63521 13-FATAL SAX: <servo_num> <arm_num> <axis_num> RPT secondary open or

short
Cause:
An RPT detects a failure in the resolver secondary circuit.
Remedy:
Check this circuit.
63522 13-FATAL SAX: <servo_num> <arm_num> <axis_num> RPT bad quadrant

sequence
Cause:
The resolver value read by the RPT does not follow a reasonable
sequence. There are quadrant jumps in the resolver value.
Remedy:
Check the resolver circuit.
63523 8-HOLD SAX: <servo_num> <arm_num> <axis_num> RPT inconsistent

preset
Cause:
An attempt to preset an axis fails because the RPT does not signal
errors but the axis is not preset.
Remedy:
63524 2-WARNING SAX: <servo_num> <arm_num> <axis_num> RPT spreset command
Cause:
An attempt to preset an axis fails because the RPT does not signal
errors but the axis is not preset.
Remedy:
63525 10-DRIVE OFF SCC: <servo_num> transmission timeout
Cause:
The driver is not able to send a message.
Remedy:
63526 13-FATAL SCC: <servo_num> firmware error
Cause:
General firmware error.
Remedy:
63527 13-FATAL SCC: <servo_num> protocol error
Cause:
The devices on the serial link are not able to speak to each other
even after some retries.
Remedy:
63528 13-FATAL SCC: <servo_num> device <device_addr> not present or at

fault
Cause:
The device is correctly configured in the system, but the system is
not able to build a connection with it.
Remedy:
If the device is there, check the physical serial link and/or the
serial buffers at both sides of the link.
63529 2-WARNING SCC: <servo_num> device <device_addr> not declared
Cause:
A module which is not declared in the system configuration was

found attached on the serial link.
Remedy:
This is just a warning.
63530 13-FATAL SAX: <servo_num> <arm_num> <axis_num> device not activated
Cause:
It is not possible to activate a configured module which needs to

be activated. If this operation fails the module does not work.
This is the reason why the severity is so high.
Remedy:
63531 10-DRIVE OFF SP: <servo_num> <POWER_num> power operation failed
Cause:
Firmware problem.
Remedy:
63532 10-DRIVE OFF SCC: <servo_num> RPT/FLASH-MEM <RPT/FLASH-MEM_num> and

C3G.SYS data mismatch
Cause:
The configured data in the RPT or in the FLASH memory (inside the
drives), belongs to an arm which mismatches with the controller
configuration.
Remedy:
The user must decide what to do: delete the old RPT or FLASH memory
data, with an retentive memory save command, or change the hardware
(RPT or FLASH memory).
63533 13-FATAL SAX: <servo_num> <arm_num> <axis_num> RPT does not send the
resolver turn number
Cause:
The RPT does not send the resolver turn number. This axis could be
present, so it is not necessary to execute the 'TURN_SET'
procedure. This is an RPT error, we are going to fix.
Remedy:
Switch the power off and on again. The problem should disappear.
63534 13-FATAL SAX: <servo_num> <arm_num> <axis_num> RPT does not count
motor turns
Cause:
The RPT does not count the motor turns. The RPT is not able to
correctly read the resolver channel or the RPT is in fault on that
channel.
Remedy:
If the resolver circuits are good, the RPT must be substituted.
63535 11-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> RPT does not
accept motor turns
Cause:
The user is executing the JNT_SET_TAR built-in while an axis of

another arm in the same machine (i.e. an axis of a different arm
connected to the same RPT) is moving. Otherwise this is an internal
RPT firmware error.
Remedy:
When executing the JNT_SET_TAR built-in, all the arms of the same
machine (i.e. all the axes connected to the same RPT) must be held.
63536 11-DRIVE OFF SA: <servo_num> <arm_num> axes not yet configured
Cause:
None of the linear axes of a PMAST robot has been defined by the
user or none of the motor angles of a TRICEPT HP1 robot has been
defined by the user.
Remedy:
Please use the configuration tool to configure the axes.

63537 2-WARNING SCC: <servo_num> device <device_addr> not yet configured
Cause:
A module in the system is not yet configured. For arms in the PMAST
family this module is configurable. For other families, it is just
a warning that tells the user that an extra module exists in the
system.
Remedy:
This is just a warning. Check the software system configuration and

the servo drive configuration. Eventually, the configuration tool
should be used to correct this situation. This warning applies to
arms of the PMAST family.
63538 10-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> undefined drive

full scale current value
Cause:
There is some error in the check of the drive full scale current.
Remedy:
63539 10-DRIVE OFF SAX: <servo_num> <arm_num> <axis_num> incorrect drive

full scale current value
Cause:
The drive full scale current is not correct.
Remedy:
63540 2-WARNING SCC: <servo_num> RPT <RPT_num> not present
Cause:
This type of robot allows the RPT to be configured. When the

system doesn't find it this message is displayed.
Remedy:
This is only a warning, the user should verify that the RPT is not
supposed to be present.
63541 2-WARNING SP: <servo_num> <POWER_num> not present
Cause:
In this type of robot the second power can be configured, when the
system doesn't find it this message is displayed.
Remedy:
This is only a warning, the user should verify that the second
power should not be present.
63542 13-FATAL SCC: <servo_num> Resolver to Digital cards mismatch
Cause:
Resolver to digital cards do not match with the controller

configuration.
Remedy:
It is necessary to check the controller configuration and the

resolver to digital cards on the servo board.
63543 10-DRIVE OFF SCC: <servo_num> RPT/FLASH-MEM <RPT/FLASH-MEM_num> bad

checksum on hour meter
Cause:
A checksum error has been detected in the computation of the hour

meter on RPT or FLASH memory (within drives).
Remedy:
Try the operation again reissuing the saving or reading operation.

If the problem persists check if the hardware components need to be
substituted.

Error Messages C3G

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Error Messages C3G

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Messages with Cause & Remedy for C3G Software Version 5.

514 0-INFO Request canceled

An I/O request was canceled, usually due to a reset issued by one

516 0-INFO Channel table full

Decrease the number of simultaneous device and file open requests.

519 0-INFO Device id error

The referenced device cannot be found.

Reference the correct devices.

520 0-INFO I/O request timeout

An I/O operation did not complete in the allowable time.

Determine the cause of the device failure and retry it.

521 0-INFO EOF detected

The referenced file is at its end.

Close the file and reopen it.

Delete some unused or obsolete files to make room for more.

527 0-INFO Not enough buffers

Reduce the number of files opened in the system.

531 0-INFO Not enough direct channels

Reduce the number of files opened in the system.

534 0-INFO No read access

A read was attempted on a device or LUN that is for writing only.

Correct the program.

535 0-INFO No write access

A write was attempted on a device or LUN that is for reading only.

Correct the program.

A new file cannot be created because a file by the same name

Change the new file name or delete the existing file.

577 0-INFO File does not exist

No file by the specified name exists.

578 0-INFO No space for file

There is no room on the disk to create the new file.

579 0-INFO Invalid file name

The file name is too long or contains invalid characters.

Specify a correct file name.

581 0-INFO File already open

The referenced file is already opened by this program.

Correct the program.

582 0-INFO Cannot delete file

Change the file's attributes if it really should be deleted.

583 0-INFO File opened exclusively

768 0-INFO Root directory full

Delete some unused files from the RAM disk.

769 0-INFO No available UFCB's

Too many files are open; no new ones can be accessed.

Reference fewer files at a time in your programs.

770 0-INFO No available FCB's

Too many files are open; no new ones can be accessed.

Reference fewer files at a time in your programs.

772 0-INFO Open files on device

Close all open files before dismounting.

782 0-INFO Volume not mounted

The disk being referenced is not mounted.

Mount the disk before using other commands on it.

783 0-INFO Invalid medium format

The disk cannot be mounted because it is not in the correct format.

Format the disk before trying to mount it.

785 0-INFO Not enough directory buffers

A directory cannot be referenced because too many other directories

This error should not occur in this version of the system.

788 0-INFO File not directory

An attempt was made to reference a non-directory file as though it

Make the correct reference to the file.