25::
0:
Motion
21:
Joint position error\n
Actual position of joint %s\n
is too far away from the ordered\n
position.\n
\t\n
Check trim parameters, external\n
forces or hardware.
22:
Too low DC-link voltage\n
\t\n
Check voltage from Motor On contactors.\n
Replace DC-link.
24:
Corner path failure\n
Corner path executed as stop point\n
due to some of the following reasons:\n
- Time delay.\n
- Closely programmed points.\n
- System requires high CPU-load.\n
\t\n
- Reduce the number of instructions\n
  between consecutive move instructions.\n
- Reduce speed, use wider spaced\n
  points, use /CONC option.\n
- Increase ipol_prefetch_time.
25:
Restart interrupted\n
Current position is too far from path.\n
\t\n
Make a new restart with regain.
26:
Close to singularity\n
Robot too close to singularity.\n
\t\n
Modify path away from the singularity\n
or change to joint interpolation.
27:
Joint Out of Range\n
Joint %s is out of working range.\n
\t\n
Use the joystick to move the joint into\n
its working range.
28:
Jog in wrong direction\n
Joint %s is out of working range.\n
\t\n
Use the joystick to move the joint in\n
opposite direction.
29:
Robot outside its limits\n
The robot has reached the configuration\n
limit for the parallelogram\n
transmission.\n
\t\n
Use the joystick to move the involved\n
joint into the working range again.
30:
Robot outside its limits\n
Jogging was made in wrong direction when\n
parallelogram was out of working range.\n
\t\n
Use the joystick to move the joint in\n
opposite direction.
31:
Command not allowed\n
System parameters cannot be\n
changed in MOTORS ON state.\n
\t\n
Change to MOTORS OFF.
32:
Command not allowed\n
An attempt was made to calibrate while\n
in MOTORS ON state.\n
\t\n
Change to MOTORS OFF.
33:
Command not allowed\n
An attempt was made to commutate the\n
motors in MOTORS ON state.\n
\t\n
Change to MOTORS OFF.
35:
Command not allowed\n
An attempt was made to synchronize\n
in MOTORS ON state.\n
\t\n
Change to MOTORS OFF.
36:
Correct regain impossible\n
A stop occurred with too many close\n
points with corner zones. At restart\n
the robot will move to a point farther\n
forward in the program.\n
\t\n
Reduce the number of close points,\n
increase the distance between them or\n
reduce the speed.
37:
MOTORS ON order ignored\n
MOTORS ON order ignored since the\n
previous stop was not yet acknowledged.\n
\t\n
Order MOTORS ON again.
41:
Robot in a singularity\n
The robot is too close to a singularity.\n
\t\n
During program execution, use SingArea\n
instruction or joint interpolation.\n
During jogging, use axis by axis.
42:
Could not create path\n
\t\n
Increase the distance between close\n
points and/or decrease speed and/or\n
change acceleration value.
50:
Position outside reach\n
Position for IRB joint %.f\n
is outside working area. The reason\n
may be that ConfL_Off is used and a\n
movement is too large, more than 90\n
degrees for an axis.\n
\t\n
- Check work object or working range.\n
- Move the joint in joint coordinates.\n
- Check motion configuration parameters.\n
- Insert intermediate points on large\n
  movements.
52:
Joint speed too high\n
The speed of joint %s is too high\n
relative the ordered speed.\n
\t\n
- Check the tune parameters, external\n
  forces on the joint and hardware.\n
- Reduce programmed speed.
53:
Position difference\n
Position differs between axis computer\n
and serial measurement board.\n
Joint %s.\n
for joint %s.\n
\t\n
Possible causes:\n
-Electrical noise affecting serial\n
 measurement board or cabling.\n
-Faulty serial measurement board.
55:
Joint load too high\n
Actual torque on joint %s too high.\n
Might be caused by incorrect load data,\n
too high acceleration, high external\n
process forces, low temperature or\n
hardware error.\n
\t\n
-Check load data.\n
-Reduce acceleration or speed.\n
-Check operation of brake contactor\n
 and brakes.\n
-Check other hardware.
56:
Joint collision\n
Actual torque on joint %s is\n
higher than ordered while at low\n
or zero speed. Might be caused by\n
jam error (the arm has got stuck)\n
or hardware error.\n
\t\n
-Check that arm is not stuck.\n
-Check operation of brake contactor\n
 and brakes.\n
-Check other hardware.
57:
Joint not synchronized\n
Robot joint %s has moved too far during\n
power off state.\n
\t\n
Possible causes:\n
-Brake released or brake problems.\n
-Too high speed at power down.\n
-Disconnected resolver cables.\n
-Old image file used after power down.
58:
Tool coord. system error\n
The z-direction of the tool coordinate\n
system is almost parallel with the path\n
direction.\n
\t\n
Change the tool coordinate system to\n
achieve at least 3 degrees deviation\n
between z-direction and path direction.
59:
Incorrect tool\n
The definition of stationary\n
tool is not valid.\n
\t\n
Check the tool and object data.
60:
Incorrect tool\n
The definition of stationary\n
tool is not valid.\n
\t\n
Check the tool and object data.
61:
Incorrect tool\n
The definition of robot mounted\n
tool is not valid.\n
\t\n
Check the tool and object data.
62:
Circle uncertain\n
Start and end positions for the circle\n
are too close.\n
\t\n
Verify the points in the circle.
63:
Circle uncertain\n
All circle points on a straight line or\n
the circle position is too close to the\n
start or end position of the circle or\n
conflict when selecting reorientation.\n
\t\n
Verify the points in the circle or\n
check reorientation.
65:
Kinematics error\n
The destination of the movement is\n
outside the reach of the robot or too\n
close to a singularity.\n
\t\n
Change the destination position.
66:
Robot not active\n
Attempt to coordinate motion or\n
calculate position of deactivated\n
robot %s.\n
\t\n
Activate robot via the Motion Unit key,\n
then Jogging window, or program.\n
Check work object and program.
67:
Unit not active\n
Attempt to coordinate motion or\n
calculate position of deactivated\n
single unit %s.\n
\t\n
Activate unit via Motion Unit key,\n
then Jogging window, or program.\n
Check work object and program.
76:
Orientation not correct\n
Orientation is incorrectly defined.\n
\t\n
Make an accurate normalization of\n
the quaternion elements.
78:
Too many close positions\n
Too many consecutive closely spaced\n
positions.\n
\t\n
Increase the distance between\n
consecutive close positions.
79:
Cannot use wrist weaving\n
Wrist weaving not possible.\n
\t\n
Use smaller weaving amplitude or a\n
larger TCP.
80:
Position not compatible\n
The desired position cannot be reached\n
with the given robot configuration.\n
\t\n
Modify the robot position\n
in the program.
82:
Deceleration limit\n
Calculation of joint deceleration time\n
exceeds internal limits for this motion.\n
\n
You cannot proceed without removing the\n
cause(s) of this error.\n
\t\n
Increase path resolution (sys param or\n
by PathResol for critical movements).\n
Reduce speed, use fine, increase AccSet,\n
increase Queue time, avoid singularity\n
(SingArea\Wrist), inc. dynamic resol.
83:
Speed lowered by system.\n
The speed has been lowered by the system\n
due to dynamic limitations.\n
\t\n
Decrease speed and/or do not use close\n
positions at high speed and/or increase\n
acceleration (if below 100%).
85:
Too many user frames.\n
For mechanical unit %s\n
more than one user frame has been\n
defined.\n
\t\n
Take away one user frame or define\n
one more mechanical unit.
86:
Singularity problem\n
Too close to wrist singularity with\n
respect to numerical resolution\n
for joint 4 of IRB.\n
\t\n
Change destination position a few\n
increments.
87:
Singularity problem\n
Too close to wrist singularity with\n
respect to numerical resolution\n
for joint 6 of IRB.\n
\t\n
Change destination position a few\n
increments.
88:
Restart not possible\n
It is not possible to restart the path\n
due to a previous error.\n
\t\n
Move the program pointer to clear the\n
path and start a new movement.
89:
Weaving changed\n
The ordered weaving is not achieved due\n
to: high weaving frequency, not allowed\n
shift of weave method or that\n
SingArea/Wrist is used with wrist weave.\n
\t\n
Increase weave length or period time.\n
Don't shift between arm and wrist weave.\n
Use SingArea/Off with wrist weave.
91:
Restart not possible.\n
Restart no longer possible. Change of\n
unit state made restart of program\n
impossible.\n
\t\n
Move the program pointer and start\n
a new movement.
92:
Axis computer response\n
Incorrect response from axis computer.\n
\t\n
Check motion configuration parameters.\n
Check axis computer hardware.
94:
TuneServo not possible\n
Tuning is not implemented for the\n
specified joint.\n
\t\n
Verify that a parameter and/or joint\n
that can be used with TuneServo is\n
chosen.
95:
Cannot access joint.\n
Cannot access external joint.\n
\t\n
Check configuration and activation of\n
external Joints.
96:
TuneServo not allowed\n
Tuning is not allowed for the\n
specified joint.\n
\t\n
Verify that a parameter and/or joint\n
that can be used with TuneServo is\n
chosen.
100:
Manipulator configuration\n
There are more configurations or\n
numerical errors in motion domain.\n
\t\n
Correct previous ones and try again.
101:
Manipulator configuration\n
'%s' is  not free\n
for the param. '%s'\n
in type '%s' named\n
'%s'.\n
\t\n
Use another one.\n
For internal names, see moc_chk.log.
102:
Manipulator configuration\n
'%s' used in the\n
parameter '%s' in\n
type '%s' named\n
'%s' is not\n
defined.\n
\t\n
Use another one that is defined or\n
define the used one.\n
For internal names, see moc_chk.log.
103:
Manipulator configuration\n
The orientation defined by quaternions\n
including '%s' in\n
the type '%s' named\n
'%s' is not\n
normalized.(SQRSUM =1)\n
\t\n
Check the quaternions and/or recalculate\n
them.\n
For internal names, see moc_chk.log.
104:
Manipulator configuration\n
The parameter '%s'\n
in type '%s' named\n
'%s' is not '%s'.\n
\t\n
Check the value.\n
For internal names, see moc_chk.log.
128:
Manipulator configuration\n
Terminating the topic check for\n
manipulator due to earlier errors.\n
\t\n
Correct the reported errors and run\n
topic check again.
130:
Synchronization failed\n
Synchronization failed for joint\n
%s.\n
\t\n
- Make a new synchronization.\n
- Restart the system.
131:
Calibration failed\n
Calibration failed for joint\n
%s.\n
\t\n
- Make a new calibration.\n
- Restart the system.
132:
Commutation failed\n
Commutation failed for joint\n
%s.\n
\t\n
- Make a new commutation.\n
- Restart the system.
133:
Test signal error.\n
No test signals are available\n
for the master robot.\n
\t\n
Verify that correct test signals are\n
defined.
134:
Corr. vector warning\n
Sensor correction vector calculations\n
failed due to previous error.\n
\t\n

135:
SoftAct not possible.\n
Soft servo is not possible to activate.\n
\t\n
Verify that a joint that can be used\n
with SoftAct is chosen.
137:
No finepoint\n
Continous mode without any finepoint\n
in the program.\n
\t\n
Change at least one corner zone in the\n
program to a fine point.
138:
Arm check point limit\n
The robot has reached the limit for arm\n
check point.\n
\t\n
Use the joystick to move the involved\n
joint into the working range again.
139:
Arm check point limit\n
Jogging was made in wrong direction\n
when arm check point was out of\n
working range.\n
\t\n
Use the joystick to move the joint in\n
opposite direction.
140:
Payload too large\n
Heavy payload caused static torque\n
limit to be exceeded on joint\n
%s.\n
\t\n
Check and reduce payload\n
for arm and/or wrist.\n
Reduce joint working range to decrease\n
static torque due to gravity.
141:
Jog or Speed error\n
One of the following problems occured:\n
-Jogging error\n
-High speed error\n
-Robot too close to singularity\n
\t\n
-Jog with incremental movement\n
-Reduce the programmed speed
142:
Manipulator configuration\n
Configuration of the manipulator failed.\n
%s\n
%s\n
\t\n
Check the parameter values under\n
System parameters:Manipulator.\n
If mismatch between int/ext parameters\n
i.e. wrong MOC.cfg loaded - cold start\n
the system with correct parameters.
143:
Robot axes configuration\n
Actual configuration is not the same\n
as ordered and/or movement of any robot\n
axis is larger than 90 degrees.\n
\t\n
Use SingArea_Wrist, ConfL_Off,\n
modify position or insert\n
intermediary point.
144:
Displ frame uncertain\n
Calibration of displacement frame\n
uncertain, due to one or several of:\n
- Wrong TCP.\n
- Reference points inaccurate.\n
- Reference points badly spaced.\n
\t\n
If estimated error is unacceptable:\n
- Verify that correct TCP is used.\n
- Try more than 3 reference points.\n
- Be careful when positioning robot\n
  to reference points.
145:
Kinematic limitation\n
Kinematic limitation, no solution found.\n
- Long segment.\n
- Position close to singularity.\n
- Joint 1, 2 or 3 out of range.\n
- Position outside reach.\n
\t\n
- Insert an intermediary point to\n
  reduce the length of the segment.\n
- Use MoveAbsJ.\n
- Check working range.
146:
Restart limitation\n
Corner path executed as a stop point.\n
Power fail restart not possible near\n
the stop point.\n
\t\n
Use finepoint in the Move-instr before\n
RestoPath, ActUnit, Wait or Stop-instr\n
to make power fail restart possible.
147:
Power fail restart failed\n
Re-creation of the path failed.\n
\t\n
Move the program pointer and start\n
a new movement.
153:
Command not allowed\n
The given instruction, or command, was\n
not allowed since the robot program was\n
executing in a hold state.\n
(%s %d %d)\n
\t\n
Modify program or stop program execution\n
before issuing command.
154:
Command not allowed\n
SingArea\Wrist mode interpolation is\n
not supported for the IRB6400C robot.\n
\t\n
Replace SINGAREA\WRIST instruction with\n
SINGAREA\OFF.
155:
Power fail restart failed\n
Not possible to restart the Move-\n
instruction before RestoPath, ActUnit,\n
Wait or Stop-instruction.\n
\t\n
Remove MOTION WARNING 50146 Restart\n
limitation, by changing the Move-\n
instruction to finepoint.\n
Move the program pointer and start\n
a new movement.
156:
Not an independent joint\n
Joint %s is not configurated as\n
an independent joint.\n
\t\n
Modify the program or configurate\n
the joint as an independent joint.
157:
Corr. vector warning\n
Sensor correction vector X calculations\n
failed due to previous error.\n
\t\n

158:
Sensor process missing\n
Sensor process missing during\n
initialization.\n
Named sensor process %s\n
could not be found or initialized.\n
\t\n
Check process name in motion and\n
process configuration files.
159:
No external process\n
Attempt to coordinate motion or\n
calculate position of single %s\n
without an external process.\n
\t\n
Check process name in motion and\n
process configuration files.
160:
Cannot reach position\n
Programmed position of independent\n
joint %s is outside working\n
range and thus cannot be reached.\n
\t\n
Change the position.\n
Check the joint working area limits.\n
Check the used work object.
161:
Singularity area\n
Robot is close to a singularity.\n
Work area with kinematic limitations.\n
\t\n
During jogging, use axis by axis.\n
During program execution,\n
use MoveAbsJ.
162:
Internal position error\n
Error caused by internal\n
numerical limitation.\n
\t\n
Reset independent joint.\n
Reduce work area if extended.\n
Remove or separate close points.
163:
Position adjustment\n
External position adjustment\n
too large.\n
TCP speed, orientation speed, or\n
external position speed exceed\n
allowed robot performance.\n
\t\n
-Reduce programmed TCP- and\n
 orientation speeds.\n
-Modify the path.\n
-WaitWObj closer to sync.\n
-Run in AUTO.
164:
Deactivation not possible\n
Deactivation of mechanical unit may not\n
be done while in independent mode.\n
\t\n
Make sure that independent mode is not\n
used and try to deactivate again.
167:
Warning: new sync\n
Warning: a new object sync signal has\n
arrived while conveyor is active and\n
program is running.\n
\t\n

168:
New sync on %s\n
New object sync arrived while conveyor\n
was tracking the previous object.\n
Cannot track two objects simultaneously.\n
\t\n
Reduce speed of conveyor.\n
Increase programmed speed.
170:
Process missing\n
External control process missing during\n
initialization.\n
Named process %s\n
could not be found or initialized.\n
\t\n
Check process name in motion and\n
process configuration files.
171:
Speed too low\n
Numerical problem when interpolation\n
of long segments with low speed and\n
heavy external axes or\n
when interpolation close to singularity.\n
\t\n
Split segments with long interpolation\n
time (path_resolution * 4 minutes) or\n
change to joint interpolation or move\n
position away from singularity.
172:
MoveJ not allowed\n
MoveJ not allowed with work object\n
coordinated with external\n
position mechanical unit.\n
\t\n
Change interpolation mode or\n
work object.
173:
Fine point necessary\n
Use fine point when changing tool\n
or work object coordination\n
when work object is coordinated with\n
external position mechanical unit.\n
\t\n
Create a fine point and\n
then change the tool.
174:
WObj not connected\n
The WObj is not connected to the\n
conveyor %s. Robot TCP cannot\n
be coordinated to work object.\n
Object can be dropped because of time\n
synchronization fault on conveyor node.\n
\t\n
Check for missing WaitWObj.\n
Check that work object changed to\n
stationary before DropWObj was executed.\n
Check for time synchronization fault,\n
see status on conveyor node.
175:
Conveyor moving\n
Conveyor %s moving while attempt\n
to coordinate robot TCP to conveyor\n
work object while in prohibited mode.\n
\t\n
It is not possible to coordinate to\n
conveyor while in Manual Reduced Speed,\n
or stepping in Auto, and the conveyor\n
is moving.
176:
Conveyor not active\n
Conveyor %s was not active\n
when attempt to coordinate robot TCP to\n
conveyor work object.\n
\t\n
Make sure conveyor mechanical unit is\n
active. Check for fine point for last\n
coordinated motion before DeactUnit.
177:
Unable to restart\n
Conveyor %s moving while attempting\n
to restart or before pressing\n
Stop or stepping through program.\n
\t\n
Make sure conveyor is standing still.\n
Move the program pointer and start\n
a new movement.
178:
Non optimal movement\n
Required torque too high. Manual\n
adjustment of acceleration or\n
speed is needed.\n
\t\n
Reduce acceleration (AccSet 50 100) in\n
this movement, restore it afterwards\n
(AccSet 100 100). Optimize performance\n
by search for max acceleration 50-99\n
Alternatively, reduce speed.
180:
Corr. vector warning\n
Sensor correction vector calculations\n
failed due to previous error.\n
\t\n

181:
Out of coupled range\n
Joint %s and %s are out of\n
coupled working range.\n
\t\n
Use the joystick to move joints into\n
their coupled working range.
182:
Jog in wrong direction\n
Joint %s and %s are out of\n
coupled working range.\n
\t\n
Use the joystick to move joints into\n
their coupled working range.
183:
Robot outside work area.\n
The robot has reached the\n
World Zone %s,\n
%s\n
\t\n
Check the reason of the World Zone.\n
Use the joystick to move the robot\n
out of the World Zone if needed.
184:
Corr. vector warning\n
Sensor correction vector calculations\n
failed due to previous error.\n
\t\n

185:
Corr. vector warning\n
Sensor correction vector calculations\n
failed due to previous error.\n
\t\n

186:
Missing function\n
Not possible to run robot %s\n
with coordinated base frame.\n
Function not installed in this system.\n
\t\n
Install the option Advanced Motion. 
187:
Missing function\n
Not possible to coordinate user frame\n
with robot %s\n
Function not installed in this system.\n
\t\n
Install the option Advanced Motion.
188:
Non optimal movement\n
Required torque too high. Manual\n
adjustment of weave frequency or\n
amplitude is needed.\n
\t\n
Reduce weave frequency or\n
weave amplitude in\n
this movement.\n
Alternatively, reduce speed.
189:
Relay signal not found\n
The signal %s for relay %s\n
is not found in the I/O configuration.\n
The mechanical unit using this relay is\n
ignored.\n
\t\n
Check I/O signal definitions and System\n
Parameters definition of Manipulator,\n
Types: Relay.
190:
Permanent ipol lock error\n
Scanned number of active joints not\n
equal to expected number of joints.\n
\t\n
Check configuration of the unit that is\n
using general kinematics.
191:
Too many TCP speed's\n
The number of TCP speed's in one\n
segment is too large. Maximum number\n
of TCP speed's is %d.\n
\t\n
Check if one segment has too many\n
TCP speed's set or if a sequence of\n
segments have increasing DipLag.
192:
Jogging error\n
Jogging is started too soon after\n
program stop.\n
\t\n
Try to jog the robot again.
193:
Joint not synchronized\n
The speed of joint %s before\n
power down/failure was too high.\n
\t\n
Make a new update of the\n
revolution counter.
194:
Internal position error\n
Error caused by internal\n
numerical limitation.\n
Joint number %2.0f.\n
Calculated reference position\n
= %f.\n
\t\n
- Adjust the system parameters in\n
  Uncal ctrl master 0.\n
- If TuneServo is used, adjust\n
  parameter Tune_df. 
195:
Cannot move independent\n
Joint %s cannot be moved in\n
independent mode.\n
\t\n
Make sure that independent mode is\n
not used when trying to move joint.
196:
Calibration failed\n
Points 0 and 1 too close.\n
\t\n
Make a new calibration with larger\n
distance between points 0 and 1.
197:
Calibration failed\n
Points 0, 1, 2 on a line or\n
point 2 too close to points 0 or 1.\n
\t\n
Make a new calibration with points\n
moved so that 0, 1 and 2 are not on a\n
line or with larger distance between\n
point 2 and points 0 and 1.
198:
Calibration failed\n
Internal error during calibration due\n
to unknown origin switch.\n
\t\n
- Report the occurance to ABB.\n
- Make a new calibration.
199:
Calibration failed\n
External joints have been moved\n
during calibration.\n
\t\n
Avoid moving external joints.
200:
Torque error\n
Torque calculation error due to\n
high speed.\n
\t\n
- Check load data.\n
- Reduce speed.
201:
Orientation outside reach\n
The error of the programmed orientation\n
exceeds the acceptance limit.\n
\t\n
- Adjust robtarget orientation.\n
- Adjust/check orientations of currently\n
  used frames: tool frame, base frame,\n
  user frame, object frame...
202:
No dc link configured\n
The dc-link (%s) and\n
drive unit (%s) used\n
by joint %s is not\n
connected to same serial link.\n
\t\n
- Select another dc-link.\n
- Change serial link for drive unit.\n
- Set the parameter '-no_dc_link'\n
  to TRUE.
203:
Measurement node used\n
The measurement node for joint\n
%s is already used.\n
\t\n
Select another node.
204:
Motion supervision\n
Motion supervision triggered\n
for joint %s.\n
Possible causes: collision,\n
incorrect load definition,\n
external process forces.\n
\t\n
If load definition incorrect,\n
use load identification.\n
If external forces, use RAPID\n
command or system parameters\n
to raise supervision level.
205:
Data logger error:\n
%s\n
\t\n
Solution:\n
%s
206:
Probe warning\n
Probe buffer is full.
207:
Add intermediate point\n
Intermediate point not\n
coordinated to external pos\n
mechanical unit is necessary\n
when changing conveyor.\n
\t\n
Create an intermediate point\n
then change the conveyor.
208:
Missing function\n
Friction compensation can not be\n
activated for joint %s.\n
\t\n
Install the option Advanced Motion.
209:
Kinematic limitation\n
No acceptable solution found.\n
Residual: %ld deg in orientation,\n
%ld mm in x,\n
%ld mm in y,\n
%ld mm in z.\n
\t\n
Insert an intermediary point.\n
Check singularity.\n
Increase position and orient. tolerance.\n
Use MoveAbsJ.\n
Check working range.
210:
Load identification fail\n
Cannot perform load identification\n
because option not installed or\n
configuration angle is too small.\n
\t\n
- Install option Load identification.\n
- Increase configuration angle.
211:
Missing option\n
External controlled drives can not\n
be used without the option\n
'External Drive'.\n
\t\n
Install the option External Drive.
212:
Missing option\n
General kinematics can not\n
be used without the option\n
'GKIN'.\n
\t\n
Install the option 'GKIN'.
214:
Work area config failed\n
Possibly the defined work area\n
is larger than max allowed area.\n
\t\n
Adjust the work area parameters in\n
Robot system parameters and try again.
215:
Load identification fail\n
Axis %d will move outside\n
working range.\n
\t\n
Move the axis to a position\n
further from the working range\n
limit.
216:
MS configuration failed\n
EIO signal %s is not configured\n
but needed for MS process.\n
MS coordination will not work.\n
\t\n
Check configuration of EIO signals.
217:
MS restart failed\n
MS restart failed due to large path\n
error. Path difference is too large.\n
\t\n
Verify that external axis speed is the\n
same for both M and S units.\n
Reduce speed of external axis.\n
Reduce weld length before extern axis\n
motion.
218:
Path not finished\n
Previous motion path was not finished\n
before new motion was sent.\n
\t\n
Use StorePath when in Trap routines.\n
Move the program pointer and start\n
a new movement.
219:
M/S Communication\n
M/S communication failure during syn-\n
chronized welding.\n
\t\n
Check that both robots receive Stops\n
at the same time,\n
Check CAN bus communications,\n
Increase sync_time_factors under\n
Manipulator: MS_PROCESS.
220:
No input signal\n
No input signal to contactor relay\n
for mechanical unit %s\n
\t\n
Ensure that an input signal is\n
connected and configured.
221:
Object outside limit\n
Object on conveyor %s\n
is outside max dist or\n
min dist limits.\n
Object Dropped.\n
\t\n
Check limits or\n
reduce conveyor speed.
222:
Mismatch type - MechUnit\n
Mismatch between selected manipulator\n
type and selected mechanical unit.\n
\t\n
Make sure that selected manipulator\n
corresponds to selected mechanical\n
unit and try again.
224:
Cannot define load\n
It is not allowed to define a load\n
on axis %d for mechanical unit\n
%s.\n
\t\n
Change axis number or mechanical unit.
225:
Old boot safe area lost\n
Error in boot safe memory area.\n
-Area updated with new data.\n
-System unsynchronized.\n
\t\n
Update all revolution counters.
226:
Motor reference error\n
Calculation time for motor references\n
exceeds internal limits.\n
\t\n
Reduce load on main computer.\n
Restart controller.
227:
Test signal error\n
Invalid channel number %d.\n
\t\n
Allowed channel numbers are 1 - 12\n
for test signals and 1 - 6 for\n
data log signals.
228:
Test signal error\n
Unknown test signal number %d.\n
\t\n
Make sure that a valid test signal\n
number is defined.
229:
Test signal error\n
Unknown mechanical unit %s.\n
\t\n
Check spelling or configuration.
230:
Test signal error\n
Invalid axis number %d for mechanical\n
unit %s.\n
\t\n
Check mechanical unit and axis number.
231:
Test signal error\n
Mechanical unit %s not active.\n
\t\n
Activate mechanical unit before\n
defining test signals.
232:
Kv saturation\n
The system parameter Kv limited to\n
%f for joint %s.\n
\t\n
Check Kv in normal, lag and\n
uncalibrated controlmaster.
233:
Ki saturation\n
The system parameter Ki saturated\n
for joint %s.\n
\t\n
Reduce Kv or increase Ti.\n
Check in normal, lag and\n
uncalibrated controlmaster.
234:
Overflow during logging\n
An overflow occured when logging\n
test signals or data log signals.\n
\t\n
Define fewer signals.\n
Reduce load on main computer.\n
Reduce network load.
235:
No interrupts received\n
No interrupts received from an\n
axis computer within timeout.\n
\t\n
Replace Axis Computer board(s).
236:
Reference underrun\n
Reference underrun in Main computer\n
interrupt routine for Axis computer\n
connected to connector board %d.\n
\t\n
- Reduce load on main computer.\n
- Restart controller.\n
- Replace Axis computer board.
237:
Reference task error\n
Reference task queue full\n
(Slot id = %d)\n
\t\n
- Reduce load on main computer.\n
- Restart controller.\n
- Replace Axis computer board(s).
238:
Calculation error\n
Cannot compute inertia in the\n
current position of axis %d.\n
\t\n
Jog axis 2 at least 5 degrees\n
in any direction.
239:
Optimal Em. Stop change\n
Optimal Emergency Stop changed to\n
Electrical brake mode because of\n
acceleration limitation.\n
\t\n
Limit acceleration in the program.
240:
Optimal Em. Stop change\n
Optimal Emergency Stop changed to\n
Electrical brake mode because of\n
torque limitation.\n
\t\n
Check load data.
241:
Missing function\n
Absolute Accuracy\n
not purchased.\n
\t\n
Change Robot system parameter\n
use_robot_calib to uncalib.
242:
Unsync due to CFG data\n
- Mismatch between controller and cfg\n
data for joint %s (calibration offset\n
or calibration position),  or\n
- Valid flags for calibration offset or\n
commutation offset not true in cfg.\n
\t\n
Update measurement system:\n
- Update revolution counter.\n
- Recalibrate joint.\n
- Change cfg data.
243:
No acceleration limit\n
Acceleration limitation is not\n
implemented for the current robot.\n
\t\n

244:
AbsAcc calibration failed\n
Could not perform an AbsAcc calibration.\n
\t\n
Restart controller.\n
Check that the harddrive isn't full.\n
Install more memory.
245:
Command not allowed\n
Cannot set non motion execution mode\n
when in MOTORS ON state.\n
\t\n
Change to MOTORS OFF.
246:
Linked motor error\n
Large position offset between\n
follower axis and master axis.\n
\t\n
Start linked motor service program.
247:
Clear of Path failed\n
The movement has to be stopped when\n
the path is to be cleared.\n
\t\n
Use StopMove before the ClearPath\n
instruction. Move the program\n
pointer and start a new movement.
248:
Internal Servo Tool error\n
Internal error for tool %s\n
in state %d.\n
%s\n
%s\n
%s\n
\t\n
Contact ABB.
249:
Programmed force reduced\n
Programmed tip force too high for\n
tool %s.\n
Requested motor torque (Nm)= %f.\n
Force was reduced to max motor torque.\n
\t\n
- Reduce programmed tip force.\n
- Check force vs torque calibration in\n
  system parameters.\n
- Check max motor torque in system\n
  parameters.
250:
Calibration force reduced\n
Requested calibration force too high for\n
tool %s.\n
Requested motor torque (Nm)= %f.\n
Force was reduced to max motor torque.\n
\t\n
- Check calib forces in sys par.\n
- Check force vs torque calibration in\n
  system parameters.\n
- Check max motor torque in system\n
  parameters.
251:
Tool opening failed\n
An ordered tool axis movement\n
of %s was detected during\n
tool opening.\n
\t\n
Make sure the tool opening is ready\n
before executing next movement.\n
Decrease the system parameter\n
'post sync time'.
252:
Tool opening failed\n
An ordered tool axis movement\n
of %s was detected during\n
tool opening in calibration.\n
\t\n
Make sure no movements of the tool axis\n
are ordered during calibration.
253:
Deactivate not possible\n
Deactivate of mechanical unit failed\n
due to independent mode and/or\n
asynchronous movements.\n
\t\n
Before deactivate:\n
1) Leave independent mode.\n
2) Let asynchronous movements finish.
254:
Linked motor error.\n
Too large speed for follower axis\n
when follower axis is in jog mode.\n
\t\n
Start linked motor service program.\n
Reset jog mode.
255:
Missing function\n
Linked motors can't be used\n
without installing appropriate\n
option.\n
\t\n
Install the option 'Electronically\n
linked motors'.
256:
Sync pos warning\n
Sensor movement outside limits.\n
The sensor start pos\n
should be %s than\n
 %f and found %f.\n
\t\n
Check programmed sensor\n
position in robtarget.\n
Start sync earlier\n
or change robtarget.
257:
Sync speed warning\n
Programmed speed outside limits\n
The  speed should be %s than\n
 %f and found %f.\n
\t\n
- Check programmed\n
  robot speed\n
- Check sensor teach pos\n
- Check sensor nominal speed.
258:
Sensor direction error\n
Programmed sensor pos\n
speed  %f\n
and found sensor speed %f\n
in opposite direction.\n
\t\n
- Check programmed\n
  sensor positions in robtarget.\n
- Start sync earlier or\n
  reduce waitsensor dist.
259:
Sensor max dist error\n
Distance between sensor position\n
and programmed position\n
too large.  %f\n
\t\n
- Check programmed\n
  sensor positions in robtarget.\n
- Check sensor speed.\n
- Start sync earlier or\n
  reduce waitsensor dist.
260:
Sensor Check dist error\n
Distance sensor pos\n
to programmed pos %f\n
too large  %f.\n
\t\n
- Check programmed\n
  sensor positions in robtarget.\n
- Check sensor speed\n
- Increase max deviation.
261:
WZone outside work area\n
The definition of minimum limit for the\n
World Zone %s is outside\n
work area for:\n
%s %s\n
%s...\n
\t\n
Change the definition of the World Zone\n
so the limit will be inside work area\n
or insert 9E9 to remove an axis from\n
test by the WZone.
262:
WZone outside work area\n
The definition of maximum limit for the\n
World Zone %s is outside\n
work area for:\n
%s %s\n
%s...\n
\t\n
Change the definition of the World Zone\n
so the limit will be inside work area\n
or insert 9E9 to remove an axis from\n
test by the WZone.
263:
Duty factor warning\n
The duty factor for gear box\n
at %s is too high.\n
\t\n
Reduce the speed or increase\n
the wait time.
264:
Saved parameters used\n
Valid calibration data was found after\n
system update and will be used unless\n
a calib.cfg file is added with\n
RobInstall or in syspar directory.\n
\t\n
If calibration data from file should be\n
used, add a calib.cfg file with\n
RobInstall or in syspar directory and\n
make a new installation of system. 
265:
Thickness out of reach\n
Servo Tool: %s\n
Programmed thickness %f mm\n
is out of reach\n
\t\n
Adjust programmed thickness\n
Check working range (min. stroke).
266:
Close request failed\n
Not allowed to close Servo Tool:\n
%s\n
in reverse direction\n
Pre close position: %f mm\n
Programmed thickness: %f mm\n
\t\n
Adjust pre close position\n
Adjust programmed thickness
267:
Open request failed\n
Not allowed to open Servo Tool:\n
%s\n
in reverse direction\n
\t\n
Check that programmed robtarget\n
positions of the Servo Tool are larger\n
than programmed thickness.
268:
Calibration failed\n
Not allowed to calibrate Servo Tool:\n
%s\n
from negative position\n
\t\n
Adjust Servo Tool position before\n
calibration.
269:
Tune value out of limit\n
Tune value for Servo Tool:\n
%s is out of limit.\n
Parameter: %s\n
\t\n
Adjust tune value
270:
Pre position ignored\n
Pre position was ignored during\n
calibration of Servo\n
Tool %s.\n
The pre position %f mm is out\n
of range or is larger than current pos.\n
\t\n
Skip pre position.\n
Adjust pre position.
271:
Poor event accuracy\n
The system is presently configured\n
with time event supervision, and now\n
an event could not be accurately\n
activated.\n
\t\n
Decrease the programmed speed or\n
increase the distance between the\n
programmed positions.\n
Turn off this check by changing the\n
system parameters.
272:
DitherAct not possible.\n
Dithering is not possible to activate.\n
\t\n
Verify that a joint that can be used\n
with DitherAct is chosen.
273:
Force control error.\n
%s\n
%s\n
%s\n
\t\n

274:
Record not ready\n
Record not ready to activate.\n
\t\n
Make sure that record is finished\n
before activating.\n
Check sensor_start_signal
275:
Unknown record file name\n
Record file name:\n
%s\n
is unknown.\n
\t\n
Check file name or existence\n
with file manager.\n
Record a new file 
276:
Service unavailable\n
Unable to obtain correct license.
277:
Extended working range\n
The option Extended working range has\n
been installed. Make sure that the\n
mechanical stop has been removed.
278:
Relay activation time out\n
Activation of a brake relay output\n
change took too long.\n
\t\n
Check I/O configuration in order to\n
decrease CPU load on IO computer.
279:
Relay activation time out\n
Activation of a run relay output change\n
took too long.\n
\t\n
Check I/O configuration in order to\n
decrease CPU load on IO computer.
280:
Ind. move reset failed\n
Independent reset movement failed\n
for %s.\n
A synchronized movement (MoveL/MoveJ)\n
of the servo tool occured during the\n
the independent reset movement.\n
\t\n
Make sure the synchronized speed of the\n
servo tool is zero during execution of\n
independent reset movements.
281:
Ind. move outside reach\n
Programmed independent move position for\n
%s is outside reach.\n
Programmed position = %f mm.\n
\t\n
Adjust independent move position.\n
Check working range of the servo tool.
282:
Motor temperature error\n
Motor temperature for joint\n
%s is too high.\n
\t\n
It is not possible to continue until\n
the motor has cooled down.
