System Messages - Alphabetical List *Robot configuration option or model illegal* (-930) Explanation: During the booting sequence, a selected robot kinematic module detected a specified optional configuration mode or model number that is not supported in either this version of eV+ or by this kinematic module. Often, this occurs if you have enabled a feature that is only available in enhanced kinematic module and you have loaded the standard kinematic module. User action: Verify that you have the required version of eV+ and that the kinematic module supports the robot model and configuration options that you have selected.
If you do not have a license for the required kinematic module, either turn off the option or purchase the required license. *Robot interlocked* (-621) Explanation: (1) An attempt has been made to access a robot or external device that is already being used by a different program task or by the system monitor; (2) an attempt has been made to calibrate the robot with the controller in manual mode, which is not allowed for safety reasons. User action: (1) Review the program logic and make sure the robot or device is being controlled by only one program task; (2) Move CIP key switch to the automatic mode position or set the user manual mode signals appropriately.
*Robot module not enabled* (-900) Explanation: The indicated robot module is present in memory, but it was not enabled for use due to an error (which is reported by a separate message). User action: Use the CONFIG_C and/or SPEC utilities to correct the module configuration. *Robot module not loaded* ID: n (-628) Explanation: This error occurs only during startup when a robot module has been configured using the CONFIG_C utility, but the robot module is not present in memory. User action: Use the CONFIG_C utility to add the robot module to the boot disk before rebooting. *Robot not attached to this program* (-601) Explanation:
An attempt has been made to execute a robot-control command or instruction in one of the following invalid situations: (1) The system is not configured to control a robot. (2) There is no robot connected to the system. (3) The robot is attached to a different program task. User action: (1) Make sure the system is booted from the proper system disk, or remove the robot-control instruction. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 643