Name
| Initial
| Comment
|
SMC_NO_ERROR | 0
| No error
|
SMC_DI_GENERAL_COMMUNICATION_ERROR | 1
| Communication error. The fieldbus slave is no longer instate operational.
|
SMC_DI_AXIS_ERROR | 2
| Axis error
|
SMC_DI_FIELDBUS_LOST_SYNCRONICITY | 3
| Fieldbus has lost synchronicity
|
SMC_DI_SWLIMITS_EXCEEDED | 10
| Position outside of permissible range of SWLimit
|
SMC_DI_HWLIMITS_EXCEEDED | 11
| Hardware end switch is active
|
SMC_DI_LINEAR_AXIS_OUTOFRANGE | 12
| This error occurs if a linear axis has more than 2^15 32-bit overflowsof the position in increments
|
SMC_DI_HALT_OR_QUICKSTOP_NOT_SUPPORTED | 13
| Drive status Halt or Quickstop is not supported
|
SMC_DI_VOLTAGE_DISABLED | 14
| Drive has no power
|
SMC_DI_IRREGULAR_ACTPOSITION | 15
| This error is no longer used
|
SMC_DI_POSITIONLAGERROR | 16
| Position lag error. Difference between set and currentposition exceeds the given limit
|
SMC_DI_HOMING_ERROR | 17
| Homing error reported by axis
|
SMC_DI_LICENSING_ERROR | 18
| A problem with the license occurred
|
SMC_DI_DRIVE_LIMIT_ACTIVE | 19
| A limit of the drive is active, for example an i²t error hasoccurred.
|
SMC_REGULATOR_OR_START_NOT_SET | 20
| Controller enable not done or brake applied
|
SMC_WRONG_CONTROLLER_MODE | 21
| Axis in wrong controller mode
|
SMC_INVALID_ACTION_FOR_LOGICAL | 25
| Invalid action at logical axis
|
SMC_AXIS_IS_NOT_OPERATIONAL | 27
| Axis is not operational wCommunicationState <> 100
|
SMC_FB_WASNT_CALLED_DURING_MOTION | 30
| Motion creating module has not been called again before endof the motion
|
SMC_AXIS_IS_NO_AXIS_REF | 31
| Type of given AXIS_REF variable is not AXIS_REF
|
SMC_AXIS_REF_CHANGED_DURING_OPERATION | 32
| AXIS_REF variable has been exchanged while the modulewas active.
|
SMC_FB_ACTIVE_AXIS_DISABLED | 33
| Axis disabled while being moved. MC_Power.bRegulatorOn
|
SMC_AXIS_NOT_READY_FOR_MOTION | 34
| Axis in its current state cannot execute a motion command, because theaxis doesn’t signal currently that it follows the target values.
|
SMC_AXIS_ERROR_DURING_MOTION | 35
| The drive reported an error during an ongoing movement.
|
SMC_FB_CALLED_FROM_WRONG_TASK | 36
| The function block was called from the wrong task.
|
SMC_VD_MAX_VELOCITY_EXCEEDED | 40
| Maximum velocity fMaxVelocity exceeded
|
SMC_VD_MAX_ACCELERATION_EXCEEDED | 41
| Maximum acceleration fMaxAcceleration exceeded
|
SMC_VD_MAX_DECELERATION_EXCEEDED | 42
| Maximum deceleration fMaxDeceleration exceeded
|
SMC_3SH_INVALID_VELACC_VALUES | 50
| Invalid velocity, acceleration, deceleration, or jerk values
|
SMC_3SH_MODE_NEEDS_HWLIMIT | 51
| Mode requests for safety reasons use of end switches.
|
SMC_FRC_NO_FREE_HANDLE | 60
| No free handle has been sent to open file.
|
SMC_MAC_INITIALIZATION_FAILED | 65
| Initialization of SMC_MultiAcyclicCommunicator notsuccessful
|
SMC_MAC_INVALID_TASK_HANDLE | 66
| The axis has got an invalid handle
|
SMC_MAC_TOO_MANY_TASKS | 67
| Too many tasks with SDO-producing axes
|
SMC_MAC_ATOMIC_ADD_FAILED | 68
| Atomic add failed
|
SMC_SDO_INVALID_DATALENGTH | 69
| SDO-read lead to invalid datalength (> 4)
|
SMC_SCM_NOT_SUPPORTED | 70
| Mode not supported
|
SMC_SCM_AXIS_IN_WRONG_STATE | 71
| In current mode, controller mode cannot be changed.
|
SMC_SCM_INTERRUPTED | 72
| SMC_SetControllerMode has been interrupted byMC_Stop or errorstop.
|
SMC_ST_WRONG_CONTROLLER_MODE | 75
| Axis not in correct controller mode. Deprecated, no longer returned bySMC_SetTorque.
|
SMC_RAG_ERROR_DURING_STARTUP | 80
| Error at startup of the axis group
|
SMC_RAG_ERROR_AXIS_NOT_INITIALIZED | 81
| The axis is not yet in the required state.
|
SMC_PP_WRONG_AXIS_TYPE | 85
| The function block does not support virtual or logical axes.
|
SMC_PP_NUMBER_OF_ABSOLUTE_BITS_INVALID | 86
| The number of absolute bits is invalid, must be in the range8 .. 32.
|
SMC_NEGATIVE_MODULO_PERIOD | 87
| The modulo period is negative, this is not supported.
|
SMC_CGR_ZERO_VALUES | 90
| The value zero is invalid for iRatioTechUnitsNum anddwRatioTechUnitsDenom.
|
SMC_CGR_DRIVE_POWERED | 91
| Gearing parameters must not be changed as long as the driveis under control.
|
SMC_CGR_INVALID_POSPERIOD | 92
| Invalid modulo period (<= 0 or greater than half the busbandwidth)
|
SMC_CGR_POSPERIOD_NOT_INTEGRAL | 93
| The modulo period in increments is not an integer, but the modulo-handlingis done by the drive.
|
SMC_FRACTION_TECH_UNITS_INVALID | 94
| The fraction describing the conversion between increments and technicalunits is not initialized properly. (Zero numerator or denumerator.)
|
SMC_P_FTASKCYCLE_EMPTY | 110
| Axis contain no information on cycle time (fTaskCycle = 0).
|
SMC_R_NO_ERROR_TO_RESET | 120
| Axis without error
|
SMC_R_DRIVE_DOESNT_ANSWER | 121
| Axis does not perform error-reset.
|
SMC_R_ERROR_NOT_RESETTABLE | 122
| Error could not be reset.
|
SMC_R_DRIVE_DOESNT_ANSWER_IN_TIME | 123
| Communication with the axis did not work.
|
SMC_R_CANNOT_RESET_COMMUNICATION_ERROR | 124
| If there is communication error, it cannot be reset
|
SMC_RP_PARAM_UNKNOWN | 130
| Parameter number unknown
|
SMC_RP_REQUESTING_ERROR | 131
| Error during transmission to the drives. See error number infunction block instance ReadDriveParameter.
|
SMC_RP_DRIVE_PARAMETER_NOT_MAPPED | 132
| No assignment for drive parameters available
|
SMC_RP_PARAM_CONVERSION_ERROR | 133
| Conversion of the value to / from the drive parameters failed.
Unknown SoftMotion parameters
|
SMC_WP_PARAM_INVALID | 140
| Parameter number unknown or writing not allowed
|
SMC_WP_SENDING_ERROR | 141
| See error number in function block instanceWriteDriveParameter
|
SMC_WP_DRIVE_PARAMETER_NOT_MAPPED | 142
| No assignment for drive parameters available
|
SMC_WP_PARAM_CONVERSION_ERROR | 143
| Conversion of the value to / from the drive parameters failed
Unknown SoftMotion parameters
|
SMC_H_AXIS_WASNT_STANDSTILL | 170
| Axis was not in standstill state.
|
SMC_H_AXIS_DIDNT_START_HOMING | 171
| Drive did not start homing.
|
SMC_H_AXIS_DIDNT_ANSWER | 172
| Drive did not reply, when homing was done.
|
SMC_H_ERROR_WHEN_STOPPING | 173
| Error at stop after homing. Deceleration may not be set.
|
SMC_H_AXIS_IN_ERRORSTOP | 174
| Drive is in errorstop status. Homing cannot be executed.
|
SMC_MS_UNKNOWN_STOPPING_ERROR | 180
| Unknown error at stop
|
SMC_MS_INVALID_ACCDEC_VALUES | 181
| Invalid velocity, acceleration, deceleration, or jerk values
|
SMC_MS_DIRECTION_NOT_APPLICABLE | 182
| Direction = shortest not applicable
|
SMC_MS_AXIS_IN_ERRORSTOP | 183
| Drive is in errorstop status. Stop cannot be executed
|
SMC_BLOCKING_MC_STOP_WASNT_CALLED | 184
| Instance of MC_Stop blocking the axis by Execute = TRUEhas not been called yet. MC_Stop (Execute = FALSE) has to be called.
|
SMC_MS_AXIS_ALREADY_STOPPING | 185
| Cannot interrupt an ongoing MC_Stop
|
SMC_UNKNOWN_TASK_INTERVAL | 200
| The task interval of the bus task could not be determined.
|
SMC_MA_INVALID_VELACC_VALUES | 201
| Invalid velocity or acceleration values
|
SMC_MA_INVALID_DIRECTION | 202
| Direction error
|
SMC_MR_INVALID_VELACC_VALUES | 226
| Invalid velocity or acceleration values
|
SMC_MR_INVALID_DIRECTION | 227
| Direction error
|
SMC_OVR_INVALID_OVERRIDE_FACTORS | 231
| Invalid velocity, acceleration or jerk override factor
|
SMC_MAD_INVALID_VELACC_VALUES | 251
| Invalid velocity or acceleration values
|
SMC_MAD_INVALID_DIRECTION | 252
| Direction error
|
SMC_MSI_INVALID_VELACC_VALUES | 276
| Invalid velocity, acceleration, deceleration, or jerk values
|
SMC_MSI_INVALID_DIRECTION | 277
| Direction error
|
SMC_MSI_INVALID_EXECUTION_ORDER | 278
| Except from aborting, don’t call a major mvt-FB afterSMC_MoveSuperimposed
|
SMC_LOGICAL_NO_REAL_AXIS | 300
| No longer used; only for compatibility
|
SMC_MV_INVALID_ACCDEC_VALUES | 301
| Invalid velocity, acceleration, deceleration, or jerk values
|
SMC_MV_DIRECTION_NOT_APPLICABLE | 302
| Direction = shortest/fastest not applicable
|
SMC_PP_ARRAYSIZE | 325
| Erroneous array size
|
SMC_PP_STEP0MS | 326
| Step time = t#0s
|
SMC_VP_ARRAYSIZE | 350
| Erroneous array size
|
SMC_VP_STEP0MS | 351
| Step time = t#0s
|
SMC_AP_ARRAYSIZE | 375
| Erroneous array size
|
SMC_AP_STEP0MS | 376
| Step time = t#0s
|
SMC_TP_TRIGGEROCCUPIED | 400
| Trigger already active
|
SMC_TP_COULDNT_SET_WINDOW | 401
| DriveInterface does not support the window function.
|
SMC_TP_COMM_ERROR | 402
| Communication error
|
SMC_TRIGGER_OUT_OF_RANGE | 403
| The trigger number is not in the allowed range.
|
SMC_LATCH_IN_CONTROLLER_NOT_SUPPORTED | 404
| The mode latch in controller got deprecated and isnot supported anymore.
|
SMC_AT_TRIGGERNOTOCCUPIED | 410
| Trigger already de-allocated
|
SMC_MCR_INVALID_VELACC_VALUES | 426
| Invalid velocity, acceleration, deceleration, or jerk values
|
SMC_MCR_INVALID_DIRECTION | 427
| Invalid direction
|
SMC_MCA_INVALID_VELACC_VALUES | 451
| Invalid velocity, acceleration, deceleration, or jerk values
|
SMC_MCA_INVALID_DIRECTION | 452
| Invalid direction
|
SMC_MCA_DIRECTION_NOT_APPLICABLE | 453
| Direction = fastest not applicable
|
SMC_SDL_INVALID_AXIS_STATE | 475
| SMC_ChangeDynamicLimits may only be called in state standstill.or power_off.
|
SMC_SDL_INVALID_VELACC_VALUES | 476
| Invalid velocity, acceleration, deceleration, or jerk values
|
SMC_SACF_INVALID_DYNAMIC_FACTOR | 480
| SMC_SetAdditionalConversionFactors: One of the factors hasan invalid value.
|
SMC_CR_NO_TAPPETS_IN_CAM | 600
| Cam does not contain any tappets.
|
SMC_CR_TOO_MANY_TAPPETS | 601
| Tappet group ID exceeds MAX_NUM_TAPPETS
|
SMC_CR_MORE_THAN_32_ACCESSES | 602
| More than 32 accesses on one CAM_REF
|
SMC_CI_NO_CAM_SELECTED | 625
| No cam selected
|
SMC_CI_MASTER_OUT_OF_SCALE | 626
| Master axis out of valid range
|
SMC_CI_RAMPIN_NEEDS_VELACC_VALUES | 627
| Velocity and acceleration values must be specifiedfor ramp_in function
|
SMC_CI_SCALING_INCORRECT | 628
| Scaling variables fEditor/TableMasterMin/Max are notcorrect
|
SMC_CI_TOO_MANY_TAPPETS_PER_CYCLE | 629
| Too many tappets became active during one cycle
|
SMC_CI_MORE_THAN_32_ACCESSES | 630
| More than 32 accesses on one CAM_REF
|
SMC_CB_NOT_IMPLEMENTED | 640
| Function block for the given cam format is not implemented
|
SMC_GI_RATIO_DENOM | 675
| RatioDenominator = 0
|
SMC_GI_INVALID_ACC | 676
| Acceleration invalid
|
SMC_GI_INVALID_DEC | 677
| Deceleration invalid
|
SMC_GI_MASTER_REGULATOR_CHANGED | 678
| Master changed regulator state (on -> off or off -> on)while coupling with slave was active.
|
SMC_GI_INVALID_JERK | 679
| Jerk invalid
|
SMC_PH_INVALID_VELACCDEC | 725
| Velocity and acceleration/deceleration valuesinvalid
|
SMC_PH_ROTARYAXIS_PERIOD0 | 726
| Rotation axis with fPositionPeriod = 0
|
SMC_NO_CAM_REF_TYPE | 750
| Type of given cam is not MC_CAM_REF.
|
SMC_CAM_TABLE_DOES_NOT_COVER_MASTER_SCALE | 751
| Master area, xStart and xEnd, from CamTable isnot covered by curve data.
|
SMC_CAM_TABLE_EMPTY_MASTER_RANGE | 752
| Cam data table has empty master range.
|
SMC_CAM_TABLE_INVALID_MASTER_MINMAX | 753
| Cam data master has invalid max-, min-values.
|
SMC_CAM_TABLE_INVALID_SLAVE_MINMAX | 754
| Cam data slave has invalid max-, min-values.
|
SMC_CAM_INVALID_ELEMENT_COUNT | 755
| The element count of the cam must be > 0.
|
SMC_GIP_MASTER_DIRECTION_CHANGE | 775
| During coupling of slave axis, master axis has changeddirection of rotation.
|
SMC_GIP_SLAVE_REVERSAL_CANNOT_BE_AVOIDED | 776
| Input AvoidReversal is set, but slave reversal cannot beavoided.
|
SMC_GIP_AVOID_REVERSAL_FOR_FINITE_AXIS | 777
| Input AvoidReversal must not be set for finite slaveaxes.
|
SMC_GIP_MASTERSTARTDISTANCE_MUST_BE_ZERO_BUFFERED | 778
| If BufferMode is not Aborting, then MasterStartDistance mustnot be positive.
|
SMC_GIP_CANNOT_START_SYNC | 779
| The synchronisation cannot be started. This can happen when GearInPos is commandedas a buffered or blending movement and the master is in standstill when it becomesactive.
|
SMC_BC_BL_TOO_BIG | 800
| Gear backlash fBacklash too large (> position periode/2)
|
SMC_QPROF_DIVERGES | 825
| Internal error: computation of quadratic trajectory failed
|
SMC_QPROF_INVALID_PARAMETER | 826
| Internal error: computation of quadratic trajectory failed
|
SMC_QPROF_NO_RESULT | 827
| Internal error: computation of quadratic trajectory failed
|
SMC_QPROF_INVALID_NEW_LBD | 828
| Internal error: computation of quadratic trajectory failed
|
SMC_QPROF_BAD_NEGOTIATION | 829
| Internal error: computation of quadratic trajectory failed
|
SMC_QPROF_INVALID_INTERVAL | 830
| Internal error: computation of quadratic trajectory failed
|
SMC_QPROF_NOT_ENOUGH_PHASES | 831
| Internal error: computation of quadratic trajectory failed
|
SMC_TG_INTERNAL_ERROR | 832
| Internal error: computation of quadratic trajectory failed
|
SMC_SRT_NOT_STANDSTILL_OR_POWEROFF | 850
| Action only permitted in standstill or power_off.
|
SMC_SRT_INVALID_RAMPTYPE | 851
| Invalid ramp type
|
SMC_SMT_NOT_STANDSTILL_OR_POWEROFF | 852
| Action only permitted in standstill or power_off.
|
SMC_SMT_INVALID_MOVEMENTTYPE_OR_POSITIONPERIOD | 853
| Invalid motion type or position period
|
SMC_SMT_AXIS_NOT_VIRTUAL | 854
| Function block only applicable to virtual axis.
|
SMC_NO_LICENSE | 1000
| Target is not licensed for CNC.
|
SMC_INT_VEL_ZERO | 1001
| Path cannot be processed because set velocity = 0.
|
SMC_INT_NO_STOP_AT_END | 1002
| Last object of path has end velocity <> 0.
|
SMC_INT_DATA_UNDERRUN | 1003
| Warning: GEOINFO-List processed in DataIn but end of list not reached.
Reason:
- EndOfList of the queue in DataIn not be set
- SMC_Interpolator faster than path generating function blocks
|
SMC_INT_VEL_NONZERO_AT_STOP | 1004
| Velocity at Stop > 0
|
SMC_INT_TOO_MANY_RECURSIONS | 1005
| Too much SMC_Interpolator recursions. SoftMotion error
|
SMC_INT_NO_CHECKVELOCITIES | 1006
| SMC_CheckVelocities is not the last processed functionblock, that accesses to the OutQueue-data by poqDataIn.
|
SMC_INT_PATH_EXCEEDED | 1007
| Internal or numeric error
|
SMC_INT_VEL_ACC_DEC_ZERO | 1008
| Velocity and acceleration / deceleration is nullor to low
|
SMC_INT_DWIPOTIME_ZERO | 1009
| FB called with dwIpoTime = 0
|
SMC_INT_JERK_NONPOSITIVE | 1010
| Jerk invalid because jerk must be positive
|
SMC_INT_QPROF_DIVERGES | 1011
| Internal error. Computation of the quadratic velocityprofile does not converge.
|
SMC_INT_INVLALID_VELOCITY_MODE | 1012
| Invalid velocity mode
|
SMC_INT_TOO_MANY_AXES_INTERPOLATED | 1013
| More than the allowed number of axes has been interpolated.You are using a restricted version.
|
SMC_INT_DEGENERATE_SEGMENT | 1014
| The segment is numerically degenerate: It is very short andat the end of the queue. It should be ignored.
|
SMC_HIGH_CURVATURE_SPLINE | 1015
| Computation of interpolation point failed because the curvature of the spline is too high.Try changing the path to avoid sharp corners.
|
SMC_INT2DIR_BUFFER_TOO_SMALL | 1050
| Warning: poqDataIn of OutQueue is created too small.Adherence of stops not guaranteed.
|
SMC_INT2DIR_PATH_FITS_NOT_IN_QUEUE | 1051
| Path does not go completely in queue.
|
SMC_XINT_INVALID_DIRECTION | 1070
| Direction input has an invalid value.
|
SMC_XINT_NOINTERSECTION | 1071
| Could not determine position on CNC path for the givenx-position.
|
SMC_WAR_INT_OUTQUEUE_TOO_SMALL | 1080
| Warning: poqDataIn of OutQueue is created too small.Adherence of stops not guaranteed
|
SMC_WAR_END_VELOCITIES_INCORRECT | 1081
| Warning: Final velocities inconsistent
|
SMC_CV_ACC_DEC_VEL_NONPOSITIVE | 1100
| Invalid velocity, acceleration, deceleration, or jerk values
|
SMC_CA_INVALID_ACCDEC_VALUES | 1120
| Invalid velocity, acceleration, deceleration, or jerk values
|
SMC_TOK_INCOMPLETE_TOKEN_AT_END_OF_INPUT | 1130
| The input has been exhausted, but there is still anunfinished token
|
SMC_TOK_NOT_A_VALID_TOKEN | 1131
| The input does not match any token type
|
SMC_TOK_AMBIGUOUS_INPUT | 1132
| The input is ambiguous, it could be more than one token type
|
SMC_TOK_STRING_TOO_LONG_FOR_TOKEN | 1133
| The string is too long to be stored in a token.(Too long string literal, variable name or identifier?)
|
SMC_TOK_INVALID_NUMLIT | 1134
| Invalid number literal.
|
SMC_PRS_FUNC_DECL_TOO_FEW_ARGUMENTS | 1150
| Too less arguments provided for function inside G-Code
|
SMC_PRS_FUNC_DECL_TOO_MANY_ARGUMENTS | 1151
| Too many arguments provided for function inside G-Code
|
SMC_PRS_FUNC_DECL_WRONG_ARGUMENT_TYPE | 1152
| Check of argument types matching function declarationreturned error
|
SMC_PRS_LOCAL_VAR_NOT_FOUND | 1153
| Could not find local variable on stack
|
SMC_PRS_INVALID_STRING | 1154
| Could not read string from token
|
SMC_PRS_TOO_MANY_CLOSING_BRACKETS | 1155
| Got more closing than opening brackets
|
SMC_PRS_TOO_MANY_OPENING_BRACKETS | 1156
| Got more opening than closing brackets
|
SMC_PRS_NO_SUCH_INFIX_OPERATOR | 1157
| Did not find infix-operator
|
SMC_PRS_NO_SUCH_PREFIX_OPERATOR | 1158
| Did not find prefix-operator
|
SMC_PRS_OPERATOR_INVALID_PRECEDENCE | 1159
| Got two operators with equal precedence but non-equalassociativity
|
SMC_PRS_NOT_A_TERM | 1160
| Expected a valid term
|
SMC_PRS_EXPRESSION_INVALID_SEQUENCE | 1161
| Found invalid sequence of tokens inside expression
|
SMC_PRS_TOO_MANY_TERMS | 1162
| Got more terms than expected
|
SMC_PRS_STACK_OVERFLOW | 1163
| Could not parse an expression because the stack is too small
|
SMC_PRS_VAR_NAME_ALREADY_USED | 1164
| The name of a subprogram parameter or variable is already used for a differentsubprogram parameter or variable.
|
SMC_PRS_INCOMPLETE_SENTENCE_IN_TOKEN_QUEUE | 1165
| The input token queue of the g-code parser does not hold a completeg-code sentence.
|
SMC_PRS_TOO_MANY_SUBPROGRAMS | 1167
| The subprogram declaration could not be stored because the symbol table capacityhas been exceeded.
|
SMC_PRS_TOO_MANY_SUBPROGRAM_PARAMETERS | 1168
| The maximum number of subprogram parameters has beenexceeded.
|
SMC_PRS_SUBPROGRAM_LOOKUP_FAILED | 1169
| The lookup of the subprogram declaration failed. Maybe the subprogram name isincorrect, or the search path for subprograms is incomplete.Is the file name all lower case?
|
SMC_PRS_VAR_NOT_FOUND | 1170
| Did not find variable in symbol table
|
SMC_PRS_TOKEN_TYPE_UNKNOWN | 1171
| Token type unknown
|
SMC_PRS_GOT_NO_TERM | 1172
| No term after G-address
|
SMC_PRS_INVALID_VAR_TYPE | 1173
| Unknown variable type (not LREAL, BOOL, or STRING).
|
SMC_PRS_UNEXPECTED_TOKEN | 1174
| A token of a different type (e.g. an operator or identifier)was expected here.
|
SMC_PRS_ID3_EXPECTED | 1175
| An identifier with length three or longer was expected here.
|
SMC_PRS_ID_TOO_LONG | 1176
| The identifier is too long (more than 80 characters).
|
SMC_PRS_GADDRESS_EXPECTED | 1177
| A G-address (such as ‘G’, ‘F’, ‘X’) was expected here.
|
SMC_PRS_NWORD_EXPECTED | 1178
| An N-word (such as ‘N10’) was expected here.
|
SMC_PRS_NWORD_INVALID_SENTENCE_NUMBER | 1179
| The sentence number is not in the range [0, …,16#FFFFFFFF].
|
SMC_PRS_NWORD_SENTENCE_NUMBER_NO_NUMBER_LITERAL | 1180
| The sentence number must be a number literal. (For example,expressions are not allowed.)
|
SMC_PRS_USE_OF_RESERVED_KEYWORD | 1181
| The identifier is a keyword reserved for future use thatcannot be used here.
|
SMC_PRS_SUBPROGRAMS_SIGNATURE_MISMATCH | 1182
| The subprogram declaration has already been read with a differentsignature or an error.
|
SMC_PRS_INITIAL_VALUE_HAS_WRONG_TYPE | 1183
| The initial value has the wrong type for this local variable
|
SMC_PRS_TOO_MANY_LOCAL_VARIABLES | 1184
| The maximum number of subprogram parameters has beenexceeded.
|
SMC_PRS_SUBPROG_MUST_BE_FIRST_SENTENCE | 1185
| A subprogram declaration must be the first sentence in ag-code file.
|
SMC_PRS_ONLY_ONE_SUBPROGRAM_PER_FILE_ALLOWED | 1186
| Only one subprogram is allowed in a g-code file.
|
SMC_PRS_LET_AFTER_REGULAR_SENTENCE | 1187
| A LET declaration is not allowed after a regular g-codesentence.
|
SMC_PRS_UNMATCHED_END_SUBPROGRAM | 1188
| The END_SUBPROGRAM sentence is not matched by a subprogramdeclaration.
|
SMC_PRS_UNEXPECTED_TOKENS_AFTER_SUBPROGRAM | 1189
| After END_SUBPROGRAM, no more tokens are allowed.
|
SMC_PRS_MISSING_END_SUBPROGRAM | 1190
| A subprogram is not terminated by END_SUBPROGRAM.
|
SMC_PRS_USE_OF_KEYWORD | 1191
| The identifier is a keyword that cannot be used here.
|
SMC_PRS_DYNCALL_EXPECTED_SUBNAME_EXP | 1192
| The first argument to a DYNCALL must be an expressionfor the subprogram name.
|
SMC_PRS_DYNCALL_EXPECTED_SUBNAME_TYPE_STRING | 1193
| The first argument to a DYNCALL (subprogram name)must have type STRING.
|
SMC_DEC_ACC_TOO_LITTLE | 1200
| Acceleration value impermissible
|
SMC_DEC_RET_TOO_LITTLE | 1201
| Deceleration value impermissible
|
SMC_DEC_OUTQUEUE_RAN_EMPTY | 1202
| Data underrun. Queue has been read and is empty.
|
SMC_DEC_JUMP_TO_UNKNOWN_LINE | 1203
| Jump to line cannot be executed because line number isunknown.
|
SMC_DEC_INVALID_SYNTAX | 1204
| Syntax invalid
|
SMC_DEC_3DMODE_OBJECT_NOT_SUPPORTED | 1205
| Objects are not supported in 3D mode.
|
SMC_DEC_NEGATIVE_PERIOD | 1206
| Negative value as a period of additional axes invalid
|
SMC_DEC_DIMENSIONS_EXCLUSIVE_AU | 1207
| Not both axes A and U are interpolated. PA and PU aremutually exclusive.
|
SMC_DEC_DIMENSIONS_EXCLUSIVE_BV | 1208
| Not both axes B and V are interpolated. PB and PV aremutually exclusive.
|
SMC_DEC_DIMENSIONS_EXCLUSIVE_CW | 1209
| Not both axes C and W are interpolated. PC and PW aremutually exclusive.
|
SMC_DEC_DCS_NOT_ALL_OF_ABC_GIVEN | 1210
| For G54/G55/G56, either all of A,B,C or none must be given iforientation mode is not equal to SMC_ORI_CONVENTION.ADDAXES.
|
SMC_DEC_DCS_2D_NOT_IN_XY_PLANE | 1211
| The z-axis of the decoder CS must be equal to the z-axis of themachine CS.
|
SMC_DEC_CIRCLE_NON_UNIFORM_SCALING | 1212
| Scaling would distort commanded circle or ellipse.
|
SMC_DEC_ROTATION_AFFECTS_SCALING | 1213
| New relative rotation of the DCS (G55) would affect thescaling
|
SMC_DEC_DCS_NOT_ALL_OF_IJK_GIVEN | 1214
| For G54/G55/G56, either all of I,J,K or none must be given.
|
SMC_IPR_LOCAL_VAR_UNKNOWN_TYPE | 1250
| Local variable cannot be read due to invalid type
|
SMC_IPR_LVALUE_WRONG_TYPE | 1251
| The variable that’s supposed to be written on does not havethe correct type.
|
SMC_IPR_EVAL_STACK_OVERFLOW | 1252
| Could not evaluate an expression because the evaluationstack is too small
|
SMC_IPR_NOT_A_NUMBER | 1253
| Numeric term became NaN
|
SMC_IPR_DIVISION_BY_ZERO | 1254
| Division by zero
|
SMC_IPR_INVALID_SCALING_FACTORS | 1255
| Invalid scaling factors
|
SMC_IPR_INTERPRETER_STACK_IMBALANCE | 1256
| On subprogram return, the interpreter stack ran empty.Internal error.
|
SMC_IPR_INTERPRETER_STACK_OVERFLOW | 1257
| The interpreter stack is too small. Too many local variables inthe g-code or too many subprograms active.
|
SMC_IPR_INVALID_INTERPRETER_STACK_BUFFER | 1258
| The given buffer for the interpreter stack is either 0 or smallerthan 1024 bytes.
|
SMC_IPR_BUFFER_TOO_SMALL | 1259
| The buffer for the outqueue is too small.
|
SMC_DNCCS_NO_DATA | 1280
| No data available at all
|
SMC_DNCCS_TOO_MANY_CALLSTACKS | 1281
| Too many different callstacks between current state ofinterpreter and iObjNo
|
SMC_DNCCS_INVALID_PROGRAM_INDEX | 1282
| Invalid program index
|
SMC_DNCCS_TOO_MANY_PROGRAMS | 1283
| Too many different programs
|
SMC_DNCCS_WRONG_TASK | 1284
| FB called in wrong task
|
SMC_GCV_BUFFER_TOO_SMALL | 1300
| Buffer too small
|
SMC_GCV_BUFFER_WRONG_TYPE | 1301
| Buffer elements have wrong type.
|
SMC_GCV_UNKNOWN_IPO_LINE | 1302
| Current line of the Interpolator could not be found.
|
SMC_CNC_INTERNAL_ERROR | 1400
| Internal error in CNC
|
SMC_PATH_MAX_HPOINTS_EXCEEDED | 1401
| The path element cannot hold H Switch points more than MAX_IPOSWITCHES.Adjust the switching points with different ‘O’ values or reduce the number ofH points per path element.
|
SMC_TRC_G75_NOT_ALLOWED | 1410
| G75 not allowed during tool radius correction
|
SMC_TRC_QUEUE_FULL_NON_CARTESIAN | 1411
| Queue full, but no further cartesian element
|
SMC_TRC_SPLINE3D_5_NOT_SUPPORTED | 1412
| Tool radius correction does not support movement typeSPLINE3D_5
|
SMC_TRC_PLANE_CHANGE_NOT_ALLOWED | 1414
| Plane change not allowed during tool radius correction
|
SMC_CNC_INVALID_GEOINFO | 1415
| An invalid path element has been created, probably due to invalid inputvalues (too large tool radius or similar)
|
SMC_CNC_CANNOT_APPEND_TO_OUTQUEUE | 1416
| A path element could not be appended to the out queue.Internal error of a path preprocessing function block.
|
SMC_NAV_MAX_SUBPROGRAM_NESTING_EXCEEDED | 1450
| The maximum nesting level for subprogram calls has beenexceeded.
|
SMC_NAV_RETURN_FROM_MAIN | 1451
| A return statement from the main g-code program is notallowed.
|
SMC_NAV_SUBPROGRAM_DECLARATION_NOT_FOUND | 1452
| The declaration of a subprogram has not been found in the subprogramCNC file.
|
SMC_NAV_NOT_ENOUGH_SPACE_FOR_COMPLETE_SENTENCE | 1453
| The next g-code sentence could not be added to the output sentencequeue because there was not enough space left.
|
SMC_NO_CNC_REF_TYPE | 1500
| Given CNC program is not of type SMC_CNC_REF
|
SMC_NO_OUTQUEUE_TYPE | 1501
| Given OutQueue is not of type SMC_OUTQUEUE
|
SMC_GEOINFO_BUFFER_MISALIGNED | 1502
| 4-byte aligned buffer part is not used in pbyBuffer
|
SMC_3D_MODE_NOT_SUPPORTED | 1600
| Function block only works with 2D paths.
|
SMC_SAA_SMOOTHAREA_TOO_LARGE | 1700
| Range for smoothing too large
|
SMC_SAA_SP_INVALID_INPUT | 1701
| Invalid input dSmoothingPart ]0..1]
|
SMC_SA_QUEUE_NOT_IN_BUFFER | 1800
| SMC_SegmentAnalyzer detects that OutQueue buffer isfull but not completed. The function block can only operatewhen OutQueue fits the buffer completely.
|
SMC_SA_QUEUE_CHANGED_DURING_OP | 1801
| OutQueue buffer changed while the function block isoperating on them.
|
SMC_OS_INVALID_PARAMETER | 1820
| Invalid input value in dSplittingParameter
|
SMC_BSSP_IPO_NOT_ACTIVE | 1830
| Position cannot be saved. Interpolator is inactive
|
SMC_BS_SAVEDPOS_NOT_REACHED | 1831
| Saved position has not been found so far. It is probably ona different path.
|
SMC_BS_NO_POS_STORED | 1832
| Structure passed in ePos contains no saved position.SMC_BlockSearchSavePos is not executed or in a wrongway.
|
SMC_INVALID_FEATURE_FLAG | 1900
| Feature flag must be in the range {1, .., 31}.
|
SMC_SMB_HFUN_NOT_SUPPORTED | 1901
| Function block does not support h-functions.
|
SMC_SMB_ONLY_3DMODE | 1902
| Function block only works in 3D-Mode.
|
SMC_SMB_ERROR_COMPUTING_SPLINE | 1903
| Internal error computing the spline.
|
SMC_SMM_INVALID_PARAM_NUMBER | 1910
| wAdditionalParameter is too big
|
SMC_INVALID_PARAMETER | 1950
| The value of one of the inputs is invalid.
|
SMC_BLENDING_NOT_SUPPORTED_BY_PREVIOUS_MOVEMENT | 1951
| The previous movement does not support blending.
|
SMC_BUFFERED_NOT_SUPPORTED_BY_PREVIOUS_MOVEMENT | 1952
| The previous movement does not support buffered movements.
|
SMC_INHERIT_OWNER_ACTIVE_MOVEMENT_NOT_CALLED | 1953
| Cannot inherit owner because the active movementhas not been not called yet in this cycle. Internal error.
|
SMC_MOVING_WITHOUT_ACTIVE_MOVEMENT | 1954
| The axis is moving but there is no active movement function block.Missing follow-up movement after movement that does notend in standstill?
|
SMC_BUFFER_MODE_NOT_SUPPORTED | 1955
| The configured BufferMode is not supported by the commandedmovement.
|
SMC_ERROR_IN_A_PREVIOUS_MOVEMENT | 1956
| An error occured in a previous movement.
|
SMC_MORE_THAN_ONE_MOVEMENT_PER_INSTANCE | 1957
| Only one busy buffered/blending movement per FB instance isallowed.
|
SMC_RNCF_FILE_DOESNT_EXIST | 2000
| File does not exist
|
SMC_RNCF_NO_BUFFER | 2001
| No buffer allocated
|
SMC_RNCF_BUFFER_TOO_SMALL | 2002
| Buffer too small
|
SMC_RNCF_DATA_UNDERRUN | 2003
| Data underrun. Buffer has been read, is empty.
|
SMC_RNCF_VAR_COULDNT_BE_REPLACED | 2004
| Placeholder variable could not be replaced.
|
SMC_RNCF_NOT_VARLIST | 2005
| Input pvl does not point to a SMC_VARLIST object.
|
SMC_RNCF_NO_STRINGBUFFER | 2006
| Input pStringBuffer is not used or does not point to avariable of type SMC_StringBuffer
|
SMC_RNCF_STRINGBUFFER_OVERRUN | 2007
| In the CNC program more different strings are used than thestring buffer can hold.
|
SMC_RNCF_SUBPROGRAM_FILE_NOT_FOUND | 2008
| The file for a subprogram could not be found.
|
SMC_RNCF_FILE_CANNOT_DETERMINE_SIZE | 2009
| The file size could not be determined.
|
SMC_RNCQ_FILE_DOESNT_EXIST | 2050
| File could not be opened.
|
SMC_RNCQ_NO_BUFFER | 2051
| No buffer defined
|
SMC_RNCQ_BUFFER_TOO_SMALL | 2052
| Buffer too small
|
SMC_RNCQ_UNEXPECTED_EOF | 2053
| Unexpected end of file
|
SMC_ADL_FILE_CANNOT_BE_OPENED | 2100
| File could not be opened
|
SMC_ADL_BUFFER_OVERRUN | 2101
| Buffer overrun. WriteToFile must be called morefrequently.
|
SMC_RCAM_FILE_DOESNT_EXIST | 2200
| File could not be opened.
|
SMC_RCAM_TOO_MUCH_DATA | 2201
| Saved cam too big
|
SMC_RCAM_WRONG_COMPILE_TYPE | 2202
| Wrong compilation mode
|
SMC_RCAM_WRONG_VERSION | 2203
| File has wrong version
|
SMC_RCAM_UNEXPECTED_EOF | 2204
| Unexpected end of file
|
SMC_WDPF_CHANNEL_OCCUPIED | 3001
| This error is obsolete and is maintained only for compatibility.SMC_WDPF_TIMEOUT_PREPARING_LIST
|
SMC_WDPF_CANNOT_CREATE_FILE | 3002
| This error is obsolete and is maintained only for compatibility.File could not be created.
|
SMC_WDPF_ERROR_WHEN_READING_PARAMS | 3003
| This error is obsolete and is maintained only for compatibility.Error at reading the parameters.
|
SMC_WDPF_TIMEOUT_PREPARING_LIST | 3004
| This error is obsolete and is maintained only for compatibility.Timeout during preparing the parameter list.
|
SMC_ENC_DENOM_ZERO | 5000
| Nominator of the conversion factor dwRatioTechUnitsDenomof the Encoder reference is 0
|
SMC_ENC_AXISUSEDBYOTHERFB | 5001
| Other module trying to process motion on the Encoder axis
|
SMC_ENC_FILTER_DEPTH_INVALID | 5002
| Filter depth is invalid
|
SMC_INTERNAL_ERROR_INIT_MOVEMENT | 6000
| An internal error occurred during initialization of a newmovement.
|
SMC_INVALID_AXIS_TYPE | 6001
| Invalid axis type, not finite or modulo (internal error)
|
SMC_PCCQ_POINTBUFFERTOOSMALL | 10000
| Buffer pBuffer too small
|
SMC_PCCQ_INPUTBUFFERFULLBUTNOTFINALIZED | 10001
| The function block must be applied to a path that fitscompletely in the buffer.
|
SMC_AXIS_GROUP_WRONG_STATE | 11000
| The axis group is in the wrong state for the requestedoperation.
|
SMC_AXIS_GROUP_TOO_MANY_AXES | 11001
| More than the maximum allowed number of axes has been addedto an axis group.
|
SMC_AXIS_GROUP_INVALID_DYNLIMITS | 11002
| The dynamic limits of a single axis are invalid.(fSWMaxVelocity/Acceleration/Deceleration/Jerk)
|
SMC_AXIS_GROUP_INVALID_COORD_SYSTEM | 11004
| The given coordinate system is invalid for the requestedoperation
|
SMC_AXIS_GROUP_SINGLE_AXIS_ERROR | 11005
| An axis of the axis group is in state error
|
SMC_MOVE_INVALID_BUFFER_MODE | 11006
| The given buffer mode is not supported
|
SMC_MOVE_INVALID_DYNAMIC_FACTOR | 11007
| The dynamic factor is not in the range ]0 .. 1]
|
SMC_MOVE_INVALID_DYNAMICS | 11008
| The dynamic limits for the movement are invalid.
|
SMC_AXIS_GROUP_AXIS_NOT_PART_OF_GROUP | 11009
| The given axis is not part of the axis group.
|
SMC_AXIS_GROUP_NOT_SUPPORTED | 11010
| The requested operation is not supported
|
SMC_AXIS_GROUP_KINEMATICS_NOT_SET | 11011
| No kinematic configuration has been configured.
|
SMC_AXIS_GROUP_WRONG_NUMBER_OF_AXES | 11012
| The number of axes is not equal to the number of axesneeded by the kinematic transformation
|
SMC_AXIS_GROUP_INTERRUPTED_BY_SINGLE_AXIS | 11013
| A coordinated movement has been interrupted by a singleaxis movement.
|
SMC_AXIS_GROUP_FOLLOW_SETVALUES | 11014
| An error in an axis of the axis group occurred whilefollowing the computed set values.
|
SMC_AXIS_GROUP_TOO_MANY_DEPENDENCIES | 11015
| An axis group cannot depend on more than one master axisgroup.
|
SMC_AXIS_GROUP_MUTUAL_DEPENDENCY | 11016
| An axis group A may not depend on another axis group thatdepends on A.
|
SMC_AXIS_GROUP_DEPENDENCY_IN_DIFFERENT_TASK | 11017
| A dependant axis group must be executed in the same task.
|
SMC_AXIS_GROUP_AXIS_IN_DIFFERENT_TASK | 11018
| An axis belonging to an axis group must be executed in thesame task.
|
SMC_AXIS_GROUP_PCS_STILL_IN_USE | 11019
| A second activation of the function block occurred while the PCSwas still used by buffered motion commands.
|
SMC_AXIS_GROUP_CMD_ABORTED_DUE_TO_ERROR | 11020
| An error ocurred in a previous motion command.
|
SMC_AXIS_GROUP_INVALID_PARAMETER | 11021
| A parameter of an administrative function block is invalid.
|
SMC_AXIS_GROUP_UNSUPPORTED_RAMPTYPE | 11022
| One of the axes of the group uses an unsupported ramp type.Only trapez and quadratic are supported.
|
SMC_MOVE_INVALID_TRANSITION_PARAMETER | 11023
| invalid transition parameter
|
SMC_AXIS_GROUP_CPTR_CANNOT_FOLLOW | 11025
| CP-Tracking: Cannot keep the path;try to reduce the dynamics on the path and / or the dynamics when entering CP-Tracking.
|
SMC_AXIS_GROUP_CONTINUE_WRONG_POSITION | 11026
| Current position does not allow continuation. When continuing in a dynamiccoordinate system (e.g. in a PCS that is following a rotary table), this errormight be caused by not having used SMC_GroupUpdateContinueData.
|
SMC_AXIS_GROUP_CONTINUE_BUFFER_TOO_SMALL | 11027
| Buffer in continueData is too small;big external movement-queue-buffer in use.
|
SMC_AXIS_GROUP_CONTINUE_WRONG_CHECKSUM | 11028
| The checksum stored in the continue data is wrong.The continue data either was not written by MC_GroupInterrupt,or was modified afterwards.
|
SMC_AXIS_GROUP_IDLE_WAIT_AXES_MOVING | 11029
| Commanded SMC_GroupWait while axes were movingindependently from the axis group (single axis movement or similar).
|
SMC_AXIS_INVERSE_TRAFO_EXCEEDING_POSLIMITS | 11030
| Inverse transformation lead to axis values exceeding theconfigured limits.
|
SMC_AXIS_GROUP_CANNOT_ADD_SAME_AXIS | 11031
| Prohibit adding the same axis to an axis group twice
|
SMC_AXIS_GROUP_TRANSFORMATION_NOT_SET | 11032
| No transformation is set.
|
SMC_AXIS_GROUP_NON_RESUMABLE_ERROR | 11033
| The path cannot be resumed after the current axis grouperror.
|
SMC_AXIS_GROUP_CONTINUE_DATA_NOT_WRITTEN | 11034
| The continue data for MC_GroupContinue has not been written correctly.(MC_GroupInterrupt not called / non-resumable axis group error)
|
SMC_AXIS_GROUP_INVALID_INTERRUPT_POSITION | 11036
| The commanded interrupt position is invalid.
|
SMC_RELATIVE_MOVEMENT_TRACKING_CS | 11037
| The commanded relative movement is not supported.Its start position (end position of preceding movement) and distance are givenin two different coordinate systems (CS) with at least one being dynamic
|
SMC_RELATIVE_MOVEMENT_ABORTING_TRACKING | 11038
| The commanded relative movement is not supported.It is Aborting and aborts a- track-in (from a static CS to a dynamic CS),- track-out (from a dynamic CS to a static CS) or- re-track (from a dynamic CS to another dynamic CS) movement.
|
SMC_CIRCULAR_MOVEMENT_TRACKING_CS | 11039
| The commanded circular movement is not supported.Its start position (end position of preceding movement) and targetposition are given in two different coordinate systems (CS) with atleast one being dynamic.
|
SMC_CIRCULAR_MOVEMENT_ABORTING_TRACKING_CS | 11040
| The commanded aborting circular movement is not supported.Its start position (current position) and target position are given in twodifferent coordinate systems (CS) with at least one being dynamic, orthe aborted movement is PTP tracking.
|
SMC_AXIS_GROUP_CONTINUE_POSITION_WRONG_CHECKSUM | 11041
| The checksum of the continue position is wrong.The continue position either was not written by MC_GroupInterrupt,was modified afterwards, or an online change was executed when thecontinue position was still in use.Please note: The checksum is only checked when the continue positioncannot be expressed as a constant value, because it changes with time(e.g. when a track in movement should be continued).
|
SMC_CIRCULAR_TRACKING_TOOL_CHANGE_NOT_SUPPORTED | 11042
| A circular movement with a tool change is only supported in a staticcoordinate system.
|
SMC_AXIS_GROUP_COULD_NOT_WRITE_CONTINUE_DATA | 11043
| Continue data could not be written. This can happen whentrying to write continue data while moving to another continueposition.
|
SMC_MODULO_AXIS_FOR_NON_ROTARY_JOINT | 11044
| A modulo axis is not allowed for joints of the kinematicsthat are not rotary.
|
SMC_MODULO_AXIS_FOR_LIMITED_ROTARY_JOINT | 11045
| A modulo axis is not allowed for rotary joints that have a limitedrange. (The range comes from the kinematic transformation.)
|
SMC_MODULO_AXIS_PERIOD_NOT_360 | 11046
| A modulo axis for a rotary joint must have modulo period360.
|
SMC_FB_WASNT_CALLED_DURING_EXECUTION | 11047
| The FB was not called for at least one cycle
|
SMC_NO_EVALUATION_POSSIBLE_FOR_TIME_OFFSET | 11048
| The value could not be evaluated for the given time offset.
|
SMC_INVALID_SOURCE_TYPE_FOR_TIME_OFFSET | 11049
| Values with time offset can only be evaluated for sourcetype set.
|
SMC_INVALID_TIME_OFFSET | 11050
| Invalid time offset. Must be >=0.
|
SMC_TIME_OFFSET_TOO_LARGE | 11051
| The time offset is too large (larger than the forecastduration, see SMC_TuneCPKernel.fPlanningForecastDuration).
|
SMC_KERNEL_PTP_INTERNAL_ERROR | 11100
| Internal error in the kernel
|
SMC_KERNEL_PTP_INVALID_TASKCYCLETIME | 11101
| Task cycle time not positive
|
SMC_TRAFO_INVALID_PARAMETERS | 12000
| The parameter values of the transformation are invalid.
|
SMC_TRAFO_INVALID_CONSTELLATION | 12001
| The requested position is outside of the working area of thetransformation.
|
SMC_TRAFO_INVALID_COUPLING | 12002
| The tool cannot work together with the positioning-part of the machine.Either, the positioning-part doesn’t implement ISMPositionKinematics2,or the tool cannot deal with the positioning’s image of orientations.
|
SMC_TRAFO_NOT_INITIALIZED | 12003
| The FB implements ISMKinematicWithInitialization, but hasn’t beenInitialized yet.
|
SMC_TRAFO_NO_TOOL_WITH_OFFSET_ALLOWED | 12004
| Special error for positioning part of Kin_4Axis_Palletizer,which implements ISMPositionKinematics_Offset2, but cannotactually cope with offsets <> 0.
|
SMC_AXIS_GROUP_TOOL_OFFSET_INCOMPATIBLE_WITH_KINEMATICS | 12005
| The configured tool offset is not compatible with thekinematics used
|
SMC_TRAFO_INVALID_AXIS_LIMITS | 12006
| The configured position limits of one or more axes are notvalid for the kinematics.
|
SMC_AXIS_GROUP_PATH_DEVIATION_TOO_HIGH | 12007
| The path deviation is higher than the allowed tolerance.When tracking is used, this indicates that the tracked object is accelerating/decelerating too quickly for the robot to follow.See SMC_SetPathTolerance.
|
SMC_AXIS_POSITION_EXCEEDS_POSLIMITS | 12008
| The given axis position exceeds the position limits of anaxis.
|
SMC_AXIS_GROUP_NO_DYNAMIC_MODEL_CONFIGURED | 12009
| No dynamic model has been configured for the axis group.
|
SMC_DYNAMICS_NUM_TORQUES_NEQ_NUM_AXES | 12010
| The number of torques returned by the dynamic model is different from thenumber of axes.
|
SMC_CP_CACHE_FULL | 12100
| The cache of the CP planner is too small.
|
SMC_CP_EVAL_ERROR | 12101
| The evaluation of the position on a path element failed(internal error).
|
SMC_CP_NON_CONTINUABLE_STATE | 12102
| Non-continuable state reached (internal error).
|
SMC_CP_MAX_LENGTH_EXCEEDED | 12103
| Maximum trajectory length exceeded (internal error).
|
SMC_CP_ACCELERATION_TOO_HIGH | 12104
| Path acceleration too high (invalid state, internal error).
|
SMC_CP_MAX_ITERATIONS_EXCEEDED | 12105
| Maximum number of iterations exceeded (internal error).
|
SMC_CP_NO_TRAJECTORY | 12106
| No trajectory could be computed (internal error).
|
SMC_CP_OUT_QUEUE_FULL | 12107
| The out-queue is full (internal error).
|
SMC_CP_QUEUE_UNDERRUN | 12108
| The computation of the trajectory could not be performed in real time.The fill level of the sync buffer between the planning task and the bustask was too low.
Possible reasons:- The task configuration of the planning task is not set correctly.Please see the online help chapter “Diagnosis of Problems withMovements” for good settings.
- The performance of the PLC is not sufficient.Possible measures to avoid the error:
- use a separate, dedicated CPU core for the planning task
- increase the bus task interval
- increase the planning interval and/or the sync bufferduration using SMC_TuneCPKernel
The current fill level of the sync buffer can be monitored usingthe CurrentSyncBufferDuration ouptput of MC_GroupReadStatus.
|
SMC_CP_INVALID_QUEUE | 12109
| Invalid queue (invalid size or pointer)
|
SMC_CP_BLENDING_INTERNAL_ERROR | 12110
| An internal error occurred while blending two CP movements
|
SMC_CP_CIRCLE_COLLINEAR_POINTS | 12111
| The three points that define the circle are collinear.
|
SMC_CP_CIRCLE_CENTER_NOT_ON_BISECTOR | 12112
| The center point is not on the perpendicular bisector of thestart and end point.
|
SMC_CP_CIRCLE_RADIUS_ZERO | 12113
| The radius is zero
|
SMC_CP_CIRCLE_DISTANCE_LARGER_THAN_DIAMETER | 12114
| The distance between start and end point is larger than the diameter.(When trying to create a circle using SMC_Circ_Mode.Radius.)
|
SMC_CP_CIRCLE_START_AND_ENDPOINT_EQUAL | 12115
| The start and end point are equal(SMC_Circ_Mode.Radius).
|
SMC_CP_BLENDING_DEGENERATE_SPLINE | 12116
| The blending spline is degenerate (too short or non-regular)
|
SMC_CP_ELEMENT_TOO_SHORT | 12117
| The path element cannot be created because it is too short.
|
SMC_CP_COULD_NOT_CUT_PATH | 12118
| The path could not be cut for aborting movement (internalerror).
|
SMC_CP_INVALID_ANGULAR_VEL_ACC | 12119
| The given angular velocity or acceleration is invalid (quaternion withnon-zero real part, internal error).
|
SMC_CP_INVALID_ORIENTATION | 12120
| The given orientation is invalid (non-orthonormal matrix or non-unitquaternion, internal error).
|
SMC_CP_TIME_BUDGET_EXCEEDED | 12121
| The given time budget for the computation is exceeded(internal error).
|
SMC_AXIS_GROUP_AXIS_LIMIT_VIOLATED | 12122
| A limit of an axis has been violated. This can happen if a CP movementis done too close to a singularity or if the path has a very high curvature.
|
SMC_CP_CONFIGS_DIFFER | 12125
| The kinematic configuration of the start position differs fromthe end position. The CP movement would pass asingularity.
|
SMC_CP_BUS_TASK_NOT_CALLED | 12126
| This error is obsolete and is maintained only for compatibility.If a CP-halt/-stop is commanded, some information has to betransferred to the bus task. We expect this to happenbefore the next cycle of the slow task.
|
SMC_CP_NO_ROOT_IN_INTERVAL_FOUND | 12127
| The stop trajectory could not be found in the interval.(internal error)
|
SMC_CP_KIN_DOES_NOT_SUPPORT_AXIS_ORIENTATION_IPO | 12128
| The kinematics does not support the orientation mode“Axis” for continuous path movements.
|
SMC_CP_AXIS_ORIENTATION_IPO_NOT_SUPPORTED_FOR_CPTR | 12129
| The axis orientation interpolation mode is not supportedfor CP movements with a dynamic PCS (tracking).
|
SMC_CP_INVALID_PATH_ELEM | 12130
| An invalid path element has been created (internal error)
|
SMC_CP_TRANSITION_NOT_SMOOTH | 12131
| The transition between two path elements is not G2 continuous,and there is no stop (internal error)
|
SMC_CP_AXIS_ORIENTATION_IPO_CONFIG_DIFFERS | 12132
| Axis orientation interpolation mode is used, but betweenthe start end end position, there is a singularity of theposition kinematics.
|
SMC_CP_AXIS_ORIENTATION_IPO_OFFSET2_NOT_IMPLEMENTED | 12133
| The position kinematics has configurations but does notimplement the interface ISMPositionKinematics_Offset2.In this case, axis orientation interpolation is notpossible.
|
SMC_CP_ROTARY_AXIS_PERIOD_MISMATCH | 12134
| The target position of a rotary axis will not be reachedin the commanded period.(E.g. the commanded target positionis -170°, but the target will be reached with position 190°instead.)This means that the chosen interpolation to the target positionis not compatible with the commanded position.For PTP movements (MC_MoveDirect*), this error can happen ifthe previous movement is a CP movement (MC_MoveLinear*,MC_MoveCircular*), and if the CP movement is very long.To avoid the problem, the CP movement should be dividedinto two or more shorter movements. The problem can occurif a rotary axis has to move 360° or more during the CPmovement.
|
SMC_CP_ROTARY_AXIS_RANGE_VIOLATION | 12135
| A rotary axis has violated the allowed axis range duringa CP movement. The CP movment is not in the working area.
|
SMC_CP_COMPUTE_TARGET_DISCONTINUITY | 12136
| The target trajectory could not be computed due to adiscontinuity of the end position (internal error).
|
SMC_CP_TRAJECTORY_NOT_SMOOTH | 12137
| The trajectory is not smooth, the phase end states do notequal the the current state (internal error).
|
SMC_CP_ERROR_CREATING_PARAM_TRANSFORM | 12138
| A parameter transformation could not be created (internalerror).
|
SMC_CP_PTP_DATA_NUMBER_OF_AXES | 12139
| Error generating path-invariant PTP element (internalerror).
|
SMC_CP_NEGATIVE_PATH_VELOCITY | 12140
| Error while computing a new trajectory: the path velocity afterphase 1 (positive jerk of length dTau1) is negative (internal error).
|
SMC_CP_TRANSITIONING_FROM_SINGLE_AXIS_MOVEMENT_NOT_SUPPORTED | 12141
| Transitioning from a single axis movement to a continuous pathmovement is not supported.
|
SMC_CP_PLANNER_NO_PROGRESS | 12142
| The CP-planner did not make any progress. This is an internal errorThat can be triggered by very sharp corners (e.g. blending betweenshort elements or with small corner distance).
|
SMC_CP_INTERNAL_EVAL_CACHE_ERROR | 12143
| Internal error in the evaluation cache of the CP-planner.
|
SMC_CP_INVALID_ROOT_ACC_TOO_HIGH | 12144
| The acceleration at the trajectory end is too high for avalid root (internal error).
|
SMC_CP_INVALID_ROOT_TRAJECTORY_TOO_LARGE | 12145
| The stop trajectory is too large. Reduce the velocity orincrease the acceleration and jerk limits.
|
SMC_CP_EMPTY_TRAJECTORY | 12146
| The trajectory is empty, i.e. has no phases (internalerror).
|
SMC_CP_FORECAST_TOO_LARGE | 12147
| The forecast duration is too large given the configured planninginterval and sync buffer duration.To avoid this error, either reduce the forecast duration, reduce thesync buffer duration, or increase the planning interval. See SMC_TuneCPKernelfor more details.
|
SMC_GROUPJOG2_MAX_DISTANCE_NON_POSITIVE | 12200
| Either MaxLinearDistance or MaxAngularDistance ofSMC_GroupJog2 is non-positive.
|
SMC_GROUPJOG2_DYNAMIC_CS_NOT_SUPPORTED | 12201
| SMC_GroupJog2 does not support jogging in dynamic coordinatesystems.
|
SMC_TRIGGER_TOO_MANY_TRIGGERS_PREPARED | 12300
| Too many triggers have been prepared for the next movement.
|
SMC_TRIGGER_UNSUPPORTED_MOVEMENT_TYPE | 12301
| Triggers for wait commands and for halt/stop commands arenot supported.
|
SMC_TRIGGER_INVALID_POS_TYPE | 12302
| The given trigger position type is not valid.
|
SMC_TRIGGER_RELATIVE_POSITION_OUT_OF_RANGE | 12303
| The relative trigger position must be in the range [-1, 1].
|
SMC_TRIGGER_PLANE_NORMAL_NOT_A_UNIT | 12304
| The normal vector for a trigger plane must be a unit-vector.
|
SMC_TRIGGER_PLANE_DISTANCE_NEGATIVE | 12305
| The distance of the trigger plane must be non-negative.
|
SMC_TRIGGER_PLANE_COORD_SYSTEM_INVALID | 12306
| The coordinate system of the trigger plane must not be ACSor TCS.
|
SMC_TRIGGER_DISTANCE_OUT_OF_RANGE | 12307
| The trigger distance must be in the range [-len, len], where lenis the length of the movement.
|
SMC_TRIGGER_PLANE_NO_INTERSECTION | 12308
| No intersection between the trigger plane and the movement.
|
SMC_TRIGGER_TRACKING_TRANSITION_NOT_SUPPORTED | 12309
| Triggers not supported for tracking movements between differentcoordinate systems.
|
SMC_TRIGGER_PTP_NOT_SUPPORTED | 12310
| Triggers with position type MvtDistance and PlaneInstersection arenot supported for PTP movements.
|
SMC_MOVEMENT_INTERNAL_ERROR | 13001
| Internal error in a movement.
|
SMC_MOVEMENT_GET_POS_INTERNAL_ERROR | 13002
| Internal error while trying to get a position in a movement.
|
SMC_CPTR_INTERNAL_ERROR | 13003
| Internal error in the CPTR kernel.
|
SMC_CP_IPO_INTERNAL_ERROR | 13004
| Internal error while interpolating in the CP kernel.
|
SMC_CP_ADD_NEW_MOVEMENT_INTERNAL_ERROR | 13005
| Internal error while adding a new movement to the CP kernel.
|
SMC_AXIS_GROUP_COORDINATION_INTERNAL_ERROR | 13006
| Internal error while coordinating kernels.
|
SMC_AXIS_GROUP_ADD_MOVEMENT_INTERNAL_ERROR | 13007
| Internal error while adding movements to the axis group.
|
SMC_AXIS_GROUP_READ_AXIS_STATES_INTERNAL_ERROR | 13008
| Internal error while reading the state of one of the group’saxes.
|
SMC_AXIS_GROUP_READ_VEL_INTERNAL_ERROR | 13009
| Internal error while trying to read the velocity.
|
SMC_AXIS_GROUP_READ_ACC_INTERNAL_ERROR | 13010
| Internal error while trying to read the acceleration.
|
SMC_AXIS_GROUP_INVALID_STATE_INTERNAL_ERROR | 13011
| Internal error: The axis group is in an invalid state.
|
SMC_AXIS_GROUP_PCS_INTERNAL_ERROR | 13012
| Internal error while handling a PCS.
|
SMC_AXIS_GROUP_INTERRUPT_INTERNAL_ERROR | 13013
| An internal error occured during an interrupt.
|
SMC_CONTINUE_DATA_READ_INTERNAL_ERROR | 13014
| Internal error while reading continue data.
|
SMC_CONTINUE_DATA_WRITE_INTERNAL_ERROR | 13015
| Internal error while writing continue data.
|
SMC_PATH_ELEM_INTERNAL_ERROR | 13016
| Internal error in a path element.
|
SMC_PATH_ELEM_ESTIMATE_LIMITS_INTERNAL_ERROR | 13017
| Internal error while estimating the limits of a pathelement.
|
SMC_PATH_ELEM_ZERO_LEN_INTERNAL_ERROR | 13018
| Internal error in a zero-length path element.
|
SMC_PATH_ELEM_BLEND_INTERNAL_ERROR | 13019
| Internal error in a blending element.
|
SMC_PATH_ELEM_BLEND_GEO_INTERNAL_ERROR | 13020
| Internal error in the geometric part of a path element.
|
SMC_PATH_ELEM_BLEND_ORI_INTERNAL_ERROR | 13021
| Internal error in the orientation part of a path element.
|
SMC_PATH_ELEM_BLEND_AS_INTERNAL_ERROR | 13022
| Internal error in an axis space element.
|
SMC_ELEM_FUN_CART_INTERNAL_ERROR | 13023
| Internal error in an element function.
|
SMC_CP_HALT_STOP_INTERNAL_ERROR | 13024
| Internal error during cp halt or stop.
|
SMC_TRJ_PLANNING_INIT_INTERNAL_ERROR | 13025
| Internal error while initializing trajectory planning.
|
SMC_TRJ_PLANNING_GEN_SAMPLES_INTERNAL_ERROR | 13026
| Internal error while generating samples.
|
SMC_TRJ_PLANNING_PATH_OUT_INTERNAL_ERROR | 13027
| Internal error while creating the output path.
|
SMC_TRJ_PLANNING_EVAL_AXIS_INTERNAL_ERROR | 13028
| Internal error while evaluating axis values.
|
SMC_TRJ_PLANNING_LOOKAHEAD_INTERNAL_ERROR | 13029
| Internal error in planning lookahead.
|
SMC_AXIS_GROUP_READ_JERK_INTERNAL_ERROR | 13030
| Internal error while trying to read the jerk.
|
SMC_AXIS_GROUP_WRITE_CONTINUE_POS_INTERNAL_ERROR | 13031
| Internal error while writing the continue position.
|
SMC_CP_TRANSITION_CHECK_FAILED | 13032
| Internal error while checking whether the path iscontinuous.
|
SMC_ABORTING_INTERNAL_ERROR | 13033
| Internal error while aborting.
|
SMC_LINE_TO_REL_STANDSTILL_INTERNAL_ERROR | 13034
| Internal error while creating a line to relative standstill.
|
SMC_PATH_ELEM_POSE_EVAL_INTERNAL_ERROR | 13035
| Internal error while evaluating a pose on a path element.
|
SMC_CS_REF_COUNT_INTERNAL_ERROR | 13036
| Internal error in coordinate system reference counting.
|
SMC_PATH_QUEUE_INTERNAL_ERROR | 13037
| Internal error in the path queue.
|
SMC_PATH_ELEM_QUEUE_INTERNAL_ERROR | 13038
| Internal error in the path queue.
|
SMC_ELEM_FUN_QUEUE_INTERNAL_ERROR | 13039
| Internal error in the element function queue.
|
SMC_MAC_DUPLICATE_CALLER_INTERNAL_ERROR | 13040
| Internal error in the multi acyclic communicator due to aduplicate SDO caller.
|
SMC_MAC_INTERNAL_ERROR | 13041
| Internal error in the multi acyclic communicator.
|
SMC_READ_POSITION_INTERNAL_ERROR | 13042
| Internal error when reading the axis group position.
|
SMC_ELEM_FUN_PROJECT_POINT_INTERNAL_ERROR | 13043
| Internal error in function GeoPrim_ProjectPoint
|
发表于 2024-4-23 15:06:10
