The reaction to the interrupt, which was programmed when an interrupt was declared, is invalid.
Program valid value (parameter Interrupt): The number of the digital input to which an interrupt is declared is invalid (function block KRC_DeclareInterrupt).Īn invalid number was transferred when calling a KRC_.interrupt function block. No auxiliary position was transferred when calling a KRC_MoveCirc function block.ĭefine at least 1 element of the auxiliary position (parameter CircHP). Program valid value (parameter Distance):Īn invalid output has been programmed in a KRC_SetDistanceTrigger or KRC_SetPathTrigger function block.Īn invalid value for the length of the pulse has been programmed in a KRC_SetDistanceTrigger or KRC_SetPathTrigger function block. No axis position was transferred when calling a KRC_MoveAxis function block.ĭefine at least 1 axis position (parameter AxisPosition).Īn invalid value for the switching point of the trigger has been programmed in the KRC_SetDistanceTrigger function block. No target position was transferred when calling a KRC_Move function block.ĭefine at least 1 element of the target position (parameter Position). Program valid value (parameter Acceleration):Īn invalid approximation distance was transferred for a PTP movement.Īn invalid distance parameter was transferred for a contouring motion.Īn invalid velocity parameter was transferred for a contouring motion.Īn invalid orientation parameter was transferred for a contouring motion.Īn invalid value for the orientation control of the TCP has been programmed in a KRC_Move or KRC_Jog function block. Program valid value (parameter Velocity):Īn invalid value for the acceleration has been programmed in a function block. Specify the number of the TOOL coordinate system currently used in the robot controller (parameter CoordinateSystem - COORDSYS.Tool).Īn invalid value for the velocity has been programmed in a function block. Specify the number of the TOOL coordinate system currently used in the robot controller (parameter ToolNo).Īn invalid number for the TOOL coordinate system has been programmed in a KRC_Move or KRC_Jog function block. Specify the number of the BASE coordinate system currently used in the robot controller (parameter CoordinateSystem - COORDSYS.Base).Īn invalid number for the TOOL coordinate system has been programmed in a KRC_ReadToolData or KRC_WriteToolData function block. Specify the number of the BASE coordinate system currently used in the robot controller (parameter BaseNo).Īn invalid number for the BASE coordinate system has been programmed in a KRC_Move or KRC_Jog function block. Program valid value (parameter Approximate).Īn invalid contour parameter was transferred for a CP movement (LIN, CIRC).Īn invalid number for the BASE coordinate system has been programmed in a KRC_ReadBaseData or KRC_WriteBaseData function block.
The specified system variable does not exist or may not be read in the current operating state.Įxample: $POS_ACT can only be accessed after a BCO run.Īn invalid contour parameter was transferred for a PTP movement. Replace connecting line or connect correctly.Īn error occurred while reading a system variable.
EtherCAT configuration in WorkVisual or TwinCAT faultyĬheck configuration in WorkVisual and TwinCAT and configure EtherCAT correctly.Ĭonnecting line defective or not connected correctly.The checksum during data transmission from the PLC to the robot controller is invalid: Reduce the number of instructions that are buffered simultaneously. The data transfer rate is much smaller than the processing speed. There are more than 100 status change feedback messages to be transmitted from the robot controller to the PLC. TF5120 | TwinCAT 3 Robotics mxAutomation.Error messages of the mxA interface in the submit interpreter
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