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Diagnostic and Error Messages
LED Pattern
1 2 3
Error
Description
R - - -3004 *DF1 <strong>com</strong>munication error: ENQ count exceeded*
- R R -3005 *DF1 remote status error* Code n hex
- R - -3006 *DF1 extended status error* Code n hex
- - R -3007 *Invalid <strong>com</strong>mand: More than one <strong>com</strong>mand bit enabled*
G G - -3008 *Only one axis bit can be set while jogging*
G - G -3009 *Cannot mix joint-coordinate location and pallet*
G - - -3010 *Cannot move relative to a pallet*
- G G -3011 *Invalid location number* Location n
- G - -3012 *Invalid pallet number* Pallet n
- - G -3013 *Invalid speed parameter* Speed n
- - G -3014 *Invalid acceleration parameter* Acceleration n
R G - -3015 *Undefined location* Location n
G R - -3016 *Undefined pallet* Pallet n
R R G -3017 *Unknown processor type* ID n
G R R -3018 *MSG instructions not allowed*
R R R -3019 *PLC Server start-up error* Code n 4
R - G -3020 *Invalid approach parameter for this robot*
1. When the PLC Server first starts up, “GGG” is displayed until: (a) the PLC starts <strong>com</strong>municating
with the Server, or (b) the Server times out (see #3 below).
2. During normal <strong>com</strong>munication with the PLC, the “GGG” pattern is turned on and off by alternate
<strong>com</strong>munications. That results in an activity indicator (but with a variable frequency).
3. If there is no <strong>com</strong>munication with the PLC for the time-out period (currently 5 seconds), the “RRR”
pattern blinks on and off (very slowly -- 2.5 seconds on, 2.5 seconds off).
4. If the PLC Server code is not able to start for some reason, the three status LEDs on the
SmartController are turned on red. Unlike the behavior for the lost-<strong>com</strong>munication error, the LEDs
do not blink on and off in this situation.
5. If there is any other error, the corresponding LED pattern is displayed when the error message is
sent to the PLC. Note that this “error” pattern does not blink. The LEDs return to the blinking
“GGG” pattern when the PLC sends a reset-fault <strong>com</strong>mand (N240:0/5 or <strong>Adept</strong>_Command_Bits.5).
150 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B