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PLC Server Messages
LED Pattern
1 2 3
Error
Description
- R G -3021 *Pallet locations are linear*
- G R -3022 *Invalid pallet index* Position n
R G R
-xxx
Error :
xx
xxx
Message :
Warning :
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).
PLC Server Messages (Alphabetical Listing)
*Cannot mix joint-coordinate location and pallet* (-3009)
A motion relative to a pallet has been requested, and the motion-qualifier bits (N240:4
or <strong>Adept</strong>_Motion_Qualifier) indicate that the specified location is defined by joint
coordinates.
*Cannot move relative to a pallet* (-3010)
A relative motion has been specified by the motion-qualifier bits (N240:4 or
<strong>Adept</strong>_Motion_Qualifier), and a pallet has been identified by the <strong>com</strong>mand register
(N240:8 or <strong>Adept</strong>_Pallet_Number)
*DF1 <strong>com</strong>munication error: Invalid data string length* (-3002)
A DF1 message has been received, or one is being sent, and the message has an odd
character count other than 1.
*DF1 <strong>com</strong>munication error: ENQ count exceeded* (-3004)
After sending a message to the PLC, two ENQ requests have been sent without a
response.
*DF1 <strong>com</strong>munication error: NAK count exceeded* (-3003)
After sending a message to the PLC, two NAK responses have been received.
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 151