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Diagnostic and Error Messages
*DF1 extended status error* Code n hex (-3006)
After sending a message to the PLC, the response contained the extended status (EXT
STS) error code shown in the message. Refer to the section “DF1 Protocol — EXT STS
Error Codes” on page 154 for further details.
*DF1 remote status error* Code n hex (-3005)
After sending a message to the PLC, the response received contained the status (STS)
error code shown in the error message (“Code n hex”). Refer to the section “DF1
Protocol — Remote STS Error Codes” on page 154 for further details.
*E-stop due to lost serial <strong>com</strong>munication* (-3001)
This error occurs when the system has lost <strong>com</strong>munication with the PLC Server for
several seconds. Check that the serial cable is plugged in and functional and that the
PLC's serial port settings are correct.
*Invalid acceleration parameter* Acceleration n (-3014)
The acceleration parameter specified in N240:5 or <strong>Adept</strong>_Acceleration must be
greater than 0.
*Invalid approach parameter for this robot* (-3020)
One of the following conditions occurred:
• A joint-angles move <strong>com</strong>mand was requested with the absolute-approach-height
bit (N240:3/8 or <strong>Adept</strong>_Motion_Qualifier.8) set, but the robot does not have a
single joint that restricts the Z motion.
• A joint-angles jump <strong>com</strong>mand was requested with the absolute-approach-height
bit (N240:3/8 or <strong>Adept</strong>_Motion_Qualifier.8) set, or with the approach height
(N240:7 or <strong>Adept</strong>_Approach_Height) set to zero, but the robot does not have a
single joint that restricts the Z motion.
• A cartesian-coordinate jump <strong>com</strong>mand was requested with the approach height
(N240:7 or <strong>Adept</strong>_Approach_Height) set to zero, but the robot does not have a
single joint that restricts the Z motion.
*Invalid <strong>com</strong>mand: More than one <strong>com</strong>mand bit enabled* (-3007)
An error occurred because more than one of the main <strong>com</strong>mand bits was enabled at
the same time.
*Invalid location number* Location n (-3011)
The location number specified in N240:6 or <strong>Adept</strong>_Location_Number is either less
than one or larger than the maximum location number permitted.
*Invalid pallet index* Position n (-3022)
A motion to a pallet location has been requested, but the specified position in the
pallet is either zero or larger than the number of positions in the pallet. (The total
number of positions in a pallet is <strong>com</strong>puted by the PLC Server when the pallet is
defined.)
152 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B