!"
=
*Position out of range* Mtr n (–1023)
Explanation: (1) The requested motion was beyond the software-limited range of
motion for the indicated motor; (2) while enabling high power, V
+
detected that the indicated robot motor was outside the software
limit.
User action: (1) Modify the program as required to prevent the invalid motion
request (Because the robot did not actually move out of range, you
do not need to move the robot before continuing.); (2) move the
robot back into the working envelope. Correct whatever caused the
robot to get into the restricted area. Then enable power.
*Positive overtravel* Mtr n (–1033)
Explanation: The indicated motor has moved beyond the hardware-limited posi-
tive range of motion.
User action: Move the robot back into the working envelope. Correct whatever
caused the robot to get into the restricted area. Then enable power.
*Power disabled: Manual/Auto changed* (–645)
Explanation: V
+
disables power when the Controller Interface Panel (CIP) switch
moves from MANUAL to AUTO or vice versa.
User action: Use any valid method to enable high power.
*Power failure detected* (–667)
Explanation: Indicates that a controller AC power-fail condition has been
detected. If battery backup is installed, this error will be reported
(when power is restored) by any I/O operations that were canceled
due to the power failure. This error code may be trapped by a pro-
gram using the REACTE instruction in order to provide some level
of automatic power failure response.
User action: The user may need to restart or repeat any operations that were
interrupted by the controller AC power failure. Some reinitialization
of the system may be required: for example, any robot(s) connected
to the controller need to be recalibrated after a controller power fail-
ure.
*Power failure detected by robot* (–632)
Explanation: Indicates that a controller power failure condition has been detected
by the robot control software while a robot is attached to a program.
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