!"
7
User action: Check the program logic—remove redundant ATTACH instruc-
tions, or DETACH the current robot before attempting to SELECT
another robot.
*Robot interlocked* (–621)
Explanation: (1) An attempt has been made to access a robot or external device
that is already being used by a different program task or by the sys-
tem monitor; (2) an attempt has been made to calibrate the robot
with the controller in manual mode, which is not allowed for safety
reasons.
User action: (1) Review the program logic and make sure the robot or device is
being controlled by only one program task; (2) move the CIP key
switch to the automatic mode position or set the user manual mode
signals appropriately.
*Robot module not enabled* (–900)
Explanation: The indicated robot module is present in memory, but it was not
enabled for use due to an error (which is reported by a separate
message).
User action: Use the CONFIG_C and/or SPEC utilities to correct the module
configuration.
*Robot module not loaded* ID: n (–628)
Explanation: This error occurs only during startup when a robot module has been
configured using the CONFIG_C utility, but the robot module is not
present in memory.
User Action: Use the CONFIG_C utility to add the robot module to the boot disk
before rebooting.
*Robot not attached to this program* (–601)
Explanation: An attempt has been made to execute a robot-control command or
instruction in one of the following invalid situations:
(1) The system is not configured to control a robot. (2) There is no
robot connected to the system. (3) The robot is attached to a different
program task.
User action: (1) Make sure the system is booted from the proper system disk, or
remove the robot-control instruction.
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