!"
29
*Software incompatible* Code n (–1026)
Explanation: The servo code has detected an incompatibility between the servo
code and calibration software.
User action: Make sure that you are using the calibration software (in the
\CALIB\ directory) that you received with the V
+
system you are
using. If you are using the correct software, note the code number,
and call Adept Customer Service.
*Speed pot or STEP not pressed* (–620)
Explanation: While the controller was in manual control mode, a V
+
program
tried to initiate a robot motion, but you failed to press the STEP but-
ton and speed bar on the MCP.
User action: When a V
+
program is about to initiate robot motions, press the
STEP button and speed bar on the MCP. To continue the motion
once it has started, you can release the STEP button but must con-
tinue to press the speed bar. Set the controller to automatic mode.
*SPIN motion not permitted* (–638)
Explanation: Either a SPIN instruction has attempted to move a joint that has not
been configured with the continuous-rotation capability or the robot
is currently tracking a belt or moving under control of an ALTER
instruction.
User action: Configure the joint with continuous-rotation capability, or complete
the belt tracking or ALTER instruction before attempting to execute
the SPIN instruction.
Step syntax MUST be valid (None)
Explanation: The SEE editor’s AUTO.BAD extended command has been used to
change the action to be taken when an invalid line is detected while
editing. Subsequently, the editor will require that such a line be cor-
rected before you will be able to perform any operation that would
move the cursor off the bad line.
User action: None. This is an informational message.
*Stop-on-force triggered* (–623)
Explanation: A force-sensor Guarded Mode trip occurred when the robot was not
under program control.
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