!"
/
User action: Enter the command VSHOW at the terminal for a list of the known
prototypes. If necessary, load the appropriate prototype file from
disk or VTRAIN the prototype.
*Unknown sub-prototype* (–731)
Explanation: A vision command or instruction has referenced an object subproto-
type that is not known to the vision system. This may be due to
mistyping the prototype name.
User action: Use the command VSHOW at the terminal to display the subproto-
types defined for the specified prototype. If necessary, load the
appropriate prototype file from disk or use VDEF.SUBPROTO to
define the subprototype.
*User has not tested MMSP system* (–648)
Explanation: A system with the EN954 Safety Category 3 option—the Manual
Mode Safety Package (MMSP)—has not been successfully commis-
sioned with the SAFE_UTL utility program.
User action: Test the MMSP with the SAFE_UTL utility before enabling power
for the first time. You should then rerun the utility program every
three months. If you have connected the robot to a different control-
ler or replaced the controller or the SIO module, repeat the test. (For
information on the use of SAFE_UTL, refer to the Adept
One-MV/AdeptThree-MV Robot Instruction Handbook.)
*Variable type mismatch* (–465)
Explanation: One or more of the variables in the line is of a type inconsistent with
the other variables or with the type required by the command or
instruction. For example, you may be trying to mix location vari-
ables with real-valued variables. If this error occurs upon exiting
from the editor, the variable type within the program conflicts with
the type of a global variable that is already defined.
User action: Check the syntax for the operation and reenter the line, correcting
the mismatch. Delete conflicting global variables, if appropriate.
*Vision aborted* (–749)
Explanation: (1) The Abort menu item in the vision window has been selected. If
a vision instruction in a V
+
program was being executed, it is
aborted and the error code for this message is returned (for access
with the ERROR function); (2) a V
+
program has been aborted when
it was executing a vision instruction (In this case, the error code for
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