Multi-Axis Coordinated Motion Instructions
374 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Error
Code
EX_ERROR
Code
Description
61 15 Connection Conflict
Transform Invalid Delta Configuration
Link Length1 must not be equal to LinkLength2
End Effector Offset1 Re must not be negative
For Delta J1J2J6 and Delta J1J2J3J6 End Effector Offset3(D3) must
not be negative
(Link length 1 + Rb - Re) must be less than link length 2
(Link length 1 + Rb – Re) must be positive or greater than zero
67 1 Invalid Transform Position
Invalid Rx Orientation
Invalid Rx orientation value at EOA transformations. For 4 axis
geometries only Rx = 180 deg position is allowed. For all other
positions, it will generate error.
67 2 Invalid Transform Position
Invalid Ry Orientation
Invalid Ry orientation value at EOA transformations. For 4 axis
geometries, after removing work frame and tool frame, there
should not be any Ry orientation values at EOA
67 3 Invalid Transform Position
Invalid Rz Orientation
147 3-5 Invalid Orientation Scaling Constant
Extended error code 3 : Rx
Extended error code 4 : Ry
Extended error code 5 : Rz
Orientation axis
has scaling constant
MAX_K_CONSTANT_FOR_ORIENTATION_AXIS. or
has scaling constant which is not Integer or
has Conversion ratio between Coordination Units and Position
Units other than 1:1.
148 3-5 MCPM Orientation Offset Not
Rx orientation offset not valid.
Extended error code 3 : Rx orientation offset not valid.
Extended error code 4 : Ry orientation offset not valid.
Extended error code 5 : Rz orientation offset not valid.
If robot Geometry is (MO_CD_J1J2J6 or MO_CD_J1J2J3J6) and:
• workframe offset Rx isn’t 0 or
• workframe offset Ry isn’t 0 or
• toolframe offset Rx isn’t 0 or
• toolframe offset Ry isn’t 0
Or if robot Geometry is MO_CD_J1J2J3J4J5 and:
• workframe offset Rx isn’t 0 or
• workframe offset Ry isn’t 0 or
• toolframe offset Rx isn’t 0 or
• toolframe offset Rz isn’t 0
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