Motion Error Codes, faults, and attributes
566 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
149 Orientation axes (Rx, Ry, and Rz) must be virtual if the coordinate system is
involved in the MCTO or MCTPO transforms.
Refer to the online help for the instruction for extended error code definitions. It
identifies the orientation axis.
Orientation axis is not virtual.
150 The instruction reports this error when an orientation axis (Rx, Ry, or Rz) is used
as a master axis of a gearing, camming, or master driven instructions
Master axis is orientation axis.
151 The Joint angle in a Delta J1JJ2J6, DeltaJ1J2J3J6, or Delta J1J2J3J4J5 geometry
goes beyond the joint angle limit.
Refer to the online help for the instruction for extended error code definitions. It
identifies the Joint that is outside its range.
Joint angle beyond its limits.
152 Error occurs when the orientation axis is commanded to move by and angle
greater than or equal to 180 degrees in one coarse update period.
Refer to the online help for the instruction for extended error code definitions. It
identifies the orientation axis.
Maximum orientation speed exceeded for an orientation axis.
153 The error occurs if the programmed Cartesian position (X, Y or Z) cannot be
attained by the robot.
For example: A Delta J1J2J6 robot can operate only in a 2D X-Z plane without a
tool. If you program a Cartesian point with Y, a non-zero value, this error occurs
with extended error 2 that represents invalid translation position Y.
Refer to the online help for the instruction for extended error code definitions. It
identifies the Joint that is outside its range.
Invalid translation position.
You will get an error if certain Motion Instructions overlap while Motion Stop
Instructions are active. In this case, an instruction is actively stopping and a second
instruction is initiated that overlaps the active instruction. The table below lists
some of the overlap instances that will generate errors.
In this case:
Error # 7 = Shutdown State Error.
Error #61, ExErr #10 = Connection Conflict, Transform Axes Moving or Locked
By Other Operation.
Error #78 = Not Allowed While Stopping.
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