YASKAWA Error Messages
The following errors may occur while the Standard Interface program runs on the robot.
Robot Internal Error
MM:INTERNAL_ERROR:ERROR_ID
Description
The error occurs while the background robot program attempts to call the MotoPlus API. It is usually because the specified data type of the P variable does not match the data type of the actual value.
ERROR_ID is the ID of the error. You can provide the value of the P variable to the Mech-Mind technical support for troubleshooting purposes.
Troubleshooting
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If MM_GET_POSE or MM_GET_DYPOSE is called in the program, make sure that the data type of the P variable is robot.
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If MM_GET_JPS is called in the program, make sure that the data type of the P variable is joint position or pulse.
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If MM_GET_PLANPOSE is called in the program, make sure that the data type of the P variable is correct based on the following content.
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If the value of jpsPos in MM_GET_PLANDATA is 1 or 3, make sure that the data type of the P variable is joint position or pulse.
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If the value of jpsPos in MM_GET_PLANDATA is 2 or 4, make sure that the data type of the P variable is robot.
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Abnormal Communication Connection
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MM:SOCKET_OPEN_ERROR
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MM:SOCKET_CONNECT_ERROR
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MM:SOCKET_SEND_ERROR
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MM:SOCKET_SELECT_ERROR
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MM:SOCKET_RECV_ERROR
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MM:SOCKET_RECV_TIMEOUT
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MM:SOCKET_CLOSED
Description
The robot communicates with the vision system by using a TCP socket connection. The above errors may occur when the socket is being opened, connected, sent, received, or closed.
Troubleshooting
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Go to How to Troubleshoot Failed Standard Interface Communications to check each configuration item in sequence.
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Please contact Mech-Mind Technical Support for further assistance.
Command Parameter Not Specified
MM:ARGUMENT_MISSING
Description
One or more required parameters are not specified in the Standard Interface command.
Troubleshooting
Go to YASKAWA Standard Interface Commands and specify correct parameters based on the descriptions in YASKAWA Standard Interface Commands.
Command Parameter Incorrect
MM:ARGUMENT_INVALID
Description
One or more parameter values in the Standard Interface command exceeds the valid range.
Troubleshooting
Go to YASKAWA Standard Interface Commands and specify correct parameters based on the descriptions in YASKAWA Standard Interface Commands.
Command Code Error
MM:CMD_ERROR
Description
This error may occur in the following two situations:
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The Standard Interface command code sent by the foreground robot program cannot be found.
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The Standard Interface command code received by the background robot program and the command code sent by the vision system do not match.
Troubleshooting
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Go to YASKAWA Standard Interface Commands and make sure that the sent command code is correct based on the descriptions in YASKAWA Standard Interface Commands.
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Make sure that the sequence of calling Standard Interface commands is correct. Please contact Mech-Mind Technical Support for further assistance.
Cannot Obtain Pose Data
MM:GET_POSE_EMPTY
Description
This error may occur in the following three situations.
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Situation 1:
After MM_GET_POSE, MM_GET_JPS, MM_GET_PLANPOSE, or MM_GET_DYPOSE is called, the cached data corresponding to the specified index will be stored in the specified variable and then cleared. If the above command is called again, this error will occur. This means that data corresponding to the same index cannot be repeatedly retrieved.
For example, when retrieving data corresponding to index 1, MM_GET_POSE("1;60;61;62") is already called. If MM_GET_POSE("1;60;61;62") is called again, this error will occur.
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Situation 2:
The above error may occur if the robot joint positions are [0,0,0,0,0,0].
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Situation 3:
The type of the poses obtained differs from the type of poses stored. For example, the value of GetPos_Type in MM_GET_VISPATH is 1, which indicates the type of poses obtained is joint positions. However, yaskawa-interface-commands.adoc#YASKAWA-tcp-003 is called later to store TCP. In this case, this error will occur.
Troubleshooting
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Situation 1:
If you do not need to rerun the project to retrieve data by using the program, do not retrieve the data of the same index.
After an abnormal robot program run, ensure the program is fully reset to prevent issues caused by data from the previous run.
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Situation 2:
Make sure that no joint positions are [0,0,0,0,0,0].
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Situation 3:
Make sure that the type of the poses obtained is the same as the type of poses stored.
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When you call MM_GET_VISPATH, make sure that the value of GetPos_Type matches the subsequent command to be called.
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If the value of GetPos_Type is 1, call MM_GET_JPS later.
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If the value of GetPos_Type is 2, call MM_GET_POSE later.
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When you call MM_GET_VIZDATA, make sure that the value of GetPos_Type matches the subsequent command to be called.
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If the value of GetPos_Type is 1, call MM_GET_JPS later.
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If the value of GetPos_Type is 2, call MM_GET_POSE later.
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Abnormal Status Code
MM:IPC_RETURN_ERROR:STATUS_CODE
Description
This error code may be returned when the foreground robot program calls a Standard Interface command.
STATUS_CODE is the error status code returned by the vision system.
Troubleshooting
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Go to Status Codes and Troubleshooting to find troubleshooting instructions.
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Contact the Mech-Mind technical support for further assistance.
Abnormal Data Write
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MM:PUT_IVAR_ERROR
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MM:PUT_BVAR_ERROR
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MM:PUT_DVAR_ERROR
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MM:PUT_RVAR_ERROR
Description
An error occurred in the background robot program while writing to the I, B, D, or R variable.
Troubleshooting
See the YASKAWA robot programming manual for troubleshooting, or contact YASKAWA technical support for assistance.