8 Appendix A - Error List

Error	Reason	How to Fix Error
E-Stop was triggered	The E-Stop was pressed	The robot requires recovery. Navigate to the Routine Editor and press the Play button to access the Recovery Panel.
Internal communication failure		The robot requires recovery. Navigate to the Routine Editor and press the Play button to access the Recovery Panel.
Robot encountered a control system issue	Failed to receive encoder information for [ Time in ms ]	The robot requires recovery. Navigate to the Routine Editor and press the Play button to access the Recovery Panel.
Failed plan joint motion	Joint is already at limit of relative joint motion and can not travers any further in that direction.	The joint can not move any further in the direction of travel. The robot requires recovery. Navigate to the Routine Editor and press the Play button to access the Recovery Panel.
Arm has encountered a collision	The arm collided with an object and stopped. The joint will be identified in the error, along with the detected Nm force and the threshold set force in Nm	The robot requires recovery. Navigate to the Routine Editor and press the Play button to access the Recovery Panel. Furthermore you can check the threshold settings and evaluate if the numbers are set correctly based on a safety study of the application
Unable to enter ANTIGRAVITY state		The robot requires recovery. Navigate to the Routine Editor and press the Play button to access the Recovery Panel.
CSI_collision detected	There was a collision detected. The threshold crossing limit will be displayed in m/s2	The robot requires recovery. Navigate to the Routine Editor and press the Play button to access the Recovery Panel. Furthermore you can check the threshold settings and evaluate if the numbers are set correctly based on a safety study of the application
Failed to run program: Already running program or robot-main is not running on Haas machine		Restart the robot or the CNC and verify the robot-main program is running on the CNC
Failed to receive encoder status	The E-Stop was pressed or the control box to robot cable is unplugged	Ensure Estop is not pressed and that cable between robot and control box is connected firmly
IO state timeout	The E-Stop was pressed or the control box to robot cable is unplugged	Ensure Estop is not pressed and that cable between robot and control box is connected firmly
Routine Invalid: Waypoint steps must have terminal Move Arm step	Waypoints can only be used when the next step is a Move Arm	Uncheck “Treat as waypoint” or add Move Arm step after Waypoint step.
Motion failed	Robot cannot plan a path between current position and target position, likely due to a singularity.	Adjust starting position or target position.
Torque Limit Exceeded	Too much torque was recorded on the joint named in the error message	Reduce payload, speed or reach.
Joint Limit Exceeded	Joint is already at limit of relative joint motion and can not traverse any further in that direction.	The joint can not move any further in the direction of travel. The robot requires recovery. Navigate to the Routine Editor and press the Play button to access the Recovery Panel.
Error Loading Camera Feed	Vision camera does not disply video feed	Check camera connection to robot. Rotate USB-C cable 180 degrees and try camera again
EOAT Not Detected	The robot is not detecting the EOAT	Check the EOAT connection to the robot. Verify that you added the EOAT into Equipment after it was connected to the robot.
Ipad will not connect to robot	There is a wierless issue between the Ipad and the robot either over WiFi or Bluetooth	Make sure the Ipad and the robot are on the same network. Verify that Bluetooth is enabled on the Ipad.