YASKAWA Error Messages
The following errors may occur while the Standard Interface program runs on the robot.
Robot Internal Error
MM:Internal_Error
Description
Two causes may be responsible for this error.
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The specified data type of the P variable does not match the data type of the actual value.
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A command is repeatedly called. 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.
Troubleshooting
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To address the first cause, see the following content:
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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 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 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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To address the second cause, see the following content:
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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.
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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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Abnormal Communication Connection
MM:Socket_Connect_Error
Description
The error occurs when the background robot program fails to establish communication.
Troubleshooting
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Check if the network hardware (including network ports, cables, routers, etc.) is properly connected.
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Check if the Standard Interface service is enabled in Mech-Vision.
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Check if the robot and IPC IP addresses are in the same subnet and can ping each other.
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Check if the IP address in the Standard Interface program file is the actual IP address of the IPC, and the port number in the file is the port number configured in the communication configuration of Mech-Vision.
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Check if the firewall is turned off on the IPC.
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If you need further assistance, please contact the Mech-Mind technical support.
Command Parameter Error
MM:Robot_Argument_Error
Description
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One or more required parameters are not specified in the Standard Interface command.
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One or more parameter values specified in the Standard Interface command exceed 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 Incorrect
MM:Robot_CMD_Error
Description
Two causes may be responsible for this error.
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The Standard Interface command code sent by the foreground robot program is not valid.
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The Standard Interface command code sent by the background robot program is inconsistent with the command code sent by the vision system.
Troubleshooting
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Go to YASKAWA Standard Interface Commands and specify correct parameters 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. If you need further assistance, contact the Mech-Mind technical support.
Abnormal Status Code
MM:IPC_Return_Error
Description
An abnormal status code is returned by the vision system.
Troubleshooting
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Go to Status Codes and Troubleshooting to find troubleshooting instructions.
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If you need further assistance, contact the Mech-Mind technical support.