YASKAWA Error Messages

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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

  • 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.

  • If MM_GET_JPS is called in the program, make sure that the data type of the P variable is pulse.

  • 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.

    • 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.

    • 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.

Abnormal Communication Connection

  • MM:SOCKET_OPEN_ERROR

  • MM:SOCKET_CONNECT_ERROR

  • MM:SOCKET_SEND_ERROR

  • MM:SOCKET_SELECT_ERROR

  • MM:SOCKET_RECV_ERROR

  • MM:SOCKET_RECV_TIMEOUT

  • 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

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:

  • The Standard Interface command code sent by the foreground robot program cannot be found.

  • The Standard Interface command code received by the background robot program and the command code sent by the vision system do not match.

Troubleshooting

  • 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.

  • Make sure that the sequence of calling Standard Interface commands is correct. Please contact Mech-Mind Technical Support for further assistance.

Get TCP from Robot

MM:GET_POSE_ERROR

Description

After MM_GET_POSE, 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

  • 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.

Cannot Obtain Joint Positions

MM:GET_JPS_ERROR

Description

This error may occur in the following two situations:

  • Situation 1:

    After MM_GET_JPS or MM_GET_PLANPOSE 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_JPS("1;60;61;62") is already called. If MM_GET_JPS("1;60;61;62") is called again, this error will occur.

  • Situation 2:

    The above error may occur if the robot joint positions are [0,0,0,0,0,0].

Troubleshooting

  • 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.

  • Situation 2:

    Make sure that no joint positions are [0,0,0,0,0,0].

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

Abnormal Data Write

  • MM:PUT_IVAR_ERROR

  • MM:PUT_BVAR_ERROR

  • MM:PUT_DVAR_ERROR

  • 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.

Abnormal Pulse-type P Variable

MM:GET_PVAR_PULSE_ERROR

Description

When the program retrieves the P variable, the P variable is not stored in the pulse format.

Troubleshooting

See the YASKAWA robot programming manual for troubleshooting, or contact YASKAWA technical support for assistance.

Abnormal Power-off

MM:CALIB_SERVO_OFF

Description

The error occurs when the calibration program is running, but the robot suddenly loses power.

Troubleshooting

Power up the robot and run the program again.

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