Kuka .PLC mxAutomation Logix 1.0 Manual page 105

No. Message text
432 INVALID BASE
NUMBER
433 INVALID TOOL
NUMBER
434 INVALID VELOC-
ITY
435 INVALID ACCEL-
ERATION
436 INVALID C_PTP
437 INVALID C_DIS
438 INVALID C_VEL
439 INVALID C_ORI
440 INVALID
ORI_TYPE
441 POSITION DATA
NOT INITIALIZED
Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
Cause
An invalid number has been
programmed in the function
block KRC_ReadBaseData or
KRC_WriteBaseData for the
BASE coordinate system.
An invalid number has been
programmed in a KRC_Move or
KRC_Jog function block for the
BASE coordinate system.
An invalid number has been
programmed in the function
block KRC_ReadToolData or
KRC_WriteToolData for the
TOOL coordinate system.
An invalid number has been
programmed in a KRC_Move or
KRC_Jog function block for the
TOOL coordinate system.
An invalid value has been pro-
grammed in a function block for
the velocity.
An invalid value has been pro-
grammed in a function block for
the acceleration.
An invalid approximation dis-
tance has been transferred for
a PTP motion.
An invalid distance parameter
has been transferred for an
approximated motion.
An invalid velocity parameter
has been transferred for an
approximated motion.
An invalid orientation parameter
has been transferred for an
approximated motion.
An invalid value has been pro-
grammed in a KRC_Move or
KRC_Jog function block for the
orientation control of the TCP.
No end position transferred
when calling a KRC_Move
function block.
8 Messages
Remedy
Specify the number of the
BASE coordinate system that is
currently being used in the
robot controller (parameter
BaseNo).
 1 ... 32
Specify the number of the
BASE coordinate system that is
currently being used in the
robot controller (parameter
CoordinateSystem – COORD-
SYS.Base).
Specify the number of the
TOOL coordinate system that is
currently being used in the
robot controller (parameter
ToolNo).
 1 ... 16
Specify the number of the
TOOL coordinate system that is
currently being used in the
robot controller (parameter
CoordinateSystem – COORD-
SYS.Tool).
Program a valid value (parame-
ter Velocity):
 0 ... 100%
Program a valid value (parame-
ter Acceleration):
 0 ... 100%
Program a valid value (parame-
ter Approximate).
(>>> "APO" Page 25)
Program a valid value (parame-
ter OriType).
(>>> "OriType" Page 28)
Define at least 1 element of the
end position (parameter Posi-
tion).
(>>> "E6POS" Page 26)
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