Kinematics Error Codes

Kinematics error codes are defined in the KinematicsErrorCode class. These error codes are returned when a Robot class function or Kinematics API function fails to execute.

Error Code	Code (Decimal)	Code (Hex)	Description	Solution
ParametersInvalid	163840	0x28000	Invalid parameter input	Check if a valid parameter was entered
RobotIDOutOfRange	163841	0x28001	Robot ID is set to less than 0 or 5 or more	Check if the robot ID is set to a value between 0 and 4
RobotModelInvalid	163842	0x28002	A parameter other than the defined robot model type was set	Check if a valid robot model parameter was set
RobotOptionLicenseValidationError	163843	0x28003	Error code that occurs when there is no robot license	Check if a robot license is registered in the dongle key
GivenRobotIDAlreadyUsed	163844	0x28004	Robot ID was declared as a duplicate	Check if the robot ID was declared as a duplicate
RobotInitializationIsNotFinished	163845	0x28005	Error code that occurs when the robot status is not Idle	Check if the robot status is Idle
CannotGetTrajectorySlot	163846	0x28006	Error code that occurs when a path slot is not created in the Coordinate module	Check if the path slot is created normally in the Coordinate Module
RobotIsInMotion	163847	0x28007	Error code that occurs when an additional command is received while the robot is in motion	Check if a command is given to the robot while it is in motion
RobotIsNotInMotion	163848	0x28008	Error code that occurs when a stop command is received while the robot is not in motion	Check if a stop command is given to the robot while it is not in motion
RobotIsNotInPause	163849	0x28009	Error code that occurs when a resume command is received while the robot is not paused	Check if a resume command is given to the robot while it is not paused
RobotIsInError	163850	0x2800A	Error code that occurs when the robot motion status is in an error state	Check if the robot motion status is in an error state
MotionIsNotSet	163851	0x2800B	Occurs when a motion execution command is received for a motion that requires setting, but the setting is not complete	Check if the motion was set in advance
AxisIsBusy	163852	0x2800C	Error code that occurs when the status of each robot axis is not Idle	Check if the status of each robot axis is Idle
FailInitializeEvent	163853	0x2800D	Occurs when event registration fails in a Wait command that uses a trigger motion and event	Check if the motion event was delivered properly
SettingPrametersDoesNotMatchRobotModel	163854	0x2800E	Error code that occurs when the contents of the robot parameter file and the robot model do not match	Check if the robot parameters matching the robot model are entered in the robot parameter file
RobotIDIsNotFound	163855	0x2800F	Error code that occurs when the robot ID entered in the robot parameter file is out of range or does not match the robot ID to be operated	First, check the range of the robot ID entered in the robot parameter file, and then check if it matches the robot ID to be operated
FailInverseKinematics	163856	0x28010	Inverse kinematics calculation failure error code	Recheck if the entered Cartesian coordinate value can be reached kinematically
FailForwardKinematics	163857	0x28011	Forward kinematics calculation failure error code	Recheck if the entered joint value can be reached kinematically
ReserveDataFull	163858	0x28012	Occurs when a trigger motion is already reserved	Deliver the trigger motion command after the already reserved motion is executed.
InternalWaitEventError	163859	0x28013	Error code that occurs when a timeout phenomenon occurs at the engine level	Check if the parameter applied to the engine level is valid
MotorIDIsNotUnique	163860	0x28014	Error code that occurs when a motor ID is set as a duplicate	Recheck if the motor ID was set as a duplicate
AxisVelAccInvalid	163861	0x28015	Error code that occurs when setting the velocity and acceleration limit values	Recheck the velocity and acceleration limit setting values
FailToAllocateSharedMemory	163862	0x28016	Error code that occurs when memory buffer allocation fails	Check the size of the memory buffer to be allocated
FailToCopyMemory	163863	0x28017	Error code that occurs when memory copy fails	Check the memory copy conditions
MemoryChannelIsNotAllocated	163864	0x28018	Error code that occurs when a memory copy command is issued while the robot memory buffer is not allocated	Check if the robot memory buffer is allocated
MemoryChannelISInUse	163865	0x28019	Error code that occurs when a command to create a memory buffer is issued again while the robot memory buffer is already created	Check if a robot memory buffer has been created
MemoryChannelIsInError	163866	0x2801A	Error code that occurs when the robot memory buffer status is in an error state	Check the robot memory buffer status
SystemIsInEmergencyStop	163867	0x2801B	Error code that occurs in E-stop mode in WOS	Check if it is in E-Stop mode in WOS
LinkMassIsZero	163868	0x2801C	Error code that occurs when the linkParams - mass value is 0	Check if the linkParam - mass value is 0 in the RobotParam variable
FeedbackTorqueIsNotSupport	163869	0x2801D	Error code that occurs when the ‘Feedback torque’ value is not supported by the WMX axis	Check if the Feedback torque information is mapped in the eni file
FittingParameterInvalid	163870	0x2801E	Invalid collision detection parameter input	Check if the corresponding collision detection parameter is valid
FittingIsOn	163871	0x2801F	Torque fitting function enabled	Check if the user has enabled the torque fitting function
FittingIsOff	163872	0x28020	Torque fitting function disabled	Check if the user has disabled the torque fitting function
CollisionDetectionIsEnable	163873	0x28021	Collision detection function enabled	Check if the user has enabled the collision detection function