Specifications

Appendix E - System Messages
Adept MV Controller User’s Guide, Rev C 211
*Encoder quadrature error* Mtr n (–1008)
Explanation: The position encoder signal from the specified motor is sending
information that is not phased correctly. The encoder or its cabling may
be defective.
User action: Turn on high power, calibrate the robot, and try to perform the motion at
a slower speed. If the error persists, contact Adept Customer Service.
*Envelope error* Mtr n (–1006)
Explanation: The indicated motor was not tracking the commanded position with
sufficient accuracy, indicating a failure in the hardware servo system or
something impeding the path of the robot. V
+
disables High Power when
this error is reported.
User action: Turn on high power and try to perform the motion at a slower speed.
Make sure nothing is obstructing the robot motion. If the error recurs,
contact Adept Customer Service.
*E-STOP from amplifier* (–641)
Explanation: The motion interface board has detected an E-STOP condition generated
by the motor amplifiers. It indicates that the amplifiers have detected
some fault condition.
User action: Check for a subsequent message. To determine if there was an unreported
RSC error, type listr error(task,4), where task is the number of the task that
received the error. If no additional information is available, check that the
amplifiers are plugged into the backplane correctly, the fixing screws are
tightened, and the motor and signal cables are connected correctly.
*E-STOP from backplane* (–643)
Explanation: The motion interface board has detected an E-STOP due to the
BRAKE-ESTOP signal being asserted on the VMEbus.
User action: Check for a subsequent message. To determine if there was an unreported
RSC error, type listr error(task,4), where task is the number of the task that
received the error. If no additional information is available, call Adept
Customer Service.
*E-STOP from robot* (–640)
Explanation: The motion interface board has detected an E-STOP condition generated
by the RSC in the robot. This error is probably due to low air pressure,
joint-1 overtravel, or motor overheating. A subsequent error message
may provide more information.
User action: Check for a subsequent message.To determine if there was an unreported
RSC error, type listr error(task,4), where task is the number of the task that
received the error. If no additional information is available, check for low
air pressure, joint 1 overtravel, or motor overheating.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com