Troubleshooting error messages

 

 

 

The following table lists commonly encountered error messages, the causes of the errors, and ways to resolve the errors. The error messages are listed by error message ID, which is displayed on the title bar of the error message dialog box.

If you are still experiencing problems with the robot after trying the solutions, or if an error not on the list is displayed, contact Automation Solutions Technical Support.

For protocol-related errors, see the VWorks Automation Control User Guide.

 

ID	Error message	Cause	Solution
101	Invalid jog destination	You have specified a jog increment that will cause the robot to move outside of its limits.	Reduce the jog increment so that the robot can reach its destination.
102	Plate in gripper	The robot is trying to home, but it has a labware in its grippers.	Remove the labware from the robot grippers and try homing again.
104	Failed to grip	The robot is expecting labware in its grippers.	Place a plate in the robot grippers.
105	Gripping an item outside the gripping tolerance	The robot is holding labware that is either too small or too large.	Check that the correct labware is in the grippers. Alternatively, check and correct the parameter settings in the Labware Editor.
109	Wrist wound	The wrist is rotated beyond its permitted limits.	In the error message dialog box, select Yes to unwind and home the wrist joint.
801	A destination and next location must be specified	In a lidding or relidding operation, the lid device and the next teachpoint must be specified.	Check the protocol and make sure the lid device is specified correctly. Check that the teachpoint after the lidding task is also specified correctly.
802	A source and/or destination must be specified	You are attempting to transfer labware, but you have not selected the source or destination teachpoints.	Select the source and destination teachpoints.
803	Approach distance cannot be less than zero	You have specified a negative value for the Approach Distance parameter.	Change the Approach Distance value so that it is 0 or greater.
804	Approach distance extends too far into the robot zone	The Approach Distance value is too large and will cause the robot to move into the robot zone.	Decrease the Approach Distance value, or move the teachpoint away from the robot zone.
805	Approach height cannot be less than zero	You have specified a negative value for the Approach Height parameter.	Change the Approach Height value so that it is 0 or greater.
806	Approach height cannot exceed vertical reach	The Approach Height value is too large and will cause the robot to move beyond its vertical limit.	Decrease the Approach Height value, or lower the teachpoint.
807	Approach point cannot be reached	The Approach Distance or Approach Height value is too large, causing the robot to move beyond its radial or vertical limit.	Decrease the Approach Distance or Approach Height value. Alternatively, move the teachpoint.
808	Elbow cannot be righty at current position	The teachpoint is set with a right-arm orientation when it should be a left-arm orientation.	Reset the teachpoint using the left-arm orientation.
809	Elbow cannot be lefty at current position	The teachpoint is set with a left-arm orientation when it should be a right-arm orientation.	Reset the teachpoint using the right-arm orientation.
810	Gripper must face to the rear when behind the mast	The teachpoint behind the mast must be parallel to the base.	Edit the teachpoint so that the sides of the teachpoint are parallel to the side of the robot base. As the robot approaches the teachpoint, the grippers should also be parallel to the base.
811	Invalid IP address	You are trying to connect to the robot using the wrong IP address.	Make sure the correct IP address is assigned to the robot.
812	Lidding location and next location are the same teachpoint	You have selected a single teachpoint as both the destination and lid device.	Change the destination or lid device teachpoint.
813	Maximum grip height cannot be less than minimum grip height	The Max Gripper Offset value is less than the Min Gripper Offset value.	Change the parameter values so that the Max Gripper Offset is larger.
814	Maximum grip height cannot exceed vertical reach	The teachpoint is set too high so that the Max Gripper Offset exceeds the robot’s vertical limit.	Reduce the the Max Gripper Offset value, or lower the teachpoint.
815	Minimum grip height cannot be greater than maximum grip height	The Min Gripper Offset value is greater than the Max Gripper Offset value.	Change the parameter values so that the Min Gripper Offset is smaller.
816	Minimum grip height cannot be less than zero	You have specified a negative value for the Min Gripper Offset.	Change the Min Gripper Offset value so that it is 0 or greater.
819	No location was specified	You are attempting to move labware, but one or more teachpoints have not been selected.	In the protocol or in BenchBot Robot Diagnostics, make sure you have selected teachpoints for the labware transfer.
822	Position cannot be in the robot zone	You are attempting to set a teachpoint in the robot zone.	Move the device out of the robot zone and reset the teachpoint.
823	Position cannot be reached	You have set a teachpoint beyond the robot’s reach.	Move the device within the robot’s reach and reset the teachpoint.
824	Position cannot exceed vertical maximum	You are attempting to set a teachpoint that is out of the robot’s vertical reach.	Lower the teachpoint so that the robot can reach it.
825	Position cannot put approach distance too far into clear zone	The Approach Distance value will cause the robot to move into the robot zone when approaching the teachpoint.	Decrease the Approach Distance value, or move the teachpoint away from the robot zone.
826	Position cannot put approach height out of vertical reach	The Approach Height value will cause the robot to move beyond its vertical limit.	Decrease the Approach Height value, or lower the teachpoint so that the robot can reach it.
827	Position must exceed vertical minimum	You are attempting to set a teachpoint below the vertical minimum.	Move the teachpoint so that it is above the vertical minimum.
828	Source and destination are the same teachpoint	You are attempting to transfer labware, but the source and destination teachpoints are identical.	Select a different source or destination teachpoint.
829	Source location and lidding location are the same teachpoint	You are attempting a delid or relid operation, but you have selected a single teachpoint for the source teachpoint and the lid device.	Change the source teachpoint or the lid-device teachpoint.
831	Teachpoint name already exists	You are attempting to name a teachpoint with one that already exists.	Specify a unique teachpoint name.
833	Yaw angle cannot be less than -180	The angle you specified is less than –180°. Yaw must be between -180° and 180°.	Change the Yaw so that it is between -180° and 180. For example, you should specify -190° as 170°. (-190° + 360° = 170°).
834	Yaw angle cannot be greater than 180°	The angle you specified is greater than 180°. Yaw must be between -180° and 180°.	Change the Yaw so that it is between -180° and 180. For example, you should specify 190° as  –170°. (190° – 360° = –170°).
852	No labware is currently gripped to place at the destination	The robot is attempting a place-to operation but it does not have labware in its grippers.	Place labware in the robot grippers and try again.
853	Unspecified destination location could not be created	A destination teachpoint was not specified.	Select a destination teachpoint.
854	The source location has no approach that is compatible with the specified labware	The source teachpoint gripper offset range specified in BenchBot Robot Diagnostics does not overlap with the gripper offset range in the Labware Editor.	Change the gripper offset ranges in BenchBot Robot Diagnostics and in the Labware Editor so that they overlap.
855	The destination location has no approach that is compatible with the specified labware	The destination teachpoint gripper offset range specified in BenchBot Robot Diagnostics does not overlap with the gripper offset range in the Labware Editor.	Change the gripper offset ranges in BenchBot Robot Diagnostics and in the Labware Editor so that they overlap.
856	A valid combination of the specified source location and approaches could not be found	The source teachpoint gripper offset range specified in BenchBot Robot Diagnostics does not overlap with the gripper offset range in the Labware Editor.	Change the gripper offset ranges in BenchBot Robot Diagnostics and in the Labware Editor so that they overlap.
857	A valid combination of the specified destination location and approaches could not be found	The destination teachpoint gripper offset range specified in BenchBot Robot Diagnostics does not overlap with the gripper offset range in the Labware Editor.	Change the gripper offset ranges in BenchBot Robot Diagnostics and in the Labware Editor so that they overlap.
858	A path between source and destination locations could not be found	A regrip station is expected, because: • The labware orientations of the two teachpoints do not match. • The gripper offset ranges of the two teachpoints do not match.	Add a regrip station. Alternatively, change the labware orientation, or change the gripper offset ranges so that they match.
859	A path to the next location could not be found	A regrip station is expected, because: • The labware orientations of the source and destination teachpoints do not match. • The gripper offset ranges of the two teachpoints do not match.	Add a regrip station. Alternatively, change the labware orientation, or change the gripper offset ranges so that they match.
871	Not connected to BenchBot	The robot is disconnected from the computer.	Try one or more of the following: • Check the Ethernet connection between the robot and the computer. • Make sure you have selected the correct profile, and then initialize the robot.
873	Command timed out	An obstacle is preventing the robot from carrying out a comand.	Remove obstacles from the robot’s path. Make sure there is no labware in the robot grippers.
876	A path to the destination location could not be found from the source location	A regrip station is expected, because: • The labware orientations of the source and destination teachpoints do not match. • The gripper offset ranges of the two teachpoints do not match.	Add a regrip station. Alternatively, change the labware orientation, or change the gripper offset ranges so that they match.
877	The path contains an illegal move	A regrip station is expected, because: • The labware orientations of the source and destination teachpoints do not match. • The gripper offset ranges of the two teachpoints do not match.	Add a regrip station. Alternatively, change the labware orientation, or change the gripper offset ranges so that they match.
878	The path contains an illegal offset regrip move	You are transferring labware, but the gripper offset ranges of the two teachpoints and the regrip station do not overlap.	Make sure the gripper offset ranges of the three locations overlap.
879	The path contains an illegal orientation regrip move	You are transfering labware, but the gripper offset ranges of the two teachpoints and the regrip station do not overlap.	Make sure the gripper offset ranges of the three locations overlap.
886	Unexpectedly gripping labware while trying to pick	The robot is attempting to pick up a labware, but it is already holding labware in its grippers.	Remove the labware from the robot grippers and try the pick-up operation again.
887	Gripping unknown plate while trying to place	The robot is expecting the labware to be in a certain orientation, but the labware is not held in that orientation. For example, the robot is expecting a landscape orientation, but the labware is in the portrait orientation.	Make sure the labware is held in the correct orientation. Check the labware orientation for the source and destination teachpoints.
		The labware is held crookedly.	Remove the labware from the robot and try again. If the problem persists, check and correct the parameters in the Labware Editor.
888	Failed to pick up labware	The robot is attempting to pick up labware from the designated teachpoint. The labware is missing, or the incorrect labware is at that teachpoint.	Make sure the correct labware is present at the teachpoint.
889	Failed to regrip labware	The robot is attempting to regrip labware at the regrip station. The labware is missing, or the incorrect labware is at that station.	Make sure the correct labware is present at the regrip station.
1012	Joint out of range	You are attempting to jog the robot beyond its limits.	Reduce the jog increment so that the robot moves within its range.
1014	Time out during nulling	An obstacle is preventing the robot from carrying out a comand.	Remove obstacles from the robot’s path. Make sure there is no labware in the robot grippers.
1028	Hard E-Stop	The emergency-stop button is pressed.	Release the emergency-stop button and restore power to the robot.
3100	Hard envelope error	The robot has run into an obstacle.	Remove obstacles from the robot’s path. Make sure there is no labware in the robot grippers.
		The robot is moving too fast for the load it is carrying.	Select a slower robot speed in BenchBot Robot Diagnostics and in the VWorks software.
3104	Motor duty cycle exceeded	The robot has run into an obstacle.	Remove obstacles from the robot’s path. Make sure there is no labware in the robot grippers.
		The robot is moving too fast for the load it is carrying.	Select a slower robot speed in BenchBot Robot Diagnostics and in the VWorks software.
3122	Soft envelope error	The robot has run into an obstacle.	Remove obstacles from the robot’s path. Make sure there is no labware in the robot grippers.
		The robot is moving too fast for the load it is carrying.	Select a slower robot speed in BenchBot Robot Diagnostics and in the VWorks software.
3105	Motor stalled	The robot has run into an obstacle.	Remove obstacles from the robot’s path. Make sure there is no labware in the robot grippers.
		The robot is moving too fast for the load it is carrying.	Select a slower robot speed in BenchBot Robot Diagnostics and in the VWorks software.

 

 

 

Related information

 

For information about...	See...
BenchBot Robot component names	Hardware components
Hardware problems	Troubleshooting hardware problems
Recovering from emergency stops	Recovering from an emergency stop
Recovering from servo errors	Recovering from servo errors
Setting and editing teachpoints	Teachpoint setting workflow
Changing the gripper offset range	Setting the Min and Max Gripper Offset parameters
Changing the approach distance and approach height	Setting the Approach Height and Approach Distance parameters
Setting robot-arm orientation	Planning BenchBot Robot teachpoints
Safety	BenchBot Robot Safety and Installation Guide
Reporting problems to Agilent Technologies	Reporting problems