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.

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
124	The current speed setting <speed> exceeds the maximum speed specified by the newly selected labware <speed>. Would you like to reduce the speed setting to match the maximum speed <speed>?	After selecting a speed in Direct Drive Robot Diagnostics, you select a labware. The speed setting of the labware (in Labware Editor) is slower than the speed selection in Direct Drive Robot Diagnostics.	Select Yes to change the speed selection in Direct Drive Robot Diagnostics to match the labware speed setting. Select No to use the current speed selection in Direct Drive Robot Diagnostics. Note that the Labware speed setting will not be changed.
125	Failed to open a connection to <profileName: errorString>.	Connection cannot be established with the robot specified by the profile. The desired robot or the controlling computer is not connected to the system.	Make sure the robot and controller computer are both connected to the system network.
145	Failed to disable the arm power.	Connection cannot be established with the robot specified by the profile. The desired robot or the controlling computer is not connected to the system.	Make sure the robot and controller computer are both connected to the system network.
146	Failed to enable the arm power.	Connection cannot be established with the robot specified by the profile. The desired robot or the controlling computer is not connected to the system.	Make sure the robot and controller computer are both connected to the system network.
167	Would you like to change the selected labware to Teaching Jig? If not, make sure the selected labware is gripped at its minimum gripper offset.	You clicked Teach Mode in Direct Drive Robot Diagnostics, but you have not yet selected the teaching jig.	Click Yes to select the teaching jig in Direct Drive Robot Diagnostics. Click No to exit the error dialog box. The existing labware is still selected. When using a labware to set teachpoints, the software assumes that the labware is held at the minimum gripper offset.
179	There are unsaved teachpoint modifications. Would you like to save?	While closing the profile, the software found unsaved teachpoint modifications.	Click Yes to save the changes and close the profile. Click No to close the profile without saving the changes.
212	This action will create <orientation>. This orientation already exists in this teachpoint. Would you like to exchange the parameters of these two orientations?	Changing the A1-well orientation of the selected orientation will result in duplicate orientations for a teachpoint.	Click Yes to keep the two A1-well orientations and exchange the parameters of these two orientations. Click No to exit the error dialog box without making any changes.
250	The teachpoint <teachpoint name> does not exist. Before starting the cycler, you must remove this teachpoint.	You are attempting to start the teachpoint cycler, but a teachpoint no longer exists. The teachpoints list in the Cycler tab is not synchronized with the teachpoints list in the Teachpoints tab. Teachpoints that were removed in the Teachpoints tab still appear in the Cycler tab.	Remove the obsolete teachpoint from the Cycler tab before starting the teachpoint cycler.
252	The center of the approach orientation <plate, A1, and arm orientation> is not within 25 mm of the center of the orientations found in the target teachpoint: <teachpoint name>. Continue?	All orientations of a single teachpoint should have the same center coordinates with a 25-mm tolerance along the x-, y-, or z-axis. The orientation you are adding is likely for a different teachpoint, because its center is greater than 25 mm from that of the target teachpoint.	Click Continue to add the orientation to the teachpoint despite the warning. When you save the teachpoint file, the same warning message will appear. Click Cancel to exit the dialog box without making the change.
344	You are attempting to update the orientation <original plate orientation, original A1 orientation, original arm orientation> with the robot's current approach orientation: new plate orientation, new A1 orientation, new arm orientation. Because of this mismatch, the update is not allowed.	You moved the robot to a new position and the orientation (landscape/portrait, right/left) does not match the teachpoint you selected for the update action. For example, the robot is currently in the landscape orientation but the teachpoint you selected has the portrait orientation.	Make sure you have selected the correct teachpoint for updating. Make sure you have moved the robot to the correct position and the orientation is correct.
363	Because the specified zip file name does not start with DDRFirmware, you cannot use this file to update the Direct Drive Robot firmware.	The .zip file you are using for firmware update must contain the DDRFirmware string in its name.	Make sure you selected the correct file for upgrading the firmware. The filename must start with the DDRFirmware string.
9041	Gripper motor could not initialize. If a plate is currently being gripped, removing it should allow the gripper motor to initialize.	The gripper was holding a labware when you initialized the robot.	Remove the labware, and then reinitialize.
9051	z-axis motor over temperature (digital).	The digital input that is connected to the z-axis temperature sensor indicates that this axis temperature is equal to or above approximately 110 °C.	Home the robot.
9052	z-axis motor over temperature (analog).	The analog input that is connected to the z-axis temperature sensor indicates that this axis temperature is equal to or above the factory-specified threshold.	Home the robot.
9081	Error while homing robot.	The robot grippers cannot move to the home position. An obstacle might be in the way, or the grippers are opened too far.	If the grippers are holding labware, remove the labware and retry homing. If an obstable is in the way, remove the obstacle and retry homing. Close the robot grippers and try again.
9082	Error while homing robot (fine homing error).	The robot is unable to move to the home position.	Move the robot to a different position, and then try to home the robot again.
9115	Communication error (destination not set).	An internal software error occurred.	Contact Automation Solutions Technical Support.
9131	Teachpoint name not found.	An internal software error occurred.	Contact Automation Solutions Technical Support.
9132	Approach orientation index out of range.	An internal software error occurred.	Contact Automation Solutions Technical Support.
9138	Could not find the specified approach orientation.	The firmware has encountered a situation in which the desired approach orientation(s) does not exist in the specified teachpoint. For example, the operator has issued a ‘Move to’ command to teachpoint ‘A’, and specified that the Portrait, A1 away from the gripper, Lefty orientation be used. When the robot executes this command it is determined that the specified approach orientation does not exist for teachpoint ‘A.’	Reset the teachpoint with the correct orientations.
9140	Final gripper position is less than target position.	The gripper settings need to be adjusted. When gripping a plate in landscape or portrait position, the gripper is closed until the labware-specified torque is reached. After reaching this torque, the grippers are stopped. The gripper position is checked against the Gripper settings found in the Setup tab. If the gripper position does not fall within the tolerance specified by these settings, this error is displayed.	In the Direct Drive Robot Diagnostics Setup tab, adjust the close target and the close tolerance settings.
9141	Final gripper position is greater than target position.	The gripper settings need to be adjusted. When gripping a plate in landscape or portrait position, the gripper is closed until the labware-specified torque is reached. After reaching this torque, the grippers are stopped. The gripper position is checked against the Gripper settings found in the Setup tab. If the gripper position does not fall within the tolerance specified by these settings, this error is displayed.	In the Direct Drive Robot Diagnostics Setup tab, adjust the close target and the close tolerance settings.
9146	While picking: Error occurred during transfer from <SRC> to <DST>.	The robot was unable to move to the pick location because an obstacle was in the way.	Remove any obstacle in the robot's path and try again.
9147	While picking: Optical sensor failed to sense plate.	The software and firmware are out of date.	Update the Direct Drive Robot plugin software to version 1.1 or later, and update the robot and gripper firmware to version 1.1 or later.
9149	Homing error: Home index pulse off.	Hardware error occurred in the motor, encoder, sensor, or all.	Contact Automation Solutions Technical Support.
9150	Homing error: Home index pulse on.	Hardware error occurred in the motor, encoder, sensor or all.	Contact Automation Solutions Technical Support.
9151	Homing error: Error on encoder falling edge.	Hardware error occurred in the motor, encoder, sensor or all.	Contact Automation Solutions Technical Support.
9152	Homing error: Error on encoder rising edge.	Hardware error occurred in the motor, encoder, sensor or all.	Contact Automation Solutions Technical Support.
9153	Homing error: Pulse width error found during homing.	Hardware error occurred in the motor, encoder, sensor or all.	Contact Automation Solutions Technical Support.
9154	Homing error: Error moving away from the latched position during homing.	An error occurred during the homing process.	Contact Automation Solutions Technical Support.
9155	Homing error: Error moving off of index.	Hardware error occurred in the motor, encoder, sensor or all.	Contact Automation Solutions Technical Support.
9156	Homing error: Error finding next index.	Hardware error occurred in the motor, encoder, sensor or all.	Contact Automation Solutions Technical Support.
9157	Homing error: Via the look up table, the absolute position of the axis could not be determined. Move the robot to a new position and then retry homing.	Hardware error occurred in the motor, encoder, sensor or all.	Move the robot to a new position and try again.
9158	Homing error: Invalid state index specified.	Hardware error occurred in the motor, encoder, sensor or all.	Contact Automation Solutions Technical Support.
9161	Labware not present in grippers.	The software and firmware are out of date.	Update the Direct Drive Robot plugin software to version 1.1 or later, and update the robot and gripper firmware to version 1.1 or later.
9163	Gripper was not empty when it should have been.	You issued a command that requires the robot to pick up a labware, but the robot is currently holding another labware.	Remove the labware from the robot’s grippers and try again.
9164	Gripper should have been holding labware.	The software and firmware are out of date.	Update the Direct Drive Robot plugin software to version 1.1 or later, and update the robot and gripper firmware to version 1.1 or later.
9165	Gripper servo error.	The robot bumped into an obstacle.	Remove all obstacles and try again. See the topic on recovering from servo errors.
9167	While picking: Error picking plate from <SRC>.	The software and firmware are out of date.	Update the Direct Drive Robot plugin software to version 1.1 or later, and update the robot and gripper firmware to version 1.1 or later.
9180	Error while homing robot. Index transition was not found.	Hardware error occurred in the motor, encoder, sensor or all.	Move the robot to a new position and try again.
9183	The robot is in an indeterminate position.	Hardware error occurred in the motor, encoder, sensor or all.	Move the robot to a new position and try again.
9203	Invalid secondary teachpoint specified for position interpolation.	While setting teachpoints for storage devices such as the Lid Hotel Station, an incorrect coordinate was used to determine the location of storage slots below the reference location (top-most platepad in the Lid Hotel Station).	Check the reference teachpoint, and then reset the teachpoints of the remaining storage slots.
9204	The position is outside the valid Z-axis range.	The robot is unable to move to the specified teachpoint. The specified gripper offset range results in a z-axis coordinate that is outside of the robot’s physical limit.	Edit the teachpoint. Make sure the gripper offset range works with the desired z-axis coordinate.
9205	Invalid gripper offset setting.	The minimum offset value is larger than the maximum offset value.	Reset the gripper offset values.
9217	The gripper firmware is incompatible - please update your gripper firmware to the correct version.	You have updated the robot firmware, but have not yet updated the gripper firmware.	Update the gripper firmware. You must always update both firmware at the same time.
9224	Error while homing robot. Insufficient data found for commutation.	During homing of the waist, elbow, or wrist the homing process could not be completed.	Move the robot to a new position and try again.
9225	Z-axis commutation timed out.	The homing process is too long and timed out.	Move the robot to a new position and try again.
9242	While retracting after place: Error occurred during transfer from <SRC> to <DST>.	The robot was unable to retract to the safe zone because an obstacle was in the way.	Remove any obstacle in the robot's path and try again.
9244	While picking: The specified pick location would cause the robot to move beyond its limits.	The pick action requires that the robot move to a location that is out of the robot's reach.	Check and edit the teachpoint. Make sure the robot is able to reach the location.
9245	While placing: The specified place location would cause the robot to move beyond its limits.	The place action requires that the robot move to a location that is out of the robot's reach.	Check and edit the teachpoint. Make sure the robot is able to reach the location.
11028	Hard E-stop.	The Emergency Stop button was pressed.	See the topic that explains how to recover from an emergency stop. You cannot resume a run after an emergency stop.
11610	Controller overheating.	The CPU exceeded its operating temperature for too long and the controller automatically turned off. If this occurs during a run, the run will automatically stop. The run cannot resume.	Wait approximatly 10 minutes for the robot to cool, power cycle the robot, and then try again.
11612	Power supply relay stuck.	The robot will not turn on.	Restart the robot. The power switch is on the front of the robot power supply. If restarting the robot does not help, the power supply unit might need to be replaced.
11613	Power supply shorted.	Power has been disabled because the motor power supply has detected that it is shorted.	The robot power supply unit might need to be replaced.
11614	Power supply overloaded.	Power has been disabled because the motor power supply has detected an overload condition.	The robot power supply unit might need to be replaced.
11615	Power supply reset stuck.	The robot motor power will not turn on.	Restart the robot. The power switch is on the front of the robot power supply. If restarting the robot does not help, the power supply unit might need to be replaced.
11616	Shutdown due to overheating.	The CPU exceeded its operating temperature for too long and the controller automatically turned off.	Wait approximatly 10 minutes for the robot to cool, power cycle the robot, and then try again.
13100	Position tracking error exceeded threshold.	The robot was unable to follow its intended trajectory, possibly because it bumped into an obstacle.	Remove all obstacles and try again.
13104	Motor duty cycle exceeded.	An obstacle is preventing the robot from moving.	Remove all obstacles and try again.
13105	Motor stalled.	The robot bumped into an obstacle.	Remove all obstacles and try again.
13106	Axis over-speed.	This error is generated when power is enabled or during normal running if the system detects that an axis has violated a speed limit.	Remove all obstacles and try again.
13107	Amplifier over-current.	An obstacle is preventing the robot from moving.	Remove all obstacles, home the robot, and try again.
13109	Amplifier under-voltage.	The DC motor bus has dropped too low.	Check all cable connections. If the cables are correctly connected, the power supply might be be failing. In the Direct Drive Robot Diagnostics Advanced tab, note the Bus Voltage values and report the values to Automation Solutions Technical Support.
13113	Motor commutation setup failed.	The configuration files are corrupted.	Click Retry in the error dialog box.
13117	Amplifier RMS current exceeded.	An obstacle is preventing the robot from moving.	Remove all obstacles and try again.
13122	Position tracking error exceeded threshold.	The robot was unable to follow its intended trajectory, possibly because it bumped into an obstacle.	Remove all obstacles and try again.

 

 

Related information

 

For information about...	See...
Direct Drive 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
Safety	Direct Drive Robot Site Preparation and Safety Guide
Reporting problems to Agilent Technologies	Reporting problems