Automatic G-code import fault management

Any errors occurring in the function block for G‑code import must be resolved by the user. To continue the execution, the error must be corrected accordingly and reset via the robot. The possible causes and the recommended responses to the errors can be found below.

INFORMATION

Synchronization mechanisms between the import service and third-party applications on the import computer (e.g. a CAD program that automatically generates G-code) must be created by the user. When executing a functionality, the G-code import service tries to fulfill it immediately and reports an error if this was not successful. This means, for example, that the G-code import service does not wait for a file to be created, but immediately reports an error if it does not exist under the specified path.
G-code import service on the import computer

The error messages are also output by the import function block.

  • DirectoryNotFound (0x81E0): The specified source directory could not be set because it was not found, or the directory of the absolute path of the file to be imported was not found. The import was not started. Check and correct the directory path.
  • DirectoryAccessDenied (0x81E1): The specified source directory could not be accessed because the access rights of the import service application on the import computer were insufficient, or the directory of the absolute path of the file to be imported could not be accessed. In particular, check the permissions of the network drives. The import was not started. Start the application with higher privileges, or allow the import computer and the application to access the folder.
  • FileNotFound (0x81E2): The specified file to be imported could not be found. Check whether the file existed at the time of the import process, if it exists in the specified directory, or if the path of the source directory is correct.
  • FileAccessDenied (0x81E3): The specified file to be imported could not be accessed. Start the application with higher privileges, or allow the import computer and the application to access the file.
  • UnableToStartImport (0x81E4): The import process could not be performed due to an incorrect configuration (e.g. if no file name was specified). Check the configuration of your import.
  • UnableToStopImport (0x81E5): The currently running import process cannot be canceled due to an error. Try to stop the import again and note the output variables stOut.stProcess.xFileImported and stOut.stProcess.xImportRunning.
  • SourceDirNotSet (0x81E6): An attempt was made to retrieve files from the source directory or to use only a file name without an absolute path to start the import without specifying it beforehand. Check that the source directory is set and verify the path to the source directory.
  • GCodeParsingError (0x81E7): Parsing the selected G-code file resulted in an error. Check the error message and the G-code file for syntax errors.
  • ErrorDuringImport (0x81EF): An unexpected error occurred during the import. Check the error message in RobotMonitor or in the IEC Editor log for information and restart the import.
G-code import function block
  • InterfaceError (16#81F0) : The necessary interfaces of the robot or the linking of the robot by assigning the robot instance using the LinkModule() method were not found. This indicates an error in code generation. Update the IEC project and make sure that the additional function "Automatic G-code import" is activated in MOVISUITE® in the configuration of MOVIKIT® Robotics in the configuration menu "Module configuration" > "Basic settings".
  • UnknownMessageTypeReceived (16#81F1): Unknown message received from G-code import service. Check whether the import service application was started with the same port as configured in the import function block and whether the versions are compatible.
  • InvalidProgramSlot (16#81F2): An incorrect program slot was set as the import target. The import was not started.
  • NoSourcePathGiven (16#81F3): No source directory has been specified. The source directory path was empty. Write the stIn.stDirectory.sPath variable and execute the previous action again
  • NoFileNameGiven (16#81F4): No file name or file path to be imported was specified. The import was not started. Specify the file name in the import configuration in the
    stIn.stProcess.sFileName variable and start the import again.
  • InvalidMotionSetIndex (16#81F5): The specified MotionSetIndex is invalid and therefore cannot be used for import. Selection of a MotionSet in the range 1 – 8
  • LockingTargetProgramSlotTimedOut (16#81F6): The target program slot could not be locked for the importer within a certain time. Another function block requires the program lock, for example because it is currently being executed or being edited by the RobotMonitor. Check the access timing in the IEC user program, for example when the robot is supposed to execute a program and when a program is being imported. Match import and execution to one another.
  • ReceivingGCodeImporterVersionTimedOut (16#81F7): A connection could be established under the specified port and IP address. After requesting the version, a response indicating the version of the service was not received within a certain time. The block has mistakenly connected to another application. Check all open applications and ports. Change the port configuration if necessary.
  • ReceivedGCodeImporterServiceIncompatibleVersion (16#81F8): The version received from the import service is not compatible with the G-code import function block. Check version of import service and perform update.
  • ReceivedProgDataBeforeMeta (16#81F9): The data bytes of the SRL program were received before the meta information of the program was received. Something has disturbed the transmission of the program. The import of the program failed. Run import again.
  • ProgTooLargeForSelectedSlot (16#81FA): The received program is too large for the selected program slot and therefore cannot be written to this slot. The number of words is displayed in the console window of the running import service application after the import process has been completed. Check here how many words are required for the converted program. See Large G-code files.
  • ReceivedProgCRCError (16#81FB): The received program has a difference in transmitted and calculated CRC. A transmission error has occurred. Parts of the program may be corrupt. The program on the selected program slot should not be used. The transfer should be restarted.
  • UnexpectedInternalCommunicationError (16#81FE): An unexpected communication error occurred. Communication with the Import Service no longer works and must be restarted. For this purpose, the value "FALSE" must be applied to stIn.stCommunication.xEnable for at least one cycle before reactivating the communication by writing the value "TRUE".
  • UnexpectedInternalError (16#81FF): Unexpected internal error of the block. Contact SEW‑EURODRIVE.

 

Warnings

  • ScaleTranslationIsZero(16#181F0): The scaling factor of the translational coordinates is 0, therefore all commands with translational coordinates 0 are also imported.
  • ScaleRotationIsZero(16#181F1): The scaling factor of the rotational coordinates is 0, therefore all commands with rotational coordinates 0 are also imported.
  • ScaleSpeedIsZero(16#181F2): The scaling factor of the speed is 0, therefore all commands (e.g. G-Code ISO F=1000) are also imported with speed 0.
  • StartImportIgnored (16#181F3): The import has already been started; therefore, the rising edge of the signal at stIn.xProcess.xStartImport is ignored.
  • NoConnectionEstablishedYet (16#181F4): The G-code import module attempts to establish a connection with the import service, but could not find a running service within a reasonable time.