Fanuc LNTK Alarm Codes

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Fanuc LNTK Alarm Codes

LNTK-001 STOP No global variables
Cause: The Line Track global variables have NOT been properly loaded.
Remedy: Check the application installation manual for the proper installation procedure for the
Line Track system.
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LNTK-002 STOP Motion data missing
Cause: The Line Track internal motion data was NOT found.
Remedy: Perform a COLD start of the system. (Cycle power.) Notify FANUC Robotics if problem
persists.
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LNTK-003 STOP Error allocating data memory
Cause: The Line track internal memory allocation failed.
Remedy: Check Memory usage and Line Track installation.
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LNTK-004 STOP No system variables
Cause: The Line Track system variables (eg. $LNSCH[], $LNSNRSCH[]) were not found.
Remedy: Check the application installation manual for the proper installation procedure for the
Line Track system.
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LNTK-005 STOP Illegal schedule number
Cause: An invalid Line Track schedule (track or frame) number was used within a program
instruction (eg. TRK[59]) or program header data (eg. FRAME = 59).
Remedy: Check all schedule numbers (TRK[] or FRAME usages) used within the specified program
to verify that they are within the allowable range specified for the $LNSCH[] system variable.
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LNTK-006 STOP Illegal tracking type
Cause: An invalid tracking type was specified within the tracking schedule (i.e. $LNSCH[])
associated with the specified program.
Remedy: Check the value of $LNSCH[i].$TRK_TYPE (where ‘i’ is the FRAME number specified
within the DETAIL screen for the specified program) to make sure that it is one of the valid values
listed under the description for this system variable.
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LNTK-007 STOP Illegal encoder number
Cause: An invalid sensor(encoder) number was used within the specified tracking program instruction
or within the program’s associated schedule $LNSCH[i].$TRK_ENC_NUM value (where ‘i’ is the
FRAME number used within the DETAIL screen for the specified program).
Remedy: Check the value of the specified program instruction’s LINE[] parameter and the program’s
associated schedule $LNSCH[i].$TRK_ENC_NUM value to make sure that it is one of the valid
values listed under the description for the $ENC_STAT[] system variable.
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LNTK-008 STOP Invalid nominal position
Cause: An invalid or uninitialized nominal tracking frame position was used within the tracking
schedule (i.e. $LNSCH[]) associated with the specified program.
Remedy: Check the value of $LNSCH[i].$TRK_FRAME (where ‘i’ is the FRAME number specified
within the DETAIL screen for the specified program) to make sure that it is a properly initialized,
valid position.
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LNTK-009 STOP Illegal position type
Cause: The position type or representation used within the specified program is not valid. (LINE and
CIRC tracking programs MUST store all positions in Cartesian representation. Joint representation
is not allowed.)
Remedy: Check the KAREL or TPE user manual for valid position types. Check the position
representation used to store the positions within the tracking program to make sure that Cartesian
representation is being used.
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LNTK-010 STOP Illegal encoder schedule num
Cause: An invalid sensor(encoder) schedule number was used within the specified tracking program
instruction’s SCH[] parameter.
Remedy: Check the $LNSNRSCH[] system variable description for the range of valid sensor
schedule numbers.
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LNTK-011 STOP Illegal boundary set number
Cause: An illegal value was used within the specified tracking program instruction or within the
program’s associated schedule $LNSCH[i].$SEL_BOUND value (where ‘i’ is the FRAME number
used within the DETAIL screen for the specified program).
Remedy: Check the value of the specified program instruction’s BOUND[] parameter and the
program’s associated schedule $LNSCH[i].$SEL_BOUND value to make sure that they are one of the
valid values listed under the description for this system variable.
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LNTK-012 STOP Invalid input position
Cause: An invalid or uninitialized position was used within the specified tracking program instruction.
Remedy: Check the position (or position register) value for the specified tracking program instruction
to make sure that it is a properly initialized, valid position.
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LNTK-013 STOP Invalid trigger input value
Cause: An invalid or uninitialized value was used for the specified tracking program instruction’s
trigger value.
Remedy: Check the value of the program register used by the specified tracking program instruction.
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LNTK-014 STOP Encoder/sensor not enabled
Cause: The tracking sensor(encoder) associated with the specified program (specified by
$LNSCH[i].$TRK_ENC_NUM, where ‘i’ is the FRAME number used within the DETAIL screen for
the specified program) must be enabled to perform this program instruction.
Remedy: Use the LINE enable instruction to enable the proper tracking sensor(encoder).
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LNTK-015 STOP Invalid encoder trigger value
Cause: An invalid or uninitialized sensor(encoder) trigger value (specified by
$LNSCH[i].$TRIG_VALUE, where ‘i’ is the FRAME number used within the DETAIL screen for the
specified program) was found.
Remedy: Make sure that this value is properly set prior to either teaching path positions, or issuing
programmed robot motion instructions.
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LNTK-016 STOP Invalid input time
Cause: An invalid or uninitialized prediction time was used within the specified tracking program
instruction.
Remedy: Check the prediction time being used for proper initialization.
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LNTK-017 STOP Invalid input pointer
Cause: An invalid internal position input pointer was specified.
Remedy: Perform a COLD start of the system. (Cycle power.) Notify FANUC Robotics if problem
persists.
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LNTK-018 STOP Invalid teach distance
Cause: An invalid or uninitialized teach distance value (specified by $LNSCH[i].$TEACH_DIST,
where ‘i’ is the FRAME number used within the DETAIL screen for the specified program) was found.
Remedy: Make sure that this value is properly set prior to either teaching path positions, or issuing
programmed robot motion instructions.
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LNTK-019 STOP Invalid scale factor
Cause: An invalid or uninitialized scale factor value (specified by $LNSCH[i].$SCALE, where ‘i’ is
the FRAME number used within the DETAIL screen for the specified program) was found.
Remedy: Make sure that this value is properly set prior to either teaching path positions, or issuing
programmed robot motion instructions. NOTE: This value may NOT be equal to 0.0
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LNTK-020 STOP Invalid extreme position
Cause: An invalid or uninitialized extreme position value (specified by $LNSCH[i].$TCP_EXTRM,
where ‘i’ is the FRAME number used within the DETAIL screen for the specified program) was found.
Remedy: Make sure that this value is properly set prior to either teaching path positions, or issuing
programmed robot motion instructions. NOTE: A value of 1,000,000 (1.0e6) may be set to disable
TCP extreme position checking.
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LNTK-021 STOP Invalid track axis number
Cause: An invalid or uninitialized track axis number (specified by $LNSCH[i].$TRK_AXIS_NUM,
where ‘i’ is the FRAME number used within the DETAIL screen for the specified program) was found.
Remedy: Make sure that this value is properly set to one of the valid values listed under the
description for this system variable.
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LNTK-022 STOP No tracking hardware
Cause: No tracking sensor hardware interface or improperly initialized system variables
Remedy: Check tracking hardware setup and the values of $SCR.$ENC_TYPE and
$SCR.$ENC_AXIS
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LNTK-023 STOP Bad tracking hardware
Cause: Bad tracking sensor hardware interface
Remedy: Check all sensor hardware, cables, and connections
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LNTK-024 STOP Illegal encoder average
Cause: Illegal encoder average number
Remedy: Use a valid encoder average number
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LNTK-025 STOP Illegal encoder multiplier
Cause: Illegal encoder multiplier number
Remedy: Use a valid encoder multiplier number
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LNTK-026 STOP Encoder not enabled
Cause: Tracking encoder is not enabled
Remedy: Enable the tracking encoder before reading its COUNT or RATE within the program
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LNTK-027 STOP Invalid data on LNTK stack
Cause: Invalid data was found on the tracking stack.
Remedy: Perform a COLD start of the system. (Cycle power.) Notify FANUC Robotics if problem
persists.
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LNTK-028 STOP LNTK stack underflow
Cause: The tracking stack attempted to read more data than was present.
Remedy: Perform a COLD start of the system. (Cycle power.) Notify FANUC Robotics if problem
persists.
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LNTK-029 STOP LNTK stack overflow
Cause: Too many tracking subprocesses are present. There is a limit to the number of tracking
processes that can be called from other programs.
Remedy: Check to ensure sub-processes are not being called erroneously. Consider rewriting
procedures so that fewer sub-processes are used.
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LNTK-030 STOP Stack / header mismatch
Cause: The schedule number on the tracking stack did not match the schedule of the program it
corresponds to.
Remedy: Perform a COLD start of the system. (Cycle power.) Notify FANUC Robotics if problem
persists.
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LNTK-031 STOP UFRAME must be zero
Cause: User frames cannot be used when tracking.
Remedy: Set $MNUFRAMENUM[] to zero.
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LNTK-032 STOP Conveyor resync failed
Cause: The conveyor was not resynchronized properly.
Remedy: Make sure the Tracking Schedule is properly initialized, the encoder is active, and all
hardware is functioning properly.
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LNTK-033 STOP Failed to send a packet
Cause: Failed to send a packet including trigger value.
Remedy: Perform a COLD start of the system. (Cycle power.) Notify FANUC Robotics if problem
persists.
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LNTK-034 STOP Failed to make a packet
Cause: Failed to make a packet including trigger value.
Remedy: Perform a COLD start of the system. (Cycle power.) Notify FANUC Robotics if problem
persists.
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LNTK-035 STOP Invalid INTR function pointer
Cause: An invalid internal function pointer was encountered.
Remedy: Perform a COLD start of the system. (Cycle power.) Notify FANUC Robotics if problem
persists.
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LNTK-036 STOP Invalid tracking group
Cause: This group does not support tracking
Remedy: Modify $LNCFG.$GROUP_MSK to enable this group for tracking. Cold start afterwards
Notify FANUC Robotics if problem persists.
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LNTK-037 STOP Rotation diff exceeds limit
Cause: Rotation diff exceeds limit
Remedy: N/A
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LNTK-038 STOP CIRCLE tracking not supported
Cause: CIRCLE tracking not supported
Remedy: N/A
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LNTK-039 STOP Use track uframe is not YES
Cause: Use track uframe is not YES
Remedy: N/A
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LNTK-040 WARN No line tracking task found
Cause: No line tracking task found
Remedy: N/A
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LNTK-041 STOP Encoder is moved in T1 mode.
Cause: The 250 mm/s speed limitation of T1 mode cannot be guaranteed for tracking motion.
Therefore, robot motion is not allowed in T1 mode as long as the conveyor is moving.
Remedy:
• To execute tracking motion in T1 mode, make sure the conveyor is stopped.
• To execute tracking motion with a moving conveyor, put the controller in T2 or AUTO mode.
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LNTK-042 WARN Skip outbound move LN:%d
Cause: The robot can not reach the destination before it gets out of the specified boundary. Skip this
motion to prevent pausing of program execution.
Remedy: Program at a faster speed or extend the boundary.
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LNTK-043 STOP Multiple group not supported
Cause: Tracking programs do not support multiple group motion.
Remedy: Change the program to a single group program.